+ python -m lidar_slam --no-model /working/656bf4ad-117b-411f-8e6d-11390ced8143 Lidar SLAM 0.0.14 ===================================================== The recording path: /working/656bf4ad-117b-411f-8e6d-11390ced8143 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 0.000281693 Adjusted end_distance from 9.223372036854776e+18 to 472.290281693 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.000281693 meters Centerline goodness : 0.734761 Centerline is valid? [0, False] SLAMing on 0.030281693 meters Centerline goodness : 0.623722 Centerline is valid? [False, False] Translation: X:0.00, Y:0.00, Z:-0.00 [[ 9.99999925e-01 -3.83343479e-04 5.62650347e-05 1.89940256e-04] [ 3.83352930e-04 9.99999912e-01 -1.68051870e-04 7.31956765e-04] [-5.62006081e-05 1.68073426e-04 9.99999984e-01 -4.14996660e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.060281693 meters Centerline goodness : 0.643110 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99998616e-01 -1.66237577e-03 7.25611810e-05 1.47110076e-03] [ 1.66238485e-03 9.99998610e-01 -1.25195194e-04 -1.60935449e-03] [-7.23529587e-05 1.25315646e-04 9.99999990e-01 -1.02354131e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.090281693 meters Centerline goodness : 0.675421 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:-0.00 [[ 9.99981037e-01 -6.15603429e-03 1.69444899e-04 3.01964517e-03] [ 6.15665583e-03 9.99973241e-01 -3.95126560e-03 -3.65703766e-03] [-1.45116239e-04 3.95223388e-03 9.99992179e-01 -1.71111494e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.120281693 meters Centerline goodness : 0.662834 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99979713e-01 -6.36581081e-03 2.23802175e-04 3.64852289e-03] [ 6.36653585e-03 9.99973940e-01 -3.40378671e-03 -7.55452375e-03] [-2.02128481e-04 3.40514250e-03 9.99994182e-01 -2.50550288e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.150281693 meters Centerline goodness : 0.513744 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.01, Z:-0.00 [[ 9.99975055e-01 -7.00961629e-03 8.69082021e-04 4.10560715e-03] [ 7.01194177e-03 9.99971765e-01 -2.70225552e-03 -1.42622785e-02] [-8.50115708e-04 2.70828206e-03 9.99995971e-01 -2.47157095e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.180281693 meters Centerline goodness : 0.403766 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.02, Z:-0.00 [[ 0.99997709 -0.00668648 0.00104962 0.00447586] [ 0.0066885 0.99997575 -0.00193959 -0.01955829] [-0.00103662 0.00194657 0.99999757 -0.00325639] [ 0. 0. 0. 1. ]] SLAMing on 0.210281693 meters Centerline goodness : 0.611042 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 0.99997945 -0.00629028 0.00123749 0.00469179] [ 0.00629162 0.99997962 -0.00108487 -0.02554826] [-0.00123064 0.00109263 0.99999865 -0.0038317 ] [ 0. 0. 0. 1. ]] SLAMing on 0.240281693 meters Centerline goodness : 0.547351 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99981027e-01 -5.77679530e-03 2.13888452e-03 4.30541465e-03] [ 5.77709998e-03 9.99983303e-01 -1.36296169e-04 -3.26317290e-02] [-2.13806146e-03 1.48650133e-04 9.99997703e-01 -3.92824515e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.27028169300000005 meters Centerline goodness : 0.538793 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.03, Z:-0.00 [[ 9.99981747e-01 -5.46145585e-03 2.58425954e-03 3.79741513e-03] [ 5.46092304e-03 9.99985066e-01 2.13185070e-04 -3.43774283e-02] [-2.58538525e-03 -1.99068736e-04 9.99996638e-01 -3.82162767e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.300281693 meters Centerline goodness : 0.597459 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.04, Z:-0.00 [[ 9.99983435e-01 -5.07591753e-03 2.71373051e-03 4.07793374e-03] [ 5.07468081e-03 9.99987017e-01 4.62415844e-04 -3.61591153e-02] [-2.71604246e-03 -4.48636868e-04 9.99996211e-01 -3.89015213e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.330281693 meters Centerline goodness : 0.597840 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.04, Z:-0.01 [[ 9.99986220e-01 -4.52148105e-03 2.66767553e-03 5.83166129e-03] [ 4.51895146e-03 9.99989335e-01 9.53503642e-04 -3.94502096e-02] [-2.67195832e-03 -9.41435406e-04 9.99995987e-01 -5.25666518e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.360281693 meters Centerline goodness : 0.584992 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.9999915 -0.00331272 0.00245424 0.01075815] [ 0.0033081 0.99999275 0.00188347 -0.04588825] [-0.00246046 -0.00187533 0.99999521 -0.0079993 ] [ 0. 0. 0. 1. ]] SLAMing on 0.39028169300000004 meters Centerline goodness : 0.608637 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.05, Z:-0.01 [[ 0.99999312 -0.00293789 0.00226411 0.01303097] [ 0.00293289 0.99999326 0.00221071 -0.04758125] [-0.00227059 -0.00220406 0.99999499 -0.00983877] [ 0. 0. 0. 1. ]] SLAMing on 0.420281693 meters Centerline goodness : 0.427602 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.05, Z:-0.01 [[ 0.99999771 -0.00122627 0.00175142 0.02092711] [ 0.00122002 0.9999929 0.00356405 -0.05386918] [-0.00175578 -0.0035619 0.99999212 -0.01449315] [ 0. 0. 0. 1. ]] SLAMing on 0.450281693 meters Centerline goodness : 0.517703 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.06, Z:-0.02 [[ 9.99998634e-01 -7.05890083e-04 1.49424561e-03 2.37155243e-02] [ 6.99691994e-04 9.99991167e-01 4.14443859e-03 -5.77037807e-02] [-1.49715793e-03 -4.14338742e-03 9.99990295e-01 -1.67043710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.480281693 meters Centerline goodness : 0.592071 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.06, Z:-0.02 [[ 9.99999031e-01 -3.01820959e-04 1.35877628e-03 2.56043761e-02] [ 2.95463070e-04 9.99989020e-01 4.67690067e-03 -6.11858953e-02] [-1.36017295e-03 -4.67649467e-03 9.99988140e-01 -1.85054160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.510281693 meters Centerline goodness : 0.604048 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998880e-01 7.90765122e-04 1.27061552e-03 2.97969034e-02] [-7.98092516e-04 9.99982996e-01 5.77668537e-03 -6.72837174e-02] [-1.26602591e-03 -5.77769297e-03 9.99982508e-01 -2.07284717e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5402816930000001 meters Centerline goodness : 0.416072 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 0.99999867 0.00117619 0.00112604 0.03193483] [-0.00118316 0.99998004 0.00620595 -0.06977141] [-0.00111872 -0.00620728 0.99998011 -0.02253235] [ 0. 0. 0. 1. ]] SLAMing on 0.570281693 meters Centerline goodness : 0.475538 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.07, Z:-0.02 [[ 9.99998394e-01 1.53743298e-03 9.21533877e-04 3.43319393e-02] [-1.54348459e-03 9.99977012e-01 6.60255467e-03 -7.22486594e-02] [-9.11361708e-04 -6.60396644e-03 9.99977778e-01 -2.44739600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.600281693 meters Centerline goodness : 0.542035 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.07, Z:-0.03 [[ 9.99997832e-01 1.97291868e-03 6.65911944e-04 3.71084436e-02] [-1.97752027e-03 9.99973672e-01 6.98177303e-03 -7.47797218e-02] [-6.52119942e-04 -6.98307475e-03 9.99975405e-01 -2.64565193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.630281693 meters Centerline goodness : 0.555812 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99992004e-01 3.99885749e-03 2.63179770e-05 4.59658111e-02] [-3.99893997e-03 9.99959867e-01 8.01703284e-03 -7.86953336e-02] [ 5.74205097e-06 -8.01707398e-03 9.99967863e-01 -3.14862804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.660281693 meters Centerline goodness : 0.462131 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990117e-01 4.43475970e-03 -3.13637222e-04 4.91488934e-02] [-4.43210734e-03 9.99958141e-01 8.00454478e-03 -7.78345677e-02] [ 3.49122326e-04 -8.00307560e-03 9.99967914e-01 -3.34204788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.690281693 meters Centerline goodness : 0.462131 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.08, Z:-0.03 [[ 9.99990117e-01 4.43475970e-03 -3.13637222e-04 4.91488934e-02] [-4.43210734e-03 9.99958141e-01 8.00454478e-03 -7.78345677e-02] [ 3.49122326e-04 -8.00307560e-03 9.99967914e-01 -3.34204788e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.720281693 meters Centerline goodness : 0.562945 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.08, Z:-0.04 [[ 9.99974159e-01 7.13296154e-03 -8.95383816e-04 5.77191939e-02] [-7.12465109e-03 9.99934434e-01 8.96473403e-03 -7.60684703e-02] [ 9.59270212e-04 -8.95812307e-03 9.99959415e-01 -3.86555879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.750281693 meters Centerline goodness : 0.503091 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99997034 0.00758971 -0.00131015 0.06110356] [-0.00757784 0.99993225 0.00883595 -0.07462066] [ 0.00137712 -0.00882576 0.9999601 -0.04052478] [ 0. 0. 0. 1. ]] SLAMing on 0.780281693 meters Centerline goodness : 0.591431 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.07, Z:-0.04 [[ 0.99996759 0.00787167 -0.00169062 0.06421279] [-0.00785665 0.99993116 0.00871439 -0.07350102] [ 0.0017591 -0.00870082 0.9999606 -0.04238954] [ 0. 0. 0. 1. ]] SLAMing on 0.810281693 meters Centerline goodness : 0.431711 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995377 0.00934064 -0.00228269 0.07219789] [-0.00931977 0.99991615 0.00899081 -0.07177812] [ 0.00236648 -0.00896912 0.99995698 -0.04703499] [ 0. 0. 0. 1. ]] SLAMing on 0.840281693 meters Centerline goodness : 0.519844 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.9999542 0.00927076 -0.00237732 0.0736354 ] [-0.00925017 0.99992084 0.00852966 -0.06844321] [ 0.00245621 -0.00850728 0.9999608 -0.04809465] [ 0. 0. 0. 1. ]] SLAMing on 0.870281693 meters Centerline goodness : 0.542514 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.07, Z:-0.05 [[ 0.99995481 0.00919958 -0.00239519 0.07478393] [-0.00917999 0.99992532 0.00806695 -0.06503297] [ 0.00246923 -0.0080446 0.99996459 -0.04878423] [ 0. 0. 0. 1. ]] SLAMing on 0.9002816929999999 meters Centerline goodness : 0.480639 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.9999557 0.00925187 -0.00173203 0.07588803] [-0.009239 0.99993069 0.00729821 -0.05934384] [ 0.00179944 -0.00728189 0.99997187 -0.04882869] [ 0. 0. 0. 1. ]] SLAMing on 0.930281693 meters Centerline goodness : 0.494075 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.06, Z:-0.05 [[ 0.99995673 0.00914609 -0.0016966 0.07657682] [-0.00913433 0.99993506 0.00681509 -0.05607808] [ 0.00175882 -0.0067993 0.99997534 -0.04929351] [ 0. 0. 0. 1. ]] SLAMing on 0.960281693 meters Centerline goodness : 0.515261 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.05, Z:-0.05 [[ 0.99995753 0.00904386 -0.00177325 0.0780401 ] [-0.00903264 0.99993976 0.00623553 -0.05200629] [ 0.00182954 -0.00621925 0.99997899 -0.05004769] [ 0. 0. 0. 1. ]] SLAMing on 0.990281693 meters Centerline goodness : 0.448573 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995363 0.00946986 -0.00174755 0.08141084] [-0.00946067 0.99994178 0.00518967 -0.04273938] [ 0.00179659 -0.0051729 0.99998501 -0.05093649] [ 0. 0. 0. 1. ]] SLAMing on 1.020281693 meters Centerline goodness : 0.424965 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.04, Z:-0.05 [[ 0.99995358 0.00942253 -0.00201141 0.08389605] [-0.00941342 0.99994561 0.00448949 -0.03755741] [ 0.0020536 -0.00447035 0.9999879 -0.0521724 ] [ 0. 0. 0. 1. ]] SLAMing on 1.050281693 meters Centerline goodness : 0.351772 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.05 [[ 0.99994891 0.00986473 -0.00220629 0.08867197] [-0.009857 0.99994533 0.00348982 -0.02885801] [ 0.0022406 -0.0034679 0.99999148 -0.05407773] [ 0. 0. 0. 1. ]] SLAMing on 1.080281693 meters Centerline goodness : 0.332079 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.03, Z:-0.06 [[ 0.99994998 0.00970689 -0.00240993 0.09077215] [-0.00969963 0.99994844 0.00300524 -0.02534608] [ 0.00243898 -0.00298172 0.99999258 -0.0553612 ] [ 0. 0. 0. 1. ]] SLAMing on 1.110281693 meters Centerline goodness : 0.324240 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.02, Z:-0.06 [[ 0.99995055 0.00959978 -0.00259608 0.09264825] [-0.00959268 0.99995025 0.00273486 -0.02362762] [ 0.00262221 -0.00270982 0.99999289 -0.05652494] [ 0. 0. 0. 1. ]] SLAMing on 1.140281693 meters Centerline goodness : 0.060952 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995351 0.00930696 -0.00252189 0.09587621] [-0.00930071 0.99995367 0.0024812 -0.02243816] [ 0.00254486 -0.00245763 0.99999374 -0.0577856 ] [ 0. 0. 0. 1. ]] SLAMing on 1.170281693 meters Centerline goodness : 0.364550 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995373 0.00919831 -0.00281647 0.09826596] [-0.00919132 0.99995467 0.00248604 -0.02240694] [ 0.00283921 -0.00246004 0.99999294 -0.0592524 ] [ 0. 0. 0. 1. ]] SLAMing on 1.200281693 meters Centerline goodness : 0.326386 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995386 0.00908259 -0.00312643 0.10119233] [-0.00907471 0.99995563 0.00252678 -0.02270327] [ 0.00314924 -0.00249829 0.99999192 -0.06129847] [ 0. 0. 0. 1. ]] SLAMing on 1.230281693 meters Centerline goodness : 0.323191 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.02, Z:-0.06 [[ 0.99995336 0.00902103 -0.00344983 0.1040502 ] [-0.00901184 0.99995583 0.00266966 -0.02360073] [ 0.00347376 -0.00263845 0.99999049 -0.06298274] [ 0. 0. 0. 1. ]] SLAMing on 1.260281693 meters Centerline goodness : 0.316976 Centerline is valid? [False, False] Translation: X:0.11, Y:-0.02, Z:-0.07 [[ 0.99997096 0.00635372 -0.00420918 0.11279537] [-0.00635816 0.99997924 -0.00104271 -0.01912408] [ 0.00420247 0.00106944 0.9999906 -0.06722795] [ 0. 0. 0. 1. ]] SLAMing on 1.290281693 meters Centerline goodness : 0.311157 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996941 0.00642081 -0.00446604 0.11551488] [-0.0064256 0.99997879 -0.0010598 -0.01864554] [ 0.00445914 0.00108846 0.99998947 -0.06902316] [ 0. 0. 0. 1. ]] SLAMing on 1.3202816929999999 meters Centerline goodness : 0.284024 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996781 0.00642265 -0.0048084 0.11824919] [-0.00642852 0.99997861 -0.00120711 -0.01728329] [ 0.00480054 0.00123798 0.99998771 -0.07053466] [ 0. 0. 0. 1. ]] SLAMing on 1.350281693 meters Centerline goodness : 0.263125 Centerline is valid? [False, False] Translation: X:0.12, Y:-0.02, Z:-0.07 [[ 0.99996524 0.00649631 -0.00522738 0.12181629] [-0.0065033 0.99997798 -0.00132196 -0.01592934] [ 0.00521868 0.00135591 0.99998546 -0.07264714] [ 0. 0. 0. 1. ]] SLAMing on 1.380281693 meters Centerline goodness : 0.258860 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 0.99995711 0.0070122 -0.00605112 0.13228063] [-0.0070203 0.99997449 -0.0013187 -0.0152195 ] [ 0.00604172 0.00136113 0.99998082 -0.07926528] [ 0. 0. 0. 1. ]] SLAMing on 1.410281693 meters Centerline goodness : 0.280590 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.02, Z:-0.08 [[ 0.99995466 0.00714438 -0.00629576 0.13446566] [-0.00715191 0.99997374 -0.00117436 -0.01641685] [ 0.00628721 0.00121933 0.99997949 -0.08050608] [ 0. 0. 0. 1. ]] SLAMing on 1.440281693 meters Centerline goodness : 0.264257 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.08 [[ 9.99953130e-01 7.31612810e-03 -6.34129498e-03 1.37500247e-01] [-7.32075079e-03 9.99972954e-01 -7.06077400e-04 -2.02130594e-02] [ 6.33595772e-03 7.52467346e-04 9.99979645e-01 -8.12394752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.470281693 meters Centerline goodness : 0.095035 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.02, Z:-0.11 [[ 0.99997982 0.00571955 0.00276667 0.14366386] [-0.00571505 0.99998234 -0.00163163 -0.01976324] [-0.00277595 0.00161578 0.99999484 -0.10559116] [ 0. 0. 0. 1. ]] SLAMing on 1.500281693 meters Centerline goodness : 0.245662 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 0.99998055 0.0057087 0.00251099 0.14589915] [-0.0057053 0.9999828 -0.00136084 -0.02185951] [-0.00251872 0.00134649 0.99999592 -0.10664057] [ 0. 0. 0. 1. ]] SLAMing on 1.530281693 meters Centerline goodness : 0.245344 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.02, Z:-0.11 [[ 0.99998066 0.00578158 0.00229118 0.14767625] [-0.00577919 0.99998275 -0.00104657 -0.02404769] [-0.00229719 0.00103331 0.99999683 -0.10730534] [ 0. 0. 0. 1. ]] SLAMing on 1.560281693 meters Centerline goodness : 0.206976 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99979335e-01 5.94690076e-03 2.44206824e-03 1.50132779e-01] [-5.94559969e-03 9.99982179e-01 -5.39688378e-04 -2.83486567e-02] [-2.44523420e-03 5.25157666e-04 9.99996873e-01 -1.07241308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.5902816929999999 meters Centerline goodness : 0.237394 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99978776e-01 6.11586695e-03 2.24591504e-03 1.52012891e-01] [-6.11496791e-03 9.99981221e-01 -4.06948252e-04 -2.94332369e-02] [-2.24836171e-03 3.93205916e-04 9.99997395e-01 -1.07873216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.620281693 meters Centerline goodness : 0.201557 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.03, Z:-0.11 [[ 9.99977956e-01 6.29745382e-03 2.10471664e-03 1.53450091e-01] [-6.29673990e-03 9.99980116e-01 -3.45658567e-04 -2.97533238e-02] [-2.10685155e-03 3.32398094e-04 9.99997725e-01 -1.08369033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.650281693 meters Centerline goodness : 0.245601 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975010e-01 6.72346948e-03 2.18482678e-03 1.57073451e-01] [-6.72289382e-03 9.99977364e-01 -2.70720511e-04 -2.98144953e-02] [-2.18659751e-03 2.56025387e-04 9.99997577e-01 -1.09261574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.680281693 meters Centerline goodness : 0.186148 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975378e-01 6.75538319e-03 1.89940641e-03 1.59597740e-01] [-6.75486791e-03 9.99977147e-01 -2.77572636e-04 -2.96308453e-02] [-1.90123811e-03 2.64735562e-04 9.99998158e-01 -1.10600962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.710281693 meters Centerline goodness : 0.056821 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.03, Z:-0.11 [[ 9.99975835e-01 6.76543704e-03 1.59927246e-03 1.62314906e-01] [-6.76497575e-03 9.99977074e-01 -2.93673011e-04 -2.93461509e-02] [-1.60122262e-03 2.82846875e-04 9.99998678e-01 -1.11940737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.740281693 meters Centerline goodness : 0.110818 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99976573e-01 6.64058132e-03 1.65999222e-03 1.65047999e-01] [-6.63978151e-03 9.99977838e-01 -4.86863123e-04 -2.81408844e-02] [-1.66318849e-03 4.75829732e-04 9.99998504e-01 -1.11912878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.770281693 meters Centerline goodness : 0.177902 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99976621e-01 6.68684534e-03 1.42981352e-03 1.67525199e-01] [-6.68617491e-03 9.99977535e-01 -4.73159494e-04 -2.80228115e-02] [-1.43294534e-03 4.63588449e-04 9.99998866e-01 -1.13084439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8002816929999998 meters Centerline goodness : 0.195631 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.03, Z:-0.11 [[ 9.99977064e-01 6.68153896e-03 1.10846547e-03 1.70047129e-01] [-6.68101103e-03 9.99977567e-01 -4.79284513e-04 -2.80906463e-02] [-1.11164296e-03 4.71867851e-04 9.99999271e-01 -1.13993793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8302816929999999 meters Centerline goodness : 0.248987 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99980754e-01 6.20026285e-03 2.20462278e-04 1.80843070e-01] [-6.20008028e-03 9.99980444e-01 -8.19367676e-04 -2.64530428e-02] [-2.25538261e-04 8.17985023e-04 9.99999640e-01 -1.20025755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.860281693 meters Centerline goodness : 0.088161 Centerline is valid? [False, False] Translation: X:0.18, Y:-0.03, Z:-0.12 [[ 9.99981632e-01 6.06069203e-03 -6.51373209e-05 1.83393682e-01] [-6.06075159e-03 9.99981176e-01 -9.56728030e-04 -2.54647359e-02] [ 5.93376608e-05 9.57105238e-04 9.99999540e-01 -1.21257150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.890281693 meters Centerline goodness : 0.074833 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.12 [[ 9.99982254e-01 5.94002904e-03 -4.54917482e-04 1.86569271e-01] [-5.94052852e-03 9.99981745e-01 -1.10459110e-03 -2.43399009e-02] [ 4.48347874e-04 1.10727395e-03 9.99999286e-01 -1.22521761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.920281693 meters Centerline goodness : 0.212659 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99998099 0.00593061 -0.00168646 0.19943117] [-0.00593296 0.99998143 -0.00139278 -0.0213466 ] [ 0.00167817 0.00140276 0.99999761 -0.12987216] [ 0. 0. 0. 1. ]] SLAMing on 1.950281693 meters Centerline goodness : 0.060316 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.02, Z:-0.13 [[ 0.99998107 0.005814 -0.00201407 0.20226052] [-0.00581749 0.99998158 -0.00173254 -0.01873048] [ 0.00200396 0.00174422 0.99999647 -0.131193 ] [ 0. 0. 0. 1. ]] SLAMing on 1.980281693 meters Centerline goodness : 0.363650 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998185 0.00558676 -0.00225734 0.20728026] [-0.00559202 0.99998165 -0.00233119 -0.01401733] [ 0.00224427 0.00234377 0.99999473 -0.13275819] [ 0. 0. 0. 1. ]] SLAMing on 2.0102816929999996 meters Centerline goodness : 0.209035 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998137 0.00554202 -0.00255796 0.20993404] [-0.00554817 0.99998172 -0.00240338 -0.01361797] [ 0.00254459 0.00241753 0.99999384 -0.13374465] [ 0. 0. 0. 1. ]] SLAMing on 2.040281693 meters Centerline goodness : 0.080242 Centerline is valid? [False, False] Translation: X:0.21, Y:-0.01, Z:-0.13 [[ 0.99998097 0.00546982 -0.00285372 0.21243433] [-0.00547664 0.99998216 -0.00238415 -0.01415151] [ 0.00284063 0.00239973 0.99999309 -0.13458528] [ 0. 0. 0. 1. ]] SLAMing on 2.0702816929999996 meters SLAMing on 2.100281693 meters SLAMing on 2.1302816929999997 meters Centerline goodness : 0.213409 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.9999826 0.00448315 -0.00383343 0.22815052] [-0.00449336 0.99998638 -0.00265681 -0.01387946] [ 0.00382146 0.00267399 0.99998912 -0.1412479 ] [ 0. 0. 0. 1. ]] SLAMing on 2.160281693 meters Centerline goodness : 0.218603 Centerline is valid? [False, False] Translation: X:0.23, Y:-0.01, Z:-0.14 [[ 0.99998135 0.00454323 -0.00408227 0.23029636] [-0.00455393 0.99998621 -0.00261558 -0.01452591] [ 0.00407033 0.00263413 0.99998825 -0.14177276] [ 0. 0. 0. 1. ]] SLAMing on 2.1902816929999998 meters Centerline goodness : 0.205137 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.15 [[ 0.99998573 0.00466215 0.00260779 0.27220447] [-0.0046571 0.99998728 -0.00193831 -0.01478995] [-0.00261679 0.00192614 0.99999472 -0.14539437] [ 0. 0. 0. 1. ]] SLAMing on 2.2202816929999996 meters Centerline goodness : 0.209160 Centerline is valid? [False, False] Translation: X:0.27, Y:-0.01, Z:-0.15 [[ 0.99998633 0.00467263 0.00234711 0.27458236] [-0.00466798 0.99998714 -0.00198409 -0.01430652] [-0.00235635 0.00197311 0.99999528 -0.14618829] [ 0. 0. 0. 1. ]] SLAMing on 2.250281693 meters Centerline goodness : 0.240937 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998623 0.00477256 0.0021818 0.2786255 ] [-0.0047686 0.99998698 -0.00181549 -0.0160104 ] [-0.00219044 0.00180506 0.99999597 -0.1473272 ] [ 0. 0. 0. 1. ]] SLAMing on 2.2802816929999996 meters Centerline goodness : 0.202972 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998663 0.00479384 0.00193985 0.28150181] [-0.00479041 0.99998696 -0.00177121 -0.01659275] [-0.00194832 0.00176189 0.99999655 -0.14852717] [ 0. 0. 0. 1. ]] SLAMing on 2.310281693 meters Centerline goodness : 0.221669 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.02, Z:-0.15 [[ 0.99998702 0.00482613 0.00163297 0.28406427] [-0.00482332 0.99998689 -0.00172161 -0.01685642] [-0.00164125 0.00171372 0.99999718 -0.14933431] [ 0. 0. 0. 1. ]] SLAMing on 2.3402816929999997 meters SLAMing on 2.370281693 meters Centerline goodness : 0.145321 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 0.99998734 0.00482542 0.00142873 0.29092177] [-0.00482298 0.99998691 -0.00170949 -0.01703429] [-0.00143696 0.00170258 0.99999752 -0.15138496] [ 0. 0. 0. 1. ]] SLAMing on 2.4002816929999997 meters Centerline goodness : 0.225792 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.02, Z:-0.15 [[ 0.99998765 0.00484748 0.00109681 0.29400413] [-0.00484568 0.99998691 -0.00164202 -0.01800258] [-0.00110476 0.00163668 0.99999805 -0.15258383] [ 0. 0. 0. 1. ]] SLAMing on 2.4302816929999995 meters Centerline goodness : 0.517273 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.15 [[ 9.99988880e-01 4.68896473e-03 5.04103116e-04 2.99706407e-01] [-4.68825230e-03 9.99988023e-01 -1.40527429e-03 -1.98024946e-02] [-5.10686360e-04 1.40289530e-03 9.99998886e-01 -1.54525137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4602816929999998 meters Centerline goodness : 0.064967 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99989384e-01 4.60342875e-03 2.02647688e-04 3.02154240e-01] [-4.60317518e-03 9.99988643e-01 -1.23445053e-03 -2.14440265e-02] [-2.08328092e-04 1.23350460e-03 9.99999218e-01 -1.55225285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4902816929999996 meters Centerline goodness : 0.061339 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.02, Z:-0.16 [[ 9.99989420e-01 4.59836937e-03 -1.25609276e-04 3.04934625e-01] [-4.59849019e-03 9.99988948e-01 -9.79155455e-04 -2.37676060e-02] [ 1.21105370e-04 9.79722708e-04 9.99999513e-01 -1.56071227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.520281693 meters SLAMing on 2.5502816929999996 meters Centerline goodness : 0.281276 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990643e-01 4.28631470e-03 -5.84461242e-04 3.15202071e-01] [-4.28695821e-03 9.99990201e-01 -1.10424922e-03 -2.48148554e-02] [ 5.79722355e-04 1.10674445e-03 9.99999220e-01 -1.60547330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.580281693 meters Centerline goodness : 0.390362 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990491e-01 4.26002700e-03 -9.33232981e-04 3.18017035e-01] [-4.26123423e-03 9.99990082e-01 -1.29546038e-03 -2.32099342e-02] [ 9.27705029e-04 1.29942478e-03 9.99998725e-01 -1.61411382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6102816929999997 meters Centerline goodness : 0.390362 Centerline is valid? [False, False] Translation: X:0.32, Y:-0.02, Z:-0.16 [[ 9.99990491e-01 4.26002700e-03 -9.33232981e-04 3.18017035e-01] [-4.26123423e-03 9.99990082e-01 -1.29546038e-03 -2.32099342e-02] [ 9.27705029e-04 1.29942478e-03 9.99998725e-01 -1.61411382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6402816929999995 meters SLAMing on 2.6702816929999997 meters SLAMing on 2.7002816929999995 meters SLAMing on 2.730281693 meters SLAMing on 2.7602816929999996 meters SLAMing on 2.790281693 meters Centerline goodness : 0.571884 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.16 [[ 0.99991211 0.01162645 -0.00637226 0.45760691] [-0.01164538 0.99992786 -0.00294166 -0.01460145] [ 0.0063376 0.00301561 0.99997537 -0.15578267] [ 0. 0. 0. 1. ]] SLAMing on 2.8202816929999996 meters SLAMing on 2.850281693 meters SLAMing on 2.8802816929999997 meters Centerline goodness : 0.137143 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:-0.16 [[ 9.99868698e-01 1.62030276e-02 -2.20420269e-04 5.07271598e-01] [-1.62030224e-02 9.99868722e-01 2.54772188e-05 -2.67164622e-03] [ 2.20804140e-04 -2.19023990e-05 9.99999975e-01 -1.62128658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.9102816929999995 meters SLAMing on 2.9402816929999998 meters Centerline goodness : 0.337845 Centerline is valid? [False, False] Translation: X:0.52, Y:0.01, Z:-0.17 [[ 0.99984681 0.01745465 -0.00130364 0.52092483] [-0.01745632 0.99984681 -0.00127982 0.01326129] [ 0.0012811 0.00130238 0.99999833 -0.16829145] [ 0. 0. 0. 1. ]] SLAMing on 2.9702816929999996 meters SLAMing on 3.000281693 meters Centerline goodness : 0.323202 Centerline is valid? [False, False] Translation: X:0.57, Y:0.02, Z:-0.18 [[ 0.99985427 0.01638689 0.0047857 0.56797019] [-0.01637718 0.99986376 -0.00206124 0.02440778] [-0.00481882 0.00198256 0.99998642 -0.17541486] [ 0. 0. 0. 1. ]] SLAMing on 3.0302816929999996 meters Centerline goodness : 0.334706 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.18 [[ 0.99986212 0.01598416 0.00449887 0.57011838] [-0.01597306 0.99986932 -0.00249138 0.02715155] [-0.00453811 0.00241918 0.99998678 -0.17560375] [ 0. 0. 0. 1. ]] SLAMing on 3.060281693 meters Centerline goodness : 0.082701 Centerline is valid? [False, False] Translation: X:0.57, Y:0.03, Z:-0.18 [[ 0.99987035 0.01555424 0.0041657 0.57269548] [-0.01554219 0.99987498 -0.00290799 0.02973678] [-0.00421042 0.00284287 0.9999871 -0.17621136] [ 0. 0. 0. 1. ]] SLAMing on 3.0902816929999997 meters Centerline goodness : 0.326648 Centerline is valid? [False, False] Translation: X:0.60, Y:0.04, Z:-0.17 [[ 9.99950148e-01 9.98273072e-03 2.17252869e-04 5.97544501e-01] [-9.98222646e-03 9.99947734e-01 -2.21006973e-03 3.55401007e-02] [-2.39304046e-04 2.20779089e-03 9.99997534e-01 -1.72059520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.120281693 meters Centerline goodness : 0.325678 Centerline is valid? [False, False] Translation: X:0.62, Y:0.04, Z:-0.17 [[ 0.99997662 0.00594584 -0.00337594 0.61935998] [-0.00595037 0.99998141 -0.00133316 0.03826921] [ 0.00336795 0.00135322 0.99999341 -0.17042851] [ 0. 0. 0. 1. ]] SLAMing on 3.1502816929999997 meters Centerline goodness : 0.329964 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.18 [[ 0.9999819 0.00391094 -0.00457246 0.63027671] [-0.00392014 0.99999031 -0.00200557 0.03843338] [ 0.00456458 0.00202346 0.99998754 -0.17559903] [ 0. 0. 0. 1. ]] SLAMing on 3.1802816929999995 meters Centerline goodness : 0.071915 Centerline is valid? [False, False] Translation: X:0.63, Y:0.04, Z:-0.18 [[ 0.99998133 0.00352586 -0.0049898 0.63329517] [-0.00353481 0.99999216 -0.00178527 0.03588559] [ 0.00498347 0.00180288 0.99998596 -0.17664509] [ 0. 0. 0. 1. ]] SLAMing on 3.2102816929999998 meters Centerline goodness : 0.368969 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.18 [[ 0.99998054 0.00311307 -0.00540653 0.6363069 ] [-0.00312089 0.9999941 -0.00143793 0.03215999] [ 0.00540202 0.00145478 0.99998435 -0.17767965] [ 0. 0. 0. 1. ]] SLAMing on 3.2402816929999996 meters Centerline goodness : 0.119510 Centerline is valid? [False, False] Translation: X:0.64, Y:0.03, Z:-0.18 [[ 9.99979879e-01 8.68213777e-04 -6.28397640e-03 6.44638388e-01] [-8.78521482e-04 9.99998273e-01 -1.63774128e-03 2.59003685e-02] [ 6.28254363e-03 1.64322893e-03 9.99978914e-01 -1.81353063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.270281693 meters Centerline goodness : 0.366761 Centerline is valid? [False, False] Translation: X:0.65, Y:0.02, Z:-0.18 [[ 9.99974438e-01 -2.90338387e-04 -7.14416495e-03 6.52064641e-01] [ 2.77340672e-04 9.99998305e-01 -1.82027047e-03 2.27478464e-02] [ 7.14468133e-03 1.81824257e-03 9.99972823e-01 -1.84795642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3002816929999996 meters Centerline goodness : 0.224075 Centerline is valid? [False, False] Translation: X:0.66, Y:0.02, Z:-0.19 [[ 0.99996535 -0.00212945 -0.00804714 0.66042157] [ 0.00211526 0.99999619 -0.00177121 0.01521276] [ 0.00805088 0.00175413 0.99996605 -0.18800811] [ 0. 0. 0. 1. ]] SLAMing on 3.330281693 meters Centerline goodness : 0.088845 Centerline is valid? [False, False] Translation: X:0.67, Y:0.01, Z:-0.21 [[ 9.99996066e-01 -2.72027664e-03 6.83858363e-04 6.74220865e-01] [ 2.72172440e-03 9.99994038e-01 -2.12510533e-03 1.05228394e-02] [-6.78073411e-04 2.12695824e-03 9.99997508e-01 -2.11349859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3602816929999997 meters SLAMing on 3.3902816929999995 meters Centerline goodness : 0.552480 Centerline is valid? [False, False] Translation: X:0.68, Y:0.00, Z:-0.21 [[ 9.99994418e-01 -3.34077966e-03 -5.38299235e-05 6.79863177e-01] [ 3.34071564e-03 9.99993760e-01 -1.14850633e-03 8.30680081e-05] [ 5.76664942e-05 1.14832009e-03 9.99999339e-01 -2.12436562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4202816929999997 meters Centerline goodness : 0.206521 Centerline is valid? [False, False] Translation: X:0.68, Y:-0.01, Z:-0.21 [[ 9.99995055e-01 -3.12847079e-03 -3.19953456e-04 6.81737217e-01] [ 3.12836246e-03 9.99995049e-01 -3.38532052e-04 -6.02222938e-03] [ 3.21010960e-04 3.37529447e-04 9.99999892e-01 -2.12844486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4502816929999995 meters SLAMing on 3.480281693 meters Centerline goodness : 0.098135 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.02, Z:-0.22 [[ 0.99999322 -0.00331696 -0.00159913 0.69534706] [ 0.00331915 0.99999355 0.00137232 -0.02184991] [ 0.00159457 -0.00137762 0.99999778 -0.2189634 ] [ 0. 0. 0. 1. ]] SLAMing on 3.5102816929999996 meters Centerline goodness : 0.610207 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.22 [[ 0.99999442 -0.00246224 -0.00225639 0.70088893] [ 0.00246847 0.99999314 0.00276093 -0.03184371] [ 0.00224958 -0.00276648 0.99999364 -0.22079932] [ 0. 0. 0. 1. ]] SLAMing on 3.540281693 meters Centerline goodness : 0.182550 Centerline is valid? [False, False] Translation: X:0.70, Y:-0.03, Z:-0.22 [[ 0.99999456 -0.00210012 -0.00254287 0.70264282] [ 0.00210821 0.99999272 0.00318156 -0.03445162] [ 0.00253617 -0.0031869 0.99999171 -0.22081767] [ 0. 0. 0. 1. ]] SLAMing on 3.5702816929999996 meters SLAMing on 3.6002816929999994 meters Centerline goodness : 0.100504 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.04, Z:-0.22 [[ 0.99997333 0.00417614 -0.00599232 0.72762982] [-0.00415831 0.9999869 0.00298413 -0.04349631] [ 0.0060047 -0.00295913 0.99997759 -0.21563024] [ 0. 0. 0. 1. ]] SLAMing on 3.6302816929999997 meters Centerline goodness : 0.097537 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996988 0.00451969 -0.00630955 0.7297 ] [-0.00449876 0.99998435 0.00332727 -0.04548619] [ 0.00632449 -0.00329878 0.99997456 -0.21609035] [ 0. 0. 0. 1. ]] SLAMing on 3.6602816929999995 meters Centerline goodness : 0.110068 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996475 0.00504906 -0.00670847 0.73266943] [-0.00502242 0.99997946 0.00398226 -0.04960392] [ 0.00672844 -0.00394842 0.99996957 -0.21656074] [ 0. 0. 0. 1. ]] SLAMing on 3.6902816929999998 meters Centerline goodness : 0.107122 Centerline is valid? [False, False] Translation: X:0.73, Y:-0.05, Z:-0.22 [[ 0.99996163 0.00528342 -0.00698776 0.73437721] [-0.00525376 0.99997714 0.0042558 -0.05116286] [ 0.00701008 -0.00421893 0.99996653 -0.21672036] [ 0. 0. 0. 1. ]] SLAMing on 3.7202816929999996 meters Centerline goodness : 0.165253 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99995902 0.00547705 -0.00720889 0.73585405] [-0.00544516 0.99997534 0.00443521 -0.05216806] [ 0.00723301 -0.00439577 0.99996418 -0.21707363] [ 0. 0. 0. 1. ]] SLAMing on 3.750281693 meters Centerline goodness : 0.106048 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99995516 0.00573672 -0.00753429 0.73790085] [-0.00570222 0.9999732 0.00459269 -0.05277711] [ 0.00756043 -0.00454952 0.99996107 -0.21753643] [ 0. 0. 0. 1. ]] SLAMing on 3.7802816929999996 meters Centerline goodness : 0.161782 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99994378 0.00683435 -0.00810786 0.7419343 ] [-0.00679553 0.99996536 0.00480638 -0.05219927] [ 0.00814043 -0.00475101 0.99995558 -0.21850954] [ 0. 0. 0. 1. ]] SLAMing on 3.810281693 meters Centerline goodness : 0.082826 Centerline is valid? [False, False] Translation: X:0.74, Y:-0.05, Z:-0.22 [[ 0.99993845 0.00716104 -0.00847466 0.74400171] [-0.00712247 0.99996418 0.00457236 -0.04965989] [ 0.0085071 -0.00451172 0.99995364 -0.21873424] [ 0. 0. 0. 1. ]] SLAMing on 3.8402816929999997 meters Centerline goodness : 0.092261 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.05, Z:-0.22 [[ 0.99993258 0.00747685 -0.00888385 0.74629443] [-0.00743991 0.99996357 0.00418417 -0.04591574] [ 0.00891481 -0.00411779 0.99995178 -0.2190501 ] [ 0. 0. 0. 1. ]] SLAMing on 3.8702816929999995 meters Centerline goodness : 0.084620 Centerline is valid? [False, False] Translation: X:0.75, Y:-0.04, Z:-0.22 [[ 0.99992627 0.00784926 -0.00926548 0.74845265] [-0.00781394 0.99996209 0.00384197 -0.04238203] [ 0.00929528 -0.00376929 0.99994969 -0.21937412] [ 0. 0. 0. 1. ]] SLAMing on 3.9002816929999997 meters Centerline goodness : 0.156192 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.22 [[ 0.99990133 0.00991304 -0.00995313 0.7554737 ] [-0.00986881 0.99994125 0.00448302 -0.0389402 ] [ 0.00999699 -0.00438436 0.99994042 -0.2227474 ] [ 0. 0. 0. 1. ]] SLAMing on 3.9302816929999995 meters Centerline goodness : 0.081992 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.22 [[ 0.99989744 0.01000627 -0.01024615 0.75712488] [-0.00996324 0.99994137 0.00424175 -0.03699588] [ 0.01028799 -0.00413923 0.99993851 -0.22291681] [ 0. 0. 0. 1. ]] SLAMing on 3.9602816929999998 meters Centerline goodness : 0.085968 Centerline is valid? [False, False] Translation: X:0.76, Y:-0.04, Z:-0.23 [[ 0.99993579 0.01082248 0.00336028 0.76246415] [-0.01083356 0.99993588 0.00329683 -0.03590768] [-0.00332438 -0.00333302 0.99998892 -0.23174631] [ 0. 0. 0. 1. ]] SLAMing on 3.9902816929999996 meters Centerline goodness : 0.082746 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.03, Z:-0.23 [[ 9.99967448e-01 7.61311415e-03 2.67272266e-03 7.66887853e-01] [-7.61097367e-03 9.99970708e-01 -8.10118600e-04 -3.34647620e-02] [-2.67881190e-03 7.89750207e-04 9.99996100e-01 -2.33035106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.020281692999999 meters Centerline goodness : 0.099294 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.03, Z:-0.23 [[ 9.99994389e-01 3.20917308e-03 -9.60665470e-04 7.86328346e-01] [-3.20865960e-03 9.99994709e-01 5.35561498e-04 -3.33142270e-02] [ 9.62379096e-04 -5.32476045e-04 9.99999395e-01 -2.28983093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.050281693 meters Centerline goodness : 0.084331 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 9.99996577e-01 2.25718731e-03 -1.32364405e-03 7.88706715e-01] [-2.25611001e-03 9.99997123e-01 8.14822766e-04 -3.77266366e-02] [ 1.32547945e-03 -8.11833690e-04 9.99998792e-01 -2.29225329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.080281693 meters Centerline goodness : 0.083379 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 9.99996212e-01 2.20102274e-03 -1.65302237e-03 7.90576307e-01] [-2.19942170e-03 9.99997111e-01 9.69747117e-04 -3.87214557e-02] [ 1.65515203e-03 -9.66107750e-04 9.99998164e-01 -2.29588046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.110281692999999 meters Centerline goodness : 0.083865 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 0.99999572 0.00222786 -0.00189589 0.79198186] [-0.00222585 0.99999696 0.00105965 -0.03927754] [ 0.00189825 -0.00105542 0.99999764 -0.22991183] [ 0. 0. 0. 1. ]] SLAMing on 4.1402816929999995 meters Centerline goodness : 0.085085 Centerline is valid? [False, False] Translation: X:0.79, Y:-0.04, Z:-0.23 [[ 0.99999398 0.00258012 -0.00232009 0.79478111] [-0.00257671 0.9999956 0.00147225 -0.04160251] [ 0.00232388 -0.00146627 0.99999622 -0.23066874] [ 0. 0. 0. 1. ]] SLAMing on 4.170281693 meters Centerline goodness : 0.085128 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.99999287 0.00275586 -0.00258227 0.7959762 ] [-0.00275178 0.99999496 0.00158191 -0.04207481] [ 0.00258661 -0.00157479 0.99999541 -0.23047805] [ 0. 0. 0. 1. ]] SLAMing on 4.200281693 meters Centerline goodness : 0.086036 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.9999919 0.00288275 -0.00280747 0.79702285] [-0.00287808 0.99999447 0.00166592 -0.04233347] [ 0.00281226 -0.00165782 0.99999467 -0.23028562] [ 0. 0. 0. 1. ]] SLAMing on 4.230281692999999 meters Centerline goodness : 0.085754 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.04, Z:-0.23 [[ 0.9999899 0.00313944 -0.00321721 0.79914917] [-0.00313315 0.99999317 0.00195966 -0.04389985] [ 0.00322334 -0.00194956 0.9999929 -0.22986118] [ 0. 0. 0. 1. ]] SLAMing on 4.260281693 meters Centerline goodness : 0.128804 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998874 0.00330054 -0.00341088 0.80029182] [-0.00329261 0.99999187 0.00232653 -0.04613078] [ 0.00341853 -0.00231527 0.99999148 -0.23014889] [ 0. 0. 0. 1. ]] SLAMing on 4.290281693 meters Centerline goodness : 0.157623 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998754 0.00342659 -0.00363015 0.80164728] [-0.00341703 0.99999069 0.00263621 -0.04799914] [ 0.00363915 -0.00262378 0.99998994 -0.2305678 ] [ 0. 0. 0. 1. ]] SLAMing on 4.320281693 meters Centerline goodness : 0.089221 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998655 0.00352677 -0.00380312 0.80254555] [-0.00351635 0.99999006 0.00274272 -0.04845461] [ 0.00381275 -0.00272931 0.99998901 -0.23062184] [ 0. 0. 0. 1. ]] SLAMing on 4.3502816929999994 meters Centerline goodness : 0.092483 Centerline is valid? [False, False] Translation: X:0.80, Y:-0.05, Z:-0.23 [[ 0.99998278 0.00406274 -0.00423368 0.80493015] [-0.00405133 0.99998815 0.00269958 -0.04684195] [ 0.0042446 -0.00268239 0.99998739 -0.23050177] [ 0. 0. 0. 1. ]] SLAMing on 4.380281693 meters Centerline goodness : 0.093140 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.05, Z:-0.23 [[ 0.99998094 0.00423808 -0.00449048 0.80637881] [-0.00422657 0.99998776 0.00257056 -0.04561209] [ 0.00450132 -0.00255153 0.99998661 -0.23107661] [ 0. 0. 0. 1. ]] SLAMing on 4.410281693 meters Centerline goodness : 0.090865 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.9999786 0.0044014 -0.00484005 0.80843941] [-0.00438993 0.99998754 0.0023766 -0.04387556] [ 0.00485045 -0.0023553 0.99998546 -0.23197594] [ 0. 0. 0. 1. ]] SLAMing on 4.440281692999999 meters Centerline goodness : 0.094154 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997362 0.00508461 -0.00518729 0.81062304] [-0.00507393 0.99998499 0.00206904 -0.03986693] [ 0.00519774 -0.00204267 0.99998441 -0.23247511] [ 0. 0. 0. 1. ]] SLAMing on 4.470281693 meters Centerline goodness : 0.095360 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997188 0.00513435 -0.00546518 0.81176535] [-0.00512413 0.9999851 0.00188248 -0.03843398] [ 0.00547476 -0.00185442 0.99998329 -0.23225426] [ 0. 0. 0. 1. ]] SLAMing on 4.500281693 meters Centerline goodness : 0.095360 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.99997188 0.00513435 -0.00546518 0.81176535] [-0.00512413 0.9999851 0.00188248 -0.03843398] [ 0.00547476 -0.00185442 0.99998329 -0.23225426] [ 0. 0. 0. 1. ]] SLAMing on 4.530281693 meters Centerline goodness : 0.113470 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.04, Z:-0.23 [[ 0.9999704 0.00516279 -0.00570444 0.81296134] [-0.00515355 0.99998538 0.00163447 -0.03672777] [ 0.0057128 -0.00160503 0.99998239 -0.23173431] [ 0. 0. 0. 1. ]] SLAMing on 4.560281692999999 meters Centerline goodness : 0.112900 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.23 [[ 0.9999701 0.00503016 -0.00587346 0.81377888] [-0.00502292 0.99998661 0.00124762 -0.03434884] [ 0.00587966 -0.00121808 0.99998197 -0.23191388] [ 0. 0. 0. 1. ]] SLAMing on 4.590281693 meters Centerline goodness : 0.111496 Centerline is valid? [False, False] Translation: X:0.81, Y:-0.03, Z:-0.23 [[ 9.99969583e-01 4.83934924e-03 -6.11663885e-03 8.14991559e-01] [-4.83477374e-03 9.99988022e-01 7.62606493e-04 -3.14198711e-02] [ 6.12025610e-03 -7.33010732e-04 9.99981002e-01 -2.32195219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.620281693 meters Centerline goodness : 0.107933 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99969376e-01 4.56681231e-03 -6.35540490e-03 8.16212477e-01] [-4.56493646e-03 9.99989533e-01 3.09632481e-04 -2.88680593e-02] [ 6.35675241e-03 -2.80610980e-04 9.99979756e-01 -2.32482428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.650281692999999 meters Centerline goodness : 0.111765 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99970083e-01 3.71614955e-03 -6.78403806e-03 8.18271967e-01] [-3.71816938e-03 9.99993047e-01 -2.85145981e-04 -2.70115290e-02] [ 6.78293124e-03 3.10361653e-04 9.99976947e-01 -2.32787311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.6802816929999995 meters Centerline goodness : 0.110459 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.03, Z:-0.23 [[ 9.99969259e-01 3.35890326e-03 -7.08506558e-03 8.19357065e-01] [-3.36221831e-03 9.99994244e-01 -4.56033106e-04 -2.67854492e-02] [ 7.08349303e-03 4.79840624e-04 9.99974797e-01 -2.32656340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.710281693 meters Centerline goodness : 0.110200 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.02, Z:-0.23 [[ 9.99975596e-01 8.13953441e-04 -6.93867232e-03 8.16676943e-01] [-8.31079221e-04 9.99996615e-01 -2.46563794e-03 -2.31985717e-02] [ 6.93664192e-03 2.47134436e-03 9.99972887e-01 -2.29692270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.740281693 meters Centerline goodness : 0.108671 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99943476e-01 -4.65950769e-03 -9.55687018e-03 8.42057627e-01] [ 4.66697553e-03 9.99988821e-01 7.59257716e-04 -2.07701303e-02] [ 9.55322558e-03 -8.03816479e-04 9.99954044e-01 -2.28634543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.770281692999999 meters Centerline goodness : 0.109886 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99938677e-01 -5.03146525e-03 -9.86538745e-03 8.43492018e-01] [ 5.03955066e-03 9.99986985e-01 7.94885491e-04 -2.19571318e-02] [ 9.86125962e-03 -8.44553867e-04 9.99951020e-01 -2.29088707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.800281693 meters Centerline goodness : 0.109397 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99934477e-01 -5.34410062e-03 -1.01233521e-02 8.44771715e-01] [ 5.35299689e-03 9.99985310e-01 8.51894671e-04 -2.30918491e-02] [ 1.01186508e-02 -9.06029124e-04 9.99948395e-01 -2.29584609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.830281693 meters Centerline goodness : 0.108258 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.02, Z:-0.23 [[ 9.99930465e-01 -5.62052663e-03 -1.03670218e-02 8.45931799e-01] [ 5.62933765e-03 9.99983818e-01 8.20924502e-04 -2.35343962e-02] [ 1.03622400e-02 -8.79226885e-04 9.99945924e-01 -2.29893319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.860281692999999 meters Centerline goodness : 0.095439 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.03, Z:-0.24 [[ 0.99994798 -0.00948746 -0.00374443 0.86478112] [ 0.00951368 0.99992992 0.00704623 -0.02514745] [ 0.00367732 -0.00708149 0.99996816 -0.23507421] [ 0. 0. 0. 1. ]] SLAMing on 4.8902816929999995 meters Centerline goodness : 0.094071 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 0.99994514 -0.00961194 -0.00416162 0.86623956] [ 0.00964096 0.99992896 0.0070094 -0.02475178] [ 0.00409395 -0.00704914 0.99996677 -0.23474276] [ 0. 0. 0. 1. ]] SLAMing on 4.920281693 meters Centerline goodness : 0.103339 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99951191e-01 -7.29522794e-03 -6.66296346e-03 8.86569098e-01] [ 7.30004662e-03 9.99973110e-01 6.99169224e-04 -2.32251257e-02] [ 6.65768369e-03 -7.47775042e-04 9.99977558e-01 -2.29386195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.950281693 meters Centerline goodness : 0.089401 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99949937e-01 -7.24118060e-03 -6.90573206e-03 8.87727934e-01] [ 7.24548077e-03 9.99973572e-01 5.97882095e-04 -2.23933044e-02] [ 6.90122019e-03 -6.47887512e-04 9.99975976e-01 -2.29288249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.980281692999999 meters Centerline goodness : 0.090323 Centerline is valid? [False, False] Translation: X:0.89, Y:-0.02, Z:-0.23 [[ 9.99948400e-01 -7.21381723e-03 -7.15252117e-03 8.88913970e-01] [ 7.21771471e-03 9.99973817e-01 5.19247057e-04 -2.16699168e-02] [ 7.14858814e-03 -5.70845121e-04 9.99974286e-01 -2.29710847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.010281693 meters Centerline goodness : 0.094323 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.02, Z:-0.23 [[ 9.99974763e-01 -6.63590773e-03 -2.53725219e-03 8.40651716e-01] [ 6.63687457e-03 9.99977906e-01 3.72827101e-04 -2.07071859e-02] [ 2.53472208e-03 -3.89657117e-04 9.99996712e-01 -2.32132956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.040281693 meters Centerline goodness : 0.092965 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 0.99999231 -0.00211623 -0.00330121 0.86675731] [ 0.00210156 0.99998793 -0.00444077 -0.01888495] [ 0.00331057 0.00443379 0.99998469 -0.23263368] [ 0. 0. 0. 1. ]] SLAMing on 5.070281692999999 meters Centerline goodness : 0.092835 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 9.99992944e-01 1.36498087e-03 -3.49979079e-03 8.67503036e-01] [-1.36549935e-03 9.99999057e-01 -1.45762124e-04 -2.13636605e-02] [ 3.49958853e-03 1.50540058e-04 9.99993865e-01 -2.32725213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1002816929999994 meters Centerline goodness : 0.092582 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.02, Z:-0.23 [[ 9.99992312e-01 1.27675424e-03 -3.70749499e-03 8.68367202e-01] [-1.27891717e-03 9.99999013e-01 -5.81080548e-04 -1.87923848e-02] [ 3.70674943e-03 5.85817659e-04 9.99992958e-01 -2.32908970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.130281693 meters Centerline goodness : 0.093349 Centerline is valid? [False, False] Translation: X:0.82, Y:-0.01, Z:-0.23 [[ 9.99992371e-01 3.87854115e-03 4.64083046e-04 8.19565416e-01] [-3.87876035e-03 9.99992366e-01 4.72363496e-04 -1.42732545e-02] [-4.62247422e-04 -4.74159960e-04 9.99999781e-01 -2.34153827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.160281693 meters Centerline goodness : 0.091978 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987052e-01 4.31244837e-03 -2.70145295e-03 8.66524935e-01] [-4.31012084e-03 9.99990336e-01 8.66812325e-04 -1.12697090e-02] [ 2.70516493e-03 -8.55157513e-04 9.99995975e-01 -2.33162463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.190281692999999 meters Centerline goodness : 0.091817 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987043e-01 4.17841009e-03 -2.90766852e-03 8.67016698e-01] [-4.17739932e-03 9.99991212e-01 3.53609758e-04 -8.35626740e-03] [ 2.90912050e-03 -3.41458684e-04 9.99995710e-01 -2.32816573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.220281693 meters Centerline goodness : 0.091106 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987818e-01 3.85278405e-03 -3.08544620e-03 8.67753497e-01] [-3.85301073e-03 9.99992575e-01 -6.75244585e-05 -6.53631877e-03] [ 3.08516314e-03 7.94118932e-05 9.99995238e-01 -2.32592835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.250281693 meters Centerline goodness : 0.091420 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987747e-01 3.64950183e-03 -3.34466981e-03 8.68575774e-01] [-3.64995211e-03 9.99993331e-01 -1.28532612e-04 -6.69385370e-03] [ 3.34417843e-03 1.40738922e-04 9.99994398e-01 -2.32533274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.280281692999999 meters Centerline goodness : 0.091076 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.23 [[ 9.99987439e-01 3.46198221e-03 -3.62437279e-03 8.69594946e-01] [-3.46242983e-03 9.99993999e-01 -1.17236683e-04 -7.29710229e-03] [ 3.62394517e-03 1.29784347e-04 9.99993425e-01 -2.32735982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.310281692999999 meters Centerline goodness : 0.073313 Centerline is valid? [False, False] Translation: X:0.85, Y:-0.01, Z:-0.24 [[ 9.99986797e-01 -4.34264968e-04 -5.12026969e-03 8.53419932e-01] [ 4.67985736e-04 9.99978200e-01 6.58638283e-03 -8.27224876e-03] [ 5.11729783e-03 -6.58869208e-03 9.99965201e-01 -2.36593934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.340281693 meters Centerline goodness : 0.236366 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.00, Z:-0.24 [[ 9.99999678e-01 -6.13661059e-04 -5.17350542e-04 8.69343688e-01] [ 6.10343613e-04 9.99979408e-01 -6.38833006e-03 -2.27212580e-03] [ 5.21260159e-04 6.38801224e-03 9.99979461e-01 -2.39773769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.370281693 meters Centerline goodness : 0.219388 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998307 -0.00374791 -0.00445085 0.85503605] [ 0.00375977 0.99998939 0.00265989 -0.00545293] [ 0.00444083 -0.00267658 0.99998656 -0.23934105] [ 0. 0. 0. 1. ]] SLAMing on 5.400281692999999 meters Centerline goodness : 0.597316 Centerline is valid? [False, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998257 -0.00371291 -0.00458975 0.85560922] [ 0.00372613 0.99998892 0.00287558 -0.0066601 ] [ 0.00457903 -0.00289263 0.99998533 -0.23959631] [ 0. 0. 0. 1. ]] SLAMing on 5.4302816929999995 meters Centerline goodness : 0.973807 Centerline is valid? [False, True] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998175 -0.00362135 -0.00483489 0.85656245] [ 0.00363655 0.99998846 0.00313972 -0.00778214] [ 0.00482346 -0.00315724 0.99998338 -0.23998451] [ 0. 0. 0. 1. ]] SLAMing on 5.460281693 meters Centerline goodness : 0.086394 Centerline is valid? [True, False] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998114 -0.00360058 -0.004976 0.8570106 ] [ 0.00361605 0.99998865 0.00310374 -0.00756915] [ 0.00496476 -0.00312167 0.9999828 -0.24011388] [ 0. 0. 0. 1. ]] SLAMing on 5.490281693 meters Centerline goodness : 0.976069 Centerline is valid? [False, True] Translation: X:0.86, Y:-0.01, Z:-0.24 [[ 0.99998207 -0.00345354 -0.00489176 0.85664401] [ 0.00346868 0.99998921 0.00309047 -0.00716315] [ 0.00488104 -0.00310738 0.99998326 -0.24007336] [ 0. 0. 0. 1. ]] SLAMing on 5.520281692999999 meters Centerline goodness : 0.977615 Centerline is valid? [True, True] Translation: X:0.89, Y:-0.01, Z:-0.24 [[ 9.99998264e-01 -4.92620031e-04 -1.79686931e-03 8.85293185e-01] [ 4.92653784e-04 9.99999878e-01 1.83421300e-05 -6.60196578e-03] [ 1.79686006e-03 -1.92273326e-05 9.99998385e-01 -2.39668920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.550281693 meters Centerline goodness : 0.978610 Centerline is valid? [True, True] Translation: X:0.92, Y:-0.01, Z:-0.24 [[ 9.99999335e-01 7.23145187e-04 -8.98823069e-04 9.15159177e-01] [-7.23137187e-04 9.99999738e-01 9.22479170e-06 -6.84512889e-03] [ 8.98829505e-04 -8.57481317e-06 9.99999596e-01 -2.40124355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.580281693 meters Centerline goodness : 0.979080 Centerline is valid? [True, True] Translation: X:0.94, Y:-0.01, Z:-0.24 [[ 9.99997372e-01 2.20270543e-03 -6.36006341e-04 9.44379555e-01] [-2.20270174e-03 9.99997574e-01 6.50644549e-06 -6.79406002e-03] [ 6.36019129e-04 -5.10549611e-06 9.99999798e-01 -2.40678129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.610281692999999 meters Centerline goodness : 0.982669 Centerline is valid? [True, True] Translation: X:0.97, Y:-0.01, Z:-0.24 [[ 9.99990016e-01 4.46436217e-03 -1.93036416e-04 9.74171876e-01] [-4.46436187e-03 9.99990035e-01 1.95163046e-06 -5.98295319e-03] [ 1.93043205e-04 -1.08982656e-06 9.99999981e-01 -2.41522741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.6402816929999995 meters Centerline goodness : 0.981750 Centerline is valid? [True, True] Translation: X:1.00, Y:-0.01, Z:-0.24 [[ 9.99986980e-01 5.02097964e-03 -9.10938638e-04 1.00338165e+00] [-5.02097324e-03 9.99987395e-01 9.31622471e-06 -5.97623431e-03] [ 9.10973932e-04 -4.74230489e-06 9.99999585e-01 -2.41876963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.670281693 meters Centerline goodness : 0.984550 Centerline is valid? [True, True] Translation: X:1.03, Y:-0.01, Z:-0.24 [[ 9.99986994e-01 5.07400102e-03 5.16333943e-04 1.03271149e+00] [-5.07399896e-03 9.99987127e-01 -5.30500126e-06 -6.08955422e-03] [-5.16354214e-04 2.68505438e-06 9.99999867e-01 -2.42737180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.700281693 meters Centerline goodness : 0.983945 Centerline is valid? [True, True] Translation: X:1.06, Y:-0.01, Z:-0.24 [[ 9.99990794e-01 4.26301681e-03 4.89283510e-04 1.06349581e+00] [-4.26301487e-03 9.99990913e-01 -5.00125409e-06 -6.57191712e-03] [-4.89300385e-04 2.91538517e-06 9.99999880e-01 -2.42976243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.730281692999999 meters Centerline goodness : 0.984731 Centerline is valid? [True, True] Translation: X:1.09, Y:-0.01, Z:-0.24 [[ 9.99995572e-01 2.96986141e-03 -1.90501117e-04 1.09321144e+00] [-2.96986110e-03 9.99995590e-01 1.93134488e-06 -6.72192128e-03] [ 1.90506013e-04 -1.36557447e-06 9.99999982e-01 -2.42931761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.760281693 meters Centerline goodness : 0.986517 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.01, Z:-0.24 [[ 9.99999805e-01 -3.21207576e-04 -5.36244198e-04 1.12367596e+00] [ 3.21210558e-04 9.99999948e-01 5.47566638e-06 -5.75676868e-03] [ 5.36242411e-04 -5.64791261e-06 9.99999856e-01 -2.44240249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.790281693 meters Centerline goodness : 0.987977 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.01, Z:-0.24 [[ 9.99998052e-01 -1.86372562e-03 6.49557756e-04 1.15347492e+00] [ 1.86373032e-03 9.99998263e-01 -6.62477938e-06 -6.13446543e-03] [-6.49544281e-04 7.83536696e-06 9.99999789e-01 -2.44317428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.820281692999999 meters Centerline goodness : 0.988473 Centerline is valid? [True, True] Translation: X:1.18, Y:-0.01, Z:-0.24 [[ 9.99991039e-01 -3.89807872e-03 1.65109441e-03 1.18472646e+00] [ 3.89811191e-03 9.99992402e-01 -1.68855845e-05 -6.94159947e-03] [-1.65101605e-03 2.33215840e-05 9.99998637e-01 -2.43647366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8502816929999994 meters Centerline goodness : 0.992687 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.01, Z:-0.25 [[ 9.99963312e-01 -7.28191260e-03 4.51082321e-03 1.21558544e+00] [ 7.28219541e-03 9.99973483e-01 -4.62753091e-05 -8.70758155e-03] [-4.51036663e-03 7.91223075e-05 9.99989825e-01 -2.45134583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.880281693 meters Centerline goodness : 0.991637 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.01, Z:-0.24 [[ 9.99957332e-01 -8.36793009e-03 3.91311917e-03 1.24649062e+00] [ 8.36815165e-03 9.99964986e-01 -4.02495766e-05 -8.74978408e-03] [-3.91264535e-03 7.29934339e-05 9.99992343e-01 -2.44370648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.910281693 meters Centerline goodness : 0.993388 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.01, Z:-0.25 [[ 9.99956862e-01 -8.44833322e-03 3.86012919e-03 1.27907420e+00] [ 8.44854999e-03 9.99964310e-01 -3.98527571e-05 -8.84505255e-03] [-3.85965473e-03 7.24635324e-05 9.99992549e-01 -2.45408330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.940281692999999 meters Centerline goodness : 0.993845 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.01, Z:-0.24 [[ 9.99976224e-01 -6.32489495e-03 2.74737701e-03 1.31032831e+00] [ 6.32499697e-03 9.99979997e-01 -2.84492669e-05 -8.95373107e-03] [-2.74714211e-03 4.58257418e-05 9.99996226e-01 -2.44848883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.970281693 meters Centerline goodness : 0.994502 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.01, Z:-0.25 [[ 9.99983321e-01 -4.69445315e-03 3.36458064e-03 1.34193268e+00] [ 4.69459733e-03 9.99988980e-01 -3.49556799e-05 -9.09001072e-03] [-3.36437947e-03 5.07504482e-05 9.99994339e-01 -2.45508818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.000281693 meters Centerline goodness : 0.995533 Centerline is valid? [True, True] Translation: X:1.37, Y:-0.01, Z:-0.25 [[ 9.99987094e-01 -3.48570927e-03 3.69628772e-03 1.37367896e+00] [ 3.48587558e-03 9.99993924e-01 -3.85509727e-05 -8.57977854e-03] [-3.69613088e-03 5.14352743e-05 9.99993168e-01 -2.46462433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.030281692999999 meters Centerline goodness : 0.996557 Centerline is valid? [True, True] Translation: X:1.40, Y:-0.01, Z:-0.25 [[ 9.99984635e-01 -3.68390632e-03 4.14233567e-03 1.40475713e+00] [ 3.68411801e-03 9.99993213e-01 -4.34734723e-05 -8.45558866e-03] [-4.14214741e-03 5.87336577e-05 9.99991420e-01 -2.47584794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.060281692999999 meters Centerline goodness : 0.997011 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.01, Z:-0.25 [[ 9.99981871e-01 -4.34172605e-03 4.17222501e-03 1.43652593e+00] [ 4.34194745e-03 9.99990573e-01 -4.40094856e-05 -1.05907966e-02] [-4.17199460e-03 6.21242694e-05 9.99991295e-01 -2.48257660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.090281693 meters Centerline goodness : 0.996954 Centerline is valid? [True, True] Translation: X:1.47, Y:-0.01, Z:-0.25 [[ 9.99976613e-01 -5.51205119e-03 4.04860457e-03 1.46892230e+00] [ 5.51226997e-03 9.99984806e-01 -4.28814676e-05 -1.29492934e-02] [-4.04830670e-03 6.51974662e-05 9.99991803e-01 -2.48404814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.120281693 meters Centerline goodness : 0.997542 Centerline is valid? [True, True] Translation: X:1.50, Y:-0.02, Z:-0.25 [[ 9.99944952e-01 -9.33859945e-03 4.78366806e-03 1.50179054e+00] [ 9.33895193e-03 9.99956390e-01 -5.13510189e-05 -1.56683943e-02] [-4.78297990e-03 9.60226382e-05 9.99988557e-01 -2.48783999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.150281692999999 meters Centerline goodness : 0.999349 Centerline is valid? [True, True] Translation: X:1.53, Y:-0.02, Z:-0.25 [[ 9.99914855e-01 -1.14111783e-02 6.32994245e-03 1.53321404e+00] [ 1.14118413e-02 9.99934880e-01 -6.86404703e-05 -1.78980343e-02] [-6.32874698e-03 1.40870925e-04 9.99979963e-01 -2.52596216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.1802816929999995 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:1.56, Y:-0.02, Z:-0.25 [[ 9.99898195e-01 -1.30527911e-02 5.76409221e-03 1.56429290e+00] [ 1.30533696e-02 9.99914799e-01 -6.27414193e-05 -2.04903269e-02] [-5.76278216e-03 1.37975858e-04 9.99983386e-01 -2.49988038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.210281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.03, Z:-0.25 [[ 9.99885100e-01 -1.35631963e-02 6.76954815e-03 1.59562791e+00] [ 1.35640073e-02 9.99908002e-01 -7.39114746e-05 -2.70755179e-02] [-6.76792289e-03 1.65725183e-04 9.99977084e-01 -2.51795102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.240281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.03, Z:-0.25 [[ 9.99894331e-01 -1.28439646e-02 6.80871768e-03 1.62805354e+00] [ 1.28447704e-02 9.99917500e-01 -7.46237057e-05 -3.06647900e-02] [-6.80719749e-03 1.62072235e-04 9.99976818e-01 -2.53463278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.270281692999999 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.03, Z:-0.25 [[ 9.99913111e-01 -1.20078000e-02 5.43905088e-03 1.65910525e+00] [ 1.20083028e-02 9.99927896e-01 -5.97948386e-05 -3.37820783e-02] [-5.43794070e-03 1.25103413e-04 9.99985206e-01 -2.52589363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.300281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:1.69, Y:-0.04, Z:-0.25 [[ 9.99921954e-01 -1.18995089e-02 3.80613025e-03 1.69096464e+00] [ 1.18997548e-02 9.99929195e-01 -4.19822091e-05 -4.08052968e-02] [-3.80536119e-03 8.72709493e-05 9.99992756e-01 -2.53273997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.330281693 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:1.72, Y:-0.05, Z:-0.25 [[ 9.99921284e-01 -1.18909044e-02 4.00394252e-03 1.72189693e+00] [ 1.18911772e-02 9.99929296e-01 -4.43126055e-05 -4.52850235e-02] [-4.00313251e-03 9.19207072e-05 9.99991983e-01 -2.52750279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.360281692999999 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:1.75, Y:-0.05, Z:-0.25 [[ 9.99910670e-01 -1.23359675e-02 5.14550991e-03 1.75420023e+00] [ 1.23364250e-02 9.99923902e-01 -5.71787219e-05 -5.02447514e-02] [-5.14441299e-03 1.20650811e-04 9.99986760e-01 -2.53532646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.3902816929999995 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:1.79, Y:-0.05, Z:-0.25 [[ 9.99900375e-01 -1.26962391e-02 6.16813414e-03 1.78641824e+00] [ 1.26969051e-02 9.99919389e-01 -6.88387919e-05 -5.49606123e-02] [-6.16676292e-03 1.47148148e-04 9.99980975e-01 -2.53921849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.420281693 meters Centerline goodness : 0.999646 Centerline is valid? [True, True] Translation: X:1.82, Y:-0.06, Z:-0.25 [[ 9.99900961e-01 -1.26500028e-02 6.16813095e-03 1.81908921e+00] [ 1.26506697e-02 9.99919975e-01 -6.91237028e-05 -5.54120124e-02] [-6.16676293e-03 1.47147844e-04 9.99980975e-01 -2.53965301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.450281693 meters Centerline goodness : 0.999779 Centerline is valid? [True, True] Translation: X:1.85, Y:-0.06, Z:-0.25 [[ 9.99905304e-01 -1.25285272e-02 5.69377143e-03 1.85113670e+00] [ 1.25290950e-02 9.99921506e-01 -6.40656783e-05 -6.37273588e-02] [-5.69252185e-03 1.35397415e-04 9.99983788e-01 -2.54534309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.480281692999999 meters Centerline goodness : 0.999625 Centerline is valid? [True, True] Translation: X:1.88, Y:-0.07, Z:-0.25 [[ 9.99917261e-01 -1.18479102e-02 5.00989037e-03 1.88336140e+00] [ 1.18483424e-02 9.99929804e-01 -5.65934045e-05 -6.76677815e-02] [-5.00886818e-03 1.15947619e-04 9.99987449e-01 -2.54525534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.510281693 meters Centerline goodness : 0.999671 Centerline is valid? [True, True] Translation: X:1.91, Y:-0.07, Z:-0.25 [[ 9.99936841e-01 -1.04723035e-02 4.07974066e-03 1.91479100e+00] [ 1.04725797e-02 9.99945160e-01 -4.63459560e-05 -7.14562723e-02] [-4.07903158e-03 8.90684383e-05 9.99991677e-01 -2.54031497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.540281693 meters Centerline goodness : 0.999802 Centerline is valid? [True, True] Translation: X:1.95, Y:-0.07, Z:-0.25 [[ 9.99953061e-01 -8.85095670e-03 3.94152926e-03 1.94653428e+00] [ 8.85120279e-03 9.99960826e-01 -4.49941822e-05 -7.47648149e-02] [-3.94097662e-03 7.98793450e-05 9.99992231e-01 -2.53764302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.570281692999999 meters Centerline goodness : 0.999736 Centerline is valid? [True, True] Translation: X:1.98, Y:-0.08, Z:-0.25 [[ 9.99985353e-01 -3.27291533e-03 4.31066643e-03 1.97829356e+00] [ 3.27315874e-03 9.99994642e-01 -4.94138782e-05 -7.85176785e-02] [-4.31048161e-03 6.35226500e-05 9.99990708e-01 -2.53479312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6002816929999994 meters Centerline goodness : 0.999715 Centerline is valid? [True, True] Translation: X:2.01, Y:-0.08, Z:-0.25 [[ 9.99990465e-01 3.77920064e-04 4.35044238e-03 2.00937744e+00] [-3.77705444e-04 9.99999927e-01 -5.01543635e-05 -8.00380489e-02] [-4.35046102e-03 4.85106996e-05 9.99990536e-01 -2.53546193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.630281693 meters Centerline goodness : 0.999760 Centerline is valid? [True, True] Translation: X:2.04, Y:-0.08, Z:-0.25 [[ 9.99985828e-01 3.74441358e-03 3.78467665e-03 2.04032074e+00] [-3.74427451e-03 9.99992989e-01 -4.38302355e-05 -8.09176346e-02] [-3.78481423e-03 2.96587460e-05 9.99992837e-01 -2.53746894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.660281693 meters Centerline goodness : 0.999544 Centerline is valid? [True, True] Translation: X:2.07, Y:-0.08, Z:-0.25 [[ 9.99962288e-01 8.26137471e-03 2.67827772e-03 2.07147258e+00] [-8.26132087e-03 9.99965874e-01 -3.11654996e-05 -8.29675441e-02] [-2.67844379e-03 9.03821264e-06 9.99996413e-01 -2.54455239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.690281692999999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:2.10, Y:-0.08, Z:-0.25 [[ 9.99948115e-01 9.71743799e-03 3.05581257e-03 2.10253332e+00] [-9.71737421e-03 9.99952785e-01 -3.57163049e-05 -8.45296847e-02] [-3.05601535e-03 6.01997753e-06 9.99995330e-01 -2.54809871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.720281693 meters Centerline goodness : 0.999458 Centerline is valid? [True, True] Translation: X:2.13, Y:-0.09, Z:-0.25 [[ 9.99937167e-01 1.07364220e-02 3.22351821e-03 2.13341649e+00] [-1.07363553e-02 9.99942363e-01 -3.79896335e-05 -8.63617900e-02] [-3.22374029e-03 3.37840968e-06 9.99994804e-01 -2.54616663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.750281693 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.09, Z:-0.26 [[ 9.99943087e-01 1.02423249e-02 2.98622051e-03 2.16504018e+00] [-1.02422648e-02 9.99947546e-01 -3.54145801e-05 -8.84585952e-02] [-2.98642660e-03 4.82690337e-06 9.99995541e-01 -2.55017186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.780281692999999 meters Centerline goodness : 0.999653 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.09, Z:-0.26 [[ 9.99947198e-01 9.94378023e-03 2.59261381e-03 2.19618429e+00] [-9.94373337e-03 9.99950559e-01 -3.09630872e-05 -9.01242785e-02] [-2.59279352e-03 5.18119185e-06 9.99996639e-01 -2.55506204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.810281692999999 meters Centerline goodness : 0.999630 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.09, Z:-0.26 [[ 9.99949267e-01 9.82463126e-03 2.22280676e-03 2.22744583e+00] [-9.82459610e-03 9.99951737e-01 -2.67383405e-05 -9.19639907e-02] [-2.22296217e-03 4.89880533e-06 9.99997529e-01 -2.55159059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.840281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.09, Z:-0.26 [[ 9.99946998e-01 1.00673444e-02 2.15648047e-03 2.25798879e+00] [-1.00673118e-02 9.99949323e-01 -2.59800160e-05 -9.39184410e-02] [-2.15663274e-03 4.26867760e-06 9.99997674e-01 -2.55138629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.870281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.10, Z:-0.25 [[ 9.99914448e-01 1.26717792e-02 3.24379253e-03 2.28823980e+00] [-1.26717187e-02 9.99919710e-01 -3.92047500e-05 -9.63202638e-02] [-3.24402888e-03 -1.90303063e-06 9.99994738e-01 -2.54092917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.900281692999999 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.10, Z:-0.25 [[ 9.99890950e-01 1.43219749e-02 3.60129016e-03 2.31951628e+00] [-1.43219106e-02 9.99897435e-01 -4.36564901e-05 -9.72755923e-02] [-3.60154604e-03 -7.92562627e-06 9.99993514e-01 -2.53923035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.9302816929999995 meters Centerline goodness : 0.999738 Centerline is valid? [True, True] Translation: X:2.35, Y:-0.10, Z:-0.25 [[ 9.99872187e-01 1.55613809e-02 3.66793043e-03 2.35131643e+00] [-1.55613221e-02 9.99878914e-01 -4.45505707e-05 -9.90196465e-02] [-3.66817957e-03 -1.25329705e-05 9.99993272e-01 -2.53942873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.960281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:2.38, Y:-0.10, Z:-0.26 [[ 9.99867362e-01 1.60571078e-02 2.72528171e-03 2.38237695e+00] [-1.60570771e-02 9.99871076e-01 -3.31575074e-05 -1.01755484e-01] [-2.72546277e-03 -1.06069491e-05 9.99996286e-01 -2.55004924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.990281692999999 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:2.41, Y:-0.11, Z:-0.26 [[ 9.99869814e-01 1.59473840e-02 2.45667618e-03 2.41230509e+00] [-1.59473586e-02 9.99872832e-01 -2.99311313e-05 -1.06561627e-01] [-2.45684109e-03 -9.25026135e-06 9.99996982e-01 -2.55311368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.020281692999999 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:2.44, Y:-0.11, Z:-0.26 [[ 9.99873637e-01 1.55563155e-02 3.27276387e-03 2.44405117e+00] [-1.55562681e-02 9.99878993e-01 -3.99402072e-05 -1.08038665e-01] [-3.27298916e-03 -1.09768320e-05 9.99994644e-01 -2.55324193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.050281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:2.48, Y:-0.11, Z:-0.26 [[ 9.99888574e-01 1.41666470e-02 4.70587663e-03 2.47564586e+00] [-1.41665310e-02 9.99899648e-01 -5.79816119e-05 -1.12205131e-01] [-4.70622579e-03 -8.69079569e-06 9.99988926e-01 -2.55000575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.080281693 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.12, Z:-0.26 [[ 9.99899327e-01 1.34874564e-02 4.40725932e-03 2.50794043e+00] [-1.34873450e-02 9.99909040e-01 -5.49907891e-05 -1.15549432e-01] [-4.40760012e-03 -4.45697413e-06 9.99990286e-01 -2.55041116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.110281692999999 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.12, Z:-0.25 [[ 9.99907888e-01 1.30861565e-02 3.60120398e-03 2.53952202e+00] [-1.30860775e-02 9.99914373e-01 -4.55047515e-05 -1.18107899e-01] [-3.60149110e-03 -1.62507443e-06 9.99993515e-01 -2.54939734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.1402816929999995 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.12, Z:-0.25 [[ 9.99911712e-01 1.29790974e-02 2.84798866e-03 2.57158203e+00] [-1.29790463e-02 9.99915768e-01 -3.64194811e-05 -1.20199537e-01] [-2.84822146e-03 -5.47911071e-07 9.99995944e-01 -2.54771722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.170281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.12, Z:-0.25 [[ 9.99901444e-01 1.36950703e-02 3.08979497e-03 2.60254223e+00] [-1.36950121e-02 9.99906218e-01 -4.00158856e-05 -1.23502289e-01] [-3.09005322e-03 -2.30283754e-06 9.99995226e-01 -2.54481776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.200281692999999 meters Centerline goodness : 0.999460 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.13, Z:-0.25 [[ 9.99893248e-01 1.40862742e-02 3.88185271e-03 2.63410865e+00] [-1.40861839e-02 9.99900784e-01 -5.05869824e-05 -1.25861791e-01] [-3.88218015e-03 -4.09890927e-06 9.99992464e-01 -2.54030818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.230281692999999 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:2.67, Y:-0.13, Z:-0.25 [[ 9.99881103e-01 1.49993269e-02 3.57775034e-03 2.66518206e+00] [-1.49992552e-02 9.99887504e-01 -4.68581920e-05 -1.30098973e-01] [-3.57805070e-03 -6.81096970e-06 9.99993599e-01 -2.54474189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.260281693 meters Centerline goodness : 0.999498 Centerline is valid? [True, True] Translation: X:2.70, Y:-0.13, Z:-0.25 [[ 9.99878290e-01 1.53763938e-02 2.64023448e-03 2.69729524e+00] [-1.53763553e-02 9.99881776e-01 -3.48860008e-05 -1.32495743e-01] [-2.64045876e-03 -5.71542858e-06 9.99996514e-01 -2.54514678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.290281693 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:2.73, Y:-0.13, Z:-0.25 [[ 9.99869841e-01 1.60568607e-02 1.57420138e-03 2.72884243e+00] [-1.60568476e-02 9.99871080e-01 -2.09689112e-05 -1.34416272e-01] [-1.57433513e-03 -4.31052971e-06 9.99998761e-01 -2.54440441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.320281692999999 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:2.76, Y:-0.14, Z:-0.25 [[ 9.99849101e-01 1.72982129e-02 1.59624968e-03 2.75974835e+00] [-1.72982006e-02 9.99850375e-01 -2.14752115e-05 -1.35671386e-01] [-1.59638233e-03 -6.14027640e-06 9.99998726e-01 -2.54801902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3502816929999994 meters Centerline goodness : 0.999436 Centerline is valid? [True, True] Translation: X:2.79, Y:-0.13, Z:-0.25 [[ 9.99812140e-01 1.92612055e-02 2.16562152e-03 2.78972269e+00] [-1.92611875e-02 9.99814486e-01 -2.91862724e-05 -1.34845495e-01] [-2.16578193e-03 -1.25316527e-05 9.99997655e-01 -2.53597674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.380281693 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.13, Z:-0.25 [[ 9.99791088e-01 2.02937068e-02 2.43828709e-03 2.82117476e+00] [-2.02936869e-02 9.99794061e-01 -3.29033851e-05 -1.34442050e-01] [-2.43845269e-03 -1.65853235e-05 9.99997027e-01 -2.53768696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.410281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.13, Z:-0.25 [[ 9.99776341e-01 2.10278697e-02 2.25761378e-03 2.85124086e+00] [-2.10278544e-02 9.99778890e-01 -3.05038498e-05 -1.34287560e-01] [-2.25775603e-03 -1.69757465e-05 9.99997451e-01 -2.53921066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.440281692999999 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.13, Z:-0.25 [[ 9.99737412e-01 2.28790135e-02 1.28724255e-03 2.88183355e+00] [-2.28790100e-02 9.99738241e-01 -1.74007613e-05 -1.32775885e-01] [-1.28730372e-03 -1.20546431e-05 9.99999171e-01 -2.54271422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.470281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.13, Z:-0.25 [[ 9.99716550e-01 2.37399419e-02 1.79869916e-03 2.91205583e+00] [-2.37399365e-02 9.99718168e-01 -2.43407266e-05 -1.31814426e-01] [-1.79877007e-03 -1.83671766e-05 9.99998382e-01 -2.54189459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.500281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.13, Z:-0.25 [[ 9.99699335e-01 2.43701941e-02 2.70794964e-03 2.94265215e+00] [-2.43701842e-02 9.99703002e-01 -3.66675104e-05 -1.30751090e-01] [-2.70803898e-03 -2.93367459e-05 9.99996333e-01 -2.53790502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.530281692999999 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:2.97, Y:-0.13, Z:-0.25 [[ 9.99681039e-01 2.49660948e-02 3.80988389e-03 2.97400087e+00] [-2.49660792e-02 9.99688298e-01 -5.16434429e-05 -1.28350045e-01] [-3.80998568e-03 -4.34908926e-05 9.99992741e-01 -2.54083197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.560281692999999 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:3.01, Y:-0.13, Z:-0.25 [[ 9.99678887e-01 2.51032290e-02 3.45688666e-03 3.00539731e+00] [-2.51032168e-02 9.99684863e-01 -4.69322166e-05 -1.27274751e-01] [-3.45697542e-03 -3.98618292e-05 9.99994024e-01 -2.53692587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.590281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:3.04, Y:-0.12, Z:-0.25 [[ 9.99650969e-01 2.62454685e-02 3.01923248e-03 3.03679366e+00] [-2.62454642e-02 9.99655528e-01 -4.10531933e-05 -1.24780721e-01] [-3.01926990e-03 -3.82022937e-05 9.99995441e-01 -2.53542684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.620281693 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:3.07, Y:-0.12, Z:-0.25 [[ 9.99625913e-01 2.71381652e-02 3.39907714e-03 3.06763931e+00] [-2.71381647e-02 9.99631691e-01 -4.62736152e-05 -1.24012716e-01] [-3.39908102e-03 -4.59884105e-05 9.99994222e-01 -2.54224162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.650281692999999 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.12, Z:-0.25 [[ 9.99599441e-01 2.80764370e-02 3.55975008e-03 3.09937307e+00] [-2.80764422e-02 9.99605778e-01 -4.85249384e-05 -1.23596530e-01] [-3.55970916e-03 -5.14396162e-05 9.99993663e-01 -2.54183518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.6802816929999995 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.12, Z:-0.25 [[ 9.99575034e-01 2.89176586e-02 3.67704942e-03 3.13005026e+00] [-2.89176696e-02 9.99581795e-01 -5.01794416e-05 -1.23178161e-01] [-3.67696273e-03 -5.61735832e-05 9.99993238e-01 -2.53752563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.710281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.12, Z:-0.25 [[ 9.99485320e-01 3.18846949e-02 3.52996476e-03 3.16072685e+00] [-3.18847231e-02 9.99491552e-01 -4.82960666e-05 -1.19699947e-01] [-3.52970986e-03 -6.42807392e-05 9.99993768e-01 -2.53616893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.740281692999999 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.12, Z:-0.25 [[ 9.99426721e-01 3.37662408e-02 2.46379950e-03 3.19144101e+00] [-3.37662602e-02 9.99429757e-01 -3.37554589e-05 -1.16907704e-01] [-2.46353432e-03 -4.94571871e-05 9.99996964e-01 -2.54022624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.770281692999999 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.11, Z:-0.25 [[ 9.99359900e-01 3.57478187e-02 1.37282436e-03 3.22218666e+00] [-3.57478266e-02 9.99360842e-01 -1.88084770e-05 -1.14102147e-01] [-1.37261927e-03 -3.02790494e-05 9.99999057e-01 -2.54395227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.800281693 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.11, Z:-0.25 [[ 9.99293313e-01 3.75702968e-02 1.16074708e-03 3.25150061e+00] [-3.75703037e-02 9.99293987e-01 -1.59006928e-05 -1.11742829e-01] [-1.16052497e-03 -2.77201644e-05 9.99999326e-01 -2.54719979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.830281693 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.11, Z:-0.25 [[ 9.99225407e-01 3.93299568e-02 1.31918258e-03 3.28119853e+00] [-3.93299672e-02 9.99226277e-01 -1.80910037e-05 -1.08286198e-01] [-1.31887342e-03 -3.38064172e-05 9.99999130e-01 -2.53833731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.860281692999999 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:3.31, Y:-0.11, Z:-0.25 [[ 9.99239086e-01 3.89738193e-02 1.51316674e-03 3.31128359e+00] [-3.89738325e-02 9.99240231e-01 -2.07109396e-05 -1.06759870e-01] [-1.51282427e-03 -3.82787268e-05 9.99998855e-01 -2.54018286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.8902816929999995 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:3.34, Y:-0.10, Z:-0.25 [[ 9.99334326e-01 3.64813323e-02 1.32297366e-04 3.34124396e+00] [-3.64813323e-02 9.99334335e-01 -1.79226981e-06 -1.04051194e-01] [-1.32274684e-04 -3.03530741e-06 9.99999991e-01 -2.54828297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.920281693 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:3.37, Y:-0.10, Z:-0.26 [[ 9.99384725e-01 3.50696059e-02 -5.42395639e-04 3.37069796e+00] [-3.50696070e-02 9.99384872e-01 7.37601850e-06 -1.03019637e-01] [ 5.42320670e-04 1.16501217e-05 9.99999853e-01 -2.55138839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.950281692999999 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:3.40, Y:-0.10, Z:-0.25 [[ 9.99419105e-01 3.40743850e-02 -6.23319012e-04 3.40025836e+00] [-3.40743863e-02 9.99419299e-01 8.46595921e-06 -1.01611677e-01] [ 6.23245522e-04 1.27781714e-05 9.99999806e-01 -2.54719005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.980281692999999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:3.43, Y:-0.10, Z:-0.25 [[ 9.99421886e-01 3.39918398e-02 6.69355117e-04 3.42881369e+00] [-3.39918413e-02 9.99422110e-01 -9.14840644e-06 -9.95237028e-02] [-6.69279275e-04 -1.36094953e-05 9.99999776e-01 -2.54499621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.010281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:3.46, Y:-0.10, Z:-0.25 [[ 9.99386439e-01 3.49545850e-02 2.21881615e-03 3.45725522e+00] [-3.49546042e-02 9.99388901e-01 -3.01384569e-05 -9.59172826e-02] [-2.21851371e-03 -4.74378750e-05 9.99997538e-01 -2.53645100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.040281692999999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:3.49, Y:-0.09, Z:-0.25 [[ 9.99373743e-01 3.53441181e-02 1.70727790e-03 3.48738243e+00] [-3.53441301e-02 9.99375201e-01 -2.31455205e-05 -9.46229011e-02] [-1.70702925e-03 -3.72112268e-05 9.99998542e-01 -2.53974308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.070281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:3.52, Y:-0.09, Z:-0.25 [[ 9.99374488e-01 3.53493378e-02 1.02797977e-03 3.51684130e+00] [-3.53493422e-02 9.99375017e-01 -1.39248060e-05 -9.34026164e-02] [-1.02782953e-03 -2.24223126e-05 9.99999472e-01 -2.54223966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.100281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:3.55, Y:-0.09, Z:-0.25 [[ 9.99362047e-01 3.57028212e-02 8.98692923e-04 3.54664048e+00] [-3.57028247e-02 9.99362451e-01 -1.21569767e-05 -9.17168988e-02] [-8.98554000e-04 -1.99366547e-05 9.99999596e-01 -2.54484636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.130281692999999 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:3.58, Y:-0.09, Z:-0.25 [[ 9.99360524e-01 3.57298190e-02 1.38706590e-03 3.57523372e+00] [-3.57298274e-02 9.99361486e-01 -1.87125734e-05 -8.69872316e-02] [-1.38684884e-03 -3.08590180e-05 9.99999038e-01 -2.54125904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.160281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:3.60, Y:-0.08, Z:-0.25 [[ 9.99373449e-01 3.53533941e-02 1.68717361e-03 3.60382832e+00] [-3.53534062e-02 9.99374873e-01 -2.26916583e-05 -8.48281138e-02] [-1.68692114e-03 -3.69698931e-05 9.99998576e-01 -2.54205875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.190281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:3.63, Y:-0.08, Z:-0.25 [[ 9.99403167e-01 3.44941487e-02 1.86085851e-03 3.63306639e+00] [-3.44941620e-02 9.99404899e-01 -2.49653298e-05 -8.26539084e-02] [-1.86061227e-03 -3.92383253e-05 9.99998268e-01 -2.54268926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.220281692999999 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:3.66, Y:-0.08, Z:-0.25 [[ 9.99481048e-01 3.21321896e-02 2.27095264e-03 3.66303376e+00] [-3.21322034e-02 9.99483627e-01 -3.04068105e-05 -7.96992627e-02] [-2.27075702e-03 -4.25796813e-05 9.99997421e-01 -2.53936995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.250281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:3.69, Y:-0.08, Z:-0.25 [[ 9.99525853e-01 3.06515276e-02 2.92452079e-03 3.69289456e+00] [-3.06515444e-02 9.99530130e-01 -3.90950250e-05 -7.96110694e-02] [-2.92434497e-03 -5.05645906e-05 9.99995723e-01 -2.53651816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.280281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:3.72, Y:-0.08, Z:-0.25 [[ 9.99569934e-01 2.91131634e-02 3.51720625e-03 3.72262660e+00] [-2.91131783e-02 9.99576120e-01 -4.69736200e-05 -7.99321607e-02] [-3.51708292e-03 -5.54436342e-05 9.99993814e-01 -2.53580242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.310281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:3.75, Y:-0.08, Z:-0.25 [[ 9.99569610e-01 2.91242812e-02 3.51720612e-03 3.75362543e+00] [-2.91242961e-02 9.99575797e-01 -4.69830465e-05 -8.03527886e-02] [-3.51708246e-03 -5.54733271e-05 9.99993814e-01 -2.53621474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.340281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:3.78, Y:-0.08, Z:-0.25 [[ 9.99653400e-01 2.60072840e-02 4.08676328e-03 3.78409191e+00] [-2.60072780e-02 9.99661752e-01 -5.46084144e-05 -8.05366474e-02] [-4.08680116e-03 -5.16961019e-05 9.99991648e-01 -2.53661219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.370281692999999 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:3.81, Y:-0.08, Z:-0.25 [[ 9.99683073e-01 2.47909196e-02 4.37755857e-03 3.81422175e+00] [-2.47909011e-02 9.99692657e-01 -5.84940981e-05 -8.16105955e-02] [-4.37766328e-03 -5.00480616e-05 9.99990417e-01 -2.54251223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.400281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.08, Z:-0.25 [[ 9.99712134e-01 2.36224808e-02 4.19854394e-03 3.84513944e+00] [-2.36224535e-02 9.99720949e-01 -5.61020571e-05 -8.29325345e-02] [-4.19869760e-03 -4.30940018e-05 9.99991185e-01 -2.54634675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.430281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.09, Z:-0.25 [[ 9.99748314e-01 2.22551997e-02 2.83114699e-03 3.87568502e+00] [-2.22551817e-02 9.99752322e-01 -3.78484278e-05 -8.55088397e-02] [-2.83128811e-03 -2.51687890e-05 9.99995992e-01 -2.54864312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.460281692999999 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:3.91, Y:-0.09, Z:-0.25 [[ 9.99764931e-01 2.16279813e-02 1.52116701e-03 3.90653306e+00] [-2.16279753e-02 9.99766088e-01 -2.03443648e-05 -8.75950528e-02] [-1.52125120e-03 -1.25601801e-05 9.99998843e-01 -2.54850350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.490281693 meters Centerline goodness : 0.999096 Centerline is valid? [True, True] Translation: X:3.94, Y:-0.09, Z:-0.26 [[ 9.99783953e-01 2.07855353e-02 9.47618529e-05 3.93647422e+00] [-2.07855352e-02 9.99783957e-01 -1.26736229e-06 -9.28026974e-02] [-9.47677231e-05 -7.02587352e-07 9.99999996e-01 -2.55491840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.520281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:3.97, Y:-0.09, Z:-0.25 [[ 9.99793752e-01 2.03024196e-02 5.14736469e-04 3.96643738e+00] [-2.03024187e-02 9.99793885e-01 -6.89368399e-06 -9.49174849e-02] [-5.14770332e-04 -3.55813312e-06 9.99999867e-01 -2.54943905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.550281692999999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.10, Z:-0.26 [[ 9.99799712e-01 1.99332617e-02 1.78916531e-03 3.99623290e+00] [-1.99332508e-02 9.99801313e-01 -2.38968322e-05 -9.63562618e-02] [-1.78928617e-03 -1.17718349e-05 9.99998399e-01 -2.55287281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.580281693 meters Centerline goodness : 0.999398 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.10, Z:-0.25 [[ 9.99808269e-01 1.93910266e-02 2.72287942e-03 4.02588260e+00] [-1.93909996e-02 9.99811976e-01 -3.63032792e-05 -9.79404902e-02] [-2.72307142e-03 -1.65030352e-05 9.99996292e-01 -2.54826785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.610281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.10, Z:-0.26 [[ 9.99843412e-01 1.75709351e-02 2.10077344e-03 4.05636020e+00] [-1.75709151e-02 9.99845619e-01 -2.79968068e-05 -1.02394419e-01] [-2.10094105e-03 -8.92008888e-06 9.99997793e-01 -2.55713096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.640281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.10, Z:-0.26 [[ 9.99864878e-01 1.64258405e-02 6.46598722e-04 4.08643073e+00] [-1.64258383e-02 9.99865087e-01 -8.61715935e-06 -1.04806097e-01] [-6.46653031e-04 -2.00493109e-06 9.99999791e-01 -2.56413421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.670281693 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:4.12, Y:-0.11, Z:-0.26 [[ 9.99881458e-01 1.53909809e-02 -4.32075222e-04 4.11577431e+00] [-1.53909799e-02 9.99881552e-01 5.73778729e-06 -1.06950859e-01] [ 4.32112353e-04 9.12953916e-07 9.99999907e-01 -2.56215906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.700281692999999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.11, Z:-0.26 [[ 9.99881281e-01 1.53950224e-02 -6.46102341e-04 4.14445861e+00] [-1.53950201e-02 9.99881490e-01 8.53425329e-06 -1.08962365e-01] [ 6.46157156e-04 1.41351844e-06 9.99999791e-01 -2.55883265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.730281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.11, Z:-0.25 [[ 9.99861082e-01 1.66567276e-02 6.08575130e-04 4.17403521e+00] [-1.66567258e-02 9.99861267e-01 -8.09881219e-06 -1.11819261e-01] [-6.08625600e-04 -2.03918193e-06 9.99999815e-01 -2.54982575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.760281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.11, Z:-0.25 [[ 9.99854932e-01 1.69923488e-02 1.17296999e-03 4.20316869e+00] [-1.69923422e-02 9.99855620e-01 -1.55523571e-05 -1.12727363e-01] [-1.17306490e-03 -4.38140648e-06 9.99999312e-01 -2.54774844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.790281692999999 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.11, Z:-0.26 [[ 9.99864693e-01 1.61342785e-02 3.20633786e-03 4.23316522e+00] [-1.61342253e-02 9.99869834e-01 -4.24709866e-05 -1.13795813e-01] [-3.20660575e-03 -9.26653747e-06 9.99994859e-01 -2.55278670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.820281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.11, Z:-0.25 [[ 9.99863604e-01 1.60368673e-02 3.94877624e-03 4.26377539e+00] [-1.60367857e-02 9.99871401e-01 -5.23349932e-05 -1.14986165e-01] [-3.94910772e-03 -1.09978233e-05 9.99992202e-01 -2.54905590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.850281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:4.30, Y:-0.12, Z:-0.25 [[ 9.99854552e-01 1.64657565e-02 4.44459687e-03 4.29518108e+00] [-1.64656569e-02 9.99864430e-01 -5.89937202e-05 -1.16062886e-01] [-4.44496569e-03 -1.41980676e-05 9.99990121e-01 -2.54683303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.880281692999999 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.12, Z:-0.25 [[ 9.99819725e-01 1.85167575e-02 4.20081995e-03 4.32642527e+00] [-1.85166848e-02 9.99828550e-01 -5.62055974e-05 -1.16173250e-01] [-4.20114047e-03 -2.15897941e-05 9.99991175e-01 -2.53799471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.910281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.12, Z:-0.25 [[ 9.99804398e-01 1.94826319e-02 3.40490489e-03 4.35774210e+00] [-1.94825890e-02 9.99810195e-01 -4.57608223e-05 -1.15380566e-01] [-3.40515016e-03 -2.05844911e-05 9.99994202e-01 -2.53958073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.940281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.11, Z:-0.25 [[ 9.99789444e-01 2.03782823e-02 2.40698372e-03 4.38902451e+00] [-2.03782634e-02 9.99792341e-01 -3.23947739e-05 -1.14801509e-01] [-2.40714404e-03 -1.66621953e-05 9.99997103e-01 -2.54462117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.970281692999999 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.11, Z:-0.25 [[ 9.99775867e-01 2.11166905e-02 1.51715067e-03 4.41967372e+00] [-2.11166838e-02 9.99777018e-01 -2.04378201e-05 -1.13973360e-01] [-1.51724395e-03 -1.16039516e-05 9.99998849e-01 -2.54930389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.000281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.11, Z:-0.25 [[ 9.99776330e-01 2.11009829e-02 1.42795345e-03 4.45065010e+00] [-2.11009769e-02 9.99777349e-01 -1.92362277e-05 -1.14069848e-01] [-1.42804142e-03 -1.08992876e-05 9.99998980e-01 -2.54870700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.030281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:4.48, Y:-0.11, Z:-0.26 [[ 9.99783722e-01 2.06938088e-02 2.06792583e-03 4.48008966e+00] [-2.06937955e-02 9.99785860e-01 -2.78491214e-05 -1.13763944e-01] [-2.06805931e-03 -1.49501359e-05 9.99997861e-01 -2.55125450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.060281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:4.51, Y:-0.11, Z:-0.25 [[ 9.99784366e-01 2.06250530e-02 2.41417652e-03 4.51052259e+00] [-2.06250347e-02 9.99787281e-01 -3.24946947e-05 -1.13228872e-01] [-2.41433318e-03 -1.73047867e-05 9.99997085e-01 -2.54900967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.090281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:4.54, Y:-0.11, Z:-0.25 [[ 9.99759968e-01 2.17644972e-02 2.51272809e-03 4.53990872e+00] [-2.17644810e-02 9.99763125e-01 -3.38080785e-05 -1.11541591e-01] [-2.51286870e-03 -2.08882594e-05 9.99996843e-01 -2.54548021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.120281692999999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:4.57, Y:-0.11, Z:-0.25 [[ 9.99730994e-01 2.30702644e-02 2.38793431e-03 4.56993718e+00] [-2.30702535e-02 9.99733846e-01 -3.21149991e-05 -1.10599821e-01] [-2.38803965e-03 -2.29838899e-05 9.99997148e-01 -2.54561671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.150281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:4.60, Y:-0.11, Z:-0.25 [[ 9.99688680e-01 2.48436964e-02 2.30943224e-03 4.60035998e+00] [-2.48436909e-02 9.99691347e-01 -3.10592356e-05 -1.09726917e-01] [-2.30949105e-03 -2.63252545e-05 9.99997333e-01 -2.54869356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.180281693 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:4.63, Y:-0.11, Z:-0.25 [[ 9.99567007e-01 2.93932828e-02 1.35437945e-03 4.62991212e+00] [-2.93932851e-02 9.99567924e-01 -1.82143173e-05 -1.06610965e-01] [-1.35432964e-03 -2.16032308e-05 9.99999083e-01 -2.54656384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.210281692999999 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:4.66, Y:-0.10, Z:-0.25 [[ 9.99503841e-01 3.14896135e-02 6.89264219e-04 4.65939259e+00] [-3.14896146e-02 9.99504079e-01 -9.26158390e-06 -1.04820811e-01] [-6.89214042e-04 -1.24476759e-05 9.99999762e-01 -2.54815147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.240281693 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:4.69, Y:-0.10, Z:-0.25 [[ 9.99426678e-01 3.38562323e-02 2.65338527e-04 4.68935492e+00] [-3.38562325e-02 9.99426713e-01 -3.58329562e-06 -1.02710718e-01] [-2.65307729e-04 -5.40212164e-06 9.99999965e-01 -2.54907611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.270281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:4.72, Y:-0.10, Z:-0.25 [[ 9.99192430e-01 4.01749514e-02 -6.78995490e-04 4.71782362e+00] [-4.01749545e-02 9.99192661e-01 9.02764601e-06 -9.82143969e-02] [ 6.78809996e-04 1.82582574e-05 9.99999769e-01 -2.54843513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.300281692999999 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:4.75, Y:-0.10, Z:-0.26 [[ 9.99035778e-01 4.39001437e-02 -5.39702870e-04 4.74714424e+00] [-4.39001463e-02 9.99035924e-01 7.12325760e-06 -9.59875760e-02] [ 5.39495267e-04 1.65766457e-05 9.99999854e-01 -2.55015039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.330281693 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:4.78, Y:-0.09, Z:-0.25 [[ 9.98873845e-01 4.74451347e-02 2.21935339e-05 4.77504612e+00] [-4.74451347e-02 9.98873845e-01 -3.81581538e-07 -9.32721524e-02] [-2.21866448e-05 -6.71823388e-07 1.00000000e+00 -2.54484770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.360281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:4.80, Y:-0.09, Z:-0.25 [[ 9.98586943e-01 5.31145362e-02 1.72122048e-03 4.80396620e+00] [-5.31145757e-02 9.98588424e-01 -2.27839632e-05 -8.63293382e-02] [-1.72000100e-03 -6.86701271e-05 9.99998518e-01 -2.54835833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.390281692999999 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:4.83, Y:-0.08, Z:-0.25 [[ 9.98491792e-01 5.48470810e-02 2.43711072e-03 4.83197703e+00] [-5.48471657e-02 9.98494761e-01 -3.21077006e-05 -8.30121115e-02] [-2.43520330e-03 -1.01609340e-04 9.99997030e-01 -2.54805622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.420281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:4.86, Y:-0.08, Z:-0.26 [[ 9.98434742e-01 5.58625275e-02 2.72821063e-03 4.86048076e+00] [-5.58626378e-02 9.98438463e-01 -3.57973754e-05 -8.04512957e-02] [-2.72595016e-03 -1.16663699e-04 9.99996278e-01 -2.55414153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.450281692999999 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:4.89, Y:-0.07, Z:-0.26 [[ 9.98383753e-01 5.68277498e-02 6.98834193e-04 4.88893642e+00] [-5.68277572e-02 9.98383997e-01 -9.20208355e-06 -7.41675677e-02] [-6.98227809e-04 -3.05259692e-05 9.99999756e-01 -2.55655185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.480281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:4.92, Y:-0.07, Z:-0.26 [[ 9.98387973e-01 5.67562121e-02 -4.32677424e-04 4.91690595e+00] [-5.67562150e-02 9.98388067e-01 5.52503791e-06 -7.00108519e-02] [ 4.32293558e-04 1.90410015e-05 9.99999906e-01 -2.55831430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.510281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:4.94, Y:-0.07, Z:-0.26 [[ 9.98407203e-01 5.64167998e-02 -4.49101614e-04 4.94487778e+00] [-5.64168029e-02 9.98407304e-01 5.71938071e-06 -6.61190605e-02] [ 4.48709001e-04 1.96266063e-05 9.99999899e-01 -2.55960857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.540281692999999 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:4.97, Y:-0.06, Z:-0.26 [[ 9.98514497e-01 5.44634935e-02 1.58965057e-03 4.97415976e+00] [-5.44635298e-02 9.98515760e-01 -2.05031138e-05 -5.82721941e-02] [-1.58840782e-03 -6.61053246e-05 9.99998736e-01 -2.55533373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.570281693 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:5.00, Y:-0.05, Z:-0.26 [[ 9.98579624e-01 5.32399207e-02 2.06046187e-03 5.00266926e+00] [-5.32399793e-02 9.98581746e-01 -2.64588695e-05 -5.48036125e-02] [-2.05894828e-03 -8.32776595e-05 9.99997877e-01 -2.56106641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.600281693 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:5.03, Y:-0.05, Z:-0.26 [[ 9.98680597e-01 5.13190918e-02 1.84848127e-03 5.03187857e+00] [-5.13191358e-02 9.98682305e-01 -2.36550953e-05 -5.13584843e-02] [-1.84725949e-03 -7.12385765e-05 9.99998291e-01 -2.56238488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.630281692999999 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:5.06, Y:-0.05, Z:-0.26 [[ 9.98983173e-01 4.50715633e-02 1.08321440e-03 5.06008589e+00] [-4.50715748e-02 9.98983760e-01 -1.38406735e-05 -4.59313993e-02] [-1.08273742e-03 -3.49955789e-05 9.99999413e-01 -2.57481644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.660281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:5.09, Y:-0.04, Z:-0.26 [[ 9.99173531e-01 4.06234106e-02 1.41215988e-03 5.08888223e+00] [-4.06234258e-02 9.99174528e-01 -1.79286171e-05 -4.42472718e-02] [-1.41172250e-03 -3.94529724e-05 9.99999003e-01 -2.57855121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.690281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:5.12, Y:-0.04, Z:-0.26 [[ 9.99357886e-01 3.57810254e-02 1.87990423e-03 5.11708858e+00] [-3.57810440e-02 9.99359653e-01 -2.37515251e-05 -4.30052578e-02] [-1.87955029e-03 -4.35286619e-05 9.99998233e-01 -2.57735835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.720281692999999 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:5.15, Y:-0.04, Z:-0.26 [[ 9.99512920e-01 3.11113414e-02 2.45107958e-03 5.14569727e+00] [-3.11113593e-02 9.99515924e-01 -3.08157872e-05 -4.25112040e-02] [-2.45085179e-03 -4.54556400e-05 9.99996996e-01 -2.57806077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.750281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:5.18, Y:-0.04, Z:-0.26 [[ 9.99720052e-01 2.35545990e-02 2.23584168e-03 5.17517367e+00] [-2.35545953e-02 9.99722552e-01 -2.80340939e-05 -4.18474730e-02] [-2.23588168e-03 -2.46380999e-05 9.99997500e-01 -2.57081314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.780281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:5.20, Y:-0.04, Z:-0.26 [[ 9.99790106e-01 2.04079251e-02 1.80564904e-03 5.20443467e+00] [-2.04079176e-02 9.99791737e-01 -2.26042222e-05 -4.14952978e-02] [-1.80573429e-03 -1.42500591e-05 9.99998370e-01 -2.57509417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.810281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:5.23, Y:-0.04, Z:-0.26 [[ 9.99843381e-01 1.76260644e-02 1.59200925e-03 5.23392670e+00] [-1.76260550e-02 9.99844649e-01 -1.98992736e-05 -4.13104923e-02] [-1.59211267e-03 -8.16468561e-06 9.99998733e-01 -2.57935270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.840281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:5.26, Y:-0.04, Z:-0.26 [[ 9.99897310e-01 1.40585725e-02 2.77941883e-03 5.26344734e+00] [-1.40585304e-02 9.99901173e-01 -3.46810315e-05 -4.11276981e-02] [-2.77963171e-03 -4.39707390e-06 9.99996137e-01 -2.57952603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.870281692999999 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:5.29, Y:-0.04, Z:-0.26 [[ 9.99902274e-01 1.35941853e-02 3.26200231e-03 5.29403773e+00] [-1.35941249e-02 9.99907595e-01 -4.06667684e-05 -4.16403349e-02] [-3.26225372e-03 -3.68127278e-06 9.99994679e-01 -2.57672262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.900281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:5.32, Y:-0.04, Z:-0.26 [[ 9.99899922e-01 1.40142850e-02 1.93515001e-03 5.32392450e+00] [-1.40142645e-02 9.99901795e-01 -2.41322475e-05 -4.21689942e-02] [-1.93529817e-03 -2.98987177e-06 9.99998127e-01 -2.57908817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.930281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:5.35, Y:-0.04, Z:-0.26 [[ 9.99896525e-01 1.43757892e-02 5.26115978e-04 5.35339355e+00] [-1.43757877e-02 9.99896663e-01 -6.58334920e-06 -4.22167812e-02] [-5.26156252e-04 -9.80663623e-07 9.99999862e-01 -2.58412403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.960281692999999 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:5.38, Y:-0.04, Z:-0.26 [[ 9.99891959e-01 1.46884513e-02 -5.65665321e-04 5.38313806e+00] [-1.46884497e-02 9.99892119e-01 7.00258351e-06 -4.18603801e-02] [ 5.65707154e-04 1.30691969e-06 9.99999840e-01 -2.58911362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.990281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:5.41, Y:-0.04, Z:-0.26 [[ 9.99891152e-01 1.47540969e-02 3.99204522e-05 5.41170134e+00] [-1.47540969e-02 9.99891152e-01 -5.40346886e-07 -4.12038540e-02] [-3.99240793e-05 -4.87021487e-08 9.99999999e-01 -2.58512034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.020281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:5.44, Y:-0.04, Z:-0.26 [[ 9.99899898e-01 1.41190514e-02 9.19844505e-04 5.44175604e+00] [-1.41190468e-02 9.99900321e-01 -1.14142915e-05 -4.16424706e-02] [-9.19913975e-04 -1.57417875e-06 9.99999577e-01 -2.58629696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.050281692999999 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:5.47, Y:-0.04, Z:-0.26 [[ 9.99912589e-01 1.31315663e-02 1.54166633e-03 5.47058990e+00] [-1.31315525e-02 9.99913777e-01 -1.90753367e-05 -4.22496093e-02] [-1.54178389e-03 -1.17080302e-06 9.99998811e-01 -2.58207579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.080281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:5.50, Y:-0.04, Z:-0.26 [[ 9.99928683e-01 1.17511129e-02 2.13063768e-03 5.50058165e+00] [-1.17510835e-02 9.99930953e-01 -2.62997917e-05 -4.25552975e-02] [-2.13079962e-03 1.26061480e-06 9.99997730e-01 -2.58288136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.110281693 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:5.53, Y:-0.04, Z:-0.26 [[ 9.99964919e-01 7.82005320e-03 3.00115915e-03 5.53091122e+00] [-7.81997737e-03 9.99969423e-01 -3.70022647e-05 -4.36022202e-02] [-3.00135674e-03 1.35319701e-05 9.99995496e-01 -2.58512676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.140281692999999 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:5.56, Y:-0.05, Z:-0.26 [[ 9.99976709e-01 5.54975292e-03 3.97270831e-03 5.56080321e+00] [-5.54960157e-03 9.99984600e-01 -4.91205691e-05 -4.59865427e-02] [-3.97291974e-03 2.70724768e-05 9.99992108e-01 -2.58898587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.170281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:5.59, Y:-0.05, Z:-0.26 [[ 9.99984734e-01 3.15784393e-03 4.53431726e-03 5.59224768e+00] [-3.15762147e-03 9.99995013e-01 -5.62191640e-05 -4.85710362e-02] [-4.53447218e-03 4.19006482e-05 9.99989718e-01 -2.59118505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.200281692999999 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:5.62, Y:-0.05, Z:-0.26 [[ 9.99989214e-01 -3.73840972e-04 4.62946721e-03 5.62413432e+00] [ 3.74113513e-04 9.99999928e-01 -5.80050378e-05 -5.24020453e-02] [-4.62944520e-03 5.97363584e-05 9.99989282e-01 -2.58815590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.230281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:5.66, Y:-0.05, Z:-0.26 [[ 9.99989233e-01 -3.17822856e-04 4.62946197e-03 5.65680888e+00] [ 3.18096725e-04 9.99999948e-01 -5.84214478e-05 -5.29064327e-02] [-4.62944316e-03 5.98934355e-05 9.99989282e-01 -2.58859023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.260281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:5.69, Y:-0.06, Z:-0.26 [[ 9.99993344e-01 -1.04943000e-03 3.49435663e-03 5.69017175e+00] [ 1.04959204e-03 9.99999448e-01 -4.45394150e-05 -5.53771019e-02] [-3.49430797e-03 4.82067675e-05 9.99993894e-01 -2.59372421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.290281692999999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:5.72, Y:-0.06, Z:-0.26 [[ 9.99998515e-01 -1.22908716e-03 1.20833523e-03 5.72189993e+00] [ 1.22910676e-03 9.99999245e-01 -1.54782041e-05 -6.21624498e-02] [-1.20831529e-03 1.69633541e-05 9.99999270e-01 -2.60641373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.320281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:5.75, Y:-0.07, Z:-0.26 [[ 9.99998752e-01 -9.20921921e-04 1.28359873e-03 5.75221513e+00] [ 9.20943863e-04 9.99999576e-01 -1.65033411e-05 -6.53681075e-02] [-1.28358299e-03 1.76854429e-05 9.99999176e-01 -2.60445184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.350281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:5.78, Y:-0.07, Z:-0.26 [[ 9.99996834e-01 7.14138813e-05 2.51516068e-03 5.78304597e+00] [-7.13324584e-05 9.99999997e-01 -3.24625567e-05 -6.78975859e-02] [-2.51516299e-03 3.22830414e-05 9.99996836e-01 -2.59702532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.380281692999999 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:5.81, Y:-0.07, Z:-0.26 [[ 9.99982833e-01 5.18410723e-03 2.73112231e-03 5.81312595e+00] [-5.18403016e-03 9.99986562e-01 -3.52972566e-05 -7.14971840e-02] [-2.73126860e-03 2.11384302e-05 9.99996270e-01 -2.58985106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.410281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:5.84, Y:-0.07, Z:-0.26 [[ 9.99955855e-01 9.04721399e-03 2.53701296e-03 5.84457938e+00] [-9.04715982e-03 9.99959073e-01 -3.28289510e-05 -7.26196982e-02] [-2.53720614e-03 9.87474005e-06 9.99996781e-01 -2.59029476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.440281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:5.87, Y:-0.07, Z:-0.26 [[ 9.99905607e-01 1.35002913e-02 2.55331055e-03 5.87488701e+00] [-1.35002508e-02 9.99908867e-01 -3.30830541e-05 -7.27363267e-02] [-2.55352449e-03 -1.39040169e-06 9.99996740e-01 -2.58692494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.470281692999999 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:5.91, Y:-0.07, Z:-0.26 [[ 9.99833787e-01 1.80684042e-02 2.43528495e-03 5.90530237e+00] [-1.80683809e-02 9.99836753e-01 -3.15677994e-05 -7.19879650e-02] [-2.43545777e-03 -1.24391035e-05 9.99997034e-01 -2.58511967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.500281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:5.93, Y:-0.07, Z:-0.26 [[ 9.99667053e-01 2.57265093e-02 1.98250326e-03 5.93365142e+00] [-2.57265090e-02 9.99669018e-01 -2.56815766e-05 -6.99537529e-02] [-1.98250779e-03 -2.53298620e-05 9.99998035e-01 -2.58836048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.530281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:5.96, Y:-0.07, Z:-0.26 [[ 9.99596438e-01 2.83562635e-02 1.69830373e-03 5.96377147e+00] [-2.83562672e-02 9.99597880e-01 -2.19619557e-05 -6.98361330e-02] [-1.69824356e-03 -2.62044616e-05 9.99998558e-01 -2.58833823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.560281692999999 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:5.99, Y:-0.07, Z:-0.26 [[ 9.99555596e-01 2.97750674e-02 1.43392871e-03 5.99308489e+00] [-2.97750715e-02 9.99556624e-01 -1.85149390e-05 -6.88660960e-02] [-1.43384423e-03 -2.41886191e-05 9.99998972e-01 -2.59001837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.590281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:6.02, Y:-0.07, Z:-0.26 [[ 9.99527546e-01 3.07275860e-02 7.07768790e-04 6.02131887e+00] [-3.07275872e-02 9.99527796e-01 -9.14503189e-06 -6.57397175e-02] [-7.07715583e-04 -1.26073160e-05 9.99999749e-01 -2.59312732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.620281692999999 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:6.05, Y:-0.06, Z:-0.26 [[ 9.99522217e-01 3.09052786e-02 4.48817477e-04 6.04983195e+00] [-3.09052791e-02 9.99522318e-01 -5.81046051e-06 -6.47766433e-02] [-4.48782659e-04 -8.06314503e-06 9.99999899e-01 -2.58421434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.650281693 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:6.08, Y:-0.06, Z:-0.26 [[ 9.99518922e-01 3.10131063e-02 3.32954371e-04 6.07871664e+00] [-3.10131066e-02 9.99518978e-01 -4.31106102e-06 -6.36576166e-02] [-3.32927912e-04 -6.01696231e-06 9.99999945e-01 -2.59224957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.680281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:6.11, Y:-0.06, Z:-0.26 [[ 9.99507662e-01 3.13756683e-02 2.32822076e-05 6.10684302e+00] [-3.13756683e-02 9.99507663e-01 -3.77864422e-07 -5.91209969e-02] [-2.32826007e-05 -3.52816439e-07 1.00000000e+00 -2.59646971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.710281692999999 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:6.14, Y:-0.06, Z:-0.26 [[ 9.99515400e-01 3.11280458e-02 -1.02284596e-04 6.13596068e+00] [-3.11280458e-02 9.99515405e-01 1.23339086e-06 -5.68388532e-02] [ 1.02273422e-04 1.95112642e-06 9.99999995e-01 -2.59921475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.740281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:6.16, Y:-0.05, Z:-0.26 [[ 9.99518555e-01 3.10250321e-02 -3.23559798e-04 6.16395446e+00] [-3.10250324e-02 9.99518608e-01 4.00068283e-06 -5.47042963e-02] [ 3.23528160e-04 6.03969649e-06 9.99999948e-01 -2.60009223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.770281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:6.19, Y:-0.05, Z:-0.26 [[ 9.99536301e-01 3.04429097e-02 -6.41956905e-04 6.19270185e+00] [-3.04429108e-02 9.99536507e-01 7.99828830e-06 -5.01018756e-02] [ 6.41902853e-04 1.15484573e-05 9.99999794e-01 -2.59885408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.800281692999999 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:6.22, Y:-0.05, Z:-0.26 [[ 9.99559171e-01 2.96849960e-02 -5.14294143e-04 6.22089029e+00] [-2.96849966e-02 9.99559303e-01 6.35192658e-06 -4.76649167e-02] [ 5.14256052e-04 8.91769341e-06 9.99999868e-01 -2.59825989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.830281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:6.25, Y:-0.05, Z:-0.26 [[ 9.99603083e-01 2.81714983e-02 -2.09190075e-04 6.24982641e+00] [-2.81714984e-02 9.99603105e-01 2.54552896e-06 -4.55414478e-02] [ 2.09178759e-04 3.34867925e-06 9.99999978e-01 -2.60368010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.860281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:6.28, Y:-0.04, Z:-0.26 [[ 9.99736218e-01 2.29588803e-02 6.19974095e-04 6.27748462e+00] [-2.29588799e-02 9.99736410e-01 -7.75949966e-06 -4.19241580e-02] [-6.19988825e-04 -6.47645796e-06 9.99999808e-01 -2.59886132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.890281692999999 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:6.31, Y:-0.04, Z:-0.26 [[ 9.99800344e-01 1.99702814e-02 6.77626758e-04 6.30760313e+00] [-1.99702803e-02 9.99800574e-01 -8.41478579e-06 -4.12923980e-02] [-6.77659667e-04 -5.11929056e-06 9.99999770e-01 -2.60070541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.920281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:6.34, Y:-0.04, Z:-0.26 [[ 9.99860804e-01 1.66735946e-02 6.02905366e-04 6.33590091e+00] [-1.66735931e-02 9.99860986e-01 -7.48473063e-06 -4.06269791e-02] [-6.02946351e-04 -2.56890995e-06 9.99999818e-01 -2.60435009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.950281692999999 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:6.37, Y:-0.04, Z:-0.26 [[ 9.99946812e-01 1.01763328e-02 1.67810697e-03 6.36592537e+00] [-1.01763124e-02 9.99948220e-01 -2.07030824e-05 -3.85399705e-02] [-1.67823076e-03 3.62504043e-06 9.99998592e-01 -2.60420642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.980281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:6.40, Y:-0.04, Z:-0.26 [[ 9.99972530e-01 6.90546093e-03 2.69317218e-03 6.39514517e+00] [-6.90539670e-03 9.99976157e-01 -3.31490900e-05 -3.82872087e-02] [-2.69333687e-03 1.45507572e-05 9.99996373e-01 -2.60338026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.010281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:6.43, Y:-0.04, Z:-0.26 [[ 9.99988206e-01 3.80868920e-03 3.01346949e-03 6.42511565e+00] [-3.80859476e-03 9.99992747e-01 -3.70770160e-05 -3.98370809e-02] [-3.01358885e-03 2.55994946e-05 9.99995459e-01 -2.60772370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.040281692999999 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:6.46, Y:-0.04, Z:-0.26 [[ 9.99994727e-01 -2.63929617e-03 1.89219369e-03 6.45674258e+00] [ 2.63934498e-03 9.99996517e-01 -2.33027887e-05 -4.44758404e-02] [-1.89212560e-03 2.82968178e-05 9.99998210e-01 -2.61458725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.070281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:6.49, Y:-0.05, Z:-0.26 [[ 9.99984509e-01 -5.53080301e-03 6.25950824e-04 6.48768094e+00] [ 5.53080886e-03 9.99984705e-01 -7.61791788e-06 -4.68049886e-02] [-6.25899117e-04 1.10798142e-05 9.99999804e-01 -2.61737444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.100281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:6.52, Y:-0.05, Z:-0.26 [[ 9.99968064e-01 -7.99106067e-03 -1.15392692e-04 6.51899077e+00] [ 7.99106090e-03 9.99968071e-01 1.53746303e-06 -4.93728696e-02] [ 1.15376721e-04 -2.45952396e-06 9.99999993e-01 -2.62052578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.130281692999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:6.55, Y:-0.06, Z:-0.26 [[ 9.99922057e-01 -1.24752716e-02 -4.96791969e-04 6.54992047e+00] [ 1.24752763e-02 9.99922181e-01 6.26896644e-06 -5.58839505e-02] [ 4.96675102e-04 -1.24660949e-05 9.99999877e-01 -2.62544859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.160281693 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:6.58, Y:-0.06, Z:-0.26 [[ 9.99897901e-01 -1.42888350e-02 1.28978346e-04 6.58164308e+00] [ 1.42888353e-02 9.99897909e-01 -1.59502658e-06 -6.00688417e-02] [-1.28942387e-04 3.43781406e-06 9.99999992e-01 -2.62649795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.190281693 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:6.61, Y:-0.06, Z:-0.26 [[ 9.99870429e-01 -1.60847058e-02 6.38799392e-04 6.61286112e+00] [ 1.60847142e-02 9.99870633e-01 -8.02311305e-06 -6.39501145e-02] [-6.38587703e-04 1.82969791e-05 9.99999796e-01 -2.61849042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.220281692999999 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:6.64, Y:-0.07, Z:-0.26 [[ 9.99828700e-01 -1.84946798e-02 7.19763348e-04 6.64317605e+00] [ 1.84946912e-02 9.99828959e-01 -9.06639188e-06 -7.00356952e-02] [-7.19472558e-04 2.23766396e-05 9.99999741e-01 -2.61646920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.250281693 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:6.67, Y:-0.07, Z:-0.26 [[ 9.99824625e-01 -1.87229028e-02 4.14875535e-04 6.67465449e+00] [ 1.87229066e-02 9.99824711e-01 -5.21422666e-06 -7.37164478e-02] [-4.14705186e-04 1.29809881e-05 9.99999914e-01 -2.62303738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.280281693 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:6.71, Y:-0.08, Z:-0.26 [[ 9.99838802e-01 -1.79528791e-02 -2.54707715e-04 6.70593536e+00] [ 1.79528805e-02 9.99838834e-01 3.25483459e-06 -7.79428643e-02] [ 2.54608231e-04 -7.82704710e-06 9.99999968e-01 -2.62566742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.310281692999999 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:6.74, Y:-0.08, Z:-0.26 [[ 9.99897463e-01 -1.42821576e-02 -1.04089177e-03 6.73638221e+00] [ 1.42821791e-02 9.99898004e-01 1.32054539e-05 -8.36240669e-02] [ 1.04059701e-03 -2.80703026e-05 9.99999458e-01 -2.62982071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.340281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:6.77, Y:-0.09, Z:-0.26 [[ 9.99929690e-01 -1.17875469e-02 -1.29201418e-03 6.76679786e+00] [ 1.17875778e-02 9.99930524e-01 1.63728531e-05 -8.58836735e-02] [ 1.29173142e-03 -3.16014196e-05 9.99999165e-01 -2.62541543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.370281692999999 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:6.80, Y:-0.09, Z:-0.26 [[ 9.99951594e-01 -9.71863622e-03 -1.53525382e-03 6.79763451e+00] [ 9.71867753e-03 9.99952772e-01 1.94552705e-05 -8.76464177e-02] [ 1.53499224e-03 -3.43749656e-05 9.99998821e-01 -2.62247767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.400281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:6.83, Y:-0.09, Z:-0.26 [[ 9.99979019e-01 -6.22792303e-03 -1.78163739e-03 6.82806848e+00] [ 6.22797320e-03 9.99980606e-01 2.26121612e-05 -9.40620459e-02] [ 1.78146201e-03 -3.37076767e-05 9.99998413e-01 -2.62230382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.430281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:6.86, Y:-0.10, Z:-0.26 [[ 9.99984090e-01 -5.56791234e-03 -9.04693122e-04 6.85873902e+00] [ 5.56792500e-03 9.99984499e-01 1.14746556e-05 -9.80380813e-02] [ 9.04615208e-04 -1.65117365e-05 9.99999591e-01 -2.62319484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.460281692999999 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:6.89, Y:-0.10, Z:-0.26 [[ 9.99979875e-01 -6.22289169e-03 1.23500306e-03 6.88879684e+00] [ 6.22291578e-03 9.99980637e-01 -1.56641346e-05 -1.04726157e-01] [-1.23488167e-03 2.33491394e-05 9.99999237e-01 -2.62052384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.490281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:6.92, Y:-0.11, Z:-0.26 [[ 9.99973281e-01 -7.09938846e-03 1.74248925e-03 6.92058700e+00] [ 7.09943776e-03 9.99974798e-01 -2.21100009e-05 -1.08192041e-01] [-1.74228837e-03 3.44801041e-05 9.99998482e-01 -2.62374480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.520281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:6.95, Y:-0.11, Z:-0.26 [[ 9.99965565e-01 -8.16396390e-03 1.48921294e-03 6.95218805e+00] [ 8.16400113e-03 9.99966674e-01 -1.89250462e-05 -1.12697717e-01] [-1.48900880e-03 3.10823306e-05 9.99998891e-01 -2.62691349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.550281692999999 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:6.98, Y:-0.12, Z:-0.26 [[ 9.99941014e-01 -1.08610809e-02 -7.29741580e-05 6.98345992e+00] [ 1.08610810e-02 9.99941017e-01 9.75383280e-07 -1.22509994e-01] [ 7.29592601e-05 -1.76790398e-06 9.99999997e-01 -2.64166580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.580281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:7.02, Y:-0.13, Z:-0.26 [[ 9.99931203e-01 -1.17044483e-02 -7.71882094e-04 7.01500203e+00] [ 1.17044595e-02 9.99931500e-01 9.89656255e-06 -1.26209393e-01] [ 7.71713387e-04 -1.89303444e-05 9.99999702e-01 -2.64504092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.610281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:7.05, Y:-0.13, Z:-0.26 [[ 9.99933799e-01 -1.13941218e-02 -1.60378335e-03 7.04575159e+00] [ 1.13941694e-02 9.99935084e-01 2.05338589e-05 -1.29503268e-01] [ 1.60344528e-03 -3.88062787e-05 9.99998714e-01 -2.63671988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.640281692999999 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:7.08, Y:-0.14, Z:-0.26 [[ 9.99955853e-01 -9.26832354e-03 -1.54580711e-03 7.07525135e+00] [ 9.26836514e-03 9.99957048e-01 1.97459894e-05 -1.37025111e-01] [ 1.54555770e-03 -3.40722224e-05 9.99998805e-01 -2.63044195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.670281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:7.11, Y:-0.14, Z:-0.26 [[ 9.99966179e-01 -8.06201688e-03 -1.62627342e-03 7.10524880e+00] [ 8.06206135e-03 9.99967501e-01 2.07891505e-05 -1.41172852e-01] [ 1.62605297e-03 -3.38995635e-05 9.99998677e-01 -2.62505761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.700281692999999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:7.13, Y:-0.15, Z:-0.26 [[ 9.99985964e-01 -5.22063974e-03 -9.03627799e-04 7.13496692e+00] [ 5.22065228e-03 9.99986372e-01 1.15268358e-05 -1.47169213e-01] [ 9.03555307e-04 -1.62442005e-05 9.99999592e-01 -2.62666166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.730281693 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:7.17, Y:-0.15, Z:-0.26 [[ 9.99992184e-01 -3.92270049e-03 4.94493788e-04 7.16525461e+00] [ 3.92270410e-03 9.99992306e-01 -6.31583775e-06 -1.49947552e-01] [-4.94465208e-04 8.25554119e-06 9.99999878e-01 -2.62815412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.760281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:7.20, Y:-0.15, Z:-0.26 [[ 9.99995257e-01 -2.70391952e-03 1.47468202e-03 7.19560530e+00] [ 2.70395024e-03 9.99996344e-01 -1.88351251e-05 -1.52843692e-01] [-1.47462570e-03 2.28225026e-05 9.99998912e-01 -2.62722657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.790281692999999 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:7.23, Y:-0.16, Z:-0.26 [[ 9.99997607e-01 -1.61349576e-03 1.47718117e-03 7.22554176e+00] [ 1.61352539e-03 9.99998698e-01 -1.88686374e-05 -1.56197786e-01] [-1.47714881e-03 2.12520616e-05 9.99998909e-01 -2.62292952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.820281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:7.26, Y:-0.16, Z:-0.26 [[ 9.99998684e-01 -7.51539504e-04 1.43796873e-03 7.25723918e+00] [ 7.51566717e-04 9.99999717e-01 -1.83840766e-05 -1.59241913e-01] [-1.43795451e-03 1.94647818e-05 9.99998966e-01 -2.62753681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.850281693 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:7.29, Y:-0.16, Z:-0.26 [[ 9.99999631e-01 5.52781535e-04 -6.57464359e-04 7.28784457e+00] [-5.52776076e-04 9.99999847e-01 8.48397802e-06 -1.64111123e-01] [ 6.57468948e-04 -8.12054432e-06 9.99999784e-01 -2.62918577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.880281692999999 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:7.32, Y:-0.17, Z:-0.26 [[ 9.99997206e-01 1.46162692e-03 -1.85766993e-03 7.31785804e+00] [-1.46158514e-03 9.99998932e-01 2.38479046e-05 -1.66477870e-01] [ 1.85770281e-03 -2.11326953e-05 9.99998274e-01 -2.62827378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.910281693 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:7.35, Y:-0.17, Z:-0.26 [[ 9.99989218e-01 3.76210022e-03 -2.72231566e-03 7.34681375e+00] [-3.76201938e-03 9.99992923e-01 3.48179883e-05 -1.72399997e-01] [ 2.72242738e-03 -2.45762086e-05 9.99996294e-01 -2.64353533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.940281693 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:7.38, Y:-0.18, Z:-0.26 [[ 9.99985953e-01 4.96206679e-03 -1.86319498e-03 7.37593221e+00] [-4.96203122e-03 9.99987689e-01 2.37150853e-05 -1.75620475e-01] [ 1.86328972e-03 -1.44695205e-05 9.99998264e-01 -2.64286646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.970281692999999 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:7.41, Y:-0.18, Z:-0.26 [[ 9.99981068e-01 6.14392477e-03 -3.40525519e-04 7.40503222e+00] [-6.14392366e-03 9.99981126e-01 4.30336730e-06 -1.78095066e-01] [ 3.40545531e-04 -2.21112303e-06 9.99999942e-01 -2.64038781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.000281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:7.44, Y:-0.18, Z:-0.26 [[ 9.99945855e-01 1.04042859e-02 1.92322068e-04 7.43571003e+00] [-1.04042857e-02 9.99945874e-01 -2.44928243e-06 -1.81371086e-01] [-1.92337142e-04 4.48176078e-07 9.99999982e-01 -2.63872881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.030281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:7.47, Y:-0.18, Z:-0.26 [[ 9.99900970e-01 1.40719725e-02 -1.72915432e-04 7.46561060e+00] [-1.40719724e-02 9.99900985e-01 2.20213277e-06 -1.83344388e-01] [ 1.72929299e-04 2.31346484e-07 9.99999985e-01 -2.63881589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.060281692999999 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:7.49, Y:-0.18, Z:-0.26 [[ 9.99830994e-01 1.83771017e-02 -5.14706001e-04 7.49464450e+00] [-1.83771008e-02 9.99831127e-01 6.53370057e-06 -1.84938255e-01] [ 5.14739151e-04 2.92620770e-06 9.99999868e-01 -2.63967168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.090281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:7.52, Y:-0.18, Z:-0.26 [[ 9.99607273e-01 2.79942317e-02 -1.27415807e-03 7.52393015e+00] [-2.79942339e-02 9.99608085e-01 1.61530047e-05 -1.84639835e-01] [ 1.27411089e-03 1.95224179e-05 9.99999188e-01 -2.63004623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.120281692999999 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:7.55, Y:-0.18, Z:-0.26 [[ 9.99607591e-01 2.79828610e-02 -1.27415806e-03 7.55409376e+00] [-2.79828631e-02 9.99608403e-01 1.61535748e-05 -1.84983110e-01] [ 1.27411112e-03 1.95073545e-05 9.99999188e-01 -2.63044743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.150281693 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:7.58, Y:-0.18, Z:-0.26 [[ 9.99457657e-01 3.28981427e-02 -1.45030562e-03 7.58330791e+00] [-3.28981507e-02 9.99458709e-01 1.83389042e-05 -1.83823352e-01] [ 1.45012390e-03 2.93834146e-05 9.99998948e-01 -2.63057091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.180281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:7.61, Y:-0.18, Z:-0.26 [[ 9.99277879e-01 3.79631373e-02 -1.58794217e-03 7.61306358e+00] [-3.79631533e-02 9.99279139e-01 2.00454312e-05 -1.82455595e-01] [ 1.58755847e-03 4.02523361e-05 9.99998739e-01 -2.62606916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.210281692999999 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:7.64, Y:-0.18, Z:-0.26 [[ 9.98876480e-01 4.73890680e-02 2.33014212e-04 7.64197051e+00] [-4.73892894e-02 9.98875934e-01 1.06042981e-03 -1.78299036e-01] [-1.82499508e-04 -1.07028078e-03 9.99999411e-01 -2.62861725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.240281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:7.67, Y:-0.17, Z:-0.26 [[ 9.98678016e-01 5.13955873e-02 8.44433125e-04 7.67078928e+00] [-5.13946714e-02 9.98677844e-01 -1.07272596e-03 -1.74017362e-01] [-8.98450034e-04 1.02790847e-03 9.99999068e-01 -2.62080327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.270281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:7.70, Y:-0.17, Z:-0.26 [[ 9.98493747e-01 5.48384013e-02 1.72815482e-03 7.69916066e+00] [-5.48384457e-02 9.98495240e-01 -2.17141897e-05 -1.70534332e-01] [-1.72674513e-03 -7.30878414e-05 9.99998507e-01 -2.61599190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.300281692999999 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:7.73, Y:-0.17, Z:-0.26 [[ 9.98333872e-01 5.76724579e-02 1.83494690e-03 7.72860563e+00] [-5.76725129e-02 9.98335555e-01 -2.29977775e-05 -1.65725081e-01] [-1.83321907e-03 -8.28665384e-05 9.99998316e-01 -2.61594672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.330281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:7.76, Y:-0.16, Z:-0.26 [[ 9.98109470e-01 6.14601554e-02 -3.66934537e-04 7.75635118e+00] [-6.14601579e-02 9.98109538e-01 4.49770053e-06 -1.55576784e-01] [ 3.66517290e-04 1.80626571e-05 9.99999933e-01 -2.63359049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.360281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:7.78, Y:-0.15, Z:-0.26 [[ 9.98123235e-01 6.12216592e-02 -1.38406349e-03 7.78391299e+00] [-6.12216942e-02 9.98124193e-01 1.70963350e-05 -1.50795756e-01] [ 1.38251392e-03 6.76704624e-05 9.99999042e-01 -2.64072979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.390281692999999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:7.81, Y:-0.14, Z:-0.26 [[ 9.98413134e-01 5.63021518e-02 -1.13199669e-03 7.81277605e+00] [-5.63021721e-02 9.98413775e-01 1.39331461e-05 -1.41185210e-01] [ 1.13098555e-03 4.98228364e-05 9.99999359e-01 -2.64448305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.420281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:7.84, Y:-0.14, Z:-0.26 [[ 9.98690302e-01 5.11532417e-02 -1.01334625e-03 7.84121391e+00] [-5.11567963e-02 9.98683160e-01 -3.86373980e-03 -1.35104792e-01] [ 8.14369017e-04 3.91051902e-03 9.99992022e-01 -2.63764643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.450281692999999 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:7.87, Y:-0.14, Z:-0.26 [[ 9.99275036e-01 3.80035684e-02 2.26517008e-03 7.87006649e+00] [-3.80119940e-02 9.99270056e-01 3.80050004e-03 -1.36347572e-01] [-2.11908407e-03 -3.88384845e-03 9.99990213e-01 -2.63556454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.480281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:7.90, Y:-0.13, Z:-0.26 [[ 9.99518833e-01 3.09313833e-02 2.31323739e-03 7.89972945e+00] [-3.09314004e-02 9.99521509e-01 -2.83931315e-05 -1.33822023e-01] [-2.31300876e-03 -4.31722021e-05 9.99997324e-01 -2.63412079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.510281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:7.93, Y:-0.13, Z:-0.26 [[ 9.99695935e-01 2.45939552e-02 1.78164247e-03 7.93042222e+00] [-2.45939553e-02 9.99697523e-01 -2.18570988e-05 -1.33226517e-01] [-1.78164111e-03 -2.19671824e-05 9.99998413e-01 -2.64145319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.540281692999999 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:7.96, Y:-0.13, Z:-0.26 [[ 9.99807866e-01 1.95951511e-02 5.11305326e-04 7.96091539e+00] [-1.95951505e-02 9.99807997e-01 -6.27266763e-06 -1.32720921e-01] [-5.11330068e-04 -3.74764236e-06 9.99999869e-01 -2.64919121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.570281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:7.99, Y:-0.13, Z:-0.27 [[ 9.99914453e-01 1.30707616e-02 -4.91496799e-04 7.99028650e+00] [-1.30707602e-02 9.99914574e-01 6.00875980e-06 -1.33800344e-01] [ 4.91533351e-04 4.15991049e-07 9.99999879e-01 -2.65509429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.600281693 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:8.02, Y:-0.14, Z:-0.26 [[ 9.99936492e-01 1.12565289e-02 -5.49589346e-04 8.01949363e+00] [-1.12565269e-02 9.99936643e-01 6.71410544e-06 -1.35538381e-01] [ 5.49630103e-04 -5.27211773e-07 9.99999849e-01 -2.64982068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.630281692999999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:8.05, Y:-0.14, Z:-0.26 [[ 9.99951580e-01 9.62731399e-03 -2.03773866e-03 8.04842946e+00] [-9.62728337e-03 9.99953656e-01 2.48325271e-05 -1.38837000e-01] [ 2.03788330e-03 -5.21343718e-06 9.99997924e-01 -2.64393045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.660281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:8.08, Y:-0.14, Z:-0.26 [[ 9.99954586e-01 9.24236821e-03 -2.32479051e-03 8.07742578e+00] [-9.24232749e-03 9.99957288e-01 2.82565458e-05 -1.40977576e-01] [ 2.32495237e-03 -6.76878738e-06 9.99997297e-01 -2.64899011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.690281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:8.11, Y:-0.14, Z:-0.27 [[ 9.99954454e-01 9.37130083e-03 -1.80792428e-03 8.10566628e+00] [-9.37127655e-03 9.99956088e-01 2.19015598e-05 -1.43501310e-01] [ 1.80805014e-03 -4.95800385e-06 9.99998365e-01 -2.65228767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.720281692999999 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:8.13, Y:-0.15, Z:-0.27 [[ 9.99944558e-01 1.05117339e-02 -6.20492322e-04 8.13430950e+00] [-1.05117313e-02 9.99944750e-01 7.44634342e-06 -1.46089285e-01] [ 6.20536313e-04 -9.23482035e-07 9.99999807e-01 -2.65067062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.750281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:8.16, Y:-0.15, Z:-0.27 [[ 9.99932989e-01 1.15355395e-02 -9.74530744e-04 8.16447339e+00] [-1.15355335e-02 9.99933463e-01 1.17345437e-05 -1.46165367e-01] [ 9.74601266e-04 -4.92025312e-07 9.99999525e-01 -2.65312236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.780281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:8.19, Y:-0.15, Z:-0.27 [[ 9.99893878e-01 1.45520005e-02 -6.87189018e-04 8.19440435e+00] [-1.45519983e-02 9.99894114e-01 8.24843160e-06 -1.45177277e-01] [ 6.87236286e-04 1.75241715e-06 9.99999764e-01 -2.65415022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.810281692999999 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:8.22, Y:-0.15, Z:-0.27 [[ 9.99864458e-01 1.64502307e-02 -6.75512825e-04 8.22277086e+00] [-1.64502290e-02 9.99864686e-01 8.06861348e-06 -1.45037908e-01] [ 6.75554149e-04 3.04482082e-06 9.99999772e-01 -2.65016999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.840281693 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:8.25, Y:-0.14, Z:-0.27 [[ 9.99842721e-01 1.77130952e-02 -8.82933104e-04 8.25144860e+00] [-1.77130928e-02 9.99843111e-01 1.05559112e-05 -1.44381841e-01] [ 8.82981559e-04 5.08522505e-06 9.99999610e-01 -2.65190107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.870281692999999 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:8.28, Y:-0.14, Z:-0.27 [[ 9.99831110e-01 1.83408718e-02 -1.16767845e-03 8.28089941e+00] [-1.83408681e-02 9.99831792e-01 1.39436906e-05 -1.43632223e-01] [ 1.16773778e-03 7.47490077e-06 9.99999318e-01 -2.65529971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.900281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:8.31, Y:-0.14, Z:-0.27 [[ 9.99834200e-01 1.82037334e-02 -4.44171337e-04 8.31080270e+00] [-1.82037328e-02 9.99834298e-01 5.27453006e-06 -1.42520590e-01] [ 4.44193753e-04 2.81192082e-06 9.99999901e-01 -2.65520961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.930281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:8.34, Y:-0.14, Z:-0.26 [[ 9.99845074e-01 1.75478829e-02 -1.37808598e-03 8.34050801e+00] [-1.75558404e-02 9.99827931e-01 -5.99165048e-03 -1.39239063e-01] [ 1.27270808e-03 6.01491568e-03 9.99981100e-01 -2.64383115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.960281692999999 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:8.37, Y:-0.15, Z:-0.27 [[ 9.99884853e-01 1.51343517e-02 1.10987738e-03 8.36925283e+00] [-1.51407422e-02 9.99867399e-01 5.99517652e-03 -1.45136133e-01] [-1.01899710e-03 -6.01129056e-03 9.99981413e-01 -2.65590769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.990281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:8.40, Y:-0.14, Z:-0.27 [[ 9.99909104e-01 1.34545806e-02 8.70667597e-04 8.39910998e+00] [-1.34545766e-02 9.99909483e-01 -1.04625673e-05 -1.42574679e-01] [-8.70729556e-04 -1.25284763e-06 9.99999621e-01 -2.65640180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.020281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:8.43, Y:-0.14, Z:-0.27 [[ 9.99935221e-01 1.13820790e-02 -5.05219416e-05 8.42818283e+00] [-1.13820790e-02 9.99935222e-01 5.90704749e-07 -1.44155572e-01] [ 5.05253923e-05 -1.56217525e-08 9.99999999e-01 -2.66046990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.050281692999999 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:8.46, Y:-0.14, Z:-0.27 [[ 9.99956743e-01 9.00830392e-03 -2.31582666e-03 8.45779366e+00] [-9.01920172e-03 9.99948096e-01 -4.73922748e-03 -1.43774612e-01] [ 2.27301406e-03 4.75990938e-03 9.99986088e-01 -2.66196018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.080281693 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:8.49, Y:-0.15, Z:-0.27 [[ 9.99978939e-01 6.09396099e-03 -2.23279847e-03 8.48614112e+00] [-6.08352064e-03 9.99970669e-01 4.65323453e-03 -1.53732641e-01] [ 2.26108961e-03 -4.63955325e-03 9.99986681e-01 -2.67462762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.110281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:8.51, Y:-0.15, Z:-0.27 [[ 9.99983516e-01 5.26537763e-03 -2.28995894e-03 8.51436412e+00] [-5.26532878e-03 9.99986138e-01 2.73620688e-05 -1.52227595e-01] [ 2.29007127e-03 -1.53042310e-05 9.99997378e-01 -2.66689476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.140281692999999 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:8.54, Y:-0.15, Z:-0.27 [[ 9.99987258e-01 4.72256777e-03 -1.78362573e-03 8.54303701e+00] [-4.72253744e-03 9.99988849e-01 2.12138296e-05 -1.52696189e-01] [ 1.78370603e-03 -1.27903199e-05 9.99998409e-01 -2.66550283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.170281693 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:8.57, Y:-0.16, Z:-0.27 [[ 9.99990581e-01 4.33476571e-03 -2.16262682e-04 8.57182219e+00] [-4.33476526e-03 9.99990605e-01 2.53460798e-06 -1.55222720e-01] [ 2.16271637e-04 -1.59713614e-06 9.99999977e-01 -2.67501657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.200281692999999 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:8.60, Y:-0.16, Z:-0.27 [[ 9.99991620e-01 4.09389434e-03 1.30265892e-05 8.60183625e+00] [-4.09389433e-03 9.99991620e-01 -1.54856577e-07 -1.57409203e-01] [-1.30271140e-05 1.01525800e-07 1.00000000e+00 -2.68114120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.230281692999998 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:8.63, Y:-0.16, Z:-0.27 [[ 9.99987561e-01 4.87095147e-03 -1.07270454e-03 8.63172050e+00] [-4.87094062e-03 9.99988137e-01 1.27269738e-05 -1.60938214e-01] [ 1.07275380e-03 -7.50173539e-06 9.99999425e-01 -2.67899431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.260281693 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:8.66, Y:-0.16, Z:-0.27 [[ 9.99979875e-01 6.15396193e-03 -1.54208149e-03 8.66105456e+00] [-6.15394110e-03 9.99981064e-01 1.82537073e-05 -1.62559428e-01] [ 1.54216462e-03 -8.76346133e-06 9.99998811e-01 -2.68129104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.290281692999999 meters Centerline goodness : 0.998676 Centerline is valid? [True, True] Translation: X:8.69, Y:-0.16, Z:-0.27 [[ 9.99968085e-01 7.76448306e-03 -1.88204146e-03 8.68979279e+00] [-7.76445501e-03 9.99969856e-01 2.22066961e-05 -1.64473126e-01] [ 1.88215715e-03 -7.59296106e-06 9.99998229e-01 -2.67851867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.320281693 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:8.72, Y:-0.17, Z:-0.27 [[ 9.99943840e-01 1.05541913e-02 -9.62051441e-04 8.71934557e+00] [-1.05541853e-02 9.99944303e-01 1.13229621e-05 -1.68016588e-01] [ 9.62117362e-04 -1.16865699e-06 9.99999537e-01 -2.66949487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.350281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:8.75, Y:-0.17, Z:-0.27 [[ 9.99931110e-01 1.17350288e-02 2.54455974e-04 8.74879504e+00] [-1.17350284e-02 9.99931142e-01 -3.02103842e-06 -1.69323598e-01] [-2.54473905e-04 3.47822161e-08 9.99999968e-01 -2.66427862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.380281692999999 meters Centerline goodness : 0.998756 Centerline is valid? [True, True] Translation: X:8.78, Y:-0.17, Z:-0.27 [[ 9.99918075e-01 1.27218401e-02 1.41364631e-03 8.77958869e+00] [-1.27218293e-02 9.99919074e-01 -1.66421580e-05 -1.70460507e-01] [-1.41374363e-03 -1.34337252e-06 9.99999001e-01 -2.65684271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.410281693 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:8.81, Y:-0.17, Z:-0.27 [[ 9.99902757e-01 1.38048539e-02 1.97562301e-03 8.80992169e+00] [-1.38048349e-02 9.99904708e-01 -2.32580313e-05 -1.71467765e-01] [-1.97575582e-03 -4.01737996e-06 9.99998048e-01 -2.65699341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.440281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:8.84, Y:-0.17, Z:-0.27 [[ 9.99881116e-01 1.53528273e-02 1.42957290e-03 8.84048068e+00] [-1.53528189e-02 9.99882138e-01 -1.68335914e-05 -1.73859156e-01] [-1.42966285e-03 -5.11638377e-06 9.99998978e-01 -2.66831319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.470281692999999 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:8.87, Y:-0.18, Z:-0.27 [[ 9.99875009e-01 1.57893837e-02 8.13232528e-04 8.87104078e+00] [-1.57893811e-02 9.99875340e-01 -9.58320369e-06 -1.76115697e-01] [-8.13282463e-04 -3.25843243e-06 9.99999669e-01 -2.67345120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.500281693 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:8.90, Y:-0.18, Z:-0.27 [[ 9.99874509e-01 1.58148061e-02 -9.26079523e-04 8.90135059e+00] [-1.58148028e-02 9.99874938e-01 1.09130026e-05 -1.79928902e-01] [ 9.26136293e-04 3.73413187e-06 9.99999571e-01 -2.67884955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.530281693 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:8.93, Y:-0.18, Z:-0.27 [[ 9.99871708e-01 1.58532739e-02 -2.28940954e-03 8.93136444e+00] [-1.58532538e-02 9.99874329e-01 2.69006157e-05 -1.80913147e-01] [ 2.28954829e-03 9.39742598e-06 9.99997379e-01 -2.68397423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.560281692999999 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:8.96, Y:-0.18, Z:-0.27 [[ 9.99852092e-01 1.67930966e-02 -3.71298059e-03 8.96111845e+00] [-1.67930506e-02 9.99858986e-01 4.35553592e-05 -1.80281501e-01] [ 3.71318843e-03 1.88033540e-05 9.99993106e-01 -2.68750878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.590281693 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:8.99, Y:-0.18, Z:-0.27 [[ 9.99850680e-01 1.68560767e-02 -3.80665043e-03 8.98947043e+00] [-1.68560297e-02 9.99857926e-01 4.44501875e-05 -1.80391447e-01] [ 3.80685886e-03 1.97214624e-05 9.99992754e-01 -2.68710667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.620281692999999 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:9.02, Y:-0.18, Z:-0.27 [[ 9.99855751e-01 1.66566257e-02 -3.32188558e-03 9.01825344e+00] [-1.66565890e-02 9.99861269e-01 3.87235173e-05 -1.81114784e-01] [ 3.32206974e-03 1.66133514e-05 9.99994482e-01 -2.68997769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.650281693 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:9.05, Y:-0.18, Z:-0.27 [[ 9.99858581e-01 1.66355383e-02 -2.46519970e-03 9.04677345e+00] [-1.66355183e-02 9.99861620e-01 2.86374275e-05 -1.81867892e-01] [ 2.46533497e-03 1.23764971e-05 9.99996961e-01 -2.67925580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.680281693 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:9.08, Y:-0.18, Z:-0.27 [[ 9.99833566e-01 1.82416529e-02 -2.85793840e-04 9.07629747e+00] [-1.82416527e-02 9.99833607e-01 3.29248319e-06 -1.80768909e-01] [ 2.85806347e-04 1.92141677e-06 9.99999959e-01 -2.66514186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.710281692999999 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:9.10, Y:-0.18, Z:-0.27 [[ 9.99805548e-01 1.97182337e-02 2.39291491e-04 9.10461431e+00] [-1.97182336e-02 9.99805577e-01 -2.80709960e-06 -1.79513176e-01] [-2.39300318e-04 -1.91185176e-06 9.99999971e-01 -2.66742497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.740281693 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:9.13, Y:-0.18, Z:-0.27 [[ 9.99780968e-01 2.09288239e-02 -2.34898979e-05 9.13469461e+00] [-2.09288239e-02 9.99780968e-01 2.47108131e-07 -1.77216581e-01] [ 2.34899245e-05 2.44561929e-07 1.00000000e+00 -2.67085027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.770281693 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:9.17, Y:-0.17, Z:-0.27 [[ 9.99792429e-01 2.03286219e-02 -1.35845907e-03 9.16531745e+00] [-2.03315665e-02 9.99790893e-01 -2.19014543e-03 -1.74876715e-01] [ 1.31365237e-03 2.21731042e-03 9.99996679e-01 -2.66792291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.800281692999999 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:9.19, Y:-0.18, Z:-0.27 [[ 9.99796343e-01 2.01236851e-02 -1.51949202e-03 9.19387010e+00] [-2.01202766e-02 9.99795089e-01 2.22604852e-03 -1.75748739e-01] [ 1.56397696e-03 -2.19502257e-03 9.99996368e-01 -2.67609416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.830281693 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:9.22, Y:-0.17, Z:-0.27 [[ 9.99793730e-01 1.99855082e-02 -3.61614614e-03 9.22244468e+00] [-1.99854876e-02 9.99800269e-01 4.18368599e-05 -1.69654996e-01] [ 3.61626002e-03 3.04422137e-05 9.99993461e-01 -2.68298423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.860281693 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:9.25, Y:-0.17, Z:-0.27 [[ 9.99769643e-01 2.10417943e-02 -4.23127183e-03 9.25123072e+00] [-2.10417762e-02 9.99778596e-01 4.88123305e-05 -1.68012170e-01] [ 4.23136211e-03 4.02323886e-05 9.99991047e-01 -2.68385345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.890281692999999 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:9.28, Y:-0.17, Z:-0.27 [[ 9.99750732e-01 2.19434206e-02 -4.11817024e-03 9.28021244e+00] [-2.19434118e-02 9.99759213e-01 4.73066413e-05 -1.66385247e-01] [ 4.11821671e-03 4.30718562e-05 9.99991519e-01 -2.68652304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.920281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:9.31, Y:-0.16, Z:-0.27 [[ 9.99727621e-01 2.31714066e-02 -2.78740658e-03 9.30894195e+00] [-2.31714077e-02 9.99731506e-01 3.18763597e-05 -1.60019619e-01] [ 2.78739680e-03 3.27204573e-05 9.99996115e-01 -2.66652643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.950281692999999 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:9.34, Y:-0.16, Z:-0.27 [[ 9.99716643e-01 2.36913601e-02 -2.31388464e-03 9.33778349e+00] [-2.36913626e-02 9.99719320e-01 2.63450423e-05 -1.56875915e-01] [ 2.31385933e-03 2.84815028e-05 9.99997323e-01 -2.66627263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.980281692999998 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:9.37, Y:-0.15, Z:-0.27 [[ 9.99719731e-01 2.34437265e-02 -3.29408442e-03 9.36600429e+00] [-2.34437308e-02 9.99725157e-01 3.73259557e-05 -1.54403943e-01] [ 3.29405412e-03 3.99101339e-05 9.99994574e-01 -2.68284230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.010281693 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:9.39, Y:-0.15, Z:-0.27 [[ 9.99739646e-01 2.24681476e-02 -3.97768898e-03 9.39467773e+00] [-2.24681462e-02 9.99747558e-01 4.50321601e-05 -1.54282942e-01] [ 3.97769663e-03 4.43508618e-05 9.99992088e-01 -2.69393611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.040281692999999 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:9.42, Y:-0.15, Z:-0.27 [[ 9.99740396e-01 2.24347415e-02 -3.97769061e-03 9.42400509e+00] [-2.24347405e-02 9.99748309e-01 4.48876078e-05 -1.54528859e-01] [ 3.97769650e-03 4.43625017e-05 9.99992088e-01 -2.69425586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.070281693 meters Centerline goodness : 0.998221 Centerline is valid? [True, True] Translation: X:9.45, Y:-0.15, Z:-0.27 [[ 9.99770108e-01 2.09313691e-02 -4.64845045e-03 9.45282137e+00] [-2.09313525e-02 9.99780914e-01 5.22351164e-05 -1.53551641e-01] [ 4.64852539e-03 4.50752468e-05 9.99989195e-01 -2.70029939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.100281693 meters Centerline goodness : 0.998515 Centerline is valid? [True, True] Translation: X:9.48, Y:-0.15, Z:-0.27 [[ 9.99799601e-01 1.94226868e-02 -4.84939187e-03 9.48045154e+00] [-1.94226523e-02 9.99811361e-01 5.42042116e-05 -1.52379047e-01] [ 4.84952988e-03 3.99947031e-05 9.99988240e-01 -2.69356159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.130281692999999 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:9.51, Y:-0.15, Z:-0.27 [[ 9.99855862e-01 1.67334223e-02 -2.87202834e-03 9.50906440e+00] [-1.67333996e-02 9.99859986e-01 3.19561830e-05 -1.51100310e-01] [ 2.87216095e-03 1.61072208e-05 9.99995875e-01 -2.67787537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.160281693 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:9.54, Y:-0.15, Z:-0.27 [[ 9.99886715e-01 1.49329698e-02 -1.88800273e-03 9.53727135e+00] [-1.49329569e-02 9.99888497e-01 2.09381128e-05 -1.51307973e-01] [ 1.88810488e-03 7.25772258e-06 9.99998218e-01 -2.67404953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.190281693 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:9.57, Y:-0.15, Z:-0.27 [[ 9.99940667e-01 1.05548263e-02 -2.69405407e-03 9.56559981e+00] [-1.05547842e-02 9.99944296e-01 2.98431505e-05 -1.51242860e-01] [ 2.69421899e-03 -1.40622053e-06 9.99996371e-01 -2.68578658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.220281692999999 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:9.60, Y:-0.15, Z:-0.27 [[ 9.99958399e-01 8.69804250e-03 -2.74656563e-03 9.59530605e+00] [-8.69799190e-03 9.99962171e-01 3.03660759e-05 -1.51821013e-01] [ 2.74672586e-03 -6.47520707e-06 9.99996228e-01 -2.69267080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.250281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:9.62, Y:-0.15, Z:-0.27 [[ 9.99985222e-01 5.00282570e-03 -2.12774559e-03 9.62405744e+00] [-5.00278716e-03 9.99987486e-01 2.34368819e-05 -1.54259614e-01] [ 2.12783622e-03 -1.27918773e-05 9.99997736e-01 -2.69700725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.280281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:9.65, Y:-0.16, Z:-0.27 [[ 9.99991675e-01 3.77977678e-03 -1.53751151e-03 9.65324438e+00] [-3.77975526e-03 9.99992857e-01 1.69025470e-05 -1.56087273e-01] [ 1.53756442e-03 -1.10909890e-05 9.99998818e-01 -2.69228005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.310281692999999 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:9.68, Y:-0.16, Z:-0.27 [[ 9.99996177e-01 2.59558975e-03 -9.53649795e-04 9.68272741e+00] [-2.59558096e-03 9.99996631e-01 1.04530705e-05 -1.58069303e-01] [ 9.53673714e-04 -7.97775526e-06 9.99999545e-01 -2.68901885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.340281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:9.71, Y:-0.16, Z:-0.27 [[ 9.99999776e-01 -7.67794139e-05 -6.64359497e-04 9.71176851e+00] [ 7.67842672e-05 9.99999997e-01 7.27963670e-06 -1.63909454e-01] [ 6.64358937e-04 -7.33064743e-06 9.99999779e-01 -2.68250478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.370281692999999 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:9.74, Y:-0.17, Z:-0.27 [[ 9.99998528e-01 -1.42176684e-03 -9.60133156e-04 9.74256352e+00] [ 1.42177761e-03 9.99998989e-01 1.05381204e-05 -1.66629348e-01] [ 9.60117203e-04 -1.19032007e-05 9.99999539e-01 -2.69032725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.400281692999998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:9.77, Y:-0.17, Z:-0.27 [[ 9.99996940e-01 -1.80345224e-03 -1.69315887e-03 9.77273011e+00] [ 1.80348629e-03 9.99998374e-01 1.85835808e-05 -1.69003922e-01] [ 1.69312260e-03 -2.16371127e-05 9.99998566e-01 -2.68971362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.430281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:9.80, Y:-0.17, Z:-0.27 [[ 9.99998649e-01 -7.09391192e-04 -1.48278968e-03 9.80218918e+00] [ 7.09416021e-04 9.99999748e-01 1.62183158e-05 -1.72875764e-01] [ 1.48277780e-03 -1.72702086e-05 9.99998901e-01 -2.69508385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.460281692999999 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:9.83, Y:-0.18, Z:-0.27 [[ 9.99999574e-01 1.12238262e-04 -9.16664881e-04 9.83185939e+00] [-1.12229147e-04 9.99999994e-01 9.99545096e-06 -1.75302743e-01] [ 9.16665997e-04 -9.89257018e-06 9.99999580e-01 -2.69173616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.490281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:9.86, Y:-0.18, Z:-0.27 [[ 9.99999184e-01 1.26941818e-03 -1.41426883e-04 9.86115525e+00] [-1.26941798e-03 9.99999194e-01 1.54911813e-06 -1.77835046e-01] [ 1.41428735e-04 -1.36958704e-06 9.99999990e-01 -2.68675330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.520281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:9.89, Y:-0.18, Z:-0.27 [[ 9.99994122e-01 3.23893672e-03 1.12445320e-03 9.89165643e+00] [-3.23892494e-03 9.99994755e-01 -1.22944208e-05 -1.82451822e-01] [-1.12448712e-03 8.65232900e-06 9.99999368e-01 -2.68301256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.550281692999999 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:9.92, Y:-0.18, Z:-0.27 [[ 9.99990474e-01 4.28243204e-03 8.43695338e-04 9.92154744e+00] [-4.28242578e-03 9.99990830e-01 -9.22195900e-06 -1.84883744e-01] [-8.43727094e-04 5.60880849e-06 9.99999644e-01 -2.68383380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.580281693 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:9.95, Y:-0.19, Z:-0.27 [[ 9.99987943e-01 4.88879644e-03 4.62820019e-04 9.95152984e+00] [-4.88879462e-03 9.99988050e-01 -5.06548102e-06 -1.87015143e-01] [-4.62839252e-04 2.80278792e-06 9.99999893e-01 -2.68608262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.610281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:9.98, Y:-0.19, Z:-0.27 [[ 9.99980039e-01 6.09324075e-03 -1.67168642e-03 9.98194585e+00] [-6.09321844e-03 9.99981436e-01 1.84383966e-05 -1.92023433e-01] [ 1.67176774e-03 -8.25207806e-06 9.99998603e-01 -2.69525513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.640281692999999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:10.01, Y:-0.19, Z:-0.27 [[ 9.99976962e-01 6.38020108e-03 -2.31702295e-03 1.00112582e+01] [-6.38015935e-03 9.99979646e-01 2.53995556e-05 -1.94737581e-01] [ 2.31713784e-03 -1.06159948e-05 9.99997315e-01 -2.69676171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.670281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:10.04, Y:-0.20, Z:-0.27 [[ 9.99969462e-01 7.40956281e-03 -2.48476673e-03 1.00403312e+01] [-7.40951824e-03 9.99972549e-01 2.71416013e-05 -1.97606990e-01] [ 2.48489963e-03 -8.72984801e-06 9.99996913e-01 -2.69173736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.700281692999999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:10.07, Y:-0.20, Z:-0.27 [[ 9.99928062e-01 1.18925176e-02 -1.56159387e-03 1.00693659e+01] [-1.18925061e-02 9.99929282e-01 1.66591393e-05 -1.99500593e-01] [ 1.56168156e-03 1.91332384e-06 9.99998781e-01 -2.68278388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.730281692999998 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:10.10, Y:-0.20, Z:-0.27 [[ 9.99878575e-01 1.55275794e-02 -1.31496430e-03 1.00983419e+01] [-1.55275743e-02 9.99879440e-01 1.40927779e-05 -1.99677542e-01] [ 1.31502460e-03 6.32713920e-06 9.99999135e-01 -2.68312095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.760281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:10.13, Y:-0.20, Z:-0.27 [[ 9.99812084e-01 1.93512271e-02 -1.15216104e-03 1.01267572e+01] [-1.93512258e-02 9.99812747e-01 1.23021848e-05 -1.99647276e-01] [ 1.15218336e-03 9.99585542e-06 9.99999336e-01 -2.69115769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.790281692999999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:10.16, Y:-0.20, Z:-0.27 [[ 9.99680535e-01 2.52724400e-02 -3.63662815e-04 1.01550100e+01] [-2.52724403e-02 9.99680601e-01 3.84431086e-06 -1.98160369e-01] [ 3.63643816e-04 5.34756404e-06 9.99999934e-01 -2.70260202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.820281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:10.18, Y:-0.20, Z:-0.27 [[ 9.99636506e-01 2.69521078e-02 -6.62849386e-04 1.01846471e+01] [-2.69521090e-02 9.99636726e-01 7.09521980e-06 -1.96718165e-01] [ 6.62799821e-04 1.07725482e-05 9.99999780e-01 -2.70635057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.850281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:10.21, Y:-0.19, Z:-0.27 [[ 9.99628612e-01 2.71661155e-02 -2.15422834e-03 1.02142105e+01] [-2.71661291e-02 9.99630932e-01 2.29475043e-05 -1.93298378e-01] [ 2.15405668e-03 3.55830634e-05 9.99997679e-01 -2.71635834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.880281692999999 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:10.24, Y:-0.19, Z:-0.27 [[ 9.99651482e-01 2.62475284e-02 -2.82533448e-03 1.02435197e+01] [-2.62475483e-02 9.99655473e-01 3.00385052e-05 -1.91831397e-01] [ 2.82514952e-03 4.41300671e-05 9.99996008e-01 -2.71196738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.910281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:10.27, Y:-0.19, Z:-0.27 [[ 9.99682766e-01 2.49815435e-02 -3.20782718e-03 1.02732632e+01] [-2.49815629e-02 9.99687911e-01 3.40350927e-05 -1.89860792e-01] [ 3.20767630e-03 4.61122407e-05 9.99994854e-01 -2.71174942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.940281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:10.30, Y:-0.19, Z:-0.27 [[ 9.99719251e-01 2.34509001e-02 -3.38742574e-03 1.03017794e+01] [-2.34509131e-02 9.99724989e-01 3.58642229e-05 -1.87054472e-01] [ 3.38733521e-03 4.35840728e-05 9.99994262e-01 -2.71088071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.970281692999999 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:10.33, Y:-0.18, Z:-0.27 [[ 9.99777606e-01 2.09512715e-02 -2.40485613e-03 1.03310690e+01] [-2.09512710e-02 9.99780498e-01 2.54001348e-05 -1.80438732e-01] [ 2.40486042e-03 2.49903064e-05 9.99997108e-01 -2.70948541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.000281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:10.36, Y:-0.18, Z:-0.27 [[ 9.99808601e-01 1.95485628e-02 -7.84798066e-04 1.03597221e+01] [-1.95485623e-02 9.99808909e-01 8.25424159e-06 -1.77450153e-01] [ 7.84809456e-04 7.08901215e-06 9.99999692e-01 -2.70821859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.030281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:10.39, Y:-0.17, Z:-0.27 [[ 9.99831523e-01 1.83545141e-02 1.91597676e-04 1.03897074e+01] [-1.83545140e-02 9.99831542e-01 -2.04054945e-06 -1.74740035e-01] [-1.91602853e-04 -1.47647657e-06 9.99999982e-01 -2.70449405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.060281692999999 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:10.42, Y:-0.17, Z:-0.27 [[ 9.99887261e-01 1.49931216e-02 8.19655426e-04 1.04205811e+01] [-1.49931196e-02 9.99887597e-01 -8.62926475e-06 -1.71154477e-01] [-8.19692673e-04 -3.66089992e-06 9.99999664e-01 -2.70866728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.090281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:10.45, Y:-0.17, Z:-0.27 [[ 9.99925704e-01 1.21609776e-02 8.34828905e-04 1.04515004e+01] [-1.21609745e-02 9.99926053e-01 -8.78900989e-06 -1.69958827e-01] [-8.34874054e-04 -1.36397611e-06 9.99999651e-01 -2.71538848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.120281692999999 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:10.48, Y:-0.17, Z:-0.27 [[ 9.99983772e-01 5.49162494e-03 1.51580357e-03 1.04815310e+01] [-5.49160707e-03 9.99984921e-01 -1.59533169e-05 -1.66785232e-01] [-1.51586832e-03 7.62886040e-06 9.99998851e-01 -2.71905961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.150281692999998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:10.51, Y:-0.17, Z:-0.27 [[ 9.99994473e-01 1.95380422e-03 2.69016571e-03 1.05127983e+01] [-1.95373508e-03 9.99998091e-01 -2.83274986e-05 -1.65883543e-01] [-2.69021593e-03 2.30714709e-05 9.99996381e-01 -2.71880655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.180281693 meters Centerline goodness : 0.999286 Centerline is valid? [True, True] Translation: X:10.54, Y:-0.17, Z:-0.27 [[ 9.99989403e-01 -2.53525959e-03 3.84258291e-03 1.05436302e+01] [ 2.53543488e-03 9.99996785e-01 -4.07462212e-05 -1.66194684e-01] [-3.84246725e-03 5.04884081e-05 9.99992616e-01 -2.72026457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.210281692999999 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:10.58, Y:-0.17, Z:-0.27 [[ 9.99988056e-01 -3.62405242e-03 3.27946841e-03 1.05759372e+01] [ 3.62418656e-03 9.99993432e-01 -3.49590961e-05 -1.66374185e-01] [-3.27932018e-03 4.68440838e-05 9.99994622e-01 -2.71656654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.240281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:10.61, Y:-0.17, Z:-0.27 [[ 9.99989927e-01 -3.79251312e-03 2.40037478e-03 1.06075118e+01] [ 3.79258566e-03 9.99992808e-01 -2.56692234e-05 -1.66446759e-01] [-2.40026016e-03 3.47725918e-05 9.99997119e-01 -2.72274810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.270281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:10.64, Y:-0.17, Z:-0.27 [[ 9.99992598e-01 -3.55135825e-03 1.48055583e-03 1.06391174e+01] [ 3.55138563e-03 9.99993694e-01 -1.58688503e-05 -1.65815982e-01] [-1.48049014e-03 2.11267576e-05 9.99998904e-01 -2.72197904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.300281692999999 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:10.67, Y:-0.16, Z:-0.27 [[ 9.99997977e-01 -1.74272654e-03 1.00422445e-03 1.06706390e+01] [ 1.74273825e-03 9.99998481e-01 -1.07862950e-05 -1.64124546e-01] [-1.00420413e-03 1.25363736e-05 9.99999496e-01 -2.71807996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.330281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:10.70, Y:-0.16, Z:-0.27 [[ 9.99999116e-01 -7.64151489e-04 1.08852260e-03 1.07010171e+01] [ 7.64164697e-04 9.99999708e-01 -1.17181585e-05 -1.64249985e-01] [-1.08851332e-03 1.25499587e-05 9.99999407e-01 -2.71971538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.360281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:10.73, Y:-0.16, Z:-0.27 [[ 9.99997271e-01 2.09750419e-04 2.32698191e-03 1.07316528e+01] [-2.09692454e-04 9.99999978e-01 -2.51539750e-05 -1.63978558e-01] [-2.32698714e-03 2.46659558e-05 9.99997292e-01 -2.72349478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.390281692999999 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:10.76, Y:-0.16, Z:-0.27 [[ 9.99992976e-01 4.98949102e-04 3.71482866e-03 1.07627902e+01] [-4.98802981e-04 9.99999875e-01 -4.02608376e-05 -1.63987559e-01] [-3.71484828e-03 3.84075871e-05 9.99993099e-01 -2.72053745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.420281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:10.79, Y:-0.16, Z:-0.27 [[ 9.99982966e-01 9.49956261e-04 5.75885331e-03 1.07947815e+01] [-9.49611025e-04 9.99999547e-01 -6.26828172e-05 -1.64685279e-01] [-5.75891025e-03 5.72130789e-05 9.99983416e-01 -2.72239919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.450281692999999 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:10.83, Y:-0.17, Z:-0.27 [[ 9.99977536e-01 1.44200649e-03 6.54584015e-03 1.08270726e+01] [-1.44156858e-03 9.99998958e-01 -7.16172805e-05 -1.66095027e-01] [-6.54593661e-03 6.21793942e-05 9.99978573e-01 -2.72277332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.480281692999998 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:10.86, Y:-0.17, Z:-0.27 [[ 9.99983042e-01 2.76887858e-03 5.12330271e-03 1.08589584e+01] [-2.76862632e-03 9.99996166e-01 -5.63286764e-05 -1.67954086e-01] [-5.12343903e-03 4.21432105e-05 9.99986874e-01 -2.72363504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.510281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:10.89, Y:-0.17, Z:-0.27 [[ 9.99985520e-01 4.07531239e-03 3.51459335e-03 1.08920320e+01] [-4.07520008e-03 9.99991696e-01 -3.91155608e-05 -1.68843032e-01] [-3.51472357e-03 2.47923233e-05 9.99993823e-01 -2.73245632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.540281692999999 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:10.92, Y:-0.17, Z:-0.27 [[ 9.99969581e-01 7.42185895e-03 2.39868136e-03 1.09246270e+01] [-7.42181580e-03 9.99972458e-01 -2.68902274e-05 -1.70512324e-01] [-2.39881487e-03 9.08683826e-06 9.99997123e-01 -2.73363710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.570281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:10.96, Y:-0.17, Z:-0.27 [[ 9.99950082e-01 9.59569376e-03 2.78501101e-03 1.09554150e+01] [-9.59564360e-03 9.99953960e-01 -3.13729821e-05 -1.71499917e-01] [-2.78518383e-03 4.64744299e-06 9.99996121e-01 -2.72977822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.600281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:10.99, Y:-0.17, Z:-0.27 [[ 9.99923212e-01 1.20080236e-02 3.06222060e-03 1.09856520e+01] [-1.20079737e-02 9.99927901e-01 -3.46677674e-05 -1.72641830e-01] [-3.06241611e-03 -2.10595915e-06 9.99995311e-01 -2.72895748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.630281692999999 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:11.02, Y:-0.17, Z:-0.27 [[ 9.99850583e-01 1.66898218e-02 4.50134170e-03 1.10166280e+01] [-1.66897607e-02 9.99860715e-01 -5.11307315e-05 -1.73541085e-01] [-4.50156810e-03 -2.40032243e-05 9.99989868e-01 -2.73368539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.660281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:11.05, Y:-0.17, Z:-0.27 [[ 9.99802292e-01 1.93603355e-02 4.53379569e-03 1.10473609e+01] [-1.93602994e-02 9.99812570e-01 -5.18545933e-05 -1.73963991e-01] [-4.53394984e-03 -3.59313009e-05 9.99989721e-01 -2.73247366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.690281693 meters Centerline goodness : 0.999227 Centerline is valid? [True, True] Translation: X:11.08, Y:-0.17, Z:-0.27 [[ 9.99698915e-01 2.41990871e-02 4.06004660e-03 1.10787461e+01] [-2.41990974e-02 9.99707158e-01 -4.65971441e-05 -1.74882963e-01] [-4.05998526e-03 -5.16663486e-05 9.99991757e-01 -2.74822364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.720281692999999 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:11.11, Y:-0.18, Z:-0.27 [[ 9.99646344e-01 2.64314865e-02 2.92645560e-03 1.11093301e+01] [-2.64315013e-02 9.99650626e-01 -3.36048944e-05 -1.75086468e-01] [-2.92632140e-03 -4.37576054e-05 9.99995717e-01 -2.74816345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.750281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:11.14, Y:-0.17, Z:-0.27 [[ 9.99608000e-01 2.78370658e-02 2.99060104e-03 1.11396315e+01] [-2.78370876e-02 9.99612473e-01 -3.43414854e-05 -1.74364664e-01] [-2.99039807e-03 -4.89215997e-05 9.99995528e-01 -2.74582990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.780281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:11.17, Y:-0.17, Z:-0.27 [[ 9.99574793e-01 2.89811372e-02 3.21369204e-03 1.11697601e+01] [-2.89811683e-02 9.99579957e-01 -3.69032701e-05 -1.74073441e-01] [-3.21341165e-03 -5.62489713e-05 9.99994835e-01 -2.74471543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.810281692999999 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:11.20, Y:-0.17, Z:-0.27 [[ 9.99531307e-01 3.02864003e-02 4.46086508e-03 1.11988713e+01] [-3.02864734e-02 9.99541258e-01 -5.11842376e-05 -1.74556782e-01] [-4.46036888e-03 -8.39436234e-05 9.99990049e-01 -2.74016117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.840281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:11.23, Y:-0.17, Z:-0.27 [[ 9.99500156e-01 3.12709569e-02 4.64392272e-03 1.12293451e+01] [-3.12710468e-02 9.99510940e-01 -5.32710191e-05 -1.74853888e-01] [-4.64331739e-03 -9.19759327e-05 9.99989216e-01 -2.74007279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.870281692999999 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:11.26, Y:-0.17, Z:-0.27 [[ 9.99396104e-01 3.44416251e-02 4.60445578e-03 1.12602348e+01] [-3.44417471e-02 9.99406706e-01 -5.28182889e-05 -1.73789911e-01] [-4.60354313e-03 -1.05799109e-04 9.99989398e-01 -2.74303339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.900281692999998 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:11.29, Y:-0.17, Z:-0.27 [[ 9.99328173e-01 3.63176223e-02 4.92273602e-03 1.12904786e+01] [-3.63177845e-02 9.99340290e-01 -5.64693214e-05 -1.72756412e-01] [-4.92153927e-03 -1.22351482e-04 9.99987882e-01 -2.73992356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.930281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:11.32, Y:-0.17, Z:-0.27 [[ 9.99327749e-01 3.63292729e-02 4.92273551e-03 1.13214782e+01] [-3.63294350e-02 9.99339867e-01 -5.65140033e-05 -1.73117921e-01] [-4.92153896e-03 -1.22364188e-04 9.99987882e-01 -2.74026154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.960281692999999 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:11.35, Y:-0.17, Z:-0.27 [[ 9.99265588e-01 3.78889757e-02 5.71923543e-03 1.13517733e+01] [-3.78892200e-02 9.99281944e-01 -6.56727513e-05 -1.72158362e-01] [-5.71761697e-03 -1.51072849e-04 9.99983643e-01 -2.74359141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.990281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:11.38, Y:-0.17, Z:-0.27 [[ 9.99262249e-01 3.82314214e-02 3.64905460e-03 1.13821724e+01] [-3.81966114e-02 9.99228122e-01 -9.17487224e-03 -1.65406187e-01] [-3.99700639e-03 9.02872196e-03 9.99951252e-01 -2.73571124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.020281693 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:11.41, Y:-0.18, Z:-0.28 [[ 9.99311366e-01 3.67111299e-02 5.39324084e-03 1.14116085e+01] [-3.67592042e-02 9.99282692e-01 9.10285254e-03 -1.75370920e-01] [-5.05519622e-03 -9.29483525e-03 9.99944024e-01 -2.76884791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.050281693000002 meters Centerline goodness : 0.998665 Centerline is valid? [True, True] Translation: X:11.44, Y:-0.17, Z:-0.28 [[ 9.99386115e-01 3.48854385e-02 3.22490136e-03 1.14424561e+01] [-3.48855005e-02 9.99391315e-01 -3.70286137e-05 -1.71336102e-01] [-3.22423017e-03 -7.54964156e-05 9.99994799e-01 -2.77788147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.080281693 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:11.47, Y:-0.17, Z:-0.28 [[ 9.99459785e-01 3.28208825e-02 1.71136063e-03 1.14733691e+01] [-3.28208970e-02 9.99461249e-01 -1.96569584e-05 -1.73225329e-01] [-1.71108379e-03 -3.65220516e-05 9.99998535e-01 -2.78756313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.110281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:11.50, Y:-0.17, Z:-0.28 [[ 9.99569305e-01 2.93292663e-02 9.99684359e-04 1.15032664e+01] [-2.93292695e-02 9.99569804e-01 -1.14840943e-05 -1.74867048e-01] [-9.99591120e-04 -1.78408638e-05 9.99999500e-01 -2.78274189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.140281693000002 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:11.53, Y:-0.17, Z:-0.28 [[ 9.99590668e-01 2.85444573e-02 1.92607915e-03 1.15326432e+01] [-2.85444677e-02 9.99592523e-01 -2.20830363e-05 -1.74877425e-01] [-1.92592466e-03 -3.29049070e-05 9.99998145e-01 -2.77888234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.170281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:11.56, Y:-0.17, Z:-0.28 [[ 9.99587433e-01 2.84918731e-02 3.63002844e-03 1.15628065e+01] [-2.84919100e-02 9.99594022e-01 -4.15701102e-05 -1.74313380e-01] [-3.62973914e-03 -6.18734837e-05 9.99993411e-01 -2.77559661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.200281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:11.59, Y:-0.17, Z:-0.28 [[ 9.99577584e-01 2.88326872e-02 3.65110971e-03 1.15926892e+01] [-2.88327269e-02 9.99584250e-01 -4.17823673e-05 -1.74345549e-01] [-3.65079646e-03 -6.35067314e-05 9.99993334e-01 -2.77681259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.230281693000002 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:11.62, Y:-0.17, Z:-0.28 [[ 9.99574406e-01 2.90491789e-02 2.67433368e-03 1.16231617e+01] [-2.90492010e-02 9.99577982e-01 -3.05947444e-05 -1.73774319e-01] [-2.67409382e-03 -4.71055331e-05 9.99996423e-01 -2.77951351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.260281693 meters Centerline goodness : 0.998381 Centerline is valid? [True, True] Translation: X:11.65, Y:-0.17, Z:-0.28 [[ 9.99548859e-01 3.00346313e-02 -7.57189927e-06 1.16523300e+01] [-3.00346313e-02 9.99548859e-01 7.34961033e-08 -1.71690305e-01] [ 7.57069070e-06 1.53956257e-07 1.00000000e+00 -2.78316821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.290281693 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:11.68, Y:-0.17, Z:-0.28 [[ 9.99554387e-01 2.98500059e-02 -7.19649964e-05 1.16815424e+01] [-2.98500060e-02 9.99554389e-01 7.94592589e-07 -1.71386165e-01] [ 7.19566466e-05 1.35391706e-06 9.99999997e-01 -2.78341108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.320281693000002 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:11.71, Y:-0.17, Z:-0.28 [[ 9.99582451e-01 2.88870505e-02 6.78995683e-04 1.17109247e+01] [-2.88870518e-02 9.99582682e-01 -7.75486425e-06 -1.71661685e-01] [-6.78936341e-04 -1.18625573e-05 9.99999769e-01 -2.78095205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.350281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:11.74, Y:-0.17, Z:-0.28 [[ 9.99697176e-01 2.43711073e-02 3.40661086e-03 1.17407648e+01] [-2.43711169e-02 9.99702979e-01 -3.87230931e-05 -1.70713163e-01] [-3.40654275e-03 -4.43115446e-05 9.99994197e-01 -2.77803133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.380281693 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:11.77, Y:-0.17, Z:-0.28 [[ 9.99757937e-01 2.15448033e-02 4.45970590e-03 1.17705567e+01] [-2.15447914e-02 9.99767883e-01 -5.06995893e-05 -1.70608824e-01] [-4.45976303e-03 -4.53961166e-05 9.99990054e-01 -2.77427020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.410281693 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:11.80, Y:-0.17, Z:-0.28 [[ 9.99803125e-01 1.92178461e-02 4.93828163e-03 1.18005933e+01] [-1.92178029e-02 9.99815319e-01 -5.61989150e-05 -1.70357051e-01] [-4.93844965e-03 -3.87150724e-05 9.99987805e-01 -2.77110409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.440281693 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:11.83, Y:-0.17, Z:-0.28 [[ 9.99853786e-01 1.65568657e-02 4.27513388e-03 1.18315252e+01] [-1.65568087e-02 9.99862925e-01 -4.87331786e-05 -1.67638561e-01] [-4.27535474e-03 -2.20565206e-05 9.99990860e-01 -2.77006467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.470281693 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:11.86, Y:-0.16, Z:-0.28 [[ 9.99866040e-01 1.62056801e-02 2.29759924e-03 1.18617765e+01] [-1.61868257e-02 9.99836979e-01 -8.00009338e-03 -1.61606907e-01] [-2.42687164e-03 7.96183085e-03 9.99965359e-01 -2.75414414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.500281693 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:11.89, Y:-0.17, Z:-0.28 [[ 9.99864313e-01 1.57129356e-02 4.94564676e-03 1.18925005e+01] [-1.57505085e-02 9.99846671e-01 7.65218455e-03 -1.69313797e-01] [-4.82465017e-03 -7.72904270e-03 9.99958491e-01 -2.77182745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.530281693000003 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:11.92, Y:-0.17, Z:-0.28 [[ 9.99876032e-01 1.51675481e-02 4.22690491e-03 1.19240181e+01] [-1.51674760e-02 9.99884966e-01 -4.91099808e-05 -1.65004574e-01] [-4.22716355e-03 -1.50075859e-05 9.99991065e-01 -2.76686067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.560281693 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:11.96, Y:-0.16, Z:-0.28 [[ 9.99894240e-01 1.40804639e-02 3.63991360e-03 1.19551180e+01] [-1.40804026e-02 9.99900865e-01 -4.24629543e-05 -1.64855650e-01] [-3.64015065e-03 -8.79298566e-06 9.99993375e-01 -2.76844340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.590281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:11.99, Y:-0.17, Z:-0.28 [[ 9.99917428e-01 1.21740449e-02 4.11465201e-03 1.19861159e+01] [-1.21739500e-02 9.99925894e-01 -4.81009127e-05 -1.65645989e-01] [-4.11493267e-03 -1.99462697e-06 9.99991534e-01 -2.77740873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.620281693000003 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:12.02, Y:-0.17, Z:-0.28 [[ 9.99928079e-01 1.10524755e-02 4.65606338e-03 1.20170144e+01] [-1.10523390e-02 9.99938920e-01 -5.50365452e-05 -1.67019710e-01] [-4.65638728e-03 3.57219597e-06 9.99989159e-01 -2.78138583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.650281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:12.05, Y:-0.17, Z:-0.28 [[ 9.99939756e-01 9.64779848e-03 5.23483295e-03 1.20492816e+01] [-9.64760218e-03 9.99953459e-01 -6.27499212e-05 -1.68174338e-01] [-5.23519472e-03 1.22425552e-05 9.99986296e-01 -2.77827097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.680281693 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:12.08, Y:-0.17, Z:-0.28 [[ 9.99954902e-01 8.50164225e-03 4.23271685e-03 1.20815594e+01] [-8.50150064e-03 9.99963860e-01 -5.14483632e-05 -1.68925512e-01] [-4.23300127e-03 1.54615980e-05 9.99991041e-01 -2.76774097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.710281693000002 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:12.11, Y:-0.17, Z:-0.28 [[ 9.99960093e-01 8.19636038e-03 3.55407025e-03 1.21122687e+01] [-8.19625676e-03 9.99966409e-01 -4.37191088e-05 -1.69491311e-01] [-3.55430920e-03 1.45872918e-05 9.99993683e-01 -2.76825959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.740281693 meters Centerline goodness : 0.998946 Centerline is valid? [True, True] Translation: X:12.14, Y:-0.17, Z:-0.28 [[ 9.99962953e-01 7.60842386e-03 4.02539546e-03 1.21435688e+01] [-7.60828530e-03 9.99971055e-01 -4.97319560e-05 -1.71178808e-01] [-4.02565733e-03 1.91037565e-05 9.99991897e-01 -2.76118977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.770281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:12.18, Y:-0.17, Z:-0.28 [[ 9.99960467e-01 7.57655079e-03 4.65396079e-03 1.21752865e+01] [-7.57636226e-03 9.99971297e-01 -5.81390679e-05 -1.72695682e-01] [-4.65426771e-03 2.28766766e-05 9.99989169e-01 -2.76263519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.800281693000002 meters Centerline goodness : 0.999266 Centerline is valid? [True, True] Translation: X:12.21, Y:-0.17, Z:-0.28 [[ 9.99961516e-01 7.26071053e-03 4.92433663e-03 1.22070748e+01] [-7.26049166e-03 9.99973640e-01 -6.23222043e-05 -1.74916811e-01] [-4.92465933e-03 2.65667008e-05 9.99987873e-01 -2.75880718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.830281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:12.24, Y:-0.18, Z:-0.28 [[ 9.99966730e-01 6.56794128e-03 4.83754254e-03 1.22391041e+01] [-6.56771818e-03 9.99978430e-01 -6.20019366e-05 -1.77029596e-01] [-4.83784542e-03 3.02282576e-05 9.99988297e-01 -2.75810686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.860281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:12.27, Y:-0.18, Z:-0.28 [[ 9.99970595e-01 6.66627719e-03 3.79075476e-03 1.22713402e+01] [-6.66613858e-03 9.99977780e-01 -4.91981860e-05 -1.77969535e-01] [-3.79099850e-03 2.39270427e-05 9.99992814e-01 -2.76389529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.890281693000002 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:12.30, Y:-0.18, Z:-0.28 [[ 9.99960408e-01 8.42826733e-03 2.85417697e-03 1.23022356e+01] [-8.42819542e-03 9.99964481e-01 -3.72233226e-05 -1.76991651e-01] [-2.85438932e-03 1.31662875e-05 9.99995926e-01 -2.76244018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.920281693 meters Centerline goodness : 0.998828 Centerline is valid? [True, True] Translation: X:12.33, Y:-0.18, Z:-0.28 [[ 9.99937908e-01 1.10470930e-02 1.46381061e-03 1.23330666e+01] [-1.10470768e-02 9.99938979e-01 -1.91127184e-05 -1.76321520e-01] [-1.46393243e-03 2.94070336e-06 9.99998928e-01 -2.77060761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.950281693 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:12.36, Y:-0.18, Z:-0.28 [[ 9.99875923e-01 1.57431273e-02 -5.41329936e-04 1.23629601e+01] [-1.57431257e-02 9.99876069e-01 7.05654715e-06 -1.75797161e-01] [ 5.41373941e-04 1.46655366e-06 9.99999853e-01 -2.78020656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.980281693000002 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:12.39, Y:-0.18, Z:-0.28 [[ 9.99853587e-01 1.71113925e-02 -7.56705049e-05 1.23923891e+01] [-1.71113925e-02 9.99853589e-01 9.65420713e-07 -1.76125980e-01] [ 7.56759457e-05 3.29548348e-07 9.99999997e-01 -2.77788177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.010281693 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:12.42, Y:-0.18, Z:-0.27 [[ 9.99860598e-01 1.65872564e-02 1.90966219e-03 1.24222664e+01] [-1.65872392e-02 9.99862422e-01 -2.48560327e-05 -1.77824989e-01] [-1.90981176e-03 -6.82345591e-06 9.99998176e-01 -2.70076263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.040281693 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:12.45, Y:-0.18, Z:-0.28 [[ 9.99891280e-01 1.45034371e-02 2.66070782e-03 1.24521013e+01] [-1.45033964e-02 9.99894820e-01 -3.45811183e-05 -1.80002833e-01] [-2.66092951e-03 -4.01194147e-06 9.99996460e-01 -2.77677200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.070281693000002 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:12.48, Y:-0.18, Z:-0.28 [[ 9.99916187e-01 1.26620550e-02 2.70020532e-03 1.24823698e+01] [-1.26620064e-02 9.99919833e-01 -3.50839784e-05 -1.82918590e-01] [-2.70043309e-03 8.91020856e-07 9.99996354e-01 -2.78075447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.100281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:12.51, Y:-0.19, Z:-0.27 [[ 9.99944247e-01 1.05211607e-02 8.98621323e-04 1.25123387e+01] [-1.05211545e-02 9.99944651e-01 -1.16762644e-05 -1.86523059e-01] [-8.98694433e-04 2.22107965e-06 9.99999596e-01 -2.72871582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.130281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:12.54, Y:-0.19, Z:-0.28 [[ 9.99953042e-01 9.67811455e-03 4.98130375e-04 1.25416997e+01] [-9.67811252e-03 9.99953166e-01 -6.48259361e-06 -1.88368765e-01] [-4.98169785e-04 1.66132738e-06 9.99999876e-01 -2.79507559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.160281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:12.57, Y:-0.19, Z:-0.28 [[ 9.99959658e-01 8.94775056e-03 7.87481512e-04 1.25720242e+01] [-8.94774527e-03 9.99959968e-01 -1.02318883e-05 -1.90925066e-01] [-7.87541540e-04 3.18529157e-06 9.99999690e-01 -2.79321891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.190281693 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:12.60, Y:-0.19, Z:-0.28 [[ 9.99965087e-01 8.15820879e-03 1.80773033e-03 1.26021732e+01] [-8.15817966e-03 9.99966721e-01 -2.34881640e-05 -1.94142410e-01] [-1.80786180e-03 8.73955511e-06 9.99998366e-01 -2.79189189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.220281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:12.63, Y:-0.20, Z:-0.28 [[ 9.99967929e-01 7.67534970e-03 2.28685923e-03 1.26333675e+01] [-7.67530173e-03 9.99970544e-01 -2.97484882e-05 -2.01082717e-01] [-2.28702020e-03 1.21951995e-05 9.99997385e-01 -2.77641929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.250281693 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:12.66, Y:-0.20, Z:-0.28 [[ 9.99964090e-01 8.31616842e-03 1.63090517e-03 1.26639678e+01] [-8.31614484e-03 9.99965420e-01 -2.12400308e-05 -2.04772046e-01] [-1.63102541e-03 7.67642448e-06 9.99998670e-01 -2.77673342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.280281693000003 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:12.69, Y:-0.21, Z:-0.28 [[ 9.99949667e-01 1.00165567e-02 5.75749270e-04 1.26944359e+01] [-1.00163414e-02 9.99949765e-01 -3.75643058e-04 -2.09957700e-01] [-5.79482997e-04 3.69857250e-04 9.99999764e-01 -2.77826083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.310281693 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:12.72, Y:-0.21, Z:-0.28 [[ 9.99918036e-01 1.27870653e-02 6.41866662e-04 1.27233021e+01] [-1.27872984e-02 9.99918174e-01 3.60369277e-04 -2.13067741e-01] [-6.37206075e-04 -3.68547480e-04 9.99999729e-01 -2.77831462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.340281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:12.75, Y:-0.21, Z:-0.28 [[ 9.99878865e-01 1.55449655e-02 7.80328161e-04 1.27535535e+01] [-1.55449622e-02 9.99879170e-01 -1.02313879e-05 -2.14450614e-01] [-7.80392921e-04 -1.90002329e-06 9.99999695e-01 -2.77835855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.370281693000003 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:12.78, Y:-0.22, Z:-0.28 [[ 9.99766835e-01 2.14629097e-02 2.37034195e-03 1.27832895e+01] [-2.14628963e-02 9.99769645e-01 -3.10790885e-05 -2.16215451e-01] [-2.37046298e-03 -1.98025616e-05 9.99997190e-01 -2.77269659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.400281693 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:12.81, Y:-0.22, Z:-0.28 [[ 9.99712321e-01 2.37490395e-02 3.35523405e-03 1.28134747e+01] [-2.37490255e-02 9.99717951e-01 -4.39926466e-05 -2.16617765e-01] [-3.35533249e-03 -3.57035482e-05 9.99994370e-01 -2.77331594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.430281693 meters Centerline goodness : 0.998650 Centerline is valid? [True, True] Translation: X:12.84, Y:-0.22, Z:-0.28 [[ 9.99669706e-01 2.54470761e-02 3.59513709e-03 1.28439365e+01] [-2.54470711e-02 9.99676170e-01 -4.71381707e-05 -2.17221704e-01] [-3.59517240e-03 -4.43631077e-05 9.99993536e-01 -2.77282852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.460281693000002 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:12.88, Y:-0.22, Z:-0.28 [[ 9.99656656e-01 2.60197337e-02 3.08916881e-03 1.28754932e+01] [-2.60197326e-02 9.99661429e-01 -4.05568693e-05 -2.20857850e-01] [-3.08917819e-03 -3.98364021e-05 9.99995228e-01 -2.78666177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.490281693 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:12.91, Y:-0.22, Z:-0.28 [[ 9.99675850e-01 2.53716375e-02 2.11517960e-03 1.29055068e+01] [-2.53716354e-02 9.99678088e-01 -2.77984747e-05 -2.23957065e-01] [-2.11520399e-03 -2.58761018e-05 9.99997763e-01 -2.79146135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.520281693 meters Centerline goodness : 0.998494 Centerline is valid? [True, True] Translation: X:12.94, Y:-0.23, Z:-0.28 [[ 9.99689752e-01 2.48861062e-02 1.03975700e-03 1.29353148e+01] [-2.48861054e-02 9.99690293e-01 -1.36678312e-05 -2.26806607e-01] [-1.03977512e-03 -1.22119115e-05 9.99999459e-01 -2.79106890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.550281693000002 meters Centerline goodness : 0.998291 Centerline is valid? [True, True] Translation: X:12.97, Y:-0.23, Z:-0.28 [[ 9.99691573e-01 2.48227855e-02 -7.67252652e-04 1.29653342e+01] [-2.48227851e-02 9.99691867e-01 1.00782057e-05 -2.29178385e-01] [ 7.67266406e-04 8.97025039e-06 9.99999706e-01 -2.79736068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.580281693 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:13.00, Y:-0.23, Z:-0.28 [[ 9.99691599e-01 2.48264003e-02 -5.97199339e-04 1.29950099e+01] [-2.48264000e-02 9.99691777e-01 7.82737281e-06 -2.29951230e-01] [ 5.97209594e-04 7.00135085e-06 9.99999822e-01 -2.79995198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.610281693 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:13.02, Y:-0.23, Z:-0.28 [[ 9.99662119e-01 2.59323815e-02 1.77725664e-03 1.30244255e+01] [-2.59323810e-02 9.99663699e-01 -2.33021303e-05 -2.31536663e-01] [-1.77726323e-03 -2.27942395e-05 9.99998420e-01 -2.79283370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.640281693000002 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:13.05, Y:-0.23, Z:-0.28 [[ 9.99630221e-01 2.71346620e-02 1.76939603e-03 1.30535923e+01] [-2.71346635e-02 9.99631787e-01 -2.31884492e-05 -2.31512731e-01] [-1.76937373e-03 -2.48320913e-05 9.99998434e-01 -2.78458747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.670281693 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:13.08, Y:-0.23, Z:-0.28 [[ 9.99575160e-01 2.91382385e-02 6.79905460e-04 1.30829534e+01] [-2.91382391e-02 9.99575391e-01 -8.91622298e-06 -2.30788257e-01] [-6.79876570e-04 -1.08988129e-05 9.99999769e-01 -2.78788781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.700281693 meters Centerline goodness : 0.997949 Centerline is valid? [True, True] Translation: X:13.11, Y:-0.23, Z:-0.28 [[ 9.99409676e-01 3.42645398e-02 -2.49824498e-03 1.31125733e+01] [-3.42645652e-02 9.99412797e-01 3.26485042e-05 -2.27642470e-01] [ 2.49789669e-03 5.29720469e-05 9.99996879e-01 -2.80360803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.730281693000002 meters Centerline goodness : 0.998220 Centerline is valid? [True, True] Translation: X:13.14, Y:-0.23, Z:-0.28 [[ 9.99358698e-01 3.56975324e-02 -2.80687544e-03 1.31412626e+01] [-3.56975704e-02 9.99362638e-01 3.65792749e-05 -2.26327570e-01] [ 2.80639223e-03 6.36428169e-05 9.99996060e-01 -2.80096037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.760281693 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:13.17, Y:-0.22, Z:-0.28 [[ 9.99339908e-01 3.62758798e-02 -1.95143036e-03 1.31705571e+01] [-3.62758995e-02 9.99341813e-01 2.53228272e-05 -2.24824740e-01] [ 1.95106456e-03 4.54837798e-05 9.99998096e-01 -2.79786965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.790281693 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:13.20, Y:-0.22, Z:-0.28 [[ 9.99343774e-01 3.62163665e-02 -6.29122044e-04 1.31988023e+01] [-3.62163686e-02 9.99343972e-01 8.12590142e-06 -2.22670195e-01] [ 6.29003613e-04 1.46639468e-05 9.99999802e-01 -2.78707444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.820281693000002 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:13.23, Y:-0.22, Z:-0.28 [[ 9.99363904e-01 3.56518483e-02 8.55940890e-04 1.32286152e+01] [-3.56518519e-02 9.99364271e-01 -1.10956114e-05 -2.17760561e-01] [-8.55792322e-04 -1.94273243e-05 9.99999634e-01 -2.77765093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.850281693 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:13.26, Y:-0.22, Z:-0.28 [[ 9.99364323e-01 3.56401132e-02 8.55941151e-04 1.32587784e+01] [-3.56401168e-02 9.99364689e-01 -1.10754449e-05 -2.18111702e-01] [-8.55792092e-04 -1.94374381e-05 9.99999634e-01 -2.77791151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.880281693 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:13.29, Y:-0.22, Z:-0.28 [[ 9.99366190e-01 3.55894080e-02 7.82168262e-04 1.32872227e+01] [-3.55894109e-02 9.99366496e-01 -1.01144517e-05 -2.15528537e-01] [-7.82032722e-04 -1.77288667e-05 9.99999694e-01 -2.78035987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.910281693 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:13.32, Y:-0.21, Z:-0.28 [[ 9.99318221e-01 3.68983634e-02 1.26608635e-03 1.33172163e+01] [-3.68983723e-02 9.99319023e-01 -1.63141514e-05 -2.08646881e-01] [-1.26582614e-03 -3.04134968e-05 9.99999198e-01 -2.77382896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.940281693 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:13.35, Y:-0.20, Z:-0.28 [[ 9.99286760e-01 3.77279312e-02 1.60469911e-03 1.33466984e+01] [-3.77279466e-02 9.99288047e-01 -2.06356876e-05 -2.04692378e-01] [-1.60433518e-03 -3.99210329e-05 9.99998712e-01 -2.77195846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.970281693 meters Centerline goodness : 0.998461 Centerline is valid? [True, True] Translation: X:13.38, Y:-0.20, Z:-0.28 [[ 9.99266909e-01 3.82552416e-02 1.47708543e-03 1.33751015e+01] [-3.82552554e-02 9.99268000e-01 -1.89547882e-05 -1.96893232e-01] [-1.47672932e-03 -3.75653876e-05 9.99998909e-01 -2.76425431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.000281693 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:13.40, Y:-0.19, Z:-0.28 [[ 9.99306074e-01 3.72316693e-02 1.08330882e-03 1.34047066e+01] [-3.72316761e-02 9.99306661e-01 -1.38747700e-05 -1.94374781e-01] [-1.08307430e-03 -2.64682613e-05 9.99999413e-01 -2.76548194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.030281693 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:13.43, Y:-0.19, Z:-0.28 [[ 9.99367867e-01 3.55440585e-02 6.98010874e-04 1.34337867e+01] [-3.55440610e-02 9.99368110e-01 -8.93317539e-06 -1.92354626e-01] [-6.97887330e-04 -1.58826126e-05 9.99999756e-01 -2.76586564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.060281693 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:13.46, Y:-0.19, Z:-0.28 [[ 9.99434408e-01 3.36269785e-02 2.99811279e-04 1.34632784e+01] [-3.36269788e-02 9.99434453e-01 -3.83808785e-06 -1.90257157e-01] [-2.99770785e-04 -6.24583047e-06 9.99999955e-01 -2.76998290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.090281693 meters Centerline goodness : 0.998488 Centerline is valid? [True, True] Translation: X:13.49, Y:-0.18, Z:-0.28 [[ 9.99549415e-01 3.00072347e-02 7.29816644e-04 1.34921837e+01] [-3.00072359e-02 9.99549681e-01 -9.29803407e-06 -1.84340861e-01] [-7.29767002e-04 -1.26059357e-05 9.99999734e-01 -2.76691398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.120281693000003 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:13.52, Y:-0.18, Z:-0.28 [[ 9.99579611e-01 2.89016496e-02 2.30113357e-03 1.35222207e+01] [-2.89016590e-02 9.99582259e-01 -2.91903017e-05 -1.81946272e-01] [-2.30101594e-03 -3.73285472e-05 9.99997352e-01 -2.76355722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.150281693 meters Centerline goodness : 0.998435 Centerline is valid? [True, True] Translation: X:13.55, Y:-0.18, Z:-0.28 [[ 9.99587657e-01 2.83249194e-02 4.71329513e-03 1.35519865e+01] [-2.83249529e-02 9.99598766e-01 -5.96615453e-05 -1.77359885e-01] [-4.71309390e-03 -7.38669180e-05 9.99988891e-01 -2.76446629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.180281693 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:13.58, Y:-0.18, Z:-0.28 [[ 9.99604210e-01 2.77974460e-02 4.32730851e-03 1.35814370e+01] [-2.77974696e-02 9.99613574e-01 -5.47176751e-05 -1.75288137e-01] [-4.32715734e-03 -6.55922082e-05 9.99990636e-01 -2.77189848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.210281693000002 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:13.61, Y:-0.17, Z:-0.28 [[ 9.99655740e-01 2.61174105e-02 2.50662358e-03 1.36119126e+01] [-2.61174131e-02 9.99658882e-01 -3.16898692e-05 -1.73550963e-01] [-2.50659618e-03 -3.37875639e-05 9.99996858e-01 -2.77939688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.240281693 meters Centerline goodness : 0.997616 Centerline is valid? [True, True] Translation: X:13.64, Y:-0.17, Z:-0.28 [[ 9.99816064e-01 1.91784585e-02 -1.60014339e-04 1.36424963e+01] [-1.91784585e-02 9.99816076e-01 2.02297365e-06 -1.72232786e-01] [ 1.60023706e-04 1.04622679e-06 9.99999987e-01 -2.79979410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.270281693 meters Centerline goodness : 0.997528 Centerline is valid? [True, True] Translation: X:13.67, Y:-0.17, Z:-0.28 [[ 9.99891922e-01 1.46946640e-02 -4.59571397e-04 1.36710144e+01] [-1.46946629e-02 9.99892028e-01 5.77988498e-06 -1.72656566e-01] [ 4.59606710e-04 9.73986471e-07 9.99999894e-01 -2.80020919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.300281693000002 meters Centerline goodness : 0.997832 Centerline is valid? [True, True] Translation: X:13.70, Y:-0.17, Z:-0.28 [[ 9.99943942e-01 1.05863915e-02 -2.00882416e-04 1.37010899e+01] [-1.05863912e-02 9.99943963e-01 2.51121514e-06 -1.73513900e-01] [ 2.00897744e-04 -3.84454518e-07 9.99999980e-01 -2.79773532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.330281693 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:13.73, Y:-0.18, Z:-0.28 [[ 9.99984198e-01 5.61110885e-03 -3.46127533e-04 1.37305205e+01] [-5.61110768e-03 9.99984258e-01 4.37530259e-06 -1.75360002e-01] [ 3.46146634e-04 -2.43307460e-06 9.99999940e-01 -2.78128439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.360281693 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:13.76, Y:-0.18, Z:-0.28 [[ 9.99988170e-01 4.70587294e-03 -1.23037004e-03 1.37596766e+01] [-4.70585744e-03 9.99988927e-01 1.54915422e-05 -1.76047097e-01] [ 1.23042932e-03 -9.70141295e-06 9.99999243e-01 -2.78415662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.390281693000002 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:13.79, Y:-0.17, Z:-0.28 [[ 9.99983726e-01 4.77665102e-03 -3.11954015e-03 1.37887376e+01] [-4.77655206e-03 9.99988591e-01 3.91716458e-05 -1.74544342e-01] [ 3.11969167e-03 -2.42703624e-05 9.99995133e-01 -2.79073520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.420281693 meters Centerline goodness : 0.997137 Centerline is valid? [True, True] Translation: X:13.82, Y:-0.17, Z:-0.28 [[ 9.99979166e-01 5.27365083e-03 -3.72232939e-03 1.38178482e+01] [-5.27351400e-03 9.99986094e-01 4.65753170e-05 -1.73065915e-01] [ 3.72252324e-03 -2.69445905e-05 9.99993071e-01 -2.78943743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.450281693 meters Centerline goodness : 0.997086 Centerline is valid? [True, True] Translation: X:13.85, Y:-0.17, Z:-0.28 [[ 9.99968088e-01 5.82280715e-03 -5.46971233e-03 1.38473613e+01] [-5.85258390e-03 9.99968056e-01 -5.44379474e-03 -1.69062792e-01] [ 5.43783944e-03 5.47563296e-03 9.99970223e-01 -2.77943186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.480281693000002 meters Centerline goodness : 0.997006 Centerline is valid? [True, True] Translation: X:13.87, Y:-0.18, Z:-0.28 [[ 9.99968143e-01 6.81382694e-03 -4.15756951e-03 1.38743016e+01] [-6.79061450e-03 9.99961420e-01 5.57197848e-03 -1.75839657e-01] [ 4.19537561e-03 -5.54356852e-03 9.99975834e-01 -2.80184345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.510281693 meters Centerline goodness : 0.996628 Centerline is valid? [True, True] Translation: X:13.90, Y:-0.18, Z:-0.28 [[ 9.99975012e-01 6.31036710e-03 -3.18676608e-03 1.39023788e+01] [-6.31027316e-03 9.99980089e-01 3.95327487e-05 -1.75909622e-01] [ 3.18695209e-03 -1.94223964e-05 9.99994921e-01 -2.80518820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.540281693 meters Centerline goodness : 0.997039 Centerline is valid? [True, True] Translation: X:13.93, Y:-0.18, Z:-0.28 [[ 9.99984214e-01 5.05242441e-03 -2.45849061e-03 1.39312507e+01] [-5.05236499e-03 9.99987236e-01 3.03776955e-05 -1.77336178e-01] [ 2.45861271e-03 -1.79560240e-05 9.99996977e-01 -2.79891808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.570281693000002 meters Centerline goodness : 0.996774 Centerline is valid? [True, True] Translation: X:13.96, Y:-0.18, Z:-0.28 [[ 9.99992784e-01 3.38948747e-03 -1.71578910e-03 1.39601700e+01] [-3.38945619e-03 9.99994256e-01 2.11385810e-05 -1.78388652e-01] [ 1.71585089e-03 -1.53228365e-05 9.99998528e-01 -2.79250894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.600281693 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:13.99, Y:-0.18, Z:-0.28 [[ 9.99999018e-01 7.85711973e-04 -1.16037854e-03 1.39893318e+01] [-7.85695944e-04 9.99999691e-01 1.42696725e-05 -1.79597353e-01] [ 1.16038940e-03 -1.33579538e-05 9.99999327e-01 -2.78455107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.630281693 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:14.02, Y:-0.18, Z:-0.28 [[ 9.99999367e-01 4.95249601e-04 -1.01020137e-03 1.40188845e+01] [-4.95237331e-04 9.99999877e-01 1.23964191e-05 -1.80332681e-01] [ 1.01020739e-03 -1.18961218e-05 9.99999490e-01 -2.78183354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.660281693 meters Centerline goodness : 0.996935 Centerline is valid? [True, True] Translation: X:14.05, Y:-0.18, Z:-0.28 [[ 9.99998632e-01 1.42305943e-03 -8.43550491e-04 1.40479576e+01] [-1.42305120e-03 9.99998987e-01 1.03484324e-05 -1.79907177e-01] [ 8.43564363e-04 -9.14800269e-06 9.99999644e-01 -2.78018838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.690281693 meters Centerline goodness : 0.996871 Centerline is valid? [True, True] Translation: X:14.08, Y:-0.18, Z:-0.28 [[ 9.99995895e-01 2.84041974e-03 -3.75878754e-04 1.40774260e+01] [-2.84041822e-03 9.99995966e-01 4.58647103e-06 -1.79639369e-01] [ 3.75890265e-04 -3.51879934e-06 9.99999929e-01 -2.77721033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.720281693 meters Centerline goodness : 0.996951 Centerline is valid? [True, True] Translation: X:14.11, Y:-0.18, Z:-0.28 [[ 9.99990535e-01 4.32084178e-03 5.10493948e-04 1.41065055e+01] [-4.32083914e-03 9.99990665e-01 -6.26074579e-06 -1.79323974e-01] [-5.10516234e-04 4.05492430e-06 9.99999870e-01 -2.77794363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.750281693 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:14.14, Y:-0.18, Z:-0.28 [[ 9.99983603e-01 5.11574723e-03 2.57331183e-03 1.41367166e+01] [-5.11568308e-03 9.99986914e-01 -3.15084251e-05 -1.79984630e-01] [-2.57343934e-03 1.83436607e-05 9.99996689e-01 -2.77196878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.780281693 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:14.17, Y:-0.18, Z:-0.28 [[ 9.99984445e-01 4.84452432e-03 2.76414402e-03 1.41673380e+01] [-4.84444899e-03 9.99988265e-01 -3.39476470e-05 -1.80090389e-01] [-2.76427604e-03 2.05563643e-05 9.99996179e-01 -2.77333822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.810281693 meters Centerline goodness : 0.997041 Centerline is valid? [True, True] Translation: X:14.20, Y:-0.18, Z:-0.28 [[ 9.99984591e-01 4.75309927e-03 2.86791188e-03 1.41976071e+01] [-4.75709580e-03 9.99987721e-01 1.38832516e-03 -1.80479181e-01] [-2.86127782e-03 -1.40194670e-03 9.99994924e-01 -2.77570361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.840281693 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:14.23, Y:-0.18, Z:-0.28 [[ 9.99991660e-01 3.71122001e-03 1.70507389e-03 1.42286370e+01] [-3.70889179e-03 9.99992188e-01 -1.36660281e-03 -1.78267451e-01] [-1.71013234e-03 1.36026748e-03 9.99997613e-01 -2.78496278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.870281693000003 meters Centerline goodness : 0.996602 Centerline is valid? [True, True] Translation: X:14.26, Y:-0.18, Z:-0.28 [[ 9.99994072e-01 3.38431182e-03 6.34544994e-04 1.42587076e+01] [-3.38430746e-03 9.99994273e-01 -7.94310127e-06 -1.80158973e-01] [-6.34568242e-04 5.79555882e-06 9.99999799e-01 -2.78733657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.900281693 meters Centerline goodness : 0.996720 Centerline is valid? [True, True] Translation: X:14.29, Y:-0.18, Z:-0.28 [[ 9.99995226e-01 3.06343050e-03 -4.04455343e-04 1.42893162e+01] [-3.06342870e-03 9.99995308e-01 5.06987628e-06 -1.81097270e-01] [ 4.04468976e-04 -3.83083197e-06 9.99999918e-01 -2.79009904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.930281693 meters Centerline goodness : 0.996488 Centerline is valid? [True, True] Translation: X:14.32, Y:-0.18, Z:-0.28 [[ 9.99994086e-01 3.09268009e-03 -1.50425948e-03 1.43191172e+01] [-3.09265531e-03 9.99995218e-01 1.87987977e-05 -1.81436910e-01] [ 1.50431042e-03 -1.41465305e-05 9.99998868e-01 -2.79621786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.960281693000002 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:14.35, Y:-0.18, Z:-0.28 [[ 9.99993003e-01 3.24384266e-03 -1.86323496e-03 1.43482105e+01] [-3.24380500e-03 9.99994739e-01 2.32349088e-05 -1.82508646e-01] [ 1.86330052e-03 -1.71907753e-05 9.99998264e-01 -2.80333325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.990281693 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:14.38, Y:-0.19, Z:-0.28 [[ 9.99990418e-01 3.91017875e-03 -1.96817859e-03 1.43766217e+01] [-3.91013817e-03 9.99992355e-01 2.44702380e-05 -1.85940419e-01] [ 1.96825923e-03 -1.67741533e-05 9.99998063e-01 -2.81118925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.020281693 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:14.41, Y:-0.19, Z:-0.28 [[ 9.99987334e-01 4.62388417e-03 -1.98804437e-03 1.44059222e+01] [-4.62384424e-03 9.99989310e-01 2.46829285e-05 -1.87143242e-01] [ 1.98813725e-03 -1.54902083e-05 9.99998024e-01 -2.80538581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.050281693000002 meters Centerline goodness : 0.996018 Centerline is valid? [True, True] Translation: X:14.43, Y:-0.19, Z:-0.28 [[ 9.99985246e-01 5.15112962e-03 -1.72441710e-03 1.44343541e+01] [-5.15110049e-03 9.99986733e-01 2.13372219e-05 -1.87634262e-01] [ 1.72450413e-03 -1.24542614e-05 9.99998513e-01 -2.80308408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.080281693 meters Centerline goodness : 0.996101 Centerline is valid? [True, True] Translation: X:14.46, Y:-0.19, Z:-0.28 [[ 9.99983006e-01 5.66319957e-03 -1.38437365e-03 1.44641844e+01] [-5.66318132e-03 9.99983964e-01 1.71024422e-05 -1.88936865e-01] [ 1.38444830e-03 -9.26219257e-06 9.99999042e-01 -2.80309649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.110281693 meters Centerline goodness : 0.995756 Centerline is valid? [True, True] Translation: X:14.49, Y:-0.19, Z:-0.28 [[ 9.99968146e-01 7.33288491e-03 -3.15210142e-03 1.44924433e+01] [-7.34786398e-03 9.99961641e-01 -4.76706925e-03 -1.89903662e-01] [ 3.11702414e-03 4.79007861e-03 9.99983670e-01 -2.79642989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.140281693000002 meters Centerline goodness : 0.996237 Centerline is valid? [True, True] Translation: X:14.52, Y:-0.20, Z:-0.28 [[ 9.99964064e-01 8.27630325e-03 -1.83683974e-03 1.45217032e+01] [-8.26749231e-03 9.99954525e-01 4.75364111e-03 -1.96605802e-01] [ 1.87609878e-03 -4.73828422e-03 9.99987014e-01 -2.81440902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.170281693 meters Centerline goodness : 0.996416 Centerline is valid? [True, True] Translation: X:14.55, Y:-0.20, Z:-0.28 [[ 9.99935329e-01 1.13010445e-02 -1.27408381e-03 1.45492019e+01] [-1.12968896e-02 9.99930996e-01 3.22237020e-03 -1.97073414e-01] [ 1.31041204e-03 -3.20776862e-03 9.99993997e-01 -2.80960011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.200281693 meters Centerline goodness : 0.996225 Centerline is valid? [True, True] Translation: X:14.58, Y:-0.19, Z:-0.28 [[ 9.99915096e-01 1.28709443e-02 -2.03466428e-03 1.45785214e+01] [-1.28775000e-02 9.99911824e-01 -3.24243299e-03 -1.94551678e-01] [ 1.99275170e-03 3.26835909e-03 9.99992673e-01 -2.79802182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.230281693000002 meters Centerline goodness : 0.996153 Centerline is valid? [True, True] Translation: X:14.61, Y:-0.20, Z:-0.28 [[ 9.99890632e-01 1.47388097e-02 -1.22098484e-03 1.46069969e+01] [-1.47369840e-02 9.99890293e-01 1.49097546e-03 -1.98223005e-01] [ 1.24282609e-03 -1.47281876e-03 9.99998143e-01 -2.80686093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.260281693 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:14.64, Y:-0.20, Z:-0.28 [[ 9.99835641e-01 1.79640544e-02 -2.44597497e-03 1.46359348e+01] [-1.79676201e-02 9.99837527e-01 -1.44370469e-03 -1.96151148e-01] [ 2.41964278e-03 1.48741575e-03 9.99995966e-01 -2.80316170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.290281693 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:14.66, Y:-0.20, Z:-0.28 [[ 9.99814699e-01 1.89982655e-02 -3.10368243e-03 1.46649629e+01] [-1.89982377e-02 9.99819516e-01 3.84229352e-05 -1.96403259e-01] [ 3.10385223e-03 2.05486812e-05 9.99995183e-01 -2.80950911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.320281693000002 meters Centerline goodness : 0.996043 Centerline is valid? [True, True] Translation: X:14.69, Y:-0.20, Z:-0.28 [[ 9.99812465e-01 1.90556341e-02 -3.45217838e-03 1.46934705e+01] [-1.90556007e-02 9.99818425e-01 4.25870275e-05 -1.96595641e-01] [ 3.45236307e-03 2.32042918e-05 9.99994040e-01 -2.81550257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.350281693 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:14.72, Y:-0.20, Z:-0.28 [[ 9.99852974e-01 1.70093903e-02 -2.17033893e-03 1.47225515e+01] [-1.70093725e-02 9.99855330e-01 2.66594815e-05 -1.97992319e-01] [ 2.17047841e-03 1.02605414e-05 9.99997644e-01 -2.80770312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.380281693 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:14.75, Y:-0.20, Z:-0.28 [[ 9.99877651e-01 1.55118523e-02 -2.01621299e-03 1.47517094e+01] [-1.55118340e-02 9.99879684e-01 2.47044864e-05 -1.98290989e-01] [ 2.01635362e-03 6.57369742e-06 9.99997967e-01 -2.79060349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.410281693 meters Centerline goodness : 0.995822 Centerline is valid? [True, True] Translation: X:14.78, Y:-0.20, Z:-0.28 [[ 9.99903015e-01 1.37442137e-02 -2.24888341e-03 1.47803293e+01] [-1.37441866e-02 9.99905544e-01 2.74832857e-05 -1.98687845e-01] [ 2.24904872e-03 3.42845308e-06 9.99997471e-01 -2.79017041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.440281693 meters Centerline goodness : 0.995981 Centerline is valid? [True, True] Translation: X:14.81, Y:-0.20, Z:-0.28 [[ 9.99908875e-01 1.32217686e-02 -2.72508013e-03 1.48104658e+01] [-1.32217271e-02 9.99912589e-01 3.32572146e-05 -1.99763675e-01] [ 2.72528164e-03 2.77608169e-06 9.99996286e-01 -2.79482213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.470281693 meters Centerline goodness : 0.996305 Centerline is valid? [True, True] Translation: X:14.84, Y:-0.20, Z:-0.28 [[ 9.99908990e-01 1.32095410e-02 -2.74207966e-03 1.48390206e+01] [-1.32094992e-02 9.99912750e-01 3.33222664e-05 -2.00981857e-01] [ 2.74228059e-03 2.90226540e-06 9.99996240e-01 -2.79969971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.500281693 meters Centerline goodness : 0.996221 Centerline is valid? [True, True] Translation: X:14.87, Y:-0.20, Z:-0.28 [[ 9.99874450e-01 1.57895800e-02 -1.33172754e-03 1.48680875e+01] [-1.57895726e-02 9.99875337e-01 1.60451314e-05 -2.00812570e-01] [ 1.33181487e-03 4.98429177e-06 9.99999113e-01 -2.79066726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.530281693 meters Centerline goodness : 0.996537 Centerline is valid? [True, True] Translation: X:14.90, Y:-0.20, Z:-0.28 [[ 9.99827732e-01 1.85592176e-02 -2.48791543e-04 1.48969946e+01] [-1.85592174e-02 9.99827763e-01 2.98455801e-06 -2.00274489e-01] [ 2.48804083e-04 1.63333247e-06 9.99999969e-01 -2.79321351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.560281693 meters Centerline goodness : 0.996390 Centerline is valid? [True, True] Translation: X:14.93, Y:-0.20, Z:-0.28 [[ 9.99771731e-01 2.13542028e-02 6.96226238e-04 1.49271182e+01] [-2.13542022e-02 9.99771973e-01 -8.40626065e-06 -1.99635683e-01] [-6.96246988e-04 -6.46301408e-06 9.99999758e-01 -2.78847792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.590281693 meters Centerline goodness : 0.996762 Centerline is valid? [True, True] Translation: X:14.96, Y:-0.20, Z:-0.28 [[ 9.99652557e-01 2.63268249e-02 1.28989206e-03 1.49554825e+01] [-2.63268268e-02 9.99653389e-01 -1.55236405e-05 -1.98339018e-01] [-1.28985365e-03 -1.84405178e-05 9.99999168e-01 -2.79468949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.620281693000003 meters Centerline goodness : 0.996485 Centerline is valid? [True, True] Translation: X:14.98, Y:-0.20, Z:-0.28 [[ 9.99587022e-01 2.87207451e-02 9.50954766e-04 1.49847381e+01] [-2.87207473e-02 9.99587474e-01 -1.14211397e-05 -1.96993859e-01] [-9.50890496e-04 -1.58957085e-05 9.99999548e-01 -2.79000746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.650281693 meters Centerline goodness : 0.996060 Centerline is valid? [True, True] Translation: X:15.01, Y:-0.19, Z:-0.28 [[ 9.99431914e-01 3.37023774e-02 -1.94270302e-06 1.50136987e+01] [-3.37023774e-02 9.99431914e-01 -3.67554236e-09 -1.94110232e-01] [ 1.94147552e-06 6.91471650e-08 1.00000000e+00 -2.78672126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.680281693 meters Centerline goodness : 0.996141 Centerline is valid? [True, True] Translation: X:15.04, Y:-0.19, Z:-0.28 [[ 9.99350186e-01 3.60438825e-02 -2.10702369e-04 1.50423052e+01] [-3.60438827e-02 9.99350208e-01 2.47297541e-06 -1.92694908e-01] [ 2.10654592e-04 5.12316303e-06 9.99999978e-01 -2.78731938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.710281693000002 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:15.07, Y:-0.19, Z:-0.28 [[ 9.99257486e-01 3.85281771e-02 2.36427499e-04 1.50704056e+01] [-3.85281775e-02 9.99257514e-01 -2.85097467e-06 -1.90628511e-01] [-2.36361798e-04 -6.26026289e-06 9.99999972e-01 -2.79054750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.740281693 meters Centerline goodness : 0.996536 Centerline is valid? [True, True] Translation: X:15.10, Y:-0.19, Z:-0.28 [[ 9.99258785e-01 3.84944830e-02 2.36427845e-04 1.50997319e+01] [-3.84944834e-02 9.99258813e-01 -2.82182043e-06 -1.90889166e-01] [-2.36361232e-04 -6.28143890e-06 9.99999972e-01 -2.79078616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.770281693 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:15.13, Y:-0.19, Z:-0.28 [[ 9.99116931e-01 4.20155697e-02 -2.23757562e-04 1.51273338e+01] [-4.20155702e-02 9.99116956e-01 2.58660352e-06 -1.85453815e-01] [ 2.23668652e-04 6.81698218e-06 9.99999975e-01 -2.81006271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.800281693000002 meters Centerline goodness : 0.996636 Centerline is valid? [True, True] Translation: X:15.16, Y:-0.18, Z:-0.28 [[ 9.99093029e-01 4.25670307e-02 -1.07996102e-03 1.51566261e+01] [-4.25670419e-02 9.99093613e-01 1.26220184e-05 -1.83381999e-01] [ 1.07951944e-03 3.33601755e-05 9.99999417e-01 -2.82367026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.830281693 meters Centerline goodness : 0.996042 Centerline is valid? [True, True] Translation: X:15.19, Y:-0.18, Z:-0.28 [[ 9.99087228e-01 4.26713638e-02 -1.96585695e-03 1.51857876e+01] [-4.26714012e-02 9.99089161e-01 2.29122841e-05 -1.82010124e-01] [ 1.96504407e-03 6.09945002e-05 9.99998067e-01 -2.82631777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.860281693 meters Centerline goodness : 0.996271 Centerline is valid? [True, True] Translation: X:15.21, Y:-0.18, Z:-0.28 [[ 9.99145285e-01 4.13357846e-02 -2.29554101e-04 1.52135171e+01] [-4.13325251e-02 9.99111939e-01 8.18267135e-03 -1.82146508e-01] [ 5.67587384e-04 -8.16618945e-03 9.99966495e-01 -2.84471819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.890281693000002 meters Centerline goodness : 0.996413 Centerline is valid? [True, True] Translation: X:15.24, Y:-0.17, Z:-0.28 [[ 9.99212567e-01 3.95966749e-02 -2.51962503e-03 1.52424363e+01] [-3.96159798e-02 9.99181832e-01 -8.13881431e-03 -1.70405027e-01] [ 2.19529357e-03 8.23222296e-03 9.99963705e-01 -2.81632445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.920281693 meters Centerline goodness : 0.996372 Centerline is valid? [True, True] Translation: X:15.27, Y:-0.17, Z:-0.28 [[ 9.99338543e-01 3.63035223e-02 -2.12859678e-03 1.52705903e+01] [-3.63035524e-02 9.99340808e-01 2.44717399e-05 -1.71659851e-01] [ 2.12808204e-03 5.28200719e-05 9.99997734e-01 -2.82954458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.950281693 meters Centerline goodness : 0.996126 Centerline is valid? [True, True] Translation: X:15.30, Y:-0.17, Z:-0.28 [[ 9.99402247e-01 3.44827209e-02 -2.46780860e-03 1.52992758e+01] [-3.44827561e-02 9.99405293e-01 2.82770562e-05 -1.70768820e-01] [ 2.46731605e-03 5.68366887e-05 9.99996955e-01 -2.82989336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.980281693000002 meters Centerline goodness : 0.996404 Centerline is valid? [True, True] Translation: X:15.33, Y:-0.17, Z:-0.28 [[ 9.99466118e-01 3.25456467e-02 -2.87384260e-03 1.53281191e+01] [-3.25456868e-02 9.99470248e-01 3.28067516e-05 -1.69569225e-01] [ 2.87338790e-03 6.07419446e-05 9.99995870e-01 -2.82625647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.010281693 meters Centerline goodness : 0.996461 Centerline is valid? [True, True] Translation: X:15.36, Y:-0.17, Z:-0.28 [[ 9.99518430e-01 3.08715717e-02 -3.13922869e-03 1.53572307e+01] [-3.08716118e-02 9.99523358e-01 3.56991535e-05 -1.68656527e-01] [ 3.13883449e-03 6.12310874e-05 9.99995072e-01 -2.82791158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.040281693 meters Centerline goodness : 0.996526 Centerline is valid? [True, True] Translation: X:15.39, Y:-0.17, Z:-0.28 [[ 9.99596440e-01 2.83240458e-02 -2.16903880e-03 1.53863520e+01] [-2.83240591e-02 9.99598793e-01 2.45583055e-05 -1.67571373e-01] [ 2.16886415e-03 3.68875884e-05 9.99997647e-01 -2.82393155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.070281693000002 meters Centerline goodness : 0.996670 Centerline is valid? [True, True] Translation: X:15.42, Y:-0.17, Z:-0.28 [[ 9.99627853e-01 2.72312482e-02 -1.61717129e-03 1.54155824e+01] [-2.72312544e-02 9.99629160e-01 1.82293940e-05 -1.67507411e-01] [ 1.61706799e-03 2.58149929e-05 9.99998692e-01 -2.82319175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.100281693 meters Centerline goodness : 0.996856 Centerline is valid? [True, True] Translation: X:15.44, Y:-0.17, Z:-0.28 [[ 9.99712025e-01 2.39296859e-02 -1.79907408e-03 1.54432451e+01] [-2.39296883e-02 9.99713644e-01 2.01762989e-05 -1.65541586e-01] [ 1.79904172e-03 2.28807934e-05 9.99998381e-01 -2.81749191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.130281693 meters Centerline goodness : 0.996812 Centerline is valid? [True, True] Translation: X:15.47, Y:-0.16, Z:-0.28 [[ 9.99748365e-01 2.22646962e-02 -2.73668420e-03 1.54724458e+01] [-2.22646958e-02 9.99752110e-01 3.05935616e-05 -1.63859348e-01] [ 2.73668696e-03 3.03455781e-05 9.99996255e-01 -2.81491545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.160281693 meters Centerline goodness : 0.996779 Centerline is valid? [True, True] Translation: X:15.50, Y:-0.16, Z:-0.28 [[ 9.99776669e-01 2.09182567e-02 -3.00635951e-03 1.55006892e+01] [-2.09182508e-02 9.99781189e-01 3.34280054e-05 -1.62490440e-01] [ 3.00640094e-03 2.94672422e-05 9.99995480e-01 -2.81269231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.190281693 meters Centerline goodness : 0.996923 Centerline is valid? [True, True] Translation: X:15.53, Y:-0.16, Z:-0.28 [[ 9.99846517e-01 1.75193975e-02 -1.16825813e-04 1.55289088e+01] [-1.75193975e-02 9.99846524e-01 1.24662423e-06 -1.61391194e-01] [ 1.16829723e-04 8.00284962e-07 9.99999993e-01 -2.80116514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.220281693 meters Centerline goodness : 0.997160 Centerline is valid? [True, True] Translation: X:15.56, Y:-0.16, Z:-0.28 [[ 9.99878982e-01 1.54512935e-02 1.81052573e-03 1.55589174e+01] [-1.54512825e-02 9.99880622e-01 -2.00302401e-05 -1.61609487e-01] [-1.81061908e-03 -7.94712839e-06 9.99998361e-01 -2.80002102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.250281693 meters Centerline goodness : 0.997418 Centerline is valid? [True, True] Translation: X:15.59, Y:-0.16, Z:-0.28 [[ 9.99903593e-01 1.35147545e-02 3.18688150e-03 1.55880082e+01] [-1.35147111e-02 9.99908672e-01 -3.51643538e-05 -1.62520572e-01] [-3.18706569e-03 -7.90881897e-06 9.99994921e-01 -2.80333102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.280281693 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:15.62, Y:-0.17, Z:-0.28 [[ 9.99949907e-01 9.37400708e-03 3.50872731e-03 1.56182654e+01] [-9.37392901e-03 9.99956063e-01 -3.86933881e-05 -1.66242046e-01] [-3.50893586e-03 5.80088918e-06 9.99993844e-01 -2.80757859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.310281693 meters Centerline goodness : 0.998040 Centerline is valid? [True, True] Translation: X:15.65, Y:-0.17, Z:-0.28 [[ 9.99969958e-01 7.16542954e-03 2.95641183e-03 1.56495289e+01] [-7.16536432e-03 9.99974328e-01 -3.26500288e-05 -1.68790129e-01] [-2.95656989e-03 1.14652800e-05 9.99995629e-01 -2.80309674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.340281693 meters Centerline goodness : 0.997475 Centerline is valid? [True, True] Translation: X:15.68, Y:-0.17, Z:-0.28 [[ 9.99993368e-01 3.48064303e-03 1.07231839e-03 1.56797074e+01] [-3.48063232e-03 9.99993943e-01 -1.18518464e-05 -1.73092532e-01] [-1.07235315e-03 8.11942176e-06 9.99999425e-01 -2.80850668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.370281693000003 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:15.71, Y:-0.18, Z:-0.28 [[ 9.99996536e-01 2.57663954e-03 -5.38055324e-04 1.57096915e+01] [-2.57663671e-03 9.99996680e-01 5.95133795e-06 -1.75019538e-01] [ 5.38068872e-04 -4.56494423e-06 9.99999855e-01 -2.81262915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.400281693 meters Centerline goodness : 0.997611 Centerline is valid? [True, True] Translation: X:15.74, Y:-0.18, Z:-0.28 [[ 9.99995316e-01 2.64163968e-03 -1.54567761e-03 1.57396455e+01] [-2.64161649e-03 9.99996511e-01 1.70427912e-05 -1.76505335e-01] [ 1.54571724e-03 -1.29596239e-05 9.99998805e-01 -2.81612808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.430281693 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:15.77, Y:-0.18, Z:-0.28 [[ 9.99987251e-01 4.85601563e-03 -1.38448653e-03 1.57684734e+01] [-4.85599919e-03 9.99988209e-01 1.52321155e-05 -1.79087222e-01] [ 1.38454418e-03 -8.50885584e-06 9.99999041e-01 -2.80800568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.460281693000002 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:15.80, Y:-0.18, Z:-0.28 [[ 9.99976825e-01 6.65781662e-03 -1.42196695e-03 1.57976772e+01] [-6.65780115e-03 9.99977836e-01 1.56125412e-05 -1.81072668e-01] [ 1.42203938e-03 -6.14500621e-06 9.99998989e-01 -2.81160421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.490281693 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:15.83, Y:-0.18, Z:-0.28 [[ 9.99962842e-01 8.36349327e-03 -2.08986637e-03 1.58263385e+01] [-8.36346381e-03 9.99965025e-01 2.28395607e-05 -1.82461428e-01] [ 2.08998429e-03 -5.36019027e-06 9.99997816e-01 -2.81342699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.520281693 meters Centerline goodness : 0.997942 Centerline is valid? [True, True] Translation: X:15.86, Y:-0.18, Z:-0.28 [[ 9.99930310e-01 1.15439129e-02 -2.47256157e-03 1.58550183e+01] [-1.15438817e-02 9.99933367e-01 2.69135335e-05 -1.82786213e-01] [ 2.47270750e-03 1.63130024e-06 9.99996943e-01 -2.82037545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.550281693000002 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:15.88, Y:-0.18, Z:-0.28 [[ 9.99908546e-01 1.32766919e-02 -2.57478430e-03 1.58824058e+01] [-1.32766641e-02 9.99911861e-01 2.78703900e-05 -1.82332680e-01] [ 2.57492739e-03 6.31670529e-06 9.99996685e-01 -2.82375803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.580281693 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:15.91, Y:-0.18, Z:-0.28 [[ 9.99887715e-01 1.47917194e-02 -2.40066060e-03 1.59110820e+01] [-1.47916999e-02 9.99890596e-01 2.58818704e-05 -1.81564966e-01] [ 2.40078080e-03 9.63088694e-06 9.99997118e-01 -2.82303666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.610281693 meters Centerline goodness : 0.997390 Centerline is valid? [True, True] Translation: X:15.94, Y:-0.18, Z:-0.28 [[ 9.99836580e-01 1.79511796e-02 -2.13750662e-03 1.59386682e+01] [-1.79511716e-02 9.99838864e-01 2.29093227e-05 -1.78846317e-01] [ 2.13757344e-03 1.54651694e-05 9.99997715e-01 -2.81121073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.640281693000002 meters Centerline goodness : 0.997441 Centerline is valid? [True, True] Translation: X:15.97, Y:-0.18, Z:-0.28 [[ 9.99814237e-01 1.90928576e-02 -2.63708192e-03 1.59676472e+01] [-1.90928497e-02 9.99817715e-01 2.81636007e-05 -1.76481396e-01] [ 2.63713894e-03 2.21910398e-05 9.99996522e-01 -2.80956494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.670281693 meters Centerline goodness : 0.997691 Centerline is valid? [True, True] Translation: X:16.00, Y:-0.17, Z:-0.28 [[ 9.99789378e-01 2.03279610e-02 -2.82383608e-03 1.59959225e+01] [-2.03279574e-02 9.99793365e-01 2.99913778e-05 -1.73664768e-01] [ 2.82386224e-03 2.74177586e-05 9.99996013e-01 -2.81989404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.700281693 meters Centerline goodness : 0.997738 Centerline is valid? [True, True] Translation: X:16.02, Y:-0.17, Z:-0.28 [[ 9.99794446e-01 2.01175295e-02 -2.51998315e-03 1.60245687e+01] [-2.01175263e-02 9.99797622e-01 2.66545602e-05 -1.73290482e-01] [ 2.52000938e-03 2.40467458e-05 9.99996824e-01 -2.82027899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.730281693000002 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:16.05, Y:-0.17, Z:-0.28 [[ 9.99812382e-01 1.92639208e-02 -2.02527329e-03 1.60530486e+01] [-1.92639171e-02 9.99814433e-01 2.13163967e-05 -1.72943018e-01] [ 2.02530810e-03 1.77022993e-05 9.99997949e-01 -2.82438283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.760281693 meters Centerline goodness : 0.997733 Centerline is valid? [True, True] Translation: X:16.08, Y:-0.17, Z:-0.28 [[ 9.99832920e-01 1.81183077e-02 -2.42040431e-03 1.60807777e+01] [-1.81182994e-02 9.99835850e-01 2.53297312e-05 -1.72574980e-01] [ 2.42046593e-03 1.85281109e-05 9.99997070e-01 -2.82258980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.790281693 meters Centerline goodness : 0.997211 Centerline is valid? [True, True] Translation: X:16.11, Y:-0.17, Z:-0.28 [[ 9.99890832e-01 1.44467791e-02 -3.10082026e-03 1.61090503e+01] [-1.44467480e-02 9.99895640e-01 3.24247168e-05 -1.71221358e-01] [ 3.10096509e-03 1.23755919e-05 9.99995192e-01 -2.83194841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.820281693000002 meters Centerline goodness : 0.997508 Centerline is valid? [True, True] Translation: X:16.14, Y:-0.17, Z:-0.28 [[ 9.99922873e-01 1.20344180e-02 -3.06944943e-03 1.61381463e+01] [-1.20343766e-02 9.99927584e-01 3.19434772e-05 -1.71531423e-01] [ 3.06961157e-03 4.99789710e-06 9.99995289e-01 -2.83920102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.850281693 meters Centerline goodness : 0.997609 Centerline is valid? [True, True] Translation: X:16.17, Y:-0.17, Z:-0.28 [[ 9.99947473e-01 9.86048437e-03 -2.79685355e-03 1.61662612e+01] [-9.86044199e-03 9.99951384e-01 2.89403888e-05 -1.72462837e-01] [ 2.79700295e-03 -1.36065644e-06 9.99996088e-01 -2.83888558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.880281693 meters Centerline goodness : 0.997662 Centerline is valid? [True, True] Translation: X:16.19, Y:-0.17, Z:-0.28 [[ 9.99966922e-01 7.91183235e-03 -1.88623110e-03 1.61946782e+01] [-7.91180977e-03 9.99968701e-01 1.94303418e-05 -1.74245143e-01] [ 1.88632579e-03 -4.50619744e-06 9.99998221e-01 -2.83290838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.910281693 meters Centerline goodness : 0.997674 Centerline is valid? [True, True] Translation: X:16.22, Y:-0.17, Z:-0.28 [[ 9.99964900e-01 8.06143663e-03 -2.28283544e-03 1.62235846e+01] [-8.06140418e-03 9.99967506e-01 2.34186121e-05 -1.74237316e-01] [ 2.28295005e-03 -5.01493104e-06 9.99997394e-01 -2.82979644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.940281693 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:16.25, Y:-0.17, Z:-0.28 [[ 9.99954552e-01 8.91944810e-03 -3.36724120e-03 1.62514957e+01] [-8.91938296e-03 9.99960221e-01 3.43612015e-05 -1.73132407e-01] [ 3.36741374e-03 -4.32592607e-06 9.99994330e-01 -2.83286652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.970281693 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:16.28, Y:-0.17, Z:-0.28 [[ 9.99951868e-01 9.23963403e-03 -3.30006759e-03 1.62799326e+01] [-9.23957367e-03 9.99957314e-01 3.35359837e-05 -1.73787956e-01] [ 3.30023659e-03 -3.04315189e-06 9.99994554e-01 -2.83359951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.000281693 meters Centerline goodness : 0.997640 Centerline is valid? [True, True] Translation: X:16.31, Y:-0.17, Z:-0.28 [[ 9.99951874e-01 9.42829608e-03 -2.71223929e-03 1.63083377e+01] [-9.42825636e-03 9.99955553e-01 2.74316045e-05 -1.74949554e-01] [ 2.71237737e-03 -1.85859706e-06 9.99996321e-01 -2.84442097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.030281693 meters Centerline goodness : 0.997648 Centerline is valid? [True, True] Translation: X:16.34, Y:-0.18, Z:-0.28 [[ 9.99945958e-01 1.02574819e-02 -1.69246584e-03 1.63362893e+01] [-1.02574678e-02 9.99947391e-01 1.69983937e-05 -1.77342720e-01] [ 1.69255117e-03 3.62938892e-07 9.99998568e-01 -2.84184264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.060281693 meters Centerline goodness : 0.997960 Centerline is valid? [True, True] Translation: X:16.37, Y:-0.18, Z:-0.28 [[ 9.99933323e-01 1.14361081e-02 -1.60171275e-03 1.63650417e+01] [-1.14360971e-02 9.99934606e-01 1.60228094e-05 -1.78670126e-01] [ 1.60179125e-03 2.29560152e-06 9.99998717e-01 -2.84019724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.090281693 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:16.39, Y:-0.18, Z:-0.28 [[ 9.99920719e-01 1.25215261e-02 -1.32941523e-03 1.63943487e+01] [-1.25215196e-02 9.99921603e-01 1.32331820e-05 -1.80097546e-01] [ 1.32947670e-03 3.41416595e-06 9.99999116e-01 -2.83241186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.120281693 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:16.42, Y:-0.18, Z:-0.28 [[ 9.99906890e-01 1.36134225e-02 -9.41800735e-04 1.64240768e+01] [-1.36134197e-02 9.99907333e-01 9.36114850e-06 -1.81357994e-01] [ 9.41840898e-04 3.46085184e-06 9.99999556e-01 -2.82546297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.150281693 meters Centerline goodness : 0.998144 Centerline is valid? [True, True] Translation: X:16.45, Y:-0.18, Z:-0.28 [[ 9.99877471e-01 1.56504979e-02 -3.24280815e-04 1.64515309e+01] [-1.56504977e-02 9.99877523e-01 3.16619331e-06 -1.83556585e-01] [ 3.24290651e-04 1.90935079e-06 9.99999947e-01 -2.82235405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.180281693 meters Centerline goodness : 0.997957 Centerline is valid? [True, True] Translation: X:16.48, Y:-0.18, Z:-0.28 [[ 9.99855270e-01 1.69958125e-02 -7.61991111e-04 1.64809401e+01] [-1.69958117e-02 9.99855561e-01 7.51102859e-06 -1.84246532e-01] [ 7.62008706e-04 5.44071596e-06 9.99999710e-01 -2.81906582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.210281693000002 meters Centerline goodness : 0.997963 Centerline is valid? [True, True] Translation: X:16.51, Y:-0.18, Z:-0.28 [[ 9.99821495e-01 1.88587867e-02 -1.15081268e-03 1.65099302e+01] [-1.88587862e-02 9.99822157e-01 1.12835961e-05 -1.84650224e-01] [ 1.15082082e-03 1.04213484e-05 9.99999338e-01 -2.82530446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.240281693 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:16.54, Y:-0.18, Z:-0.28 [[ 9.99729971e-01 2.32226555e-02 -8.32289780e-04 1.65381764e+01] [-2.32226568e-02 9.99730318e-01 8.09546501e-06 -1.84656747e-01] [ 8.32253324e-04 1.12347009e-05 9.99999654e-01 -2.81726585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.270281693 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:16.57, Y:-0.19, Z:-0.28 [[ 9.99687185e-01 2.50098931e-02 -1.92512896e-04 1.65668194e+01] [-2.50098932e-02 9.99687204e-01 1.83869308e-06 -1.85097598e-01] [ 1.92498664e-04 2.97660904e-06 9.99999981e-01 -2.81872869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.300281693000002 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:16.60, Y:-0.19, Z:-0.28 [[ 9.99640012e-01 2.68233750e-02 -5.94624993e-04 1.65954672e+01] [-2.68233763e-02 9.99640188e-01 5.72457729e-06 -1.85437746e-01] [ 5.94564593e-04 1.02273335e-05 9.99999823e-01 -2.82959234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.330281693 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:16.62, Y:-0.18, Z:-0.28 [[ 9.99639930e-01 2.68108714e-02 -1.08968126e-03 1.66245455e+01] [-2.68108759e-02 9.99640524e-01 1.04934977e-05 -1.84818186e-01] [ 1.08957088e-03 1.87255897e-05 9.99999406e-01 -2.83189858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.360281693 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:16.65, Y:-0.18, Z:-0.28 [[ 9.99631265e-01 2.71196544e-02 -1.36309778e-03 1.66529957e+01] [-2.71196618e-02 9.99632194e-01 1.30629687e-05 -1.83633869e-01] [ 1.36295069e-03 2.39085990e-05 9.99999071e-01 -2.82446183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.390281693000002 meters Centerline goodness : 0.997902 Centerline is valid? [True, True] Translation: X:16.68, Y:-0.18, Z:-0.28 [[ 9.99594147e-01 2.84804622e-02 -6.36551214e-04 1.66818079e+01] [-2.84804641e-02 9.99594349e-01 6.05091015e-06 -1.81262545e-01] [ 6.36465329e-04 1.20808196e-05 9.99999797e-01 -2.81177891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.420281693 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:16.71, Y:-0.18, Z:-0.28 [[ 9.99574862e-01 2.91546833e-02 -3.15908605e-04 1.67092125e+01] [-2.91546838e-02 9.99574912e-01 2.95705804e-06 -1.80266603e-01] [ 3.15860528e-04 6.25441461e-06 9.99999950e-01 -2.81202433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.450281693 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:16.74, Y:-0.18, Z:-0.28 [[ 9.99573950e-01 2.91875472e-02 -6.84805284e-05 1.67382129e+01] [-2.91875473e-02 9.99573953e-01 6.13484010e-07 -1.78970414e-01] [ 6.84692586e-05 1.38555603e-06 9.99999998e-01 -2.81670120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.480281693000002 meters Centerline goodness : 0.998334 Centerline is valid? [True, True] Translation: X:16.77, Y:-0.17, Z:-0.28 [[ 9.99629172e-01 2.72234005e-02 6.35908608e-04 1.67660783e+01] [-2.72234022e-02 9.99629374e-01 -6.02762072e-06 -1.74306261e-01] [-6.35837016e-04 -1.12862103e-05 9.99999798e-01 -2.81468189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.510281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:16.79, Y:-0.17, Z:-0.28 [[ 9.99666179e-01 2.58211834e-02 8.93117406e-04 1.67947869e+01] [-2.58211862e-02 9.99666578e-01 -8.40145437e-06 -1.72426937e-01] [-8.93036556e-04 -1.46627011e-05 9.99999601e-01 -2.80670703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.540281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:16.82, Y:-0.17, Z:-0.28 [[ 9.99700383e-01 2.44624312e-02 8.56833690e-04 1.68246770e+01] [-2.44624333e-02 9.99700750e-01 -8.02630690e-06 -1.71365328e-01] [-8.56773625e-04 -1.29363349e-05 9.99999633e-01 -2.80469101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.570281693000002 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:16.85, Y:-0.17, Z:-0.28 [[ 9.99739031e-01 2.28424594e-02 -3.02223211e-04 1.68541762e+01] [-2.28424596e-02 9.99739077e-01 2.80173573e-06 -1.68618499e-01] [ 3.02208352e-04 4.10251691e-06 9.99999954e-01 -2.81041054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.600281693 meters Centerline goodness : 0.998175 Centerline is valid? [True, True] Translation: X:16.88, Y:-0.17, Z:-0.28 [[ 9.99757901e-01 2.20027969e-02 -1.27963788e-04 1.68826151e+01] [-2.20027969e-02 9.99757909e-01 1.14907788e-06 -1.67040203e-01] [ 1.27958092e-04 1.66676156e-06 9.99999992e-01 -2.81743001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.630281693 meters Centerline goodness : 0.998213 Centerline is valid? [True, True] Translation: X:16.91, Y:-0.16, Z:-0.28 [[ 9.99804117e-01 1.97919817e-02 7.07271674e-05 1.69115680e+01] [-1.97919817e-02 9.99804120e-01 -6.82289101e-07 -1.64235262e-01] [-7.07268172e-05 -7.17675348e-07 9.99999997e-01 -2.81703268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.660281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:16.94, Y:-0.16, Z:-0.28 [[ 9.99844068e-01 1.76574915e-02 -2.28730093e-04 1.69404972e+01] [-1.76574915e-02 9.99844094e-01 2.08875169e-06 -1.63161751e-01] [ 2.28731314e-04 1.95037367e-06 9.99999974e-01 -2.81694870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.690281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:16.97, Y:-0.16, Z:-0.28 [[ 9.99844671e-01 1.76233377e-02 -2.28730235e-04 1.69698226e+01] [-1.76233376e-02 9.99844697e-01 2.07327943e-06 -1.63348140e-01] [ 2.28731250e-04 1.95803277e-06 9.99999974e-01 -2.81718602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.720281693 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:17.00, Y:-0.16, Z:-0.28 [[ 9.99887557e-01 1.49907668e-02 -3.88491422e-04 1.69988593e+01] [-1.49907665e-02 9.99887632e-01 3.51267788e-06 -1.62726158e-01] [ 3.88500425e-04 2.31150129e-06 9.99999925e-01 -2.81736676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.750281693 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:17.03, Y:-0.16, Z:-0.28 [[ 9.99927253e-01 1.20488318e-02 -5.60073986e-04 1.70287084e+01] [-1.20488308e-02 9.99927410e-01 5.08655182e-06 -1.62826215e-01] [ 5.60094617e-04 1.66205492e-06 9.99999843e-01 -2.82667467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.780281693 meters Centerline goodness : 0.997941 Centerline is valid? [True, True] Translation: X:17.06, Y:-0.17, Z:-0.28 [[ 9.99984724e-01 5.48658116e-03 -6.70849762e-04 1.70585482e+01] [-5.48657830e-03 9.99984949e-01 6.09806143e-06 -1.65203799e-01] [ 6.70873122e-04 -2.41729853e-06 9.99999775e-01 -2.83927519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.810281693 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:17.09, Y:-0.17, Z:-0.28 [[ 9.99996617e-01 2.50191013e-03 -7.11403984e-04 1.70885946e+01] [-2.50190618e-03 9.99996870e-01 6.44197853e-06 -1.66358747e-01] [ 7.11417875e-04 -4.66209071e-06 9.99999747e-01 -2.83977912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.840281693 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:17.12, Y:-0.17, Z:-0.28 [[ 9.99998356e-01 -1.80885628e-03 -1.28649180e-04 1.71186081e+01] [ 1.80885645e-03 9.99998364e-01 1.14703226e-06 -1.67979572e-01] [ 1.28646895e-04 -1.37973828e-06 9.99999992e-01 -2.83725174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.870281693 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:17.15, Y:-0.17, Z:-0.28 [[ 9.99994514e-01 -3.28931475e-03 -3.89669903e-04 1.71486955e+01] [ 3.28931638e-03 9.99994590e-01 3.52983242e-06 -1.69581728e-01] [ 3.89656184e-04 -4.81156065e-06 9.99999924e-01 -2.83816335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.900281693 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:17.18, Y:-0.17, Z:-0.29 [[ 9.99989191e-01 -4.25514274e-03 -1.87375554e-03 1.71793643e+01] [ 4.25518207e-03 9.99990947e-01 1.70038514e-05 -1.73598007e-01] [ 1.87366623e-03 -2.49768386e-05 9.99998244e-01 -2.85259009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.930281693 meters Centerline goodness : 0.997866 Centerline is valid? [True, True] Translation: X:17.21, Y:-0.18, Z:-0.29 [[ 9.99988270e-01 -4.02296008e-03 -2.69722468e-03 1.72089416e+01] [ 4.02304048e-03 9.99991907e-01 2.43830706e-05 -1.75335832e-01] [ 2.69710476e-03 -3.52338287e-05 9.99996362e-01 -2.85152939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.960281693000002 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:17.24, Y:-0.18, Z:-0.29 [[ 9.99990571e-01 -3.24837260e-03 -2.88211316e-03 1.72381231e+01] [ 3.24846099e-03 9.99994723e-01 2.59870031e-05 -1.77217137e-01] [ 2.88201354e-03 -3.53491902e-05 9.99995846e-01 -2.85055525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.990281693 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:17.27, Y:-0.18, Z:-0.29 [[ 9.99993322e-01 -1.92406559e-03 -3.10709600e-03 1.72671227e+01] [ 1.92416155e-03 9.99998148e-01 2.78982563e-05 -1.79034772e-01] [ 3.10703657e-03 -3.38766246e-05 9.99995173e-01 -2.85478503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.020281693 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:17.30, Y:-0.18, Z:-0.28 [[ 9.99989672e-01 2.83910949e-03 -3.54906921e-03 1.72954614e+01] [-2.83901468e-03 9.99995969e-01 3.17500319e-05 -1.82083259e-01] [ 3.54914505e-03 -2.16738444e-05 9.99993702e-01 -2.84659642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.050281693000002 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:17.32, Y:-0.18, Z:-0.28 [[ 9.99978686e-01 5.45604283e-03 -3.58603482e-03 1.73247071e+01] [-5.45596524e-03 9.99985116e-01 3.14177529e-05 -1.83070942e-01] [ 3.58615286e-03 -1.18518019e-05 9.99993570e-01 -2.84807665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.080281693 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:17.35, Y:-0.18, Z:-0.28 [[ 9.99957073e-01 8.19915072e-03 -4.31584564e-03 1.73530425e+01] [-8.19906474e-03 9.99966386e-01 3.76149264e-05 -1.83646027e-01] [ 4.31600898e-03 -2.22741388e-06 9.99990686e-01 -2.84393004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.110281693 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:17.38, Y:-0.18, Z:-0.28 [[ 9.99906560e-01 1.29304077e-02 -4.43583303e-03 1.73807303e+01] [-1.29303675e-02 9.99916399e-01 3.77481651e-05 -1.84062134e-01] [ 4.43595029e-03 1.96123133e-05 9.99990161e-01 -2.84421389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.140281693000002 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:17.41, Y:-0.18, Z:-0.28 [[ 9.99880712e-01 1.48709305e-02 -4.17343761e-03 1.74081419e+01] [-1.48709124e-02 9.99889421e-01 3.53696164e-05 -1.84834918e-01] [ 4.17350210e-03 2.66974279e-05 9.99991291e-01 -2.84742261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.170281693 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:17.44, Y:-0.19, Z:-0.28 [[ 9.99823083e-01 1.85117268e-02 -3.33434229e-03 1.74367755e+01] [-1.85117360e-02 9.99828643e-01 2.81057450e-05 -1.85228772e-01] [ 3.33429121e-03 3.36236916e-05 9.99994441e-01 -2.83890550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.200281693 meters Centerline goodness : 0.997715 Centerline is valid? [True, True] Translation: X:17.47, Y:-0.18, Z:-0.28 [[ 9.99792045e-01 2.02770570e-02 -2.16953248e-03 1.74655503e+01] [-2.02770653e-02 9.99794399e-01 1.81726446e-05 -1.84337859e-01] [ 2.16945491e-03 2.58228861e-05 9.99997646e-01 -2.83839691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.230281693000002 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:17.49, Y:-0.18, Z:-0.28 [[ 9.99761007e-01 2.18149654e-02 -1.42697360e-03 1.74944934e+01] [-2.18149707e-02 9.99762025e-01 1.18736160e-05 -1.82899919e-01] [ 1.42689304e-03 1.92586090e-05 9.99998982e-01 -2.83698908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.260281693 meters Centerline goodness : 0.997698 Centerline is valid? [True, True] Translation: X:17.52, Y:-0.18, Z:-0.28 [[ 9.99731414e-01 2.31508790e-02 -1.06598500e-03 1.75222177e+01] [-2.31508828e-02 9.99731982e-01 8.78948060e-06 -1.81548667e-01] [ 1.06590278e-03 1.58913738e-05 9.99999432e-01 -2.83195430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.290281693 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:17.55, Y:-0.18, Z:-0.28 [[ 9.99684936e-01 2.50985066e-02 3.06917262e-04 1.75513123e+01] [-2.50985070e-02 9.99684983e-01 -2.56804879e-06 -1.78990723e-01] [-3.06885032e-04 -5.13592535e-06 9.99999953e-01 -2.83146728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.320281693000002 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:17.58, Y:-0.18, Z:-0.28 [[ 9.99667874e-01 2.57685869e-02 3.49728126e-04 1.75791160e+01] [-2.57685875e-02 9.99667935e-01 -2.90966055e-06 -1.77076714e-01] [-3.49686972e-04 -6.10330565e-06 9.99999939e-01 -2.83263599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.350281693 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:17.61, Y:-0.17, Z:-0.28 [[ 9.99670318e-01 2.56655998e-02 7.29110937e-04 1.76080639e+01] [-2.56656023e-02 9.99670584e-01 -5.96958527e-06 -1.74431104e-01] [-7.29023969e-04 -1.27454541e-05 9.99999734e-01 -2.83319052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.380281693 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:17.64, Y:-0.17, Z:-0.28 [[ 9.99718341e-01 2.36574655e-02 1.88767296e-03 1.76370713e+01] [-2.36574787e-02 9.99720123e-01 -1.53306442e-05 -1.70286818e-01] [-1.88750733e-03 -2.93312568e-05 9.99998218e-01 -2.83303585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.410281693 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:17.67, Y:-0.17, Z:-0.28 [[ 9.99765789e-01 2.15645776e-02 1.82670399e-03 1.76661386e+01] [-2.15645866e-02 9.99767457e-01 -1.47813405e-05 -1.69438250e-01] [-1.82659795e-03 -2.46142378e-05 9.99998331e-01 -2.83281394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.440281693 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:17.70, Y:-0.17, Z:-0.28 [[ 9.99818267e-01 1.89985097e-02 1.57792367e-03 1.76954241e+01] [-1.89985133e-02 9.99819512e-01 -1.27263898e-05 -1.68786016e-01] [-1.57788066e-03 -1.72541268e-05 9.99998755e-01 -2.84179098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.470281693 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:17.73, Y:-0.17, Z:-0.29 [[ 9.99905739e-01 1.36459063e-02 1.51766135e-03 1.77254106e+01] [-1.36459035e-02 9.99906890e-01 -1.22147783e-05 -1.68152095e-01] [-1.51768672e-03 -8.49623341e-06 9.99998848e-01 -2.85103033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.500281693 meters Centerline goodness : 0.997943 Centerline is valid? [True, True] Translation: X:17.76, Y:-0.17, Z:-0.29 [[ 9.99937571e-01 1.10814393e-02 1.43383121e-03 1.77550422e+01] [-1.10814342e-02 9.99938599e-01 -1.15164824e-05 -1.68668341e-01] [-1.43387079e-03 -4.37314273e-06 9.99998972e-01 -2.85306775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.530281693 meters Centerline goodness : 0.997624 Centerline is valid? [True, True] Translation: X:17.78, Y:-0.17, Z:-0.29 [[ 9.99958877e-01 8.97092223e-03 1.32931705e-03 1.77842690e+01] [-8.97091599e-03 9.99959760e-01 -1.06527610e-05 -1.69622649e-01] [-1.32935912e-03 -1.27286863e-06 9.99999116e-01 -2.85363397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.560281693 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:17.81, Y:-0.17, Z:-0.29 [[ 9.99984225e-01 5.53541510e-03 9.52955577e-04 1.78145765e+01] [-5.53541034e-03 9.99984679e-01 -7.62975699e-06 -1.69674412e-01] [-9.52983211e-04 2.35463647e-06 9.99999546e-01 -2.85876183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.590281693 meters Centerline goodness : 0.997734 Centerline is valid? [True, True] Translation: X:17.84, Y:-0.17, Z:-0.29 [[ 9.99989126e-01 4.65779808e-03 2.28089710e-04 1.78449846e+01] [-4.65779778e-03 9.99989152e-01 -1.82618068e-06 -1.69736472e-01] [-2.28095742e-04 7.63765074e-07 9.99999974e-01 -2.86546606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.620281693 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:17.87, Y:-0.17, Z:-0.29 [[ 9.99990893e-01 4.16633460e-03 -9.24625363e-04 1.78745457e+01] [-4.16632956e-03 9.99991321e-01 7.38283243e-06 -1.70375550e-01] [ 9.24648098e-04 -3.53047122e-06 9.99999573e-01 -2.86247578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.650281693 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:17.90, Y:-0.17, Z:-0.29 [[ 9.99987125e-01 4.57053332e-03 -2.20441423e-03 1.79039455e+01] [-4.57050573e-03 9.99989555e-01 1.75541258e-05 -1.71878824e-01] [ 2.20447143e-03 -7.47861195e-06 9.99997570e-01 -2.86536858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.680281693 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:17.93, Y:-0.17, Z:-0.29 [[ 9.99983093e-01 5.10924749e-03 -2.77657237e-03 1.79330498e+01] [-5.10920597e-03 9.99986948e-01 2.20456442e-05 -1.71630402e-01] [ 2.77664877e-03 -7.85919131e-06 9.99996145e-01 -2.86292100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.710281693000002 meters Centerline goodness : 0.997527 Centerline is valid? [True, True] Translation: X:17.96, Y:-0.17, Z:-0.29 [[ 9.99980922e-01 5.72318939e-03 -2.32377004e-03 1.79622337e+01] [-5.72316226e-03 9.99983622e-01 1.83258744e-05 -1.70998339e-01] [ 2.32383686e-03 -5.02621180e-06 9.99997300e-01 -2.86202684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.740281693 meters Centerline goodness : 0.997084 Centerline is valid? [True, True] Translation: X:17.99, Y:-0.17, Z:-0.29 [[ 9.99976090e-01 6.88451566e-03 -6.50205595e-04 1.79910948e+01] [-6.88451382e-03 9.99976301e-01 5.06904952e-06 -1.71046761e-01] [ 6.50225084e-04 -5.92578913e-07 9.99999789e-01 -2.86182898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.770281693 meters Centerline goodness : 0.997336 Centerline is valid? [True, True] Translation: X:18.02, Y:-0.17, Z:-0.29 [[ 9.99972179e-01 7.45905140e-03 -5.44798590e-05 1.80212207e+01] [-7.45905139e-03 9.99972181e-01 4.07639458e-07 -1.71403301e-01] [ 5.44813840e-05 -1.26004899e-09 9.99999999e-01 -2.86186982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.800281693000002 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:18.05, Y:-0.17, Z:-0.29 [[ 9.99964405e-01 8.41424023e-03 -6.23491272e-04 1.80497336e+01] [-8.41423885e-03 9.99964600e-01 4.83235049e-06 -1.71262906e-01] [ 6.23509861e-04 4.14025998e-07 9.99999806e-01 -2.86353481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.830281693 meters Centerline goodness : 0.996801 Centerline is valid? [True, True] Translation: X:18.08, Y:-0.17, Z:-0.29 [[ 9.99954062e-01 9.42477059e-03 -1.74597095e-03 1.80781026e+01] [-9.42476131e-03 9.99955586e-01 1.35442366e-05 -1.70064523e-01] [ 1.74602106e-03 2.91174510e-06 9.99998476e-01 -2.86952783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.860281693 meters Centerline goodness : 0.996804 Centerline is valid? [True, True] Translation: X:18.11, Y:-0.17, Z:-0.29 [[ 9.99957008e-01 9.02997160e-03 -2.10740114e-03 1.81076665e+01] [-9.02995729e-03 9.99959229e-01 1.63090908e-05 -1.70369984e-01] [ 2.10746249e-03 2.72135261e-06 9.99997779e-01 -2.87277524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.890281693000002 meters Centerline goodness : 0.997127 Centerline is valid? [True, True] Translation: X:18.14, Y:-0.17, Z:-0.29 [[ 9.99974046e-01 6.99049952e-03 -1.74336093e-03 1.81378032e+01] [-6.99048670e-03 9.99975566e-01 1.34479403e-05 -1.71191164e-01] [ 1.74341234e-03 -1.26064985e-06 9.99998480e-01 -2.87704414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.920281693 meters Centerline goodness : 0.997048 Centerline is valid? [True, True] Translation: X:18.17, Y:-0.17, Z:-0.29 [[ 9.99979085e-01 6.26766627e-03 -1.59543252e-03 1.81661085e+01] [-6.26765472e-03 9.99980358e-01 1.22414444e-05 -1.71003469e-01] [ 1.59547791e-03 -2.24156821e-06 9.99998727e-01 -2.87777487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.950281693 meters Centerline goodness : 0.997066 Centerline is valid? [True, True] Translation: X:18.19, Y:-0.17, Z:-0.29 [[ 9.99984457e-01 5.36772505e-03 -1.50760377e-03 1.81945683e+01] [-5.36771378e-03 9.99985594e-01 1.15168960e-05 -1.71030588e-01] [ 1.50764387e-03 -3.42433147e-06 9.99998863e-01 -2.87630228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.980281693000002 meters Centerline goodness : 0.997120 Centerline is valid? [True, True] Translation: X:18.22, Y:-0.17, Z:-0.29 [[ 9.99988844e-01 4.31912809e-03 -1.91251862e-03 1.82236693e+01] [-4.31910822e-03 9.99990673e-01 1.45179750e-05 -1.71067731e-01] [ 1.91256349e-03 -6.25743808e-06 9.99998171e-01 -2.87417338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.010281693 meters Centerline goodness : 0.997588 Centerline is valid? [True, True] Translation: X:18.25, Y:-0.17, Z:-0.29 [[ 9.99992763e-01 2.81894048e-03 -2.55485851e-03 1.82524977e+01] [-2.81890040e-03 9.99996027e-01 1.92889788e-05 -1.71167784e-01] [ 2.55490273e-03 -1.20869475e-05 9.99996736e-01 -2.87301890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.040281693 meters Centerline goodness : 0.997111 Centerline is valid? [True, True] Translation: X:18.28, Y:-0.17, Z:-0.29 [[ 9.99994302e-01 2.64457108e-03 -2.09817673e-03 1.82813746e+01] [-2.64454389e-03 9.99996503e-01 1.57351193e-05 -1.70321607e-01] [ 2.09821100e-03 -1.01863092e-05 9.99997799e-01 -2.86940675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.070281693000002 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:18.31, Y:-0.17, Z:-0.29 [[ 9.99998047e-01 1.97331943e-03 1.12914051e-04 1.83104472e+01] [-1.97331935e-03 9.99998053e-01 -8.73259888e-07 -1.68959565e-01] [-1.12915554e-04 6.50442701e-07 9.99999994e-01 -2.86535310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.100281693 meters Centerline goodness : 0.997510 Centerline is valid? [True, True] Translation: X:18.34, Y:-0.17, Z:-0.29 [[ 9.99999215e-01 1.00697821e-03 7.45589808e-04 1.83407740e+01] [-1.00697433e-03 9.99999493e-01 -5.57884792e-06 -1.69740952e-01] [-7.45595048e-04 4.82805374e-06 9.99999722e-01 -2.86547485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.130281693 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:18.37, Y:-0.17, Z:-0.29 [[ 9.99999610e-01 -4.40485217e-04 7.65580055e-04 1.83714919e+01] [ 4.40489732e-04 9.99999903e-01 -5.72842419e-06 -1.71092004e-01] [-7.65577457e-04 6.06565211e-06 9.99999707e-01 -2.86793243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.160281693 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:18.40, Y:-0.17, Z:-0.29 [[ 9.99989648e-01 -4.54859689e-03 -1.15805029e-04 1.84020376e+01] [ 4.54859703e-03 9.99989655e-01 8.77066628e-07 -1.71771309e-01] [ 1.15799841e-04 -1.40380796e-06 9.99999993e-01 -2.87071719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.190281693 meters Centerline goodness : 0.997480 Centerline is valid? [True, True] Translation: X:18.43, Y:-0.17, Z:-0.29 [[ 9.99975970e-01 -6.92655616e-03 -2.85390791e-04 1.84333809e+01] [ 6.92655706e-03 9.99976011e-01 2.16354843e-06 -1.71944791e-01] [ 2.85368959e-04 -4.14027204e-06 9.99999959e-01 -2.87588775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.220281693 meters Centerline goodness : 0.997379 Centerline is valid? [True, True] Translation: X:18.46, Y:-0.17, Z:-0.29 [[ 9.99957661e-01 -9.17047476e-03 -7.60791481e-04 1.84638339e+01] [ 9.17048178e-03 9.99957950e-01 5.73626516e-06 -1.73363314e-01] [ 7.60706886e-04 -1.27128467e-05 9.99999711e-01 -2.87828616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.250281693 meters Centerline goodness : 0.997101 Centerline is valid? [True, True] Translation: X:18.49, Y:-0.18, Z:-0.29 [[ 9.99896193e-01 -1.43209793e-02 -1.58513004e-03 1.84947340e+01] [ 1.43210163e-02 9.99897449e-01 1.19868592e-05 -1.78111873e-01] [ 1.58479582e-03 -3.46862880e-05 9.99998744e-01 -2.88473766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.280281693 meters Centerline goodness : 0.996749 Centerline is valid? [True, True] Translation: X:18.53, Y:-0.18, Z:-0.29 [[ 9.99853593e-01 -1.69945009e-02 -1.99502030e-03 1.85257451e+01] [ 1.69945649e-02 9.99855582e-01 1.51267062e-05 -1.80769558e-01] [ 1.99447511e-03 -4.90289934e-05 9.99998010e-01 -2.88365451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.310281693 meters Centerline goodness : 0.997021 Centerline is valid? [True, True] Translation: X:18.56, Y:-0.18, Z:-0.29 [[ 9.99813413e-01 -1.92433687e-02 -1.68281505e-03 1.85564845e+01] [ 1.92434175e-02 9.99814828e-01 1.27721570e-05 -1.83442586e-01] [ 1.68225766e-03 -4.51528865e-05 9.99998584e-01 -2.88615661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.340281693 meters Centerline goodness : 0.996888 Centerline is valid? [True, True] Translation: X:18.59, Y:-0.19, Z:-0.29 [[ 9.99772430e-01 -2.12481026e-02 -1.89885821e-03 1.85866463e+01] [ 2.12481683e-02 9.99774232e-01 1.44317786e-05 -1.87048667e-01] [ 1.89812286e-03 -5.47757530e-05 9.99998197e-01 -2.88356593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.370281693 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:18.62, Y:-0.20, Z:-0.29 [[ 9.99687965e-01 -2.49260097e-02 -1.63301383e-03 1.86173733e+01] [ 2.49260632e-02 9.99689297e-01 1.24302426e-05 -1.95828146e-01] [ 1.63219661e-03 -5.31309698e-05 9.99998667e-01 -2.89785006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.400281693 meters Centerline goodness : 0.996505 Centerline is valid? [True, True] Translation: X:18.65, Y:-0.20, Z:-0.29 [[ 9.99647408e-01 -2.64836293e-02 -1.91748335e-03 1.86481495e+01] [ 2.64837059e-02 9.99649245e-01 1.45851913e-05 -2.00609966e-01] [ 1.91642452e-03 -6.53621138e-05 9.99998162e-01 -2.90033739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.430281693 meters Centerline goodness : 0.996277 Centerline is valid? [True, True] Translation: X:18.68, Y:-0.21, Z:-0.29 [[ 9.99602887e-01 -2.80604294e-02 -2.58467871e-03 1.86783892e+01] [ 2.80605739e-02 9.99606224e-01 1.96601620e-05 -2.08934613e-01] [ 2.58310926e-03 -9.21799229e-05 9.99996660e-01 -2.89507650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.460281693000002 meters Centerline goodness : 0.995955 Centerline is valid? [True, True] Translation: X:18.71, Y:-0.21, Z:-0.29 [[ 9.99613146e-01 -2.76351967e-02 -3.13918116e-03 1.87078122e+01] [ 2.76354076e-02 9.99618069e-01 2.38347195e-05 -2.13661210e-01] [ 3.13732353e-03 -1.10578050e-04 9.99995072e-01 -2.88555570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.490281693 meters Centerline goodness : 0.995317 Centerline is valid? [True, True] Translation: X:18.74, Y:-0.22, Z:-0.29 [[ 9.99632779e-01 -2.68878746e-02 -3.36881259e-03 1.87369796e+01] [ 2.68881130e-02 9.99638449e-01 2.54932914e-05 -2.18530399e-01] [ 3.36690913e-03 -1.16064944e-04 9.99994325e-01 -2.88146180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.520281693 meters Centerline goodness : 0.996077 Centerline is valid? [True, True] Translation: X:18.77, Y:-0.23, Z:-0.29 [[ 9.99725872e-01 -2.32988116e-02 -2.31213148e-03 1.87655149e+01] [ 2.32989141e-02 9.99728543e-01 1.73803369e-05 -2.26755270e-01] [ 2.31109889e-03 -7.12457251e-05 9.99997327e-01 -2.87604357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.550281693000002 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:18.79, Y:-0.23, Z:-0.29 [[ 9.99792052e-01 -2.03802658e-02 -7.05958928e-04 1.87948624e+01] [ 2.03802746e-02 9.99792301e-01 5.28415830e-06 -2.30059823e-01] [ 7.05704608e-04 -1.96706963e-05 9.99999751e-01 -2.87158164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.580281693 meters Centerline goodness : 0.996099 Centerline is valid? [True, True] Translation: X:18.83, Y:-0.23, Z:-0.29 [[ 9.99791842e-01 -2.03905562e-02 -7.05958913e-04 1.88258596e+01] [ 2.03905650e-02 9.99792091e-01 5.28606388e-06 -2.30287160e-01] [ 7.05704352e-04 -1.96798646e-05 9.99999751e-01 -2.87183248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.610281693 meters Centerline goodness : 0.996066 Centerline is valid? [True, True] Translation: X:18.86, Y:-0.24, Z:-0.29 [[ 9.99893114e-01 -1.46025547e-02 7.25749763e-04 1.88567517e+01] [ 1.46025624e-02 9.99893377e-01 -5.44281529e-06 -2.37314903e-01] [-7.25592902e-04 1.60400398e-05 9.99999737e-01 -2.86384555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.640281693000002 meters Centerline goodness : 0.996351 Centerline is valid? [True, True] Translation: X:18.89, Y:-0.24, Z:-0.29 [[ 9.99924291e-01 -1.23049418e-02 3.52402641e-05 1.88869461e+01] [ 1.23049419e-02 9.99924291e-01 -2.64287028e-07 -2.40520812e-01] [-3.52343440e-05 6.97896420e-07 9.99999999e-01 -2.86504844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.670281693 meters Centerline goodness : 0.995871 Centerline is valid? [True, True] Translation: X:18.92, Y:-0.24, Z:-0.29 [[ 9.99943313e-01 -1.05839336e-02 -1.16240183e-03 1.89183316e+01] [ 1.05839510e-02 9.99943988e-01 8.76300903e-06 -2.42916579e-01] [ 1.16224398e-03 -2.10653163e-05 9.99999324e-01 -2.86898006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.700281693 meters Centerline goodness : 0.995940 Centerline is valid? [True, True] Translation: X:18.95, Y:-0.25, Z:-0.29 [[ 9.99959782e-01 -8.54226579e-03 -2.73197570e-03 1.89487839e+01] [ 8.54235381e-03 9.99963513e-01 2.05516926e-05 -2.45448049e-01] [ 2.73170046e-03 -4.38883691e-05 9.99996268e-01 -2.86835836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.730281693000002 meters Centerline goodness : 0.995697 Centerline is valid? [True, True] Translation: X:18.98, Y:-0.25, Z:-0.29 [[ 9.99981543e-01 -4.09267525e-03 -4.49034600e-03 1.89776715e+01] [ 4.09286738e-03 9.99991624e-01 3.35972883e-05 -2.49020361e-01] [ 4.49017088e-03 -5.19750588e-05 9.99989918e-01 -2.87657060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.760281693 meters Centerline goodness : 0.995557 Centerline is valid? [True, True] Translation: X:19.01, Y:-0.25, Z:-0.29 [[ 9.99984646e-01 -2.40372010e-03 -4.99295613e-03 1.90069054e+01] [ 2.40393211e-03 9.99997110e-01 3.64599155e-05 -2.50227872e-01] [ 4.99285406e-03 -4.84620832e-05 9.99987534e-01 -2.87918024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.790281693 meters Centerline goodness : 0.995202 Centerline is valid? [True, True] Translation: X:19.03, Y:-0.25, Z:-0.29 [[ 9.99987565e-01 -8.87341059e-04 -4.90740960e-03 1.90348099e+01] [ 8.87523072e-04 9.99999606e-01 3.49116891e-05 -2.50568714e-01] [ 4.90737668e-03 -3.92666943e-05 9.99987958e-01 -2.88066928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.820281693000002 meters Centerline goodness : 0.995337 Centerline is valid? [True, True] Translation: X:19.06, Y:-0.25, Z:-0.29 [[ 9.99990031e-01 2.78023234e-03 -3.49388737e-03 1.90627925e+01] [-2.78016491e-03 9.99996135e-01 2.41558152e-05 -2.49174506e-01] [ 3.49394103e-03 -1.44419914e-05 9.99993896e-01 -2.86769243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.850281693 meters Centerline goodness : 0.995713 Centerline is valid? [True, True] Translation: X:19.09, Y:-0.25, Z:-0.29 [[ 9.99982986e-01 4.88771022e-03 -3.18412712e-03 1.90903953e+01] [-4.88766520e-03 9.99988055e-01 2.19194576e-05 -2.47742076e-01] [ 3.18419622e-03 -6.35613733e-06 9.99994930e-01 -2.85678728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.880281693 meters Centerline goodness : 0.995751 Centerline is valid? [True, True] Translation: X:19.12, Y:-0.24, Z:-0.29 [[ 9.99954258e-01 9.06517059e-03 -3.05017999e-03 1.91186527e+01] [-9.06514926e-03 9.99958910e-01 2.08205500e-05 -2.43847492e-01] [ 3.05024340e-03 6.83073920e-06 9.99995348e-01 -2.85666085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.910281693 meters Centerline goodness : 0.995324 Centerline is valid? [True, True] Translation: X:19.15, Y:-0.24, Z:-0.29 [[ 9.99940575e-01 1.04793628e-02 -3.00482833e-03 1.91473126e+01] [-1.04793489e-02 9.99945090e-01 2.03853299e-05 -2.42250957e-01] [ 3.00487696e-03 1.11045258e-05 9.99995485e-01 -2.85646979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.940281693 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:19.18, Y:-0.24, Z:-0.29 [[ 9.99935623e-01 1.10861164e-02 -2.41843512e-03 1.91761129e+01] [-1.10861094e-02 9.99938547e-01 1.62917717e-05 -2.40473931e-01] [ 2.41846711e-03 1.05203135e-05 9.99997075e-01 -2.86152498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.970281693 meters Centerline goodness : 0.995306 Centerline is valid? [True, True] Translation: X:19.20, Y:-0.24, Z:-0.29 [[ 9.99936298e-01 1.10376741e-02 -2.35997503e-03 1.92043531e+01] [-1.10376675e-02 9.99939083e-01 1.58273106e-05 -2.37963340e-01] [ 2.36000597e-03 1.02223173e-05 9.99997215e-01 -2.85468029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.000281693 meters Centerline goodness : 0.996032 Centerline is valid? [True, True] Translation: X:19.23, Y:-0.23, Z:-0.28 [[ 9.99952816e-01 9.50529353e-03 -2.00391091e-03 1.92340750e+01] [-9.50528576e-03 9.99954824e-01 1.33987039e-05 -2.30876461e-01] [ 2.00394774e-03 5.64967418e-06 9.99997992e-01 -2.84309809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.030281693 meters Centerline goodness : 0.995681 Centerline is valid? [True, True] Translation: X:19.26, Y:-0.23, Z:-0.28 [[ 9.99958473e-01 8.88696958e-03 -2.01824575e-03 1.92624835e+01] [-8.88696067e-03 9.99960510e-01 1.33812841e-05 -2.27038126e-01] [ 2.01828497e-03 4.55534216e-06 9.99997963e-01 -2.84602842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.060281693 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:19.29, Y:-0.22, Z:-0.29 [[ 9.99962653e-01 8.24613254e-03 -2.58714162e-03 1.92910556e+01] [-8.24611594e-03 9.99966000e-01 1.70836199e-05 -2.21395845e-01] [ 2.58719454e-03 4.25088785e-06 9.99996653e-01 -2.85036575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.090281693 meters Centerline goodness : 0.995183 Centerline is valid? [True, True] Translation: X:19.32, Y:-0.22, Z:-0.29 [[ 9.99961343e-01 8.24715631e-03 -3.04906370e-03 1.93197969e+01] [-8.24713368e-03 9.99965992e-01 1.99938620e-05 -2.18519434e-01] [ 3.04912490e-03 5.15294682e-06 9.99995351e-01 -2.85171634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.120281693 meters Centerline goodness : 0.995432 Centerline is valid? [True, True] Translation: X:19.35, Y:-0.21, Z:-0.28 [[ 9.99961548e-01 8.09250909e-03 -3.37853303e-03 1.93478973e+01] [-8.09248108e-03 9.99967255e-01 2.19608768e-05 -2.14977712e-01] [ 3.37860012e-03 5.38068224e-06 9.99994293e-01 -2.83954797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.150281693 meters Centerline goodness : 0.995765 Centerline is valid? [True, True] Translation: X:19.38, Y:-0.21, Z:-0.28 [[ 9.99978378e-01 5.68601364e-03 -3.30334713e-03 1.93769984e+01] [-5.68597420e-03 9.99983834e-01 2.13313849e-05 -2.10654988e-01] [ 3.30341502e-03 -2.54817714e-06 9.99994544e-01 -2.84223445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.180281693 meters Centerline goodness : 0.995740 Centerline is valid? [True, True] Translation: X:19.41, Y:-0.21, Z:-0.28 [[ 9.99989462e-01 3.33392756e-03 -3.15601520e-03 1.94062697e+01] [-3.33388033e-03 9.99994442e-01 2.02248671e-05 -2.10501935e-01] [ 3.15606509e-03 -9.70287697e-06 9.99995020e-01 -2.84179294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.210281693000002 meters Centerline goodness : 0.995631 Centerline is valid? [True, True] Translation: X:19.43, Y:-0.21, Z:-0.28 [[ 9.99996983e-01 5.83914201e-04 -2.38620058e-03 1.94337889e+01] [-5.83879760e-04 9.99999829e-01 1.51302811e-05 -2.10637016e-01] [ 2.38620901e-03 -1.37369812e-05 9.99997153e-01 -2.84386965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.240281693 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:19.46, Y:-0.21, Z:-0.28 [[ 9.99992791e-01 -3.63537401e-03 -1.09679517e-03 1.94621073e+01] [ 3.63538378e-03 9.99993392e-01 6.91282486e-06 -2.09324692e-01] [ 1.09676279e-03 -1.09000464e-05 9.99999398e-01 -2.83064687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.270281693 meters Centerline goodness : 0.996499 Centerline is valid? [True, True] Translation: X:19.49, Y:-0.21, Z:-0.28 [[ 9.99985532e-01 -5.27850153e-03 -1.03570812e-03 1.94925090e+01] [ 5.27851115e-03 9.99986069e-01 6.55340874e-06 -2.08825203e-01] [ 1.03565910e-03 -1.20203108e-05 9.99999464e-01 -2.83564606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.300281693000002 meters Centerline goodness : 0.996027 Centerline is valid? [True, True] Translation: X:19.52, Y:-0.21, Z:-0.28 [[ 9.99974820e-01 -6.84413937e-03 -1.87521189e-03 1.95222937e+01] [ 6.84417367e-03 9.99976578e-01 1.18720929e-05 -2.08899986e-01] [ 1.87508671e-03 -2.47060698e-05 9.99998242e-01 -2.84433367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.330281693 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:19.55, Y:-0.21, Z:-0.29 [[ 9.99938197e-01 -1.02249743e-02 -4.36490471e-03 1.95530161e+01] [ 1.02251923e-02 9.99947721e-01 2.76297686e-05 -2.10345607e-01] [ 4.36439400e-03 -7.22600511e-05 9.99990473e-01 -2.85193184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.360281693 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:19.58, Y:-0.21, Z:-0.28 [[ 9.99918577e-01 -1.17157118e-02 -5.05789899e-03 1.95813859e+01] [ 1.17160225e-02 9.99931365e-01 3.18153213e-05 -2.11076760e-01] [ 5.05717910e-03 -9.10711893e-05 9.99987208e-01 -2.84516667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.390281693000002 meters Centerline goodness : 0.996423 Centerline is valid? [True, True] Translation: X:19.61, Y:-0.21, Z:-0.28 [[ 9.99887545e-01 -1.45023818e-02 -3.81816796e-03 1.96102814e+01] [ 1.45025764e-02 9.99894832e-01 2.32787194e-05 -2.13505697e-01] [ 3.81742881e-03 -7.86493741e-05 9.99992710e-01 -2.83827497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.420281693 meters Centerline goodness : 0.996142 Centerline is valid? [True, True] Translation: X:19.64, Y:-0.22, Z:-0.28 [[ 9.99875307e-01 -1.55100368e-02 -2.96812850e-03 1.96395548e+01] [ 1.55101590e-02 9.99879710e-01 1.81553693e-05 -2.16602001e-01] [ 2.96748988e-03 -6.41892505e-05 9.99995595e-01 -2.83939759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.450281693 meters Centerline goodness : 0.996094 Centerline is valid? [True, True] Translation: X:19.67, Y:-0.22, Z:-0.28 [[ 9.99862458e-01 -1.64682669e-02 -1.96479635e-03 1.96689306e+01] [ 1.64683222e-02 9.99864388e-01 1.19933086e-05 -2.20009726e-01] [ 1.96433239e-03 -4.43485585e-05 9.99998070e-01 -2.84443374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.480281693000002 meters Centerline goodness : 0.996308 Centerline is valid? [True, True] Translation: X:19.70, Y:-0.22, Z:-0.28 [[ 9.99831198e-01 -1.82699883e-02 -1.94512241e-03 1.96996346e+01] [ 1.82700460e-02 9.99833089e-01 1.18822116e-05 -2.22462972e-01] [ 1.94458066e-03 -4.74176818e-05 9.99998108e-01 -2.84107110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.510281693 meters Centerline goodness : 0.996436 Centerline is valid? [True, True] Translation: X:19.73, Y:-0.22, Z:-0.28 [[ 9.99831530e-01 -1.81207974e-02 -2.92378014e-03 1.97286715e+01] [ 1.81209269e-02 9.99835802e-01 1.78177131e-05 -2.22797898e-01] [ 2.92297719e-03 -7.07963176e-05 9.99995726e-01 -2.84914431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.540281693 meters Centerline goodness : 0.996158 Centerline is valid? [True, True] Translation: X:19.76, Y:-0.22, Z:-0.28 [[ 9.99834286e-01 -1.76904893e-02 -4.29501362e-03 1.97589974e+01] [ 1.76907649e-02 9.99843506e-01 2.61877451e-05 -2.23926052e-01] [ 4.29387820e-03 -1.02165482e-04 9.99990776e-01 -2.84984470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.570281693000002 meters Centerline goodness : 0.996297 Centerline is valid? [True, True] Translation: X:19.79, Y:-0.23, Z:-0.28 [[ 9.99861253e-01 -1.61121735e-02 -4.22770759e-03 1.97883895e+01] [ 1.61124260e-02 9.99870186e-01 2.56613307e-05 -2.29239260e-01] [ 4.22674532e-03 -9.37763958e-05 9.99991063e-01 -2.84710360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.600281693 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:19.82, Y:-0.23, Z:-0.28 [[ 9.99875253e-01 -1.54749621e-02 -3.16275614e-03 1.98180976e+01] [ 1.54750999e-02 9.99880253e-01 1.91188974e-05 -2.31769587e-01] [ 3.16208155e-03 -6.80604798e-05 9.99994998e-01 -2.83727641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.630281693 meters Centerline goodness : 0.996407 Centerline is valid? [True, True] Translation: X:19.85, Y:-0.24, Z:-0.28 [[ 9.99907102e-01 -1.34474210e-02 -2.22595033e-03 1.98478379e+01] [ 1.34474842e-02 9.99909578e-01 1.34341134e-05 -2.35916677e-01] [ 2.22556840e-03 -4.33662973e-05 9.99997522e-01 -2.83799609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.660281693 meters Centerline goodness : 0.996478 Centerline is valid? [True, True] Translation: X:19.88, Y:-0.24, Z:-0.28 [[ 9.99923655e-01 -1.20433116e-02 -2.76461755e-03 1.98781394e+01] [ 1.20434038e-02 9.99927475e-01 1.66966876e-05 -2.38362992e-01] [ 2.76421596e-03 -4.99908184e-05 9.99996178e-01 -2.84366724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.690281693 meters Centerline goodness : 0.995870 Centerline is valid? [True, True] Translation: X:19.91, Y:-0.24, Z:-0.28 [[ 9.99946842e-01 -9.73452903e-03 -3.39879814e-03 1.99071887e+01] [ 9.73465485e-03 9.99952617e-01 2.04775358e-05 -2.40847986e-01] [ 3.39843776e-03 -5.35625741e-05 9.99994224e-01 -2.84429751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.720281693 meters Centerline goodness : 0.996010 Centerline is valid? [True, True] Translation: X:19.94, Y:-0.24, Z:-0.28 [[ 9.99962901e-01 -7.42594289e-03 -4.36480752e-03 1.99362822e+01] [ 7.42612753e-03 9.99972426e-01 2.60954394e-05 -2.42758945e-01] [ 4.36449338e-03 -5.85080886e-05 9.99990474e-01 -2.84188265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.750281693 meters Centerline goodness : 0.996376 Centerline is valid? [True, True] Translation: X:19.96, Y:-0.24, Z:-0.28 [[ 9.99982298e-01 -2.00587480e-03 -5.60179400e-03 1.99648097e+01] [ 2.00609291e-03 9.99997987e-01 3.33167114e-05 -2.44815555e-01] [ 5.60171589e-03 -4.45538409e-05 9.99984309e-01 -2.83784569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.780281693 meters Centerline goodness : 0.996431 Centerline is valid? [True, True] Translation: X:19.99, Y:-0.25, Z:-0.28 [[ 9.99991225e-01 9.89950343e-04 -4.07069364e-03 1.99927038e+01] [-9.64277779e-04 9.99979666e-01 6.30381405e-03 -2.48163477e-01] [ 4.07685133e-03 -6.29983345e-03 9.99971845e-01 -2.84977619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.810281693 meters Centerline goodness : 0.996185 Centerline is valid? [True, True] Translation: X:20.02, Y:-0.24, Z:-0.28 [[ 9.99966225e-01 6.48039365e-03 -5.05498106e-03 2.00206186e+01] [-6.51184557e-03 9.99959387e-01 -6.23052202e-03 -2.41552560e-01] [ 5.01439953e-03 6.26322884e-03 9.99967813e-01 -2.82757170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.840281693 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:20.05, Y:-0.25, Z:-0.28 [[ 9.99954952e-01 8.39591142e-03 -4.42740876e-03 2.00489623e+01] [-8.39588334e-03 9.99964754e-01 2.49289634e-05 -2.46234080e-01] [ 4.42746201e-03 1.22441670e-05 9.99990199e-01 -2.83245531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.870281693 meters Centerline goodness : 0.996318 Centerline is valid? [True, True] Translation: X:20.08, Y:-0.25, Z:-0.28 [[ 9.99948589e-01 9.29276982e-03 -4.05746727e-03 2.00778716e+01] [-9.29275434e-03 9.99956821e-01 2.26674983e-05 -2.47460599e-01] [ 4.05750271e-03 1.50387136e-05 9.99991768e-01 -2.82885181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.900281693 meters Centerline goodness : 0.996029 Centerline is valid? [True, True] Translation: X:20.11, Y:-0.25, Z:-0.28 [[ 9.99947921e-01 8.66918934e-03 -5.38515399e-03 2.01056674e+01] [-8.66915472e-03 9.99962422e-01 2.97711701e-05 -2.48866296e-01] [ 5.38520972e-03 1.69151135e-05 9.99985500e-01 -2.83621808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.930281693 meters Centerline goodness : 0.996269 Centerline is valid? [True, True] Translation: X:20.13, Y:-0.25, Z:-0.28 [[ 9.99950621e-01 7.69966823e-03 -6.28254870e-03 2.01338081e+01] [-7.69960418e-03 9.99970357e-01 3.43823112e-05 -2.48953846e-01] [ 6.28262720e-03 1.39925248e-05 9.99980264e-01 -2.84374658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.960281693000002 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:20.16, Y:-0.25, Z:-0.28 [[ 9.99951266e-01 7.26098808e-03 -6.68909245e-03 2.01630523e+01] [-7.26090763e-03 9.99973639e-01 3.63123869e-05 -2.49321788e-01] [ 6.68917978e-03 1.22582651e-05 9.99977627e-01 -2.84512269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.990281693 meters Centerline goodness : 0.996264 Centerline is valid? [True, True] Translation: X:20.19, Y:-0.25, Z:-0.28 [[ 9.99947936e-01 8.05681516e-03 -6.26198373e-03 2.01919489e+01] [-8.05676208e-03 9.99967543e-01 3.37024871e-05 -2.49729832e-01] [ 6.26205202e-03 1.67505806e-05 9.99980393e-01 -2.83586468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.020281693 meters Centerline goodness : 0.995937 Centerline is valid? [True, True] Translation: X:20.22, Y:-0.25, Z:-0.28 [[ 9.99938850e-01 8.93219276e-03 -6.52008247e-03 2.02194331e+01] [-8.93215631e-03 9.99960107e-01 3.47106108e-05 -2.49867097e-01] [ 6.52013241e-03 2.35299076e-05 9.99978743e-01 -2.83189905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.050281693000002 meters Centerline goodness : 0.995913 Centerline is valid? [True, True] Translation: X:20.25, Y:-0.25, Z:-0.28 [[ 9.99924925e-01 1.02424402e-02 -6.72576747e-03 2.02486332e+01] [-1.02424330e-02 9.99947544e-01 3.55092209e-05 -2.50100049e-01] [ 6.72577837e-03 3.33816676e-05 9.99977381e-01 -2.82964553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.080281693 meters Centerline goodness : 0.996312 Centerline is valid? [True, True] Translation: X:20.28, Y:-0.25, Z:-0.28 [[ 9.99915435e-01 1.14850182e-02 -6.10065962e-03 2.02775834e+01] [-1.14850372e-02 9.99934044e-01 3.19187082e-05 -2.49480230e-01] [ 6.10062384e-03 3.81502936e-05 9.99981390e-01 -2.83191292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.110281693 meters Centerline goodness : 0.996484 Centerline is valid? [True, True] Translation: X:20.31, Y:-0.25, Z:-0.28 [[ 9.99918194e-01 1.13954463e-02 -5.80938338e-03 2.03051058e+01] [-1.13954640e-02 9.99935069e-01 3.00448984e-05 -2.48848062e-01] [ 5.80934854e-03 3.61581788e-05 9.99983125e-01 -2.83309489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.140281693000002 meters Centerline goodness : 0.996056 Centerline is valid? [True, True] Translation: X:20.33, Y:-0.25, Z:-0.28 [[ 9.99927799e-01 1.02531946e-02 -6.26650985e-03 2.03340336e+01] [-1.02531946e-02 9.99947434e-01 3.21308943e-05 -2.49194850e-01] [ 6.26650989e-03 3.21231703e-05 9.99980365e-01 -2.84156428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.170281693 meters Centerline goodness : 0.995932 Centerline is valid? [True, True] Translation: X:20.36, Y:-0.25, Z:-0.29 [[ 9.99932437e-01 9.08604819e-03 -7.25017671e-03 2.03630146e+01] [-9.08601986e-03 9.99958721e-01 3.68456100e-05 -2.50431634e-01] [ 7.25021221e-03 2.90321290e-05 9.99973716e-01 -2.85223490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.200281693 meters Centerline goodness : 0.996038 Centerline is valid? [True, True] Translation: X:20.39, Y:-0.25, Z:-0.29 [[ 9.99942869e-01 7.35062324e-03 -7.76065289e-03 2.03903377e+01] [-7.35054203e-03 9.99972984e-01 3.89875172e-05 -2.51280214e-01] [ 7.76072981e-03 1.80597155e-05 9.99969885e-01 -2.85830207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.230281693000002 meters Centerline goodness : 0.995862 Centerline is valid? [True, True] Translation: X:20.42, Y:-0.25, Z:-0.29 [[ 9.99951415e-01 5.41958221e-03 -8.23383687e-03 2.04188277e+01] [-5.41942833e-03 9.99985314e-01 4.10006647e-05 -2.51401954e-01] [ 8.23393816e-03 3.62401609e-06 9.99966101e-01 -2.85622585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.260281693 meters Centerline goodness : 0.996002 Centerline is valid? [True, True] Translation: X:20.45, Y:-0.25, Z:-0.28 [[ 9.99968091e-01 2.66872342e-03 -7.52961340e-03 2.04469167e+01] [-2.66852007e-03 9.99996439e-01 3.70538764e-05 -2.52832051e-01] [ 7.52968547e-03 -1.69597696e-05 9.99971651e-01 -2.83941366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.290281693 meters Centerline goodness : 0.996282 Centerline is valid? [True, True] Translation: X:20.48, Y:-0.25, Z:-0.28 [[ 9.99978164e-01 1.84241186e-03 -6.34649633e-03 2.04751220e+01] [-1.84225305e-03 9.99998303e-01 3.08680354e-05 -2.53129319e-01] [ 6.34654242e-03 -1.91755091e-05 9.99979860e-01 -2.83001414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.320281693000002 meters Centerline goodness : 0.996572 Centerline is valid? [True, True] Translation: X:20.50, Y:-0.25, Z:-0.28 [[ 9.99992361e-01 -8.09651580e-05 -3.90789588e-03 2.05035443e+01] [ 8.10393027e-05 9.99999997e-01 1.88147271e-05 -2.52486373e-01] [ 3.90789435e-03 -1.91312765e-05 9.99992364e-01 -2.81547792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.350281693 meters Centerline goodness : 0.996680 Centerline is valid? [True, True] Translation: X:20.53, Y:-0.25, Z:-0.28 [[ 9.99994508e-01 -1.24240358e-03 -3.07236359e-03 2.05308878e+01] [ 1.24245429e-03 9.99999228e-01 1.45977618e-05 -2.51447785e-01] [ 3.07234308e-03 -1.84149530e-05 9.99995280e-01 -2.82239925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.380281693 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:20.56, Y:-0.25, Z:-0.28 [[ 9.99993643e-01 -2.41497973e-03 -2.62314303e-03 2.05601258e+01] [ 2.41502042e-03 9.99997084e-01 1.23445149e-05 -2.50892515e-01] [ 2.62310557e-03 -1.86793804e-05 9.99996559e-01 -2.82285571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.410281693 meters Centerline goodness : 0.996693 Centerline is valid? [True, True] Translation: X:20.59, Y:-0.25, Z:-0.28 [[ 9.99987600e-01 -4.55326702e-03 -2.01690181e-03 2.05888179e+01] [ 4.55329529e-03 9.99989634e-01 9.42316755e-06 -2.51872909e-01] [ 2.01683799e-03 -1.86066002e-05 9.99997966e-01 -2.82641700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.440281693 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:20.62, Y:-0.25, Z:-0.28 [[ 9.99981658e-01 -5.34337781e-03 -2.85173439e-03 2.06180488e+01] [ 5.34343753e-03 9.99985724e-01 1.33210755e-05 -2.51303768e-01] [ 2.85162250e-03 -2.85588957e-05 9.99995934e-01 -2.81792137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.470281693 meters Centerline goodness : 0.996480 Centerline is valid? [True, True] Translation: X:20.65, Y:-0.25, Z:-0.28 [[ 9.99980886e-01 -5.48587367e-03 -2.85173675e-03 2.06473592e+01] [ 5.48593250e-03 9.99984952e-01 1.28094219e-05 -2.51294350e-01] [ 2.85162356e-03 -2.84536124e-05 9.99995934e-01 -2.81815671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.500281693 meters Centerline goodness : 0.996663 Centerline is valid? [True, True] Translation: X:20.68, Y:-0.25, Z:-0.28 [[ 9.99973816e-01 -6.22000491e-03 -3.69840135e-03 2.06770087e+01] [ 6.22010905e-03 9.99980655e-01 1.66580671e-05 -2.49316974e-01] [ 3.69822619e-03 -3.96620906e-05 9.99993161e-01 -2.81407415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.530281693 meters Centerline goodness : 0.996750 Centerline is valid? [True, True] Translation: X:20.71, Y:-0.25, Z:-0.28 [[ 9.99968667e-01 -5.90894704e-03 -5.26769472e-03 2.07056393e+01] [ 5.90915306e-03 9.99982541e-01 2.35452623e-05 -2.45898613e-01] [ 5.26746362e-03 -5.46721389e-05 9.99986125e-01 -2.82135780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.560281693 meters Centerline goodness : 0.996496 Centerline is valid? [True, True] Translation: X:20.73, Y:-0.25, Z:-0.28 [[ 9.99971753e-01 -4.90778623e-03 -5.69274968e-03 2.07334809e+01] [ 4.90800870e-03 9.99987955e-01 2.51103892e-05 -2.45237620e-01] [ 5.69255787e-03 -5.30497449e-05 9.99983796e-01 -2.82463042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.590281693 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:20.76, Y:-0.24, Z:-0.28 [[ 9.99971981e-01 -4.19789155e-03 -6.19791482e-03 2.07611076e+01] [ 4.19813354e-03 9.99991187e-01 2.60350481e-05 -2.44284839e-01] [ 6.19775090e-03 -5.20539927e-05 9.99980792e-01 -2.82990124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.620281693 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:20.79, Y:-0.24, Z:-0.28 [[ 9.99970154e-01 -2.71864434e-03 -7.23182882e-03 2.07880959e+01] [ 2.71893155e-03 9.99996303e-01 2.98833310e-05 -2.40460949e-01] [ 7.23172085e-03 -4.95452866e-05 9.99973850e-01 -2.83097441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.650281693 meters Centerline goodness : 0.996106 Centerline is valid? [True, True] Translation: X:20.81, Y:-0.24, Z:-0.28 [[ 9.99972190e-01 -2.27098571e-03 -7.10368617e-03 2.08147969e+01] [ 2.27124747e-03 9.99997420e-01 2.87813448e-05 -2.38766454e-01] [ 7.10360248e-03 -4.49147736e-05 9.99974768e-01 -2.82558408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.680281693 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:20.84, Y:-0.24, Z:-0.28 [[ 9.99977934e-01 -2.30888656e-03 -6.22900152e-03 2.08427257e+01] [ 2.30908110e-03 9.99997334e-01 2.40409415e-05 -2.37781473e-01] [ 6.22892940e-03 -3.84236807e-05 9.99980599e-01 -2.82197066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.710281693 meters Centerline goodness : 0.996540 Centerline is valid? [True, True] Translation: X:20.87, Y:-0.24, Z:-0.28 [[ 9.99982366e-01 -3.76458936e-03 -4.59297496e-03 2.08705458e+01] [ 3.76470960e-03 9.99992913e-01 1.75341063e-05 -2.38784560e-01] [ 4.59287641e-03 -3.48250141e-05 9.99989452e-01 -2.81869682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.740281693 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:20.90, Y:-0.24, Z:-0.28 [[ 9.99977480e-01 -5.41173193e-03 -3.96888644e-03 2.08995600e+01] [ 5.41183175e-03 9.99985356e-01 1.44126757e-05 -2.38663532e-01] [ 3.96875032e-03 -3.58912968e-05 9.99992124e-01 -2.82091439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.770281693 meters Centerline goodness : 0.996585 Centerline is valid? [True, True] Translation: X:20.93, Y:-0.24, Z:-0.28 [[ 9.99971635e-01 -6.48451669e-03 -3.83156336e-03 2.09285313e+01] [ 6.48461747e-03 9.99978975e-01 1.38797860e-05 -2.38695541e-01] [ 3.83139280e-03 -3.87256150e-05 9.99992659e-01 -2.82429114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.800281693000002 meters Centerline goodness : 0.996466 Centerline is valid? [True, True] Translation: X:20.96, Y:-0.24, Z:-0.28 [[ 9.99963195e-01 -7.13416577e-03 -4.76580438e-03 2.09572204e+01] [ 7.13432500e-03 9.99974550e-01 1.64108003e-05 -2.40170923e-01] [ 4.76556601e-03 -5.04109936e-05 9.99988643e-01 -2.82820016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.830281693 meters Centerline goodness : 0.996515 Centerline is valid? [True, True] Translation: X:20.99, Y:-0.24, Z:-0.28 [[ 9.99966501e-01 -6.88303249e-03 -4.42952805e-03 2.09862233e+01] [ 6.88316432e-03 9.99976311e-01 1.45184198e-05 -2.41420400e-01] [ 4.42932319e-03 -4.50071029e-05 9.99990189e-01 -2.82557848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.860281693 meters Centerline goodness : 0.996714 Centerline is valid? [True, True] Translation: X:21.01, Y:-0.24, Z:-0.28 [[ 9.99980429e-01 -5.17813192e-03 -3.51133384e-03 2.10146365e+01] [ 5.17820409e-03 9.99986593e-01 1.14633751e-05 -2.43282763e-01] [ 3.51122740e-03 -2.96455540e-05 9.99993835e-01 -2.81429247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.890281693000002 meters Centerline goodness : 0.996365 Centerline is valid? [True, True] Translation: X:21.04, Y:-0.24, Z:-0.28 [[ 9.99980420e-01 -4.36328136e-03 -4.48579672e-03 2.10437883e+01] [ 4.36338730e-03 9.99990480e-01 1.38290933e-05 -2.43602421e-01] [ 4.48569368e-03 -3.34020910e-05 9.99989939e-01 -2.82002761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.920281693 meters Centerline goodness : 0.996274 Centerline is valid? [True, True] Translation: X:21.07, Y:-0.24, Z:-0.28 [[ 9.99972974e-01 -3.74696087e-03 -6.32546853e-03 2.10728587e+01] [ 3.74715303e-03 9.99992979e-01 1.85276534e-05 -2.44235978e-01] [ 6.32535470e-03 -4.22296513e-05 9.99979994e-01 -2.82866212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.950281693 meters Centerline goodness : 0.996284 Centerline is valid? [True, True] Translation: X:21.10, Y:-0.25, Z:-0.28 [[ 9.99963044e-01 -3.42176947e-03 -7.88681714e-03 2.11001544e+01] [ 3.42205385e-03 9.99994145e-01 2.25637284e-05 -2.45429180e-01] [ 7.88669375e-03 -4.95520075e-05 9.99968898e-01 -2.83561500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.980281693000002 meters Centerline goodness : 0.995988 Centerline is valid? [True, True] Translation: X:21.13, Y:-0.25, Z:-0.28 [[ 9.99963801e-01 -3.04738224e-03 -7.94416321e-03 2.11279209e+01] [ 3.04764689e-03 9.99995356e-01 2.12088991e-05 -2.47371894e-01] [ 7.94406168e-03 -4.54191357e-05 9.99968444e-01 -2.83496755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.010281693 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:21.15, Y:-0.25, Z:-0.28 [[ 9.99975451e-01 -2.44144103e-03 -6.56784776e-03 2.11548178e+01] [ 2.44160581e-03 9.99997019e-01 1.70716757e-05 -2.47435603e-01] [ 6.56778650e-03 -3.31073518e-05 9.99978431e-01 -2.82835583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.040281693 meters Centerline goodness : 0.996989 Centerline is valid? [True, True] Translation: X:21.18, Y:-0.25, Z:-0.28 [[ 9.99995264e-01 1.51712545e-03 -2.67760484e-03 2.11831312e+01] [-1.51711390e-03 9.99998849e-01 6.34549246e-06 -2.45506812e-01] [ 2.67761138e-03 -2.28323089e-06 9.99996415e-01 -2.80416333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.070281693000002 meters Centerline goodness : 0.996921 Centerline is valid? [True, True] Translation: X:21.21, Y:-0.24, Z:-0.28 [[ 9.99989122e-01 4.16771564e-03 -2.09427115e-03 2.12114214e+01] [-4.16771435e-03 9.99991315e-01 4.97933558e-06 -2.43568036e-01] [ 2.09427372e-03 3.74904253e-06 9.99997807e-01 -2.80326374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.100281693 meters Centerline goodness : 0.996719 Centerline is valid? [True, True] Translation: X:21.24, Y:-0.24, Z:-0.28 [[ 9.99976806e-01 6.13489448e-03 -2.95802596e-03 2.12419875e+01] [-6.13790233e-03 9.99980654e-01 -1.00884140e-03 -2.40823470e-01] [ 2.95177960e-03 1.02697407e-03 9.99995116e-01 -2.80480113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.130281693 meters Centerline goodness : 0.996491 Centerline is valid? [True, True] Translation: X:21.27, Y:-0.24, Z:-0.28 [[ 9.99920090e-01 1.21138937e-02 -3.61480378e-03 2.12696758e+01] [-1.20916834e-02 9.99908261e-01 6.10414373e-03 -2.41860260e-01] [ 3.68841711e-03 -6.05994688e-03 9.99974836e-01 -2.82809067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.160281693 meters Centerline goodness : 0.996349 Centerline is valid? [True, True] Translation: X:21.30, Y:-0.23, Z:-0.28 [[ 9.99885358e-01 1.39638768e-02 -5.85494909e-03 2.12989173e+01] [-1.39950407e-02 9.99887934e-01 -5.31590945e-03 -2.33064838e-01] [ 5.78006224e-03 5.39724027e-03 9.99968730e-01 -2.81355600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.190281693 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:21.33, Y:-0.23, Z:-0.28 [[ 9.99868772e-01 1.49841230e-02 -6.15757708e-03 2.13275281e+01] [-1.49843214e-02 9.99887729e-01 1.39109029e-05 -2.33344465e-01] [ 6.15709420e-03 7.83580368e-05 9.99981042e-01 -2.81891327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.220281693 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:21.36, Y:-0.23, Z:-0.28 [[ 9.99860249e-01 1.55573784e-02 -6.11962883e-03 2.13557495e+01] [-1.55575872e-02 9.99878973e-01 1.34714393e-05 -2.31451101e-01] [ 6.11909778e-03 8.17371028e-05 9.99981275e-01 -2.81960715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.250281693 meters Centerline goodness : 0.996177 Centerline is valid? [True, True] Translation: X:21.38, Y:-0.23, Z:-0.28 [[ 9.99878282e-01 1.46180782e-02 -5.45282805e-03 2.13847037e+01] [-1.46182314e-02 9.99893148e-01 1.17621480e-05 -2.30900970e-01] [ 5.45241735e-03 6.79499862e-05 9.99985133e-01 -2.81926591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.280281693 meters Centerline goodness : 0.996084 Centerline is valid? [True, True] Translation: X:21.41, Y:-0.23, Z:-0.28 [[ 9.99902620e-01 1.28891310e-02 -5.34978993e-03 2.14135371e+01] [-1.28892550e-02 9.99916930e-01 1.12897543e-05 -2.30775207e-01] [ 5.34949104e-03 5.76661517e-05 9.99985690e-01 -2.81641182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.310281693 meters Centerline goodness : 0.996429 Centerline is valid? [True, True] Translation: X:21.44, Y:-0.23, Z:-0.28 [[ 9.99932913e-01 9.34459681e-03 -6.84450753e-03 2.14413152e+01] [-9.34471953e-03 9.99956337e-01 1.40506822e-05 -2.27398817e-01] [ 6.84433998e-03 4.99102636e-05 9.99976576e-01 -2.81430941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.340281693 meters Centerline goodness : 0.996378 Centerline is valid? [True, True] Translation: X:21.47, Y:-0.22, Z:-0.28 [[ 9.99939193e-01 8.34188574e-03 -7.21277432e-03 2.14689237e+01] [-8.34199885e-03 9.99965205e-01 1.44027700e-05 -2.24776344e-01] [ 7.21264350e-03 4.57670609e-05 9.99973988e-01 -2.81089842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.370281693 meters Centerline goodness : 0.996799 Centerline is valid? [True, True] Translation: X:21.50, Y:-0.22, Z:-0.28 [[ 9.99952631e-01 7.80209424e-03 -5.81920329e-03 2.14978289e+01] [-7.80216031e-03 9.99969563e-01 1.13475331e-05 -2.23232302e-01] [ 5.81911470e-03 3.40553614e-05 9.99983068e-01 -2.81047645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.400281693 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:21.53, Y:-0.22, Z:-0.28 [[ 9.99971177e-01 7.10238229e-03 -2.68346621e-03 2.15257092e+01] [-7.10239431e-03 9.99974778e-01 5.05268476e-06 -2.21197245e-01] [ 2.68343441e-03 1.40064960e-05 9.99996399e-01 -2.79403811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.430281693 meters Centerline goodness : 0.997598 Centerline is valid? [True, True] Translation: X:21.55, Y:-0.22, Z:-0.28 [[ 9.99971125e-01 7.50880400e-03 -1.16909271e-03 2.15531128e+01] [-7.50699343e-03 9.99970628e-01 1.54545721e-03 -2.21034827e-01] [ 1.18066290e-03 -1.53663621e-03 9.99998122e-01 -2.79986242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.460281693 meters Centerline goodness : 0.997583 Centerline is valid? [True, True] Translation: X:21.58, Y:-0.22, Z:-0.28 [[ 9.99974852e-01 6.90749773e-03 -1.60678908e-03 2.15834526e+01] [-6.90995736e-03 9.99974955e-01 -1.53029065e-03 -2.16774387e-01] [ 1.59617836e-03 1.54135501e-03 9.99997538e-01 -2.79237605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.490281693 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:21.61, Y:-0.21, Z:-0.28 [[ 9.99987554e-01 4.85841759e-03 -1.13465859e-03 2.16123228e+01] [-4.85841841e-03 9.99988198e-01 2.03425743e-06 -2.13328883e-01] [ 1.13465509e-03 3.47841410e-06 9.99999356e-01 -2.80376591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.520281693 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:21.64, Y:-0.21, Z:-0.28 [[ 9.99995235e-01 2.68244853e-03 -1.52816603e-03 2.16421379e+01] [-2.68244749e-03 9.99996402e-01 2.73225349e-06 -2.12459232e-01] [ 1.52816786e-03 1.36698466e-06 9.99998832e-01 -2.81431601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.550281693000002 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:21.67, Y:-0.21, Z:-0.28 [[ 9.99996615e-01 -7.91242536e-04 -2.47856859e-03 2.16703360e+01] [ 7.91255741e-04 9.99999687e-01 4.34698091e-06 -2.12118070e-01] [ 2.47856438e-03 -6.30814782e-06 9.99996928e-01 -2.82109026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.580281693 meters Centerline goodness : 0.997267 Centerline is valid? [True, True] Translation: X:21.70, Y:-0.21, Z:-0.28 [[ 9.99984783e-01 -4.63226724e-03 -2.99587466e-03 2.17002708e+01] [ 4.63230361e-03 9.99989271e-01 5.20067854e-06 -2.12453544e-01] [ 2.99581843e-03 -1.90784004e-05 9.99995512e-01 -2.82271974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.610281693 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:21.73, Y:-0.21, Z:-0.28 [[ 9.99913921e-01 -1.30068974e-02 -1.72359839e-03 2.17295930e+01] [ 1.30104603e-02 9.99913213e-01 2.07229755e-03 -2.14107228e-01] [ 1.69649464e-03 -2.09454398e-03 9.99996367e-01 -2.82113052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.640281693000002 meters Centerline goodness : 0.997312 Centerline is valid? [True, True] Translation: X:21.76, Y:-0.21, Z:-0.28 [[ 9.99860743e-01 -1.65929774e-02 -1.77960695e-03 2.17600712e+01] [ 1.65910000e-02 9.99861732e-01 -1.12024065e-03 -2.13883657e-01] [ 1.79794901e-03 1.09055919e-03 9.99997789e-01 -2.81884966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.670281693 meters Centerline goodness : 0.997020 Centerline is valid? [True, True] Translation: X:21.79, Y:-0.22, Z:-0.28 [[ 9.99807974e-01 -1.94530331e-02 -2.36549322e-03 2.17908638e+01] [ 1.94507784e-02 9.99810343e-01 -9.72475828e-04 -2.16877841e-01] [ 2.38396219e-03 9.26278402e-04 9.99996729e-01 -2.82404706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.700281693 meters Centerline goodness : 0.996727 Centerline is valid? [True, True] Translation: X:21.82, Y:-0.23, Z:-0.28 [[ 9.99712746e-01 -2.38644925e-02 -2.21628395e-03 2.18212016e+01] [ 2.38695842e-02 9.99712435e-01 2.30010020e-03 -2.25253788e-01] [ 2.16075590e-03 -2.35234126e-03 9.99994899e-01 -2.83702513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.730281693000002 meters Centerline goodness : 0.996746 Centerline is valid? [True, True] Translation: X:21.85, Y:-0.23, Z:-0.28 [[ 9.99697187e-01 -2.43058041e-02 -3.84204524e-03 2.18508521e+01] [ 2.42969409e-02 9.99702054e-01 -2.33698952e-03 -2.25386095e-01] [ 3.89770292e-03 2.24293190e-03 9.99989889e-01 -2.82509003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.760281693 meters Centerline goodness : 0.997422 Centerline is valid? [True, True] Translation: X:21.88, Y:-0.23, Z:-0.28 [[ 9.99733953e-01 -2.28955420e-02 -2.79609620e-03 2.18807319e+01] [ 2.29067551e-02 9.99729417e-01 4.04635293e-03 -2.34984254e-01] [ 2.70269618e-03 -4.10932590e-03 9.99987904e-01 -2.83318439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.790281693 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:21.91, Y:-0.24, Z:-0.28 [[ 9.99788574e-01 -2.03406771e-02 -3.01055575e-03 2.19099962e+01] [ 2.03285829e-02 9.99785372e-01 -3.99479505e-03 -2.35483137e-01] [ 3.09116644e-03 3.93275012e-03 9.99987489e-01 -2.82675585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.820281693000002 meters Centerline goodness : 0.996973 Centerline is valid? [True, True] Translation: X:21.94, Y:-0.24, Z:-0.28 [[ 9.99834848e-01 -1.79632957e-02 -2.75624519e-03 2.19400719e+01] [ 1.79633754e-02 9.99838646e-01 4.17824166e-06 -2.42360806e-01] [ 2.75572540e-03 -5.36890186e-05 9.99996202e-01 -2.82580018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.850281693 meters Centerline goodness : 0.997185 Centerline is valid? [True, True] Translation: X:21.97, Y:-0.25, Z:-0.28 [[ 9.99905192e-01 -1.33740312e-02 -3.27760690e-03 2.19685557e+01] [ 1.33741189e-02 9.99910562e-01 4.84953881e-06 -2.49057311e-01] [ 3.27724890e-03 -4.86841836e-05 9.99994629e-01 -2.82079786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.880281693 meters Centerline goodness : 0.997506 Centerline is valid? [True, True] Translation: X:22.00, Y:-0.25, Z:-0.28 [[ 9.99936274e-01 -1.10933419e-02 -2.09434645e-03 2.19967832e+01] [ 1.11054328e-02 9.99921205e-01 5.85255826e-03 -2.54299795e-01] [ 2.02925699e-03 -5.87544392e-03 9.99980680e-01 -2.83206951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.910281693 meters Centerline goodness : 0.997470 Centerline is valid? [True, True] Translation: X:22.03, Y:-0.25, Z:-0.28 [[ 9.99954791e-01 -8.48858570e-03 -4.28492734e-03 2.20265568e+01] [ 8.46356650e-03 9.99947225e-01 -5.82363577e-03 -2.50457101e-01] [ 4.33413563e-03 5.78710672e-03 9.99973862e-01 -2.81746634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.940281693 meters Centerline goodness : 0.997149 Centerline is valid? [True, True] Translation: X:22.05, Y:-0.26, Z:-0.28 [[ 9.99967070e-01 -6.42616438e-03 -4.95607062e-03 2.20549526e+01] [ 6.42627098e-03 9.99979351e-01 5.58295235e-06 -2.56179263e-01] [ 4.95593241e-03 -3.74318213e-05 9.99987719e-01 -2.82078536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.970281693 meters Centerline goodness : 0.997604 Centerline is valid? [True, True] Translation: X:22.08, Y:-0.26, Z:-0.28 [[ 9.99988099e-01 -2.70000302e-03 -4.06341285e-03 2.20838086e+01] [ 2.70004107e-03 9.99996355e-01 3.87774598e-06 -2.58904774e-01] [ 4.06338757e-03 -1.48490814e-05 9.99991744e-01 -2.81607414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.000281693 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:22.11, Y:-0.26, Z:-0.28 [[ 9.99993206e-01 -8.03259537e-04 -3.59772470e-03 2.21117881e+01] [ 8.03274904e-04 9.99999677e-01 2.82621835e-06 -2.58939407e-01] [ 3.59772127e-03 -5.71616110e-06 9.99993528e-01 -2.81154838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.030281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:22.14, Y:-0.26, Z:-0.28 [[ 9.99996143e-01 8.20569324e-04 -2.65354606e-03 2.21400723e+01] [-8.20566728e-04 9.99999663e-01 2.06698823e-06 -2.59275309e-01] [ 2.65354687e-03 1.10431352e-07 9.99996479e-01 -2.81309868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.060281693 meters Centerline goodness : 0.997406 Centerline is valid? [True, True] Translation: X:22.17, Y:-0.26, Z:-0.28 [[ 9.99994104e-01 2.68631770e-03 -2.13905627e-03 2.21692536e+01] [-2.68632126e-03 9.99996392e-01 1.20953548e-06 -2.61829755e-01] [ 2.13905180e-03 4.53666399e-06 9.99997712e-01 -2.81871424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.090281693 meters Centerline goodness : 0.997493 Centerline is valid? [True, True] Translation: X:22.20, Y:-0.26, Z:-0.28 [[ 9.99992597e-01 2.91395288e-03 -2.51289061e-03 2.21992113e+01] [-2.91395832e-03 9.99995754e-01 1.49876836e-06 -2.62975132e-01] [ 2.51288431e-03 5.82370123e-06 9.99996843e-01 -2.82550283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.120281693 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:22.23, Y:-0.26, Z:-0.28 [[ 9.99991083e-01 2.48593526e-03 -3.41376031e-03 2.22277412e+01] [-2.48594341e-03 9.99996910e-01 1.85618940e-06 -2.64023393e-01] [ 3.41375438e-03 6.63024209e-06 9.99994173e-01 -2.83475036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.150281693 meters Centerline goodness : 0.997354 Centerline is valid? [True, True] Translation: X:22.26, Y:-0.27, Z:-0.28 [[ 9.99980061e-01 -1.51232217e-04 -6.31310906e-03 2.22555658e+01] [ 1.51254282e-04 9.99999989e-01 3.01767767e-06 -2.66756482e-01] [ 6.31310853e-03 -3.97250228e-06 9.99980072e-01 -2.84563563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.180281693 meters Centerline goodness : 0.997012 Centerline is valid? [True, True] Translation: X:22.28, Y:-0.27, Z:-0.28 [[ 9.99973342e-01 -1.15033818e-03 -7.21056565e-03 2.22837022e+01] [ 1.15039008e-03 9.99999338e-01 3.04988850e-06 -2.68209377e-01] [ 7.21055737e-03 -1.13447704e-05 9.99974004e-01 -2.84954805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.210281693 meters Centerline goodness : 0.996933 Centerline is valid? [True, True] Translation: X:22.31, Y:-0.27, Z:-0.28 [[ 9.99976217e-01 -1.98181439e-03 -6.60593895e-03 2.23110691e+01] [ 1.98187359e-03 9.99998036e-01 2.41539362e-06 -2.71862911e-01] [ 6.60592119e-03 -1.55074721e-05 9.99978181e-01 -2.84625606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.240281693 meters Centerline goodness : 0.997258 Centerline is valid? [True, True] Translation: X:22.34, Y:-0.27, Z:-0.28 [[ 9.99982472e-01 -1.43375118e-03 -5.74455806e-03 2.23385078e+01] [ 1.43378423e-03 9.99998972e-01 1.63431122e-06 -2.72964054e-01] [ 5.74454981e-03 -9.87073931e-06 9.99983500e-01 -2.84146444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.270281693 meters Centerline goodness : 0.997699 Centerline is valid? [True, True] Translation: X:22.37, Y:-0.27, Z:-0.28 [[ 9.99986819e-01 -8.12003668e-04 -5.06966477e-03 2.23667422e+01] [ 8.12016069e-04 9.99999670e-01 3.87912494e-07 -2.72908277e-01] [ 5.06966278e-03 -4.50455664e-06 9.99987149e-01 -2.84242643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.300281693000002 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:22.39, Y:-0.27, Z:-0.28 [[ 9.99985826e-01 -9.02186449e-05 -5.32358618e-03 2.23942179e+01] [ 9.02201659e-05 9.99999996e-01 4.55591603e-08 -2.72622462e-01] [ 5.32358615e-03 -5.25853342e-07 9.99985830e-01 -2.83983635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.330281693 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:22.42, Y:-0.27, Z:-0.28 [[ 9.99979897e-01 2.28960857e-03 -5.91289566e-03 2.24218250e+01] [-2.28965508e-03 9.99997379e-01 -1.09662898e-06 -2.74282778e-01] [ 5.91287765e-03 1.46350985e-05 9.99982519e-01 -2.84147554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.360281693 meters Centerline goodness : 0.997655 Centerline is valid? [True, True] Translation: X:22.45, Y:-0.27, Z:-0.28 [[ 9.99979975e-01 2.25558607e-03 -5.91289564e-03 2.24511540e+01] [-2.25563246e-03 9.99997456e-01 -1.17613193e-06 -2.74192033e-01] [ 5.91287795e-03 1.45134277e-05 9.99982519e-01 -2.84171691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.390281693000002 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:22.48, Y:-0.28, Z:-0.28 [[ 9.99983580e-01 3.17585738e-03 -4.77000286e-03 2.24787040e+01] [-3.17589984e-03 9.99994957e-01 -1.32707331e-06 -2.75473947e-01] [ 4.76997459e-03 1.64761028e-05 9.99988623e-01 -2.84624310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.420281693 meters Centerline goodness : 0.997707 Centerline is valid? [True, True] Translation: X:22.51, Y:-0.28, Z:-0.28 [[ 9.99987559e-01 3.47374965e-03 -3.57974074e-03 2.25062611e+01] [-3.47377625e-03 9.99993966e-01 -1.21327360e-06 -2.75951723e-01] [ 3.57971493e-03 1.36484769e-05 9.99993593e-01 -2.84177796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.450281693 meters Centerline goodness : 0.997714 Centerline is valid? [True, True] Translation: X:22.53, Y:-0.28, Z:-0.28 [[ 9.99996996e-01 1.78826439e-03 -1.67614322e-03 2.25348747e+01] [-1.78826801e-03 9.99998401e-01 -6.59552003e-07 -2.76998288e-01] [ 1.67613936e-03 3.65694332e-06 9.99998595e-01 -2.84302476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.480281693000002 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:22.56, Y:-0.28, Z:-0.28 [[ 9.99998047e-01 3.28367939e-04 -1.94895842e-03 2.25646718e+01] [-3.28370034e-04 9.99999946e-01 -7.54605793e-07 -2.78791738e-01] [ 1.94895807e-03 1.39458386e-06 9.99998101e-01 -2.84247394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.510281693 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:22.59, Y:-0.28, Z:-0.28 [[ 9.99996326e-01 -1.42308196e-03 -2.30713495e-03 2.25945778e+01] [ 1.42308355e-03 9.99998987e-01 -9.53964993e-07 -2.79882568e-01] [ 2.30713397e-03 -2.32928430e-06 9.99997339e-01 -2.84177146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.540281693 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:22.62, Y:-0.28, Z:-0.28 [[ 9.99982153e-01 -4.75243602e-03 -3.62042301e-03 2.26240084e+01] [ 4.75246148e-03 9.99988707e-01 -1.57182765e-06 -2.79419432e-01] [ 3.62038960e-03 -1.56341213e-05 9.99993446e-01 -2.84248913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.570281693000002 meters Centerline goodness : 0.997746 Centerline is valid? [True, True] Translation: X:22.65, Y:-0.28, Z:-0.28 [[ 9.99974254e-01 -5.85571172e-03 -4.14747698e-03 2.26528250e+01] [ 5.85575399e-03 9.99982855e-01 -1.95289466e-06 -2.79213034e-01] [ 4.14741731e-03 -2.23337605e-05 9.99991399e-01 -2.84467731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.600281693 meters Centerline goodness : 0.997756 Centerline is valid? [True, True] Translation: X:22.68, Y:-0.28, Z:-0.28 [[ 9.99977747e-01 -5.68275194e-03 -3.49446193e-03 2.26814125e+01] [ 5.68277851e-03 9.99983853e-01 -2.32438684e-06 -2.81428400e-01] [ 3.49441871e-03 -1.75339180e-05 9.99993894e-01 -2.83934820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.630281693 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:22.71, Y:-0.28, Z:-0.28 [[ 9.99983051e-01 -4.90410505e-03 -3.13818587e-03 2.27103753e+01] [ 4.90412101e-03 9.99987975e-01 -2.60972356e-06 -2.82127099e-01] [ 3.13816093e-03 -1.27803639e-05 9.99995076e-01 -2.83287394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.660281693 meters Centerline goodness : 0.997816 Centerline is valid? [True, True] Translation: X:22.74, Y:-0.28, Z:-0.28 [[ 9.99988655e-01 -3.57902238e-03 -3.14333896e-03 2.27392121e+01] [ 3.57903183e-03 9.99993595e-01 -2.61773564e-06 -2.81684683e-01] [ 3.14332819e-03 -8.63240425e-06 9.99995060e-01 -2.83596139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.690281693 meters Centerline goodness : 0.997914 Centerline is valid? [True, True] Translation: X:22.77, Y:-0.28, Z:-0.28 [[ 9.99993871e-01 8.31036918e-04 -3.40110897e-03 2.27677622e+01] [-8.31051898e-04 9.99999655e-01 -2.99139396e-06 -2.79129893e-01] [ 3.40110531e-03 5.81787369e-06 9.99994216e-01 -2.84351835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.720281693 meters Centerline goodness : 0.997962 Centerline is valid? [True, True] Translation: X:22.80, Y:-0.28, Z:-0.28 [[ 9.99991654e-01 2.80805933e-03 -2.96744884e-03 2.27963304e+01] [-2.80808115e-03 9.99996057e-01 -3.18543059e-06 -2.77879618e-01] [ 2.96742820e-03 1.15182412e-05 9.99995597e-01 -2.84188886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.750281693 meters Centerline goodness : 0.998011 Centerline is valid? [True, True] Translation: X:22.82, Y:-0.28, Z:-0.28 [[ 9.99983343e-01 5.09253191e-03 -2.71665134e-03 2.28249193e+01] [-5.09255863e-03 9.99987033e-01 -2.91611271e-06 -2.76583502e-01] [ 2.71660127e-03 1.67507704e-05 9.99996310e-01 -2.83212148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.780281693 meters Centerline goodness : 0.997948 Centerline is valid? [True, True] Translation: X:22.85, Y:-0.27, Z:-0.28 [[ 9.99970074e-01 7.53226524e-03 -1.76531665e-03 2.28534132e+01] [-7.53228050e-03 9.99971632e-01 -1.99510932e-06 -2.74847679e-01] [ 1.76525154e-03 1.52919098e-05 9.99998442e-01 -2.82475542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.810281693 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:22.88, Y:-0.27, Z:-0.28 [[ 9.99914043e-01 1.29529988e-02 -2.03132824e-03 2.28825245e+01] [-1.29530303e-02 9.99916106e-01 -2.34974180e-06 -2.70271932e-01] [ 2.03112739e-03 2.86613960e-05 9.99997937e-01 -2.82339595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.840281693 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:22.91, Y:-0.27, Z:-0.28 [[ 9.99888852e-01 1.47098215e-02 -2.43008139e-03 2.29109351e+01] [-1.47098719e-02 9.99891804e-01 -2.85568061e-06 -2.67778330e-01] [ 2.42977646e-03 3.86015491e-05 9.99997047e-01 -2.82560477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.870281693 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:22.94, Y:-0.27, Z:-0.28 [[ 9.99863893e-01 1.63516135e-02 -2.19565192e-03 2.29401956e+01] [-1.63516586e-02 9.99866303e-01 -2.63001728e-06 -2.65273842e-01] [ 2.19531536e-03 3.85322100e-05 9.99997590e-01 -2.82543985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.900281693 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:22.97, Y:-0.26, Z:-0.28 [[ 9.99823617e-01 1.87158349e-02 -1.56621670e-03 2.29685874e+01] [-1.87158609e-02 9.99824843e-01 -1.94297879e-06 -2.59119744e-01] [ 1.56590600e-03 3.12557300e-05 9.99998773e-01 -2.83136598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.930281693 meters Centerline goodness : 0.998192 Centerline is valid? [True, True] Translation: X:23.00, Y:-0.26, Z:-0.28 [[ 9.99819345e-01 1.89997279e-02 -5.35462864e-04 2.29982585e+01] [-1.89997310e-02 9.99819489e-01 -6.86065114e-07 -2.55521432e-01] [ 5.35353172e-04 1.08595915e-05 9.99999857e-01 -2.83336203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.960281693 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:23.03, Y:-0.25, Z:-0.28 [[ 9.99827618e-01 1.85605624e-02 4.90042801e-04 2.30272673e+01] [-1.85605650e-02 9.99827738e-01 6.06757647e-07 -2.52769637e-01] [-4.89947123e-04 -9.70212429e-06 9.99999880e-01 -2.82844383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.990281693 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:23.06, Y:-0.25, Z:-0.28 [[ 9.99859598e-01 1.67394846e-02 7.58177545e-04 2.30576996e+01] [-1.67394901e-02 9.99859885e-01 9.53305467e-07 -2.50876124e-01] [-7.58055355e-04 -1.36446771e-05 9.99999713e-01 -2.82839868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.020281693 meters Centerline goodness : 0.998059 Centerline is valid? [True, True] Translation: X:23.09, Y:-0.25, Z:-0.28 [[ 9.99876873e-01 1.56783034e-02 -6.55582787e-04 2.30868446e+01] [-1.56783073e-02 9.99877088e-01 -8.41122369e-07 -2.49382141e-01] [ 6.55489021e-04 1.11194472e-05 9.99999785e-01 -2.82677137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.050281693000002 meters Centerline goodness : 0.998191 Centerline is valid? [True, True] Translation: X:23.12, Y:-0.24, Z:-0.28 [[ 9.99886784e-01 1.48890664e-02 -2.17591374e-03 2.31154398e+01] [-1.48891079e-02 9.99889151e-01 -2.85894763e-06 -2.44110292e-01] [ 2.17562998e-03 3.52560385e-05 9.99997633e-01 -2.83242808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.080281693 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:23.15, Y:-0.24, Z:-0.28 [[ 9.99883647e-01 1.51397227e-02 -1.86568275e-03 2.31451854e+01] [-1.51397537e-02 9.99885387e-01 -2.48942244e-06 -2.42350095e-01] [ 1.86543123e-03 3.07351101e-05 9.99998260e-01 -2.83823687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.110281693 meters Centerline goodness : 0.997884 Centerline is valid? [True, True] Translation: X:23.17, Y:-0.24, Z:-0.28 [[ 9.99885682e-01 1.50792078e-02 -1.11401311e-03 2.31736770e+01] [-1.50792189e-02 9.99886302e-01 -1.54105488e-06 -2.41573684e-01] [ 1.11386321e-03 1.83393263e-05 9.99999379e-01 -2.83518598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.140281693000002 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:23.20, Y:-0.24, Z:-0.28 [[ 9.99891477e-01 1.47215395e-02 5.56836883e-04 2.32030570e+01] [-1.47215422e-02 9.99891632e-01 7.50278972e-07 -2.40797985e-01] [-5.56765495e-04 -8.94769522e-06 9.99999845e-01 -2.83532922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.170281693 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:23.23, Y:-0.24, Z:-0.28 [[ 9.99906487e-01 1.36599375e-02 6.50803954e-04 2.32327414e+01] [-1.36599410e-02 9.99906699e-01 8.94866440e-07 -2.39676549e-01] [-6.50731009e-04 -9.78472639e-06 9.99999788e-01 -2.84353406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.200281693 meters Centerline goodness : 0.998349 Centerline is valid? [True, True] Translation: X:23.26, Y:-0.24, Z:-0.28 [[ 9.99926182e-01 1.21441244e-02 -3.89474542e-04 2.32620678e+01] [-1.21441256e-02 9.99926257e-01 -5.73942315e-07 -2.38788863e-01] [ 3.89438851e-04 5.30372770e-06 9.99999924e-01 -2.84819019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.230281693000002 meters Centerline goodness : 0.998277 Centerline is valid? [True, True] Translation: X:23.29, Y:-0.24, Z:-0.29 [[ 9.99947283e-01 1.01254528e-02 -1.70479351e-03 2.32921108e+01] [-1.01254718e-02 9.99948736e-01 -2.48790865e-06 -2.38721783e-01] [ 1.70468093e-03 1.97496161e-05 9.99998547e-01 -2.85558596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.260281693 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:23.32, Y:-0.24, Z:-0.29 [[ 9.99982509e-01 5.18313823e-03 -2.84896156e-03 2.33220038e+01] [-5.18317114e-03 9.99986567e-01 -4.16785251e-06 -2.41550826e-01] [ 2.84890168e-03 1.89344349e-05 9.99995942e-01 -2.85510486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.290281693 meters Centerline goodness : 0.998242 Centerline is valid? [True, True] Translation: X:23.35, Y:-0.24, Z:-0.28 [[ 9.99995657e-01 2.49807606e-03 -1.56370558e-03 2.33508978e+01] [-2.49808286e-03 9.99996880e-01 -2.39665250e-06 -2.41648574e-01] [ 1.56369471e-03 6.30290821e-06 9.99998777e-01 -2.84779876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.320281693000002 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:23.38, Y:-0.24, Z:-0.28 [[ 9.99999979e-01 7.13796610e-05 -1.89598870e-04 2.33792943e+01] [-7.13797233e-05 9.99999997e-01 -3.21861330e-07 -2.40987013e-01] [ 1.89598847e-04 3.35394838e-07 9.99999982e-01 -2.83700356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.350281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:23.41, Y:-0.24, Z:-0.28 [[ 9.99997559e-01 -1.57720167e-03 1.54756192e-03 2.34085371e+01] [ 1.57719985e-03 9.99998756e-01 2.39611306e-06 -2.41202950e-01] [-1.54756378e-03 4.47072231e-08 9.99998803e-01 -2.83137701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.380281693 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:23.44, Y:-0.24, Z:-0.28 [[ 9.99997158e-01 -1.83087048e-03 1.52683364e-03 2.34393424e+01] [ 1.83086903e-03 9.99998324e-01 2.34750449e-06 -2.42577118e-01] [-1.52683537e-03 4.47934606e-07 9.99998834e-01 -2.84226365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.410281693 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:23.47, Y:-0.25, Z:-0.28 [[ 9.99994779e-01 -3.08552957e-03 9.59421539e-04 2.34693170e+01] [ 3.08552960e-03 9.99995240e-01 1.45488792e-06 -2.45671870e-01] [-9.59421461e-04 1.50544323e-06 9.99999540e-01 -2.84554040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.440281693 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:23.50, Y:-0.25, Z:-0.28 [[ 9.99994199e-01 -3.21771830e-03 1.11700869e-03 2.35004792e+01] [ 3.21771843e-03 9.99994823e-01 1.67719826e-06 -2.46280886e-01] [-1.11700830e-03 1.91703092e-06 9.99999376e-01 -2.84701408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.470281693 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:23.53, Y:-0.25, Z:-0.28 [[ 9.99996655e-01 -2.49525154e-03 6.81041836e-04 2.35317531e+01] [ 2.49525142e-03 9.99996887e-01 1.01487074e-06 -2.46478197e-01] [-6.81042248e-04 6.84503266e-07 9.99999768e-01 -2.84507982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.500281693 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:23.56, Y:-0.25, Z:-0.28 [[ 9.99998957e-01 -1.41066305e-03 3.08335516e-04 2.35632763e+01] [ 1.41066297e-03 9.99999005e-01 4.62447925e-07 -2.46772958e-01] [-3.08335862e-04 -2.74899464e-08 9.99999952e-01 -2.84165961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.530281693 meters Centerline goodness : 0.997490 Centerline is valid? [True, True] Translation: X:23.59, Y:-0.25, Z:-0.28 [[ 9.99997801e-01 1.18329915e-03 -1.73165139e-03 2.35938165e+01] [-1.18330520e-03 9.99999300e-01 -2.47181624e-06 -2.47659360e-01] [ 1.73164725e-03 4.52088290e-06 9.99998501e-01 -2.84959555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.560281693 meters Centerline goodness : 0.997064 Centerline is valid? [True, True] Translation: X:23.62, Y:-0.25, Z:-0.28 [[ 9.99992419e-01 2.23762668e-03 -3.18676754e-03 2.36234005e+01] [-2.23765286e-03 9.99997496e-01 -4.64954451e-06 -2.47348304e-01] [ 3.18674916e-03 1.17803888e-05 9.99994922e-01 -2.84948113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.590281693 meters Centerline goodness : 0.996709 Centerline is valid? [True, True] Translation: X:23.65, Y:-0.25, Z:-0.28 [[ 9.99984472e-01 4.59892695e-03 -3.14744619e-03 2.36522801e+01] [-4.59896464e-03 9.99989425e-01 -4.73839260e-06 -2.46410222e-01] [ 3.14739111e-03 1.92133127e-05 9.99995047e-01 -2.84841797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.620281693 meters Centerline goodness : 0.996937 Centerline is valid? [True, True] Translation: X:23.68, Y:-0.25, Z:-0.29 [[ 9.99981816e-01 5.77811934e-03 -1.72671426e-03 2.36811863e+01] [-5.77813257e-03 9.99983306e-01 -2.66963148e-06 -2.46421850e-01] [ 1.72667001e-03 1.26467669e-05 9.99998509e-01 -2.85041388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.650281693 meters Centerline goodness : 0.996674 Centerline is valid? [True, True] Translation: X:23.71, Y:-0.25, Z:-0.28 [[ 9.99978543e-01 6.48814209e-03 -9.03842257e-04 2.37102094e+01] [-6.48814605e-03 9.99978952e-01 -1.44251173e-06 -2.46768690e-01] [ 9.03813874e-04 7.30674135e-06 9.99999592e-01 -2.84825321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.680281693 meters Centerline goodness : 0.996049 Centerline is valid? [True, True] Translation: X:23.74, Y:-0.25, Z:-0.29 [[ 9.99984124e-01 5.44254288e-03 -1.45981185e-03 2.37400842e+01] [-5.44255208e-03 9.99985189e-01 -2.33102978e-06 -2.47061425e-01] [ 1.45977754e-03 1.02760948e-05 9.99998934e-01 -2.85358143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.710281693 meters Centerline goodness : 0.995949 Centerline is valid? [True, True] Translation: X:23.77, Y:-0.25, Z:-0.28 [[ 9.99985361e-01 5.04769613e-03 -1.94889732e-03 2.37692653e+01] [-5.04771185e-03 9.99987260e-01 -3.14678265e-06 -2.46644510e-01] [ 1.94885661e-03 1.29842087e-05 9.99998101e-01 -2.84881272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.740281693 meters Centerline goodness : 0.995495 Centerline is valid? [True, True] Translation: X:23.80, Y:-0.24, Z:-0.28 [[ 9.99986513e-01 5.18840488e-03 -2.34337972e-04 2.37989304e+01] [-5.18840512e-03 9.99986540e-01 -3.98202072e-07 -2.44913350e-01] [ 2.34332751e-04 1.61403703e-06 9.99999973e-01 -2.84600920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.770281693 meters Centerline goodness : 0.995538 Centerline is valid? [True, True] Translation: X:23.83, Y:-0.24, Z:-0.28 [[ 9.99985044e-01 5.46514235e-03 2.10949355e-04 2.38288104e+01] [-5.46514254e-03 9.99985066e-01 3.30411351e-07 -2.44274655e-01] [-2.10944399e-04 -1.48327470e-06 9.99999978e-01 -2.84799473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.800281693 meters Centerline goodness : 0.995275 Centerline is valid? [True, True] Translation: X:23.86, Y:-0.24, Z:-0.29 [[ 9.99984459e-01 5.57399307e-03 -1.14797739e-04 2.38594461e+01] [-5.57399313e-03 9.99984465e-01 -1.89112653e-07 -2.43958516e-01] [ 1.14794902e-04 8.28991524e-07 9.99999993e-01 -2.85010383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.830281693 meters Centerline goodness : 0.994967 Centerline is valid? [True, True] Translation: X:23.89, Y:-0.24, Z:-0.29 [[ 9.99980331e-01 6.07590715e-03 -1.55600732e-03 2.38898042e+01] [-6.07591849e-03 9.99981541e-01 -2.56329677e-06 -2.44012205e-01] [ 1.55596303e-03 1.20174200e-05 9.99998789e-01 -2.85639163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.860281693 meters Centerline goodness : 0.994597 Centerline is valid? [True, True] Translation: X:23.92, Y:-0.24, Z:-0.29 [[ 9.99969813e-01 7.10341481e-03 -3.14876665e-03 2.39191628e+01] [-7.10346664e-03 9.99974770e-01 -5.27575875e-06 -2.42695167e-01] [ 3.14864973e-03 2.76427583e-05 9.99995043e-01 -2.85923867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.890281693000002 meters Centerline goodness : 0.994611 Centerline is valid? [True, True] Translation: X:23.95, Y:-0.24, Z:-0.29 [[ 9.99969751e-01 7.33387438e-03 -2.59058109e-03 2.39477328e+01] [-7.33391059e-03 9.99973107e-01 -4.47824092e-06 -2.41742464e-01] [ 2.59047858e-03 2.34771956e-05 9.99996644e-01 -2.85523632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.920281693 meters Centerline goodness : 0.994493 Centerline is valid? [True, True] Translation: X:23.98, Y:-0.24, Z:-0.29 [[ 9.99975661e-01 6.89311443e-03 -1.07806155e-03 2.39763272e+01] [-6.89312052e-03 9.99976242e-01 -1.93289710e-06 -2.40853254e-01] [ 1.07802261e-03 9.36405821e-06 9.99999419e-01 -2.85493474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.950281693 meters Centerline goodness : 0.995056 Centerline is valid? [True, True] Translation: X:24.01, Y:-0.24, Z:-0.29 [[ 9.99988392e-01 4.79867170e-03 -4.34450748e-04 2.40052803e+01] [-4.79867250e-03 9.99988486e-01 -8.06089216e-07 -2.38886841e-01] [ 4.34441878e-04 2.89086672e-06 9.99999906e-01 -2.85436588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.980281693000002 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:24.03, Y:-0.24, Z:-0.29 [[ 9.99992605e-01 3.68357534e-03 -1.10507774e-03 2.40347727e+01] [-3.68357982e-03 9.99993216e-01 -2.02304231e-06 -2.38074274e-01] [ 1.10506280e-03 6.09366943e-06 9.99999389e-01 -2.85803018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.010281693 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:24.06, Y:-0.24, Z:-0.29 [[ 9.99994625e-01 2.81593202e-03 -1.67967300e-03 2.40647052e+01] [-2.81594116e-03 9.99996035e-01 -3.07483499e-06 -2.37811817e-01] [ 1.67965768e-03 7.80467878e-06 9.99998589e-01 -2.85683692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.040281693 meters Centerline goodness : 0.995109 Centerline is valid? [True, True] Translation: X:24.09, Y:-0.24, Z:-0.29 [[ 9.99998630e-01 1.39396868e-03 -8.92594922e-04 2.40944293e+01] [-1.39397072e-03 9.99999028e-01 -1.66706645e-06 -2.38060065e-01] [ 8.92591731e-04 2.91131536e-06 9.99999602e-01 -2.86285216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.070281693000002 meters Centerline goodness : 0.995086 Centerline is valid? [True, True] Translation: X:24.12, Y:-0.24, Z:-0.29 [[ 9.99999758e-01 4.99646355e-04 -4.83500118e-04 2.41235256e+01] [-4.99646838e-04 9.99999875e-01 -8.77089453e-07 -2.39320244e-01] [ 4.83499619e-04 1.11866855e-06 9.99999883e-01 -2.86081901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.100281693 meters Centerline goodness : 0.995153 Centerline is valid? [True, True] Translation: X:24.15, Y:-0.24, Z:-0.29 [[ 9.99999760e-01 -6.25963947e-04 -2.96767223e-04 2.41536013e+01] [ 6.25963812e-04 9.99999804e-01 -5.44568542e-07 -2.40762484e-01] [ 2.96767506e-04 3.58802870e-07 9.99999956e-01 -2.86080909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.130281693 meters Centerline goodness : 0.994742 Centerline is valid? [True, True] Translation: X:24.18, Y:-0.24, Z:-0.29 [[ 9.99996152e-01 -2.57302266e-03 -1.03741872e-03 2.41830412e+01] [ 2.57302205e-03 9.99996690e-01 -1.92379299e-06 -2.44006173e-01] [ 1.03742023e-03 -7.45515655e-07 9.99999462e-01 -2.85796948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.160281693 meters Centerline goodness : 0.994790 Centerline is valid? [True, True] Translation: X:24.21, Y:-0.25, Z:-0.29 [[ 9.99994657e-01 -2.82080032e-03 -1.65228728e-03 2.42137132e+01] [ 2.82079913e-03 9.99996022e-01 -3.04982873e-06 -2.46154968e-01] [ 1.65228931e-03 -1.61095809e-06 9.99998635e-01 -2.85928586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.190281693 meters Centerline goodness : 0.995075 Centerline is valid? [True, True] Translation: X:24.24, Y:-0.25, Z:-0.29 [[ 9.99996131e-01 -2.22550382e-03 -1.66909925e-03 2.42428103e+01] [ 2.22550173e-03 9.99997524e-01 -3.10763871e-06 -2.48070755e-01] [ 1.66910203e-03 -6.06956579e-07 9.99998607e-01 -2.85718017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.220281693 meters Centerline goodness : 0.994819 Centerline is valid? [True, True] Translation: X:24.27, Y:-0.25, Z:-0.29 [[ 9.99999997e-01 2.51099990e-05 -7.15005137e-05 2.42724297e+01] [-2.51100093e-05 1.00000000e+00 -1.42146647e-07 -2.50149691e-01] [ 7.15005101e-05 1.43942025e-07 9.99999997e-01 -2.85843176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.250281693 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:24.30, Y:-0.25, Z:-0.29 [[ 9.99999451e-01 1.03284189e-03 -1.77735209e-04 2.43034145e+01] [-1.03284197e-03 9.99999467e-01 -3.31846034e-07 -2.50355149e-01] [ 1.77734771e-04 5.15418234e-07 9.99999984e-01 -2.86199401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.280281693 meters Centerline goodness : 0.994953 Centerline is valid? [True, True] Translation: X:24.33, Y:-0.25, Z:-0.29 [[ 9.99999462e-01 1.02183962e-03 -1.77735188e-04 2.43335794e+01] [-1.02183969e-03 9.99999478e-01 -3.42853889e-07 -2.50258757e-01] [ 1.77734745e-04 5.24470576e-07 9.99999984e-01 -2.86224220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.310281693 meters Centerline goodness : 0.994688 Centerline is valid? [True, True] Translation: X:24.36, Y:-0.25, Z:-0.29 [[ 9.99992213e-01 3.73162488e-03 -1.28427191e-03 2.43640818e+01] [-3.73163105e-03 9.99993037e-01 -2.41196968e-06 -2.51029570e-01] [ 1.28425397e-03 7.20437982e-06 9.99999175e-01 -2.86691976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.340281693 meters Centerline goodness : 0.994506 Centerline is valid? [True, True] Translation: X:24.39, Y:-0.25, Z:-0.29 [[ 9.99983657e-01 5.56801820e-03 -1.29762875e-03 2.43933650e+01] [-5.56802608e-03 9.99984498e-01 -2.46061484e-06 -2.50695683e-01] [ 1.29759493e-03 9.68580533e-06 9.99999158e-01 -2.86396699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.370281693 meters Centerline goodness : 0.994466 Centerline is valid? [True, True] Translation: X:24.42, Y:-0.25, Z:-0.29 [[ 9.99971950e-01 7.43916300e-03 -8.70612879e-04 2.44234565e+01] [-7.43916728e-03 9.99972329e-01 -1.68228995e-06 -2.49356737e-01] [ 8.70576274e-04 8.15887761e-06 9.99999621e-01 -2.85726251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.400281693 meters Centerline goodness : 0.994696 Centerline is valid? [True, True] Translation: X:24.45, Y:-0.25, Z:-0.29 [[ 9.99941228e-01 1.08310583e-02 4.78549256e-04 2.44531465e+01] [-1.08310600e-02 9.99941342e-01 9.07086465e-07 -2.45489671e-01] [-4.78511360e-04 -6.09022886e-06 9.99999885e-01 -2.85946722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.430281693 meters Centerline goodness : 0.994715 Centerline is valid? [True, True] Translation: X:24.48, Y:-0.24, Z:-0.29 [[ 9.99931372e-01 1.17042532e-02 5.12236314e-04 2.44832521e+01] [-1.17042553e-02 9.99931503e-01 9.83104277e-07 -2.44060535e-01] [-5.12189720e-04 -6.97838137e-06 9.99999869e-01 -2.86797641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.460281693 meters Centerline goodness : 0.994904 Centerline is valid? [True, True] Translation: X:24.51, Y:-0.24, Z:-0.29 [[ 9.99925786e-01 1.21808438e-02 -2.21575191e-04 2.45125777e+01] [-1.21808442e-02 9.99925811e-01 -4.45732828e-07 -2.43239536e-01] [ 2.21553323e-04 3.14467262e-06 9.99999975e-01 -2.87839560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.490281693 meters Centerline goodness : 0.994520 Centerline is valid? [True, True] Translation: X:24.54, Y:-0.24, Z:-0.29 [[ 9.99946909e-01 1.02018465e-02 -1.44973651e-03 2.45421015e+01] [-1.02018614e-02 9.99947960e-01 -2.90630167e-06 -2.41509325e-01] [ 1.44963141e-03 1.76961583e-05 9.99998949e-01 -2.88100638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.520281693 meters Centerline goodness : 0.994498 Centerline is valid? [True, True] Translation: X:24.57, Y:-0.24, Z:-0.29 [[ 9.99964426e-01 8.16442656e-03 -2.11881029e-03 2.45717687e+01] [-8.16445397e-03 9.99966670e-01 -4.28779819e-06 -2.40814480e-01] [ 2.11870467e-03 2.15865748e-05 9.99997755e-01 -2.88315269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.550281693 meters Centerline goodness : 0.994408 Centerline is valid? [True, True] Translation: X:24.60, Y:-0.24, Z:-0.29 [[ 9.99979323e-01 6.04318208e-03 -2.19867647e-03 2.46014048e+01] [-6.04320658e-03 9.99981740e-01 -4.50037776e-06 -2.41187209e-01] [ 2.19860913e-03 1.77873408e-05 9.99997583e-01 -2.89567004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.580281693 meters Centerline goodness : 0.994561 Centerline is valid? [True, True] Translation: X:24.63, Y:-0.24, Z:-0.29 [[ 9.99994673e-01 2.82869225e-03 -1.62887194e-03 2.46297979e+01] [-2.82870155e-03 9.99995999e-01 -3.40502195e-06 -2.43190960e-01] [ 1.62885579e-03 8.01259638e-06 9.99998673e-01 -2.89935270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.610281693 meters Centerline goodness : 0.994354 Centerline is valid? [True, True] Translation: X:24.66, Y:-0.24, Z:-0.29 [[ 9.99997738e-01 1.79590060e-03 -1.13919988e-03 2.46579968e+01] [-1.79590453e-03 9.99998387e-01 -2.42897624e-06 -2.43672364e-01] [ 1.13919368e-03 4.47486496e-06 9.99999351e-01 -2.89889952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.640281693000002 meters Centerline goodness : 0.994712 Centerline is valid? [True, True] Translation: X:24.69, Y:-0.24, Z:-0.29 [[ 9.99999168e-01 9.20354263e-04 -9.03885678e-04 2.46877570e+01] [-9.20356394e-04 9.99999576e-01 -1.94143518e-06 -2.43276343e-01] [ 9.03883509e-04 2.77333053e-06 9.99999591e-01 -2.89555969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.670281693 meters Centerline goodness : 0.994574 Centerline is valid? [True, True] Translation: X:24.72, Y:-0.24, Z:-0.29 [[ 9.99998673e-01 -1.28714985e-03 -9.98145753e-04 2.47178310e+01] [ 1.28714833e-03 9.99999172e-01 -2.16757269e-06 -2.43977906e-01] [ 9.98147716e-04 8.82808169e-07 9.99999502e-01 -2.89552956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.700281693 meters Centerline goodness : 0.994339 Centerline is valid? [True, True] Translation: X:24.75, Y:-0.25, Z:-0.29 [[ 9.99995375e-01 -2.76893655e-03 -1.25828611e-03 2.47469102e+01] [ 2.76893531e-03 9.99996166e-01 -2.73234036e-06 -2.45071157e-01] [ 1.25828885e-03 -7.51785117e-07 9.99999208e-01 -2.90066132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.730281693000002 meters Centerline goodness : 0.994452 Centerline is valid? [True, True] Translation: X:24.78, Y:-0.25, Z:-0.29 [[ 9.99988145e-01 -4.56798975e-03 -1.68618417e-03 2.47765862e+01] [ 4.56798999e-03 9.99989567e-01 -3.70460826e-06 -2.45999662e-01] [ 1.68618350e-03 -3.99790805e-06 9.99998578e-01 -2.90170678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.760281693 meters Centerline goodness : 0.995113 Centerline is valid? [True, True] Translation: X:24.81, Y:-0.25, Z:-0.29 [[ 9.99968321e-01 -7.86088091e-03 -1.25067995e-03 2.48063841e+01] [ 7.86088361e-03 9.99969103e-01 -2.75707414e-06 -2.46885567e-01] [ 1.25066298e-03 -7.07446268e-06 9.99999218e-01 -2.89807808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.790281693 meters Centerline goodness : 0.994947 Centerline is valid? [True, True] Translation: X:24.84, Y:-0.25, Z:-0.29 [[ 9.99957357e-01 -9.20985660e-03 -6.80260250e-04 2.48373743e+01] [ 9.20985772e-03 9.99957588e-01 -1.49466364e-06 -2.47631612e-01] [ 6.80245165e-04 -4.77050021e-06 9.99999769e-01 -2.89869140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.820281693000002 meters Centerline goodness : 0.994666 Centerline is valid? [True, True] Translation: X:24.87, Y:-0.25, Z:-0.29 [[ 9.99926831e-01 -1.20625562e-02 9.09611855e-04 2.48676362e+01] [ 1.20625593e-02 9.99927245e-01 1.99859357e-06 -2.50716964e-01] [-9.09569784e-04 8.97379963e-06 9.99999586e-01 -2.89193398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.850281693 meters Centerline goodness : 0.994517 Centerline is valid? [True, True] Translation: X:24.90, Y:-0.25, Z:-0.29 [[ 9.99909107e-01 -1.34385722e-02 1.08738874e-03 2.48983649e+01] [ 1.34385776e-02 9.99909698e-01 2.37998318e-06 -2.51988502e-01] [-1.08732253e-03 1.22331910e-05 9.99999409e-01 -2.89145451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.880281693 meters Centerline goodness : 0.994867 Centerline is valid? [True, True] Translation: X:24.93, Y:-0.25, Z:-0.29 [[ 9.99900567e-01 -1.40799084e-02 7.83057286e-04 2.49294878e+01] [ 1.40799114e-02 9.99900873e-01 1.69416019e-06 -2.52699278e-01] [-7.83003518e-04 9.33138547e-06 9.99999693e-01 -2.89444385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.910281693 meters Centerline goodness : 0.994872 Centerline is valid? [True, True] Translation: X:24.96, Y:-0.25, Z:-0.29 [[ 9.99911307e-01 -1.33182612e-02 4.61034357e-05 2.49598917e+01] [ 1.33182612e-02 9.99911308e-01 1.07535233e-07 -2.54551936e-01] [-4.61007789e-05 5.06491902e-07 9.99999999e-01 -2.89481414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.940281693 meters Centerline goodness : 0.995201 Centerline is valid? [True, True] Translation: X:24.99, Y:-0.26, Z:-0.29 [[ 9.99935006e-01 -1.13973999e-02 2.87126938e-04 2.49911728e+01] [ 1.13974002e-02 9.99935048e-01 6.23239507e-07 -2.56435717e-01] [-2.87115391e-04 2.64930162e-06 9.99999959e-01 -2.89762082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.970281693 meters Centerline goodness : 0.994766 Centerline is valid? [True, True] Translation: X:25.02, Y:-0.26, Z:-0.29 [[ 9.99956969e-01 -9.27490501e-03 1.92476621e-04 2.50218748e+01] [ 9.27490510e-03 9.99956987e-01 4.12326962e-07 -2.57917839e-01] [-1.92472166e-04 1.37289318e-06 9.99999981e-01 -2.88659771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.000281693 meters Centerline goodness : 0.995189 Centerline is valid? [True, True] Translation: X:25.05, Y:-0.26, Z:-0.29 [[ 9.99984980e-01 -5.47780561e-03 1.80996143e-04 2.50528346e+01] [ 5.47780563e-03 9.99984997e-01 3.86187473e-07 -2.58671159e-01] [-1.80995543e-04 6.05280020e-07 9.99999984e-01 -2.87920576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.030281693 meters Centerline goodness : 0.995411 Centerline is valid? [True, True] Translation: X:25.08, Y:-0.26, Z:-0.29 [[ 9.99993970e-01 -3.34172181e-03 9.44522801e-04 2.50836744e+01] [ 3.34172144e-03 9.99994416e-01 1.96654074e-06 -2.59040423e-01] [-9.44524098e-04 1.18980321e-06 9.99999554e-01 -2.87438145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.060281693 meters Centerline goodness : 0.995070 Centerline is valid? [True, True] Translation: X:25.11, Y:-0.26, Z:-0.29 [[ 9.99998066e-01 -6.70732594e-04 1.84870859e-03 2.51143145e+01] [ 6.70726646e-04 9.99999775e-01 3.83749690e-06 -2.60319597e-01] [-1.84871074e-03 -2.59751137e-06 9.99998291e-01 -2.87439357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.090281693 meters Centerline goodness : 0.995192 Centerline is valid? [True, True] Translation: X:25.15, Y:-0.26, Z:-0.29 [[ 9.99993129e-01 3.00412935e-03 2.17211989e-03 2.51460738e+01] [-3.00414614e-03 9.99995488e-01 4.46760999e-06 -2.62415238e-01] [-2.17209666e-03 -1.09929449e-05 9.99997641e-01 -2.87886563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.120281693 meters Centerline goodness : 0.994834 Centerline is valid? [True, True] Translation: X:25.18, Y:-0.26, Z:-0.29 [[ 9.99991520e-01 3.47399175e-03 2.21156260e-03 2.51774354e+01] [-3.47401019e-03 9.99993966e-01 4.49875568e-06 -2.62285829e-01] [-2.21153363e-03 -1.21817086e-05 9.99997554e-01 -2.87901822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.150281693 meters Centerline goodness : 0.995264 Centerline is valid? [True, True] Translation: X:25.21, Y:-0.26, Z:-0.29 [[ 9.99993083e-01 3.30278065e-03 1.71051761e-03 2.52085054e+01] [-3.30279119e-03 9.99994546e-01 3.33583013e-06 -2.62911197e-01] [-1.71049726e-03 -8.98528953e-06 9.99998537e-01 -2.88590779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.180281693 meters Centerline goodness : 0.994890 Centerline is valid? [True, True] Translation: X:25.24, Y:-0.26, Z:-0.29 [[ 9.99994762e-01 2.81472607e-03 1.59766946e-03 2.52396555e+01] [-2.81473444e-03 9.99996039e-01 2.98638396e-06 -2.64912198e-01] [-1.59765472e-03 -7.48338357e-06 9.99998724e-01 -2.89171459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.210281693 meters Centerline goodness : 0.994920 Centerline is valid? [True, True] Translation: X:25.27, Y:-0.27, Z:-0.29 [[ 9.99996755e-01 2.32686574e-03 1.03725013e-03 2.52714871e+01] [-2.32686899e-03 9.99997293e-01 1.92210273e-06 -2.67421829e-01] [-1.03724285e-03 -4.33564166e-06 9.99999462e-01 -2.89455866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.240281693 meters Centerline goodness : 0.994620 Centerline is valid? [True, True] Translation: X:25.30, Y:-0.27, Z:-0.29 [[ 9.99998670e-01 1.59664105e-03 -3.32913290e-04 2.53015530e+01] [-1.59664133e-03 9.99998725e-01 -5.51283929e-07 -2.69394026e-01] [ 3.32911986e-04 1.08282631e-06 9.99999945e-01 -2.90071569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.270281693 meters Centerline goodness : 0.995184 Centerline is valid? [True, True] Translation: X:25.33, Y:-0.27, Z:-0.29 [[ 9.99998634e-01 -5.42536556e-04 -1.56156833e-03 2.53315732e+01] [ 5.42532868e-04 9.99999853e-01 -2.78535530e-06 -2.71557684e-01] [ 1.56156961e-03 1.93814935e-06 9.99998781e-01 -2.90936006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.300281693 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:25.36, Y:-0.27, Z:-0.29 [[ 9.99998303e-01 -1.16875958e-03 -1.42442152e-03 2.53617147e+01] [ 1.16875708e-03 9.99999317e-01 -2.59050646e-06 -2.72461603e-01] [ 1.42442358e-03 9.25699325e-07 9.99998986e-01 -2.90719277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.330281693 meters Centerline goodness : 0.995537 Centerline is valid? [True, True] Translation: X:25.39, Y:-0.27, Z:-0.29 [[ 9.99998203e-01 -1.36499086e-03 -1.31565538e-03 2.53907747e+01] [ 1.36498888e-03 9.99999068e-01 -2.39944640e-06 -2.73341303e-01] [ 1.31565743e-03 6.03587128e-07 9.99999135e-01 -2.90597019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.360281693 meters Centerline goodness : 0.995133 Centerline is valid? [True, True] Translation: X:25.42, Y:-0.28, Z:-0.29 [[ 9.99997210e-01 -8.29210382e-05 -2.36055295e-03 2.54199737e+01] [ 8.29110641e-05 9.99999997e-01 -4.32317447e-06 -2.75153646e-01] [ 2.36055330e-03 4.12744646e-06 9.99997214e-01 -2.91058262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.390281693000002 meters Centerline goodness : 0.995042 Centerline is valid? [True, True] Translation: X:25.45, Y:-0.27, Z:-0.29 [[ 9.99994680e-01 5.90611483e-04 -3.20799984e-03 2.54497614e+01] [-5.90633610e-04 9.99999826e-01 -5.95010203e-06 -2.74818168e-01] [ 3.20799576e-03 7.84482291e-06 9.99994854e-01 -2.91536939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.420281693 meters Centerline goodness : 0.995025 Centerline is valid? [True, True] Translation: X:25.48, Y:-0.27, Z:-0.29 [[ 9.99992194e-01 1.19700727e-03 -3.76547043e-03 2.54787194e+01] [-1.19704254e-03 9.99999284e-01 -7.11176502e-06 -2.73456035e-01] [ 3.76545922e-03 1.16191378e-05 9.99992911e-01 -2.92208652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.450281693 meters Centerline goodness : 0.995375 Centerline is valid? [True, True] Translation: X:25.51, Y:-0.27, Z:-0.29 [[ 9.99992817e-01 1.12487177e-03 -3.61936643e-03 2.55077977e+01] [-1.12490447e-03 9.99999367e-01 -6.99954718e-06 -2.73617573e-01] [ 3.61935626e-03 1.10709384e-05 9.99993450e-01 -2.92108381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.480281693000002 meters Centerline goodness : 0.995512 Centerline is valid? [True, True] Translation: X:25.54, Y:-0.27, Z:-0.29 [[ 9.99994328e-01 1.42729927e-03 -3.05068140e-03 2.55369115e+01] [-1.42732433e-03 9.99998981e-01 -6.03752067e-06 -2.74318891e-01] [ 3.05066967e-03 1.03917982e-05 9.99995347e-01 -2.91674701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.510281693 meters Centerline goodness : 0.995355 Centerline is valid? [True, True] Translation: X:25.57, Y:-0.28, Z:-0.29 [[ 9.99993787e-01 2.23108153e-03 -2.72927449e-03 2.55654126e+01] [-2.23110480e-03 9.99997511e-01 -5.48455599e-06 -2.75939030e-01] [ 2.72925546e-03 1.15738193e-05 9.99996276e-01 -2.90869260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.540281693 meters Centerline goodness : 0.995198 Centerline is valid? [True, True] Translation: X:25.59, Y:-0.28, Z:-0.29 [[ 9.99993993e-01 2.29836051e-03 -2.59465667e-03 2.55945853e+01] [-2.29838209e-03 9.99997359e-01 -5.33538382e-06 -2.76240324e-01] [ 2.59463755e-03 1.12988642e-05 9.99996634e-01 -2.91155605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.570281693000002 meters Centerline goodness : 0.995235 Centerline is valid? [True, True] Translation: X:25.62, Y:-0.28, Z:-0.29 [[ 9.99994915e-01 2.04589337e-03 -2.44618617e-03 2.56227774e+01] [-2.04591197e-03 9.99997907e-01 -5.10169342e-06 -2.76282245e-01] [ 2.44617062e-03 1.01063490e-05 9.99997008e-01 -2.91336179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.600281693 meters Centerline goodness : 0.995186 Centerline is valid? [True, True] Translation: X:25.65, Y:-0.28, Z:-0.29 [[ 9.99996888e-01 1.63675226e-03 -1.88302847e-03 2.56520998e+01] [-1.63676263e-03 9.99998660e-01 -3.96413717e-06 -2.76319864e-01] [ 1.88301946e-03 7.04619547e-06 9.99998227e-01 -2.91213183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.630281693 meters Centerline goodness : 0.995293 Centerline is valid? [True, True] Translation: X:25.68, Y:-0.28, Z:-0.29 [[ 9.99999766e-01 -6.14238109e-04 -3.01129096e-04 2.56818894e+01] [ 6.14237940e-04 9.99999811e-01 -6.54913515e-07 -2.77798446e-01] [ 3.01129442e-04 4.69948447e-07 9.99999955e-01 -2.91253822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.660281693 meters Centerline goodness : 0.995536 Centerline is valid? [True, True] Translation: X:25.71, Y:-0.28, Z:-0.29 [[ 9.99995911e-01 -2.85712327e-03 -1.23540306e-04 2.57120691e+01] [ 2.85712326e-03 9.99995918e-01 -2.61545699e-07 -2.79062998e-01] [ 1.23540549e-04 -9.14252515e-08 9.99999992e-01 -2.91433996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.690281693 meters Centerline goodness : 0.996122 Centerline is valid? [True, True] Translation: X:25.74, Y:-0.28, Z:-0.29 [[ 9.99967361e-01 -7.99953815e-03 -1.13292843e-03 2.57421348e+01] [ 7.99954057e-03 9.99968003e-01 -2.39850919e-06 -2.83255166e-01] [ 1.13291137e-03 -6.66447605e-06 9.99999358e-01 -2.91818284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.720281693 meters Centerline goodness : 0.996283 Centerline is valid? [True, True] Translation: X:25.77, Y:-0.29, Z:-0.29 [[ 9.99951728e-01 -9.70398110e-03 -1.54112831e-03 2.57715168e+01] [ 9.70398752e-03 9.99952915e-01 -3.31202180e-06 -2.86475183e-01] [ 1.54108789e-03 -1.16432280e-05 9.99998812e-01 -2.91782177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.750281693 meters Centerline goodness : 0.995670 Centerline is valid? [True, True] Translation: X:25.80, Y:-0.29, Z:-0.29 [[ 9.99944770e-01 -1.03434903e-02 -1.86237831e-03 2.58009760e+01] [ 1.03435008e-02 9.99946505e-01 -4.00954440e-06 -2.89989775e-01] [ 1.86232015e-03 -1.52541885e-05 9.99998266e-01 -2.91692058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.780281693 meters Centerline goodness : 0.995673 Centerline is valid? [True, True] Translation: X:25.83, Y:-0.29, Z:-0.29 [[ 9.99952473e-01 -9.52315707e-03 -2.08819906e-03 2.58303580e+01] [ 9.52316834e-03 9.99954654e-01 -4.54645860e-06 -2.93997885e-01] [ 2.08814767e-03 -1.53400287e-05 9.99997820e-01 -2.90941652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.810281693 meters Centerline goodness : 0.996294 Centerline is valid? [True, True] Translation: X:25.86, Y:-0.29, Z:-0.29 [[ 9.99962067e-01 -8.50754903e-03 -1.86727126e-03 2.58597579e+01] [ 8.50755620e-03 9.99963810e-01 -4.10587123e-06 -2.94292745e-01] [ 1.86723862e-03 -1.17801997e-05 9.99998257e-01 -2.91118603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.840281693 meters Centerline goodness : 0.996140 Centerline is valid? [True, True] Translation: X:25.89, Y:-0.29, Z:-0.29 [[ 9.99973821e-01 -7.03730549e-03 -1.68312452e-03 2.58895956e+01] [ 7.03730916e-03 9.99975238e-01 -3.73751932e-06 -2.94844618e-01] [ 1.68310915e-03 -8.10724614e-06 9.99998584e-01 -2.91206934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.870281693 meters Centerline goodness : 0.996243 Centerline is valid? [True, True] Translation: X:25.92, Y:-0.30, Z:-0.29 [[ 9.99984002e-01 -5.27548492e-03 -2.04059952e-03 2.59194840e+01] [ 5.27548658e-03 9.99986085e-01 -4.56995435e-06 -2.96396158e-01] [ 2.04059523e-03 -6.19527412e-06 9.99997918e-01 -2.91153056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.900281693 meters Centerline goodness : 0.995957 Centerline is valid? [True, True] Translation: X:25.95, Y:-0.30, Z:-0.29 [[ 9.99992336e-01 -2.63734877e-03 -2.89346426e-03 2.59492373e+01] [ 2.63734091e-03 9.99996522e-01 -6.53285812e-06 -3.01139009e-01] [ 2.89347143e-03 -1.09824360e-06 9.99995814e-01 -2.91427992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.930281693 meters Centerline goodness : 0.995685 Centerline is valid? [True, True] Translation: X:25.98, Y:-0.30, Z:-0.29 [[ 9.99995461e-01 -1.69574739e-03 -2.49062689e-03 2.59780108e+01] [ 1.69573748e-03 9.99998562e-01 -6.09000492e-06 -3.02986622e-01] [ 2.49063364e-03 1.86652791e-06 9.99996898e-01 -2.91335491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.960281693 meters Centerline goodness : 0.996026 Centerline is valid? [True, True] Translation: X:26.01, Y:-0.31, Z:-0.29 [[ 9.99999995e-01 8.67283626e-05 -5.21179603e-05 2.60076783e+01] [-8.67283703e-05 9.99999996e-01 -1.43125157e-07 -3.05755410e-01] [ 5.21179477e-05 1.47645262e-07 9.99999999e-01 -2.90518526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.990281693 meters Centerline goodness : 0.996125 Centerline is valid? [True, True] Translation: X:26.04, Y:-0.31, Z:-0.29 [[ 9.99998598e-01 1.45638036e-03 8.26204144e-04 2.60385413e+01] [-1.45638251e-03 9.99998939e-01 1.99773552e-06 -3.06447975e-01] [-8.26200359e-04 -3.20100199e-06 9.99999659e-01 -2.89422999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.020281693 meters Centerline goodness : 0.995804 Centerline is valid? [True, True] Translation: X:26.07, Y:-0.31, Z:-0.29 [[ 9.99994838e-01 3.01390206e-03 1.11367305e-03 2.60688245e+01] [-3.01390692e-03 9.99995458e-01 2.68206694e-06 -3.06662908e-01] [-1.11365991e-03 -6.03856001e-06 9.99999380e-01 -2.89409164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.050281693 meters Centerline goodness : 0.996112 Centerline is valid? [True, True] Translation: X:26.10, Y:-0.31, Z:-0.29 [[ 9.99975051e-01 7.05897853e-03 -2.59500225e-04 2.61003802e+01] [-7.05897892e-03 9.99975085e-01 -5.95380546e-07 -3.05947869e-01] [ 2.59489557e-04 2.42717231e-06 9.99999966e-01 -2.89698262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.080281693 meters Centerline goodness : 0.995965 Centerline is valid? [True, True] Translation: X:26.13, Y:-0.31, Z:-0.29 [[ 9.99956789e-01 9.24662745e-03 -9.58738972e-04 2.61312257e+01] [-9.24663387e-03 9.99957249e-01 -2.26282220e-06 -3.05654961e-01] [ 9.58677062e-04 1.11278327e-05 9.99999540e-01 -2.89834320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.110281693 meters Centerline goodness : 0.996247 Centerline is valid? [True, True] Translation: X:26.16, Y:-0.31, Z:-0.29 [[ 9.99917680e-01 1.28299158e-02 -1.59768955e-04 2.61612688e+01] [-1.28299160e-02 9.99917693e-01 -3.97514970e-07 -3.05987270e-01] [ 1.59750705e-04 2.44730452e-06 9.99999987e-01 -2.90036003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.140281693000002 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:26.19, Y:-0.31, Z:-0.29 [[ 9.99907354e-01 1.36039140e-02 4.65504508e-04 2.61917423e+01] [-1.36039160e-02 9.99907462e-01 1.10836482e-06 -3.06817008e-01] [-4.65446353e-04 -7.44094635e-06 9.99999892e-01 -2.89897336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.170281693 meters Centerline goodness : 0.996091 Centerline is valid? [True, True] Translation: X:26.22, Y:-0.31, Z:-0.29 [[ 9.99907197e-01 1.36154714e-02 4.65504498e-04 2.62227431e+01] [-1.36154734e-02 9.99907305e-01 1.11249429e-06 -3.06749155e-01] [-4.65446201e-04 -7.45045518e-06 9.99999892e-01 -2.89922843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.200281693 meters Centerline goodness : 0.996821 Centerline is valid? [True, True] Translation: X:26.25, Y:-0.31, Z:-0.29 [[ 9.99905035e-01 1.37722169e-02 4.97028797e-04 2.62529153e+01] [-1.37722192e-02 9.99905158e-01 1.17767910e-06 -3.08070302e-01] [-4.96965438e-04 -8.02275681e-06 9.99999876e-01 -2.89905521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.230281693000002 meters Centerline goodness : 0.996341 Centerline is valid? [True, True] Translation: X:26.28, Y:-0.31, Z:-0.29 [[ 9.99906580e-01 1.36679696e-02 -1.34768941e-04 2.62836747e+01] [-1.36679698e-02 9.99906589e-01 -3.19326699e-07 -3.09538079e-01] [ 1.34751987e-04 2.16131468e-06 9.99999991e-01 -2.89921378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.260281693 meters Centerline goodness : 0.995985 Centerline is valid? [True, True] Translation: X:26.31, Y:-0.31, Z:-0.29 [[ 9.99901298e-01 1.37913030e-02 -2.68237054e-03 2.63135164e+01] [-1.37913697e-02 9.99904895e-01 -6.39632302e-06 -3.11211835e-01] [ 2.68202722e-03 4.33892556e-05 9.99996402e-01 -2.89891174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.290281693 meters Centerline goodness : 0.996104 Centerline is valid? [True, True] Translation: X:26.34, Y:-0.31, Z:-0.29 [[ 9.99883191e-01 1.49673175e-02 -3.09589877e-03 2.63431825e+01] [-1.49674123e-02 9.99887982e-01 -7.46288373e-06 -3.11622961e-01] [ 3.09544027e-03 5.37996053e-05 9.99995208e-01 -2.90603716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.320281693000002 meters Centerline goodness : 0.996176 Centerline is valid? [True, True] Translation: X:26.37, Y:-0.31, Z:-0.29 [[ 9.99856760e-01 1.67125505e-02 -2.67403002e-03 2.63730319e+01] [-1.67126276e-02 9.99860334e-01 -6.51059109e-06 -3.12452127e-01] [ 2.67354774e-03 5.11997266e-05 9.99996425e-01 -2.90971836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.350281693 meters Centerline goodness : 0.996332 Centerline is valid? [True, True] Translation: X:26.40, Y:-0.31, Z:-0.29 [[ 9.99804485e-01 1.97576063e-02 -7.92509838e-04 2.64022800e+01] [-1.97576140e-02 9.99804799e-01 -2.00014637e-06 -3.14817183e-01] [ 7.92315621e-04 1.76578588e-05 9.99999686e-01 -2.90380830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.380281693 meters Centerline goodness : 0.996300 Centerline is valid? [True, True] Translation: X:26.43, Y:-0.32, Z:-0.29 [[ 9.99779066e-01 2.09816032e-02 -1.26181439e-03 2.64315297e+01] [-2.09816238e-02 9.99779861e-01 -3.14720044e-06 -3.15352220e-01] [ 1.26147058e-03 2.96214200e-05 9.99999204e-01 -2.90266526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.410281693 meters Centerline goodness : 0.996441 Centerline is valid? [True, True] Translation: X:26.46, Y:-0.31, Z:-0.29 [[ 9.99703988e-01 2.41067895e-02 -3.28615101e-03 2.64607676e+01] [-2.41069468e-02 9.99709385e-01 -8.26496388e-06 -3.14796524e-01] [ 3.28499677e-03 8.74815849e-05 9.99994601e-01 -2.90868155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.440281693 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:26.49, Y:-0.31, Z:-0.29 [[ 9.99661972e-01 2.57762553e-02 -3.39507151e-03 2.64892000e+01] [-2.57764332e-02 9.99667733e-01 -8.66326518e-06 -3.14735412e-01] [ 3.39372013e-03 9.61731708e-05 9.99994237e-01 -2.91066674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.470281693 meters Centerline goodness : 0.995884 Centerline is valid? [True, True] Translation: X:26.52, Y:-0.32, Z:-0.29 [[ 9.99636655e-01 2.67400402e-02 -3.39547197e-03 2.65183872e+01] [-2.67402240e-02 9.99642416e-01 -8.73427424e-06 -3.15350400e-01] [ 3.39402425e-03 9.95267815e-05 9.99994235e-01 -2.91727643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.500281693 meters Centerline goodness : 0.995823 Centerline is valid? [True, True] Translation: X:26.55, Y:-0.32, Z:-0.29 [[ 9.99642174e-01 2.65486169e-02 -3.27020529e-03 2.65473218e+01] [-2.65487867e-02 9.99647519e-01 -8.53493496e-06 -3.16118994e-01] [ 3.26882601e-03 9.53518638e-05 9.99994653e-01 -2.91979689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.530281693 meters Centerline goodness : 0.996473 Centerline is valid? [True, True] Translation: X:26.58, Y:-0.32, Z:-0.29 [[ 9.99697863e-01 2.44596779e-02 -2.43023059e-03 2.65768862e+01] [-2.44597656e-02 9.99700815e-01 -6.39558952e-06 -3.15856886e-01] [ 2.42934707e-03 6.58365279e-05 9.99997047e-01 -2.91430673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.560281693 meters Centerline goodness : 0.996452 Centerline is valid? [True, True] Translation: X:26.61, Y:-0.31, Z:-0.29 [[ 9.99723481e-01 2.34064323e-02 -2.25851051e-03 2.66073056e+01] [-2.34065054e-02 9.99726030e-01 -5.92627851e-06 -3.14764069e-01] [ 2.25775304e-03 5.87884783e-05 9.99997450e-01 -2.91592619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.590281693 meters Centerline goodness : 0.996265 Centerline is valid? [True, True] Translation: X:26.64, Y:-0.31, Z:-0.29 [[ 9.99728465e-01 2.31041976e-02 -3.03183579e-03 2.66363437e+01] [-2.31043281e-02 9.99733059e-01 -7.99891912e-06 -3.14078324e-01] [ 3.03084166e-03 7.80452759e-05 9.99995404e-01 -2.91622009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.620281693 meters Centerline goodness : 0.995661 Centerline is valid? [True, True] Translation: X:26.67, Y:-0.31, Z:-0.29 [[ 9.99727076e-01 2.28398710e-02 -4.91054699e-03 2.66663918e+01] [-2.28402105e-02 9.99739128e-01 -1.30697051e-05 -3.13083235e-01] [ 4.90896746e-03 1.25224065e-04 9.99987943e-01 -2.92334132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.650281693 meters Centerline goodness : 0.996178 Centerline is valid? [True, True] Translation: X:26.69, Y:-0.31, Z:-0.29 [[ 9.99737939e-01 2.22787218e-02 -5.26416813e-03 2.66948741e+01] [-2.22791052e-02 9.99751790e-01 -1.41956354e-05 -3.11361967e-01] [ 5.26254525e-03 1.31472871e-04 9.99986144e-01 -2.92389475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.680281693 meters Centerline goodness : 0.996498 Centerline is valid? [True, True] Translation: X:26.72, Y:-0.31, Z:-0.29 [[ 9.99805145e-01 1.93461518e-02 -3.92419441e-03 2.67248350e+01] [-1.93463427e-02 9.99812842e-01 -1.06734160e-05 -3.07793361e-01] [ 3.92325348e-03 8.65901460e-05 9.99992300e-01 -2.91726217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.710281693 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:26.75, Y:-0.31, Z:-0.29 [[ 9.99842417e-01 1.75385450e-02 -2.74614435e-03 2.67538815e+01] [-1.75386319e-02 9.99846186e-01 -7.54496509e-06 -3.07382738e-01] [ 2.74558963e-03 5.57073910e-05 9.99996229e-01 -2.91669714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.740281693 meters Centerline goodness : 0.996316 Centerline is valid? [True, True] Translation: X:26.78, Y:-0.31, Z:-0.29 [[ 9.99877914e-01 1.54419497e-02 -2.38825974e-03 2.67828969e+01] [-1.54420095e-02 9.99880765e-01 -6.58005586e-06 -3.07731409e-01] [ 2.38787337e-03 4.34587820e-05 9.99997148e-01 -2.91879747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.770281693 meters Centerline goodness : 0.996386 Centerline is valid? [True, True] Translation: X:26.81, Y:-0.31, Z:-0.29 [[ 9.99940662e-01 1.06128657e-02 -2.45766927e-03 2.68130078e+01] [-1.06129143e-02 9.99943681e-01 -6.76172645e-06 -3.06759910e-01] [ 2.45745910e-03 3.28443586e-05 9.99996980e-01 -2.91391630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.800281693 meters Centerline goodness : 0.996724 Centerline is valid? [True, True] Translation: X:26.84, Y:-0.31, Z:-0.29 [[ 9.99965396e-01 8.01566983e-03 -2.22618882e-03 2.68415948e+01] [-8.01570356e-03 9.99967874e-01 -6.23037058e-06 -3.05679747e-01] [ 2.22606736e-03 2.40746247e-05 9.99997522e-01 -2.90556548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.830281693 meters Centerline goodness : 0.996640 Centerline is valid? [True, True] Translation: X:26.87, Y:-0.31, Z:-0.29 [[ 9.99983443e-01 5.62993363e-03 -1.19042133e-03 2.68711453e+01] [-5.62994163e-03 9.99984152e-01 -3.36292564e-06 -3.05458770e-01] [ 1.19038354e-03 1.00648726e-05 9.99999291e-01 -2.90750494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.860281693 meters Centerline goodness : 0.996292 Centerline is valid? [True, True] Translation: X:26.90, Y:-0.31, Z:-0.29 [[ 9.99996986e-01 2.41509789e-03 4.41998432e-04 2.69009095e+01] [-2.41509867e-03 9.99997084e-01 1.24592600e-06 -3.05701037e-01] [-4.41994134e-04 -2.31339207e-06 9.99999902e-01 -2.90116183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.890281693000002 meters Centerline goodness : 0.996573 Centerline is valid? [True, True] Translation: X:26.93, Y:-0.30, Z:-0.29 [[ 9.99998876e-01 1.34275478e-03 6.67821921e-04 2.69318029e+01] [-1.34275632e-03 9.99999099e-01 1.86828610e-06 -3.04927577e-01] [-6.67818810e-04 -2.76500610e-06 9.99999777e-01 -2.90276735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.920281693 meters Centerline goodness : 0.996751 Centerline is valid? [True, True] Translation: X:26.96, Y:-0.30, Z:-0.29 [[ 9.99999394e-01 9.78409380e-04 5.04938055e-04 2.69624199e+01] [-9.78410218e-04 9.99999521e-01 1.41260525e-06 -3.03512323e-01] [-5.04936432e-04 -1.90664094e-06 9.99999873e-01 -2.90235876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.950281693 meters Centerline goodness : 0.997040 Centerline is valid? [True, True] Translation: X:26.99, Y:-0.30, Z:-0.29 [[ 9.99999685e-01 3.88252314e-04 -6.92791481e-04 2.69923603e+01] [-3.88253738e-04 9.99999925e-01 -1.92034167e-06 -3.00667564e-01] [ 6.92790684e-04 2.18931994e-06 9.99999760e-01 -2.91047587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.980281693000002 meters Centerline goodness : 0.996209 Centerline is valid? [True, True] Translation: X:27.02, Y:-0.30, Z:-0.29 [[ 9.99999089e-01 -2.63651177e-04 -1.32387157e-03 2.70221355e+01] [ 2.63646562e-04 9.99999965e-01 -3.66026879e-06 -3.00544666e-01] [ 1.32387249e-03 3.31123127e-06 9.99999124e-01 -2.91276215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.010281692999996 meters Centerline goodness : 0.996553 Centerline is valid? [True, True] Translation: X:27.05, Y:-0.30, Z:-0.29 [[ 9.99996286e-01 -2.27223460e-03 -1.50493070e-03 2.70517068e+01] [ 2.27223081e-03 9.99997418e-01 -4.22812396e-06 -2.99789892e-01] [ 1.50493642e-03 8.08558356e-07 9.99998868e-01 -2.91601012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.040281693 meters Centerline goodness : 0.996722 Centerline is valid? [True, True] Translation: X:27.08, Y:-0.30, Z:-0.29 [[ 9.99993795e-01 -3.38525397e-03 -9.74377766e-04 2.70816063e+01] [ 3.38525291e-03 9.99994270e-01 -2.74611892e-06 -2.98209566e-01] [ 9.74381479e-04 -5.52413285e-07 9.99999525e-01 -2.91264368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.070281693 meters Centerline goodness : 0.996638 Centerline is valid? [True, True] Translation: X:27.11, Y:-0.30, Z:-0.29 [[ 9.99991649e-01 -4.02504810e-03 -7.08237827e-04 2.71106317e+01] [ 4.02504769e-03 9.99991899e-01 -2.00629568e-06 -2.96654668e-01] [ 7.08240165e-04 -8.44412100e-07 9.99999749e-01 -2.90634904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.100281693 meters Centerline goodness : 0.997109 Centerline is valid? [True, True] Translation: X:27.14, Y:-0.30, Z:-0.29 [[ 9.99992149e-01 -3.90808057e-03 -6.55249928e-04 2.71414430e+01] [ 3.90808020e-03 9.99992363e-01 -1.84758760e-06 -2.95916643e-01] [ 6.55252145e-04 -7.13196179e-07 9.99999785e-01 -2.90692167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.13028169299999 meters Centerline goodness : 0.996781 Centerline is valid? [True, True] Translation: X:27.17, Y:-0.30, Z:-0.29 [[ 9.99997334e-01 -2.26376292e-03 -4.55112376e-04 2.71711847e+01] [ 2.26376256e-03 9.99997438e-01 -1.29812452e-06 -2.96302679e-01] [ 4.55114148e-04 2.67854698e-07 9.99999896e-01 -2.91423384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.160281692999995 meters Centerline goodness : 0.996654 Centerline is valid? [True, True] Translation: X:27.20, Y:-0.30, Z:-0.29 [[ 9.99997587e-01 -1.84377873e-03 1.19476272e-03 2.72004459e+01] [ 1.83507065e-03 9.99972041e-01 7.24910060e-03 -3.00192957e-01] [-1.20809505e-03 -7.24689063e-03 9.99973011e-01 -2.92422009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.190281692999996 meters Centerline goodness : 0.996811 Centerline is valid? [True, True] Translation: X:27.23, Y:-0.29, Z:-0.29 [[ 9.99999424e-01 -5.84317066e-04 -9.00690038e-04 2.72319696e+01] [ 5.77821865e-04 9.99973950e-01 -7.19483036e-03 -2.92027931e-01] [ 9.04870637e-04 7.19430578e-03 9.99973711e-01 -2.91649436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.220281693 meters Centerline goodness : 0.996073 Centerline is valid? [True, True] Translation: X:27.26, Y:-0.29, Z:-0.29 [[ 9.99996488e-01 5.84710695e-04 -2.58491041e-03 2.72617716e+01] [-5.84732453e-04 9.99999829e-01 -7.66168579e-06 -2.94709318e-01] [ 2.58490549e-03 9.17313989e-06 9.99996659e-01 -2.93041114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.250281693 meters Centerline goodness : 0.996438 Centerline is valid? [True, True] Translation: X:27.29, Y:-0.29, Z:-0.29 [[ 9.99993992e-01 8.39834119e-04 -3.36310782e-03 2.72899705e+01] [-8.39872826e-04 9.99999647e-01 -1.00968082e-05 -2.94569292e-01] [ 3.36309816e-03 1.29213304e-05 9.99994345e-01 -2.93527865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.280281693 meters Centerline goodness : 0.996248 Centerline is valid? [True, True] Translation: X:27.32, Y:-0.29, Z:-0.29 [[ 9.99989380e-01 6.81329147e-04 -4.55804566e-03 2.73186555e+01] [-6.81399558e-04 9.99999768e-01 -1.38945745e-05 -2.94522581e-01] [ 4.55803514e-03 1.70002772e-05 9.99989612e-01 -2.94089009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.310281693 meters Centerline goodness : 0.996207 Centerline is valid? [True, True] Translation: X:27.35, Y:-0.29, Z:-0.29 [[ 9.99988350e-01 4.30386670e-04 -4.80778095e-03 2.73476266e+01] [-4.30463184e-04 9.99999907e-01 -1.48799127e-05 -2.94666859e-01] [ 4.80777410e-03 1.69493121e-05 9.99988442e-01 -2.94235749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.340281692999994 meters Centerline goodness : 0.996415 Centerline is valid? [True, True] Translation: X:27.38, Y:-0.29, Z:-0.29 [[ 9.99987202e-01 3.27068556e-04 -5.04863240e-03 2.73752812e+01] [-3.27153138e-04 9.99999946e-01 -1.59275226e-05 -2.94988899e-01] [ 5.04862692e-03 1.75789947e-05 9.99987255e-01 -2.93994518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.370281692999995 meters Centerline goodness : 0.996616 Centerline is valid? [True, True] Translation: X:27.40, Y:-0.30, Z:-0.29 [[ 9.99992341e-01 4.86498981e-06 -3.91384575e-03 2.74040986e+01] [-4.91404968e-06 1.00000000e+00 -1.25253240e-05 -2.96163257e-01] [ 3.91384569e-03 1.25444609e-05 9.99992341e-01 -2.93136421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.400281693 meters Centerline goodness : 0.996813 Centerline is valid? [True, True] Translation: X:27.43, Y:-0.30, Z:-0.29 [[ 9.99994237e-01 -1.24025143e-04 -3.39276600e-03 2.74329236e+01] [ 1.23988465e-04 9.99999992e-01 -1.10206937e-05 -2.96546173e-01] [ 3.39276734e-03 1.05999664e-05 9.99994244e-01 -2.93250981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.430281693 meters Centerline goodness : 0.996605 Centerline is valid? [True, True] Translation: X:27.46, Y:-0.30, Z:-0.29 [[ 9.99996501e-01 -1.97502478e-04 -2.63790242e-03 2.74613302e+01] [ 1.97480324e-04 9.99999980e-01 -8.65873387e-06 -2.97253342e-01] [ 2.63790408e-03 8.13776975e-06 9.99996521e-01 -2.93343238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.460281693 meters Centerline goodness : 0.996545 Centerline is valid? [True, True] Translation: X:27.49, Y:-0.30, Z:-0.29 [[ 9.99997650e-01 2.16780257e-04 -2.15686837e-03 2.74907949e+01] [-2.16796131e-04 9.99999976e-01 -7.12602381e-06 -2.99388151e-01] [ 2.15686677e-03 7.59360778e-06 9.99997674e-01 -2.93170880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.490281693 meters Centerline goodness : 0.996660 Centerline is valid? [True, True] Translation: X:27.52, Y:-0.30, Z:-0.29 [[ 9.99996828e-01 1.92405256e-04 -2.51139548e-03 2.75202798e+01] [-1.92426840e-04 9.99999981e-01 -8.35278095e-06 -3.00534146e-01] [ 2.51139383e-03 8.83601436e-06 9.99996846e-01 -2.93175086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.520281692999994 meters Centerline goodness : 0.996448 Centerline is valid? [True, True] Translation: X:27.55, Y:-0.30, Z:-0.29 [[ 9.99992748e-01 2.82012690e-05 -3.80842469e-03 2.75493687e+01] [-2.82500095e-05 1.00000000e+00 -1.27442714e-05 -3.00940504e-01] [ 3.80842432e-03 1.28517670e-05 9.99992748e-01 -2.93250307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.550281692999995 meters Centerline goodness : 0.996574 Centerline is valid? [True, True] Translation: X:27.58, Y:-0.30, Z:-0.29 [[ 9.99992794e-01 5.24345512e-04 -3.75982706e-03 2.75782485e+01] [-5.24399231e-04 9.99999862e-01 -1.33016649e-05 -3.00632353e-01] [ 3.75981957e-03 1.52732194e-05 9.99992932e-01 -2.92904384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.580281692999996 meters Centerline goodness : 0.996846 Centerline is valid? [True, True] Translation: X:27.61, Y:-0.30, Z:-0.29 [[ 9.99992696e-01 1.64943088e-03 -3.44789471e-03 2.76070452e+01] [-1.64948466e-03 9.99998640e-01 -1.27546514e-05 -2.99607977e-01] [ 3.44786898e-03 1.84418076e-05 9.99994056e-01 -2.92970878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.610281693 meters Centerline goodness : 0.996931 Centerline is valid? [True, True] Translation: X:27.64, Y:-0.30, Z:-0.29 [[ 9.99988036e-01 3.51283346e-03 -3.40400066e-03 2.76355601e+01] [-3.51289852e-03 9.99993830e-01 -1.31322602e-05 -2.98422909e-01] [ 3.40393352e-03 2.50900120e-05 9.99994206e-01 -2.92164156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.640281693 meters Centerline goodness : 0.996676 Centerline is valid? [True, True] Translation: X:27.66, Y:-0.29, Z:-0.29 [[ 9.99959797e-01 8.13122035e-03 -3.77979115e-03 2.76639362e+01] [-8.13133586e-03 9.99966940e-01 -1.51919849e-05 -2.94860864e-01] [ 3.77954266e-03 4.59261255e-05 9.99992856e-01 -2.92128542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.670281693 meters Centerline goodness : 0.996523 Centerline is valid? [True, True] Translation: X:27.69, Y:-0.29, Z:-0.29 [[ 9.99937577e-01 1.05097510e-02 -3.79314591e-03 2.76927914e+01] [-1.05098848e-02 9.99944770e-01 -1.53216268e-05 -2.92465894e-01] [ 3.79277538e-03 5.51861967e-05 9.99992806e-01 -2.91983328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.700281692999994 meters Centerline goodness : 0.996838 Centerline is valid? [True, True] Translation: X:27.72, Y:-0.29, Z:-0.29 [[ 9.99893654e-01 1.42828629e-02 -2.94630898e-03 2.77212434e+01] [-1.42829604e-02 9.99897993e-01 -1.20517857e-05 -2.86844606e-01] [ 2.94583630e-03 5.41325185e-05 9.99995660e-01 -2.91366118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.730281692999995 meters Centerline goodness : 0.996939 Centerline is valid? [True, True] Translation: X:27.75, Y:-0.28, Z:-0.29 [[ 9.99877641e-01 1.55201653e-02 -1.95656229e-03 2.77495623e+01] [-1.55202108e-02 9.99879554e-01 -8.07628928e-06 -2.82916055e-01] [ 1.95620128e-03 3.84415603e-05 9.99998086e-01 -2.90737805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.760281692999996 meters Centerline goodness : 0.997182 Centerline is valid? [True, True] Translation: X:27.78, Y:-0.28, Z:-0.29 [[ 9.99868862e-01 1.61600327e-02 -1.05425968e-03 2.77781742e+01] [-1.61600463e-02 9.99869418e-01 -4.40088115e-06 -2.78712420e-01] [ 1.05405089e-03 2.14371892e-05 9.99999444e-01 -2.90342861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.790281693 meters Centerline goodness : 0.997229 Centerline is valid? [True, True] Translation: X:27.81, Y:-0.27, Z:-0.29 [[ 9.99869112e-01 1.61681976e-02 5.90590739e-04 2.78070297e+01] [-1.61682019e-02 9.99869286e-01 2.43864849e-06 -2.69607381e-01] [-5.90474112e-04 -1.19871196e-05 9.99999826e-01 -2.89869032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.820281693 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:27.84, Y:-0.27, Z:-0.29 [[ 9.99867414e-01 1.62621654e-02 8.34418694e-04 2.78379807e+01] [-1.62621740e-02 9.99867762e-01 3.48723510e-06 -2.65020519e-01] [-8.34251642e-04 -1.70562347e-05 9.99999652e-01 -2.89640510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.850281693 meters Centerline goodness : 0.997340 Centerline is valid? [True, True] Translation: X:27.87, Y:-0.26, Z:-0.29 [[ 9.99865056e-01 1.64184342e-02 5.52097149e-04 2.78671192e+01] [-1.64184380e-02 9.99865208e-01 2.30351086e-06 -2.55185750e-01] [-5.51984911e-04 -1.13677728e-05 9.99999848e-01 -2.90563402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.88028169299999 meters Centerline goodness : 0.997329 Centerline is valid? [True, True] Translation: X:27.90, Y:-0.25, Z:-0.29 [[ 9.99862844e-01 1.65600112e-02 -2.43523000e-04 2.78968178e+01] [-1.65600120e-02 9.99862874e-01 -1.03333620e-06 -2.49599750e-01] [ 2.43472495e-04 5.06593827e-06 9.99999970e-01 -2.91360487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.910281692999995 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:27.93, Y:-0.24, Z:-0.29 [[ 9.99871617e-01 1.59630403e-02 -1.38944434e-03 2.79266015e+01] [-1.59630639e-02 9.99872582e-01 -5.88961173e-06 -2.44671010e-01] [ 1.38917329e-03 2.80686444e-05 9.99999035e-01 -2.92069696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.940281692999996 meters Centerline goodness : 0.997247 Centerline is valid? [True, True] Translation: X:27.96, Y:-0.24, Z:-0.29 [[ 9.99892441e-01 1.44335750e-02 -2.60359612e-03 2.79554220e+01] [-1.44336529e-02 9.99895829e-01 -1.11158759e-05 -2.41000090e-01] [ 2.60316446e-03 4.86940828e-05 9.99996611e-01 -2.91882165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.970281693 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:27.99, Y:-0.24, Z:-0.29 [[ 9.99951775e-01 9.04139305e-03 -3.83416285e-03 2.79850669e+01] [-9.04152252e-03 9.99959124e-01 -1.64369448e-05 -2.35125911e-01] [ 3.83385751e-03 5.11028219e-05 9.99992649e-01 -2.91972732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.000281693 meters Centerline goodness : 0.996827 Centerline is valid? [True, True] Translation: X:28.01, Y:-0.23, Z:-0.29 [[ 9.99975240e-01 5.59234886e-03 -4.27142367e-03 2.80139092e+01] [-5.59247877e-03 9.99984362e-01 -1.84687558e-05 -2.32327742e-01] [ 4.27125359e-03 4.23561447e-05 9.99990877e-01 -2.91741057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.030281693 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:28.04, Y:-0.23, Z:-0.29 [[ 9.99987704e-01 2.21314299e-03 -4.43766424e-03 2.80424499e+01] [-2.21325088e-03 9.99997551e-01 -1.94026225e-05 -2.30145116e-01] [ 4.43761042e-03 2.92240483e-05 9.99990153e-01 -2.92030230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.060281693 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:28.07, Y:-0.23, Z:-0.29 [[ 9.99980645e-01 -4.43849515e-03 -4.36004070e-03 2.80717308e+01] [ 4.43845334e-03 9.99990150e-01 -1.92655678e-05 -2.28213575e-01] [ 4.36008326e-03 -8.66422296e-08 9.99990495e-01 -2.92579262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.090281692999994 meters Centerline goodness : 0.996814 Centerline is valid? [True, True] Translation: X:28.10, Y:-0.23, Z:-0.29 [[ 9.99979863e-01 -4.61127149e-03 -4.36003680e-03 2.81002022e+01] [ 4.61122755e-03 9.99989368e-01 -2.01307351e-05 -2.27901125e-01] [ 4.36008328e-03 2.52079009e-08 9.99990495e-01 -2.92604439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.120281692999995 meters Centerline goodness : 0.996819 Centerline is valid? [True, True] Translation: X:28.13, Y:-0.23, Z:-0.29 [[ 9.99968188e-01 -7.26124728e-03 -3.30118307e-03 2.81287654e+01] [ 7.26123627e-03 9.99973637e-01 -1.53178768e-05 -2.27270604e-01] [ 3.30120726e-03 -8.65328076e-06 9.99994551e-01 -2.92477921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.150281693 meters Centerline goodness : 0.997481 Centerline is valid? [True, True] Translation: X:28.16, Y:-0.23, Z:-0.29 [[ 9.99955843e-01 -9.21181585e-03 -1.85889202e-03 2.81588248e+01] [ 9.21181566e-03 9.99957570e-01 -8.66537403e-06 -2.26378833e-01] [ 1.85889297e-03 -8.45877924e-06 9.99998272e-01 -2.91260410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.180281693 meters Centerline goodness : 0.997637 Centerline is valid? [True, True] Translation: X:28.19, Y:-0.22, Z:-0.29 [[ 9.99931335e-01 -1.15751906e-02 -1.82763939e-03 2.81886161e+01] [ 1.15751944e-02 9.99933005e-01 -8.49282590e-06 -2.24153956e-01] [ 1.82761525e-03 -1.26630385e-05 9.99998330e-01 -2.90683611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.210281693 meters Centerline goodness : 0.997350 Centerline is valid? [True, True] Translation: X:28.22, Y:-0.22, Z:-0.29 [[ 9.99924821e-01 -1.16890740e-02 -3.70380555e-03 2.82180945e+01] [ 1.16890905e-02 9.99931680e-01 -1.72040854e-05 -2.24015405e-01] [ 3.70375361e-03 -2.60913261e-05 9.99993141e-01 -2.91334374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.240281693 meters Centerline goodness : 0.996432 Centerline is valid? [True, True] Translation: X:28.25, Y:-0.23, Z:-0.29 [[ 9.99907035e-01 -1.16551044e-02 -7.07671169e-03 2.82468848e+01] [ 1.16551617e-02 9.99932076e-01 -3.31420907e-05 -2.25211263e-01] [ 7.07661728e-03 -4.93412096e-05 9.99974959e-01 -2.92032141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.270281692999994 meters Centerline goodness : 0.996772 Centerline is valid? [True, True] Translation: X:28.27, Y:-0.22, Z:-0.29 [[ 9.99913034e-01 -1.10355365e-02 -7.22089642e-03 2.82747908e+01] [ 1.10355698e-02 9.99939106e-01 -3.52274776e-05 -2.24596615e-01] [ 7.22084547e-03 -4.44622926e-05 9.99973928e-01 -2.91556260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.300281692999995 meters Centerline goodness : 0.997189 Centerline is valid? [True, True] Translation: X:28.30, Y:-0.22, Z:-0.29 [[ 9.99936305e-01 -9.73885950e-03 -5.70439820e-03 2.83032456e+01] [ 9.73885324e-03 9.99952576e-01 -2.88750915e-05 -2.23701387e-01] [ 5.70440889e-03 -2.66810446e-05 9.99983729e-01 -2.91037699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.330281692999996 meters Centerline goodness : 0.997439 Centerline is valid? [True, True] Translation: X:28.33, Y:-0.22, Z:-0.29 [[ 9.99961511e-01 -8.05820881e-03 -3.47013877e-03 2.83314412e+01] [ 8.05819587e-03 9.99967532e-01 -1.77105267e-05 -2.23223434e-01] [ 3.47016882e-03 -1.02532129e-05 9.99993979e-01 -2.90548008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.360281693 meters Centerline goodness : 0.997683 Centerline is valid? [True, True] Translation: X:28.36, Y:-0.22, Z:-0.29 [[ 9.99982286e-01 -5.95135586e-03 -9.47570362e-05 2.83608199e+01] [ 5.95135584e-03 9.99982291e-01 -5.03791569e-07 -2.23465226e-01] [ 9.47583563e-05 -6.01501960e-08 9.99999996e-01 -2.88759983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.390281693 meters Centerline goodness : 0.997785 Centerline is valid? [True, True] Translation: X:28.39, Y:-0.22, Z:-0.29 [[ 9.99983030e-01 -5.81437974e-03 3.64744004e-04 2.83912427e+01] [ 5.81437944e-03 9.99983096e-01 1.87011423e-06 -2.22263852e-01] [-3.64748712e-04 2.50677545e-07 9.99999933e-01 -2.88626580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.420281693 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:28.42, Y:-0.22, Z:-0.29 [[ 9.99988139e-01 -4.85966094e-03 3.26092299e-04 2.84230203e+01] [ 4.85966065e-03 9.99988192e-01 1.67547138e-06 -2.19345489e-01] [-3.26096590e-04 -9.07535949e-08 9.99999947e-01 -2.89017694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.450281692999994 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:28.45, Y:-0.22, Z:-0.29 [[ 9.99990065e-01 -4.44174355e-03 3.75657842e-04 2.84529351e+01] [ 4.44174315e-03 9.99990135e-01 1.91342119e-06 -2.18807847e-01] [-3.75662635e-04 -2.44826532e-07 9.99999929e-01 -2.89278944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.480281692999995 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:28.48, Y:-0.22, Z:-0.29 [[ 9.99991629e-01 -4.08764280e-03 1.84085541e-04 2.84842032e+01] [ 4.08764269e-03 9.99991646e-01 9.48184925e-07 -2.18524780e-01] [-1.84087879e-04 -1.95701071e-07 9.99999983e-01 -2.89282006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.510281692999996 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:28.51, Y:-0.22, Z:-0.29 [[ 9.99987602e-01 -4.60924295e-03 -1.88438217e-03 2.85148153e+01] [ 4.60923321e-03 9.99989377e-01 -9.50883163e-06 -2.17843123e-01] [ 1.88440598e-03 8.23156871e-07 9.99998225e-01 -2.89607976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.540281693 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:28.54, Y:-0.22, Z:-0.29 [[ 9.99980963e-01 -5.46940138e-03 -2.85639970e-03 2.85444122e+01] [ 5.46938240e-03 9.99985043e-01 -1.44556244e-05 -2.17231547e-01] [ 2.85643604e-03 -1.16739302e-06 9.99995920e-01 -2.90030653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.570281693 meters Centerline goodness : 0.997690 Centerline is valid? [True, True] Translation: X:28.57, Y:-0.22, Z:-0.29 [[ 9.99972296e-01 -6.83846983e-03 -2.93995983e-03 2.85733344e+01] [ 6.83845522e-03 9.99976617e-01 -1.50216886e-05 -2.16746786e-01] [ 2.93999381e-03 -5.08351120e-06 9.99995678e-01 -2.89924286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.600281693 meters Centerline goodness : 0.997840 Centerline is valid? [True, True] Translation: X:28.60, Y:-0.22, Z:-0.29 [[ 9.99961637e-01 -8.53117210e-03 -1.98608452e-03 2.86026469e+01] [ 8.53116870e-03 9.99963609e-01 -1.01848061e-05 -2.17228749e-01] [ 1.98609914e-03 -6.75920671e-06 9.99998028e-01 -2.89913617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.63028169299999 meters Centerline goodness : 0.998025 Centerline is valid? [True, True] Translation: X:28.63, Y:-0.22, Z:-0.29 [[ 9.99928928e-01 -1.19025855e-02 -6.84028629e-04 2.86327393e+01] [ 1.19025859e-02 9.99929162e-01 -3.53614123e-06 -2.19217065e-01] [ 6.84022263e-04 -4.60581960e-06 9.99999766e-01 -2.89802624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.660281692999995 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:28.66, Y:-0.22, Z:-0.29 [[ 9.99909070e-01 -1.34764847e-02 -4.85587458e-04 2.86632933e+01] [ 1.34764850e-02 9.99909188e-01 -2.48126428e-06 -2.20255525e-01] [ 4.85576799e-04 -4.06297346e-06 9.99999882e-01 -2.90320890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.690281692999996 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:28.69, Y:-0.22, Z:-0.29 [[ 9.99859451e-01 -1.67581162e-02 -4.94576911e-04 2.86940527e+01] [ 1.67581170e-02 9.99859573e-01 -2.53710809e-06 -2.22183647e-01] [ 4.94549976e-04 -5.75142623e-06 9.99999878e-01 -2.90509374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.720281693 meters Centerline goodness : 0.998199 Centerline is valid? [True, True] Translation: X:28.72, Y:-0.22, Z:-0.29 [[ 9.99839556e-01 -1.79085509e-02 -3.82522731e-04 2.87249343e+01] [ 1.79085515e-02 9.99839629e-01 -1.93460740e-06 -2.24088710e-01] [ 3.82496032e-04 -4.91613102e-06 9.99999927e-01 -2.90312465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.750281693 meters Centerline goodness : 0.997958 Centerline is valid? [True, True] Translation: X:28.76, Y:-0.23, Z:-0.29 [[ 9.99827887e-01 -1.85485574e-02 -3.83832058e-04 2.87555425e+01] [ 1.85485580e-02 9.99827961e-01 -1.96061576e-06 -2.26254261e-01] [ 3.83802391e-04 -5.15925291e-06 9.99999926e-01 -2.89980035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.780281693 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:28.79, Y:-0.23, Z:-0.29 [[ 9.99806619e-01 -1.96647950e-02 1.40156015e-04 2.87864721e+01] [ 1.96647951e-02 9.99806629e-01 7.33038127e-07 -2.29768501e-01] [-1.40143328e-04 2.02324295e-06 9.99999990e-01 -2.89806322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.810281693 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:28.82, Y:-0.23, Z:-0.29 [[ 9.99806133e-01 -1.96890797e-02 -1.93531210e-04 2.88159403e+01] [ 1.96890799e-02 9.99806151e-01 -9.81353687e-07 -2.31082768e-01] [ 1.93513016e-04 -2.82928802e-06 9.99999981e-01 -2.89222174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.840281692999994 meters Centerline goodness : 0.998275 Centerline is valid? [True, True] Translation: X:28.85, Y:-0.23, Z:-0.29 [[ 9.99810887e-01 -1.94258759e-02 -9.08275938e-04 2.88462890e+01] [ 1.94258798e-02 9.99811300e-01 -4.61625818e-06 -2.32259982e-01] [ 9.08194221e-04 -1.30286740e-05 9.99999588e-01 -2.89040104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.870281692999995 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:28.88, Y:-0.23, Z:-0.29 [[ 9.99832278e-01 -1.80384435e-02 -3.16709033e-03 2.88760154e+01] [ 1.80384831e-02 9.99837293e-01 -1.60860607e-05 -2.33352978e-01] [ 3.16686519e-03 -4.10461426e-05 9.99994985e-01 -2.90474415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.900281693 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:28.91, Y:-0.23, Z:-0.29 [[ 9.99839583e-01 -1.75199719e-02 -3.72285859e-03 2.89052405e+01] [ 1.75200225e-02 9.99846512e-01 -1.90183217e-05 -2.32842667e-01] [ 3.72262038e-03 -4.62092955e-05 9.99993070e-01 -2.90793817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.930281693 meters Centerline goodness : 0.997795 Centerline is valid? [True, True] Translation: X:28.93, Y:-0.23, Z:-0.29 [[ 9.99844408e-01 -1.72326846e-02 -3.76743573e-03 2.89345071e+01] [ 1.72327340e-02 9.99851505e-01 -1.93340229e-05 -2.33666561e-01] [ 3.76720946e-03 -4.55922032e-05 9.99992903e-01 -2.90944762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.960281693 meters Centerline goodness : 0.997587 Centerline is valid? [True, True] Translation: X:28.96, Y:-0.24, Z:-0.29 [[ 9.99827697e-01 -1.82719901e-02 -3.27260285e-03 2.89630094e+01] [ 1.82720325e-02 9.99833052e-01 -1.69210983e-05 -2.35309922e-01] [ 3.27236568e-03 -4.28789230e-05 9.99994645e-01 -2.90373216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.990281693 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:28.99, Y:-0.24, Z:-0.29 [[ 9.99801490e-01 -1.97360837e-02 -2.73277708e-03 2.89923751e+01] [ 1.97361187e-02 9.99805224e-01 -1.41872855e-05 -2.37155018e-01] [ 2.73252480e-03 -3.97499436e-05 9.99996266e-01 -2.89942865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.020281692999994 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:29.02, Y:-0.24, Z:-0.29 [[ 9.99738502e-01 -2.26729636e-02 -2.97729489e-03 2.90221330e+01] [ 2.26730182e-02 9.99742934e-01 -1.54250692e-05 -2.40871793e-01] [ 2.97687926e-03 -5.20832255e-05 9.99995568e-01 -2.90208126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.050281692999995 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:29.05, Y:-0.24, Z:-0.29 [[ 9.99715187e-01 -2.35999747e-02 -3.54758689e-03 2.90516729e+01] [ 2.36000577e-02 9.99721480e-01 -1.84836392e-05 -2.42897385e-01] [ 3.54703503e-03 -6.52448804e-05 9.99993707e-01 -2.91073324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.080281692999996 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:29.08, Y:-0.25, Z:-0.29 [[ 9.99711239e-01 -2.36989901e-02 -3.97449881e-03 2.90803166e+01] [ 2.36990942e-02 9.99719137e-01 -2.08965453e-05 -2.45526208e-01] [ 3.97387775e-03 -7.33015108e-05 9.99992101e-01 -2.91281861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.110281693 meters Centerline goodness : 0.997990 Centerline is valid? [True, True] Translation: X:29.11, Y:-0.25, Z:-0.29 [[ 9.99739018e-01 -2.24913913e-02 -4.00421072e-03 2.91088937e+01] [ 2.24914844e-02 9.99747034e-01 -2.17803033e-05 -2.51096754e-01] [ 4.00368767e-03 -6.82860240e-05 9.99991983e-01 -2.91101623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.140281693 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:29.14, Y:-0.25, Z:-0.29 [[ 9.99764137e-01 -2.13528896e-02 -3.96552960e-03 2.91369521e+01] [ 2.13529695e-02 9.99771999e-01 -2.21871567e-05 -2.53428339e-01] [ 3.96509922e-03 -6.24939089e-05 9.99992137e-01 -2.90529556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.170281693 meters Centerline goodness : 0.998112 Centerline is valid? [True, True] Translation: X:29.17, Y:-0.25, Z:-0.29 [[ 9.99808512e-01 -1.92301481e-02 -3.62508583e-03 2.91652795e+01] [ 1.92301988e-02 9.99815082e-01 -2.08784972e-05 -2.54872710e-01] [ 3.62481699e-03 -4.88366219e-05 9.99993429e-01 -2.90506815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.200281692999994 meters Centerline goodness : 0.998062 Centerline is valid? [True, True] Translation: X:29.19, Y:-0.26, Z:-0.29 [[ 9.99911034e-01 -1.28841113e-02 -3.45304126e-03 2.91930513e+01] [ 1.28841190e-02 9.99916996e-01 -1.99990473e-05 -2.56487284e-01] [ 3.45301231e-03 -2.44921265e-05 9.99994038e-01 -2.89595994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.230281692999995 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:29.22, Y:-0.26, Z:-0.29 [[ 9.99943383e-01 -1.01057210e-02 -3.33251086e-03 2.92215034e+01] [ 1.01057107e-02 9.99948936e-01 -1.99236475e-05 -2.55880190e-01] [ 3.33254203e-03 -1.37548710e-05 9.99994447e-01 -2.89620039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.260281692999996 meters Centerline goodness : 0.998073 Centerline is valid? [True, True] Translation: X:29.25, Y:-0.25, Z:-0.29 [[ 9.99967473e-01 -7.41649509e-03 -3.17006294e-03 2.92499421e+01] [ 7.41647226e-03 9.99972497e-01 -1.89566895e-05 -2.54607473e-01] [ 3.17011634e-03 -4.55461097e-06 9.99994975e-01 -2.89339001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.290281693 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:29.28, Y:-0.25, Z:-0.29 [[ 9.99985922e-01 -4.16555125e-03 -3.28695304e-03 2.92789130e+01] [ 4.16550725e-03 9.99991324e-01 -2.02316391e-05 -2.52293322e-01] [ 3.28700880e-03 6.53952761e-06 9.99994598e-01 -2.89783044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.320281693 meters Centerline goodness : 0.998020 Centerline is valid? [True, True] Translation: X:29.31, Y:-0.25, Z:-0.29 [[ 9.99986032e-01 -3.86547035e-03 -3.60468089e-03 2.93077207e+01] [ 3.86541545e-03 9.99992529e-01 -2.21968439e-05 -2.51508838e-01] [ 3.60473976e-03 8.26294471e-06 9.99993503e-01 -2.90245762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.350281693 meters Centerline goodness : 0.998041 Centerline is valid? [True, True] Translation: X:29.34, Y:-0.25, Z:-0.29 [[ 9.99980339e-01 -4.83400687e-03 -3.99415309e-03 2.93367231e+01] [ 4.83394649e-03 9.99988316e-01 -2.47690649e-05 -2.51102445e-01] [ 3.99422615e-03 5.46105561e-06 9.99992023e-01 -2.90435633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.38028169299999 meters Centerline goodness : 0.997792 Centerline is valid? [True, True] Translation: X:29.37, Y:-0.25, Z:-0.29 [[ 9.99951928e-01 -9.06169499e-03 -3.74544149e-03 2.93650937e+01] [ 9.06167094e-03 9.99958942e-01 -2.33911792e-05 -2.51319040e-01] [ 3.74549967e-03 -1.05499036e-05 9.99992986e-01 -2.90859356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.410281692999995 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:29.39, Y:-0.25, Z:-0.29 [[ 9.99933356e-01 -1.09974557e-02 -3.51278814e-03 2.93936741e+01] [ 1.09974442e-02 9.99939526e-01 -2.25801064e-05 -2.51820029e-01] [ 3.51282404e-03 -1.60530902e-05 9.99993830e-01 -2.90707378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.440281692999996 meters Centerline goodness : 0.998039 Centerline is valid? [True, True] Translation: X:29.42, Y:-0.25, Z:-0.29 [[ 9.99919746e-01 -1.22815954e-02 -3.10873188e-03 2.94227802e+01] [ 1.22815911e-02 9.99924578e-01 -2.04774618e-05 -2.52253323e-01] [ 3.10874891e-03 -1.77043553e-05 9.99995168e-01 -2.90390406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.470281693 meters Centerline goodness : 0.998238 Centerline is valid? [True, True] Translation: X:29.45, Y:-0.25, Z:-0.29 [[ 9.99907586e-01 -1.35264484e-02 -1.36184932e-03 2.94521920e+01] [ 1.35264488e-02 9.99908513e-01 -8.96033520e-06 -2.51550726e-01] [ 1.36184593e-03 -9.46147799e-06 9.99999073e-01 -2.89761194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.500281693 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:29.48, Y:-0.25, Z:-0.29 [[ 9.99901267e-01 -1.40071032e-02 -1.12134411e-03 2.94812484e+01] [ 1.40071037e-02 9.99901896e-01 -7.35753573e-06 -2.50072198e-01] [ 1.12133716e-03 -8.34997397e-06 9.99999371e-01 -2.89313095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.530281693 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:29.51, Y:-0.25, Z:-0.29 [[ 9.99900331e-01 -1.40486852e-02 -1.40074663e-03 2.95120321e+01] [ 1.40486861e-02 9.99901312e-01 -9.19320305e-06 -2.48838965e-01] [ 1.40073755e-03 -1.04863629e-05 9.99999019e-01 -2.89991532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.560281693 meters Centerline goodness : 0.997906 Centerline is valid? [True, True] Translation: X:29.54, Y:-0.25, Z:-0.29 [[ 9.99901882e-01 -1.37612867e-02 -2.61779928e-03 2.95413711e+01] [ 1.37612889e-02 9.99905309e-01 -1.71767350e-05 -2.47633935e-01] [ 2.61778777e-03 -1.88492425e-05 9.99996573e-01 -2.90706565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.590281692999994 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:29.57, Y:-0.25, Z:-0.29 [[ 9.99896456e-01 -1.41123013e-02 -2.81416883e-03 2.95699543e+01] [ 1.41123038e-02 9.99900416e-01 -1.89776394e-05 -2.47131012e-01] [ 2.81415640e-03 -2.07387309e-05 9.99996040e-01 -2.91017052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.620281692999995 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:29.60, Y:-0.25, Z:-0.29 [[ 9.99870432e-01 -1.59690358e-02 -2.02695088e-03 2.95992715e+01] [ 1.59690410e-02 9.99872487e-01 -1.36433517e-05 -2.46308922e-01] [ 2.02691029e-03 -1.87268776e-05 9.99997946e-01 -2.90079393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.650281693 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:29.63, Y:-0.25, Z:-0.29 [[ 9.99840585e-01 -1.77122017e-02 -2.25459575e-03 2.96284816e+01] [ 1.77122124e-02 9.99843126e-01 -1.52218207e-05 -2.45592698e-01] [ 2.25451167e-03 -2.47144848e-05 9.99997458e-01 -2.89886587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.680281693 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:29.66, Y:-0.24, Z:-0.29 [[ 9.99796859e-01 -1.99879528e-02 -2.59284832e-03 2.96585605e+01] [ 1.99879745e-02 9.99800220e-01 -1.75579197e-05 -2.44819597e-01] [ 2.59268127e-03 -3.42714332e-05 9.99996638e-01 -2.90207988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.710281693 meters Centerline goodness : 0.997977 Centerline is valid? [True, True] Translation: X:29.69, Y:-0.24, Z:-0.29 [[ 9.99758846e-01 -2.18143874e-02 -2.52640390e-03 2.96885434e+01] [ 2.18144137e-02 9.99762037e-01 -1.71622354e-05 -2.44285977e-01] [ 2.52617710e-03 -3.79539232e-05 9.99996808e-01 -2.90287926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.740281693 meters Centerline goodness : 0.998145 Centerline is valid? [True, True] Translation: X:29.72, Y:-0.24, Z:-0.29 [[ 9.99736129e-01 -2.29113309e-02 -1.65645475e-03 2.97178093e+01] [ 2.29113436e-02 9.99737501e-01 -1.12940739e-05 -2.44577594e-01] [ 1.65627870e-03 -2.66605103e-05 9.99998628e-01 -2.89531927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.770281692999994 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:29.75, Y:-0.24, Z:-0.29 [[ 9.99739027e-01 -2.27706497e-02 -1.83744986e-03 2.97461593e+01] [ 2.27706650e-02 9.99740715e-01 -1.25932235e-05 -2.43727282e-01] [ 1.83726019e-03 -2.92500181e-05 9.99998312e-01 -2.89794466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.800281692999995 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:29.78, Y:-0.24, Z:-0.29 [[ 9.99742774e-01 -2.24861586e-02 -2.95946867e-03 2.97759548e+01] [ 2.24861969e-02 9.99747153e-01 -2.03186738e-05 -2.43091361e-01] [ 2.95917727e-03 -4.62337480e-05 9.99995621e-01 -2.89627309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.830281692999996 meters Centerline goodness : 0.998297 Centerline is valid? [True, True] Translation: X:29.81, Y:-0.24, Z:-0.29 [[ 9.99736460e-01 -2.22774107e-02 -5.54325741e-03 2.98056972e+01] [ 2.22775415e-02 9.99751824e-01 -3.81576275e-05 -2.44482515e-01] [ 5.54273176e-03 -8.53425755e-05 9.99984635e-01 -2.91617643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.860281693 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:29.83, Y:-0.25, Z:-0.29 [[ 9.99731614e-01 -2.23886386e-02 -5.95388087e-03 2.98331011e+01] [ 2.23887885e-02 9.99749339e-01 -4.14835544e-05 -2.45993436e-01] [ 5.95331722e-03 -9.18277584e-05 9.99982275e-01 -2.91794815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.890281693 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:29.86, Y:-0.25, Z:-0.29 [[ 9.99756777e-01 -2.17377115e-02 -3.72285938e-03 2.98605575e+01] [ 2.17377644e-02 9.99763707e-01 -2.62519509e-05 -2.47154347e-01] [ 3.72255035e-03 -5.46810743e-05 9.99993070e-01 -2.89549491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.920281693 meters Centerline goodness : 0.998419 Centerline is valid? [True, True] Translation: X:29.89, Y:-0.25, Z:-0.29 [[ 9.99760729e-01 -2.16896783e-02 -2.83598609e-03 2.98897285e+01] [ 2.16897075e-02 9.99764750e-01 -2.04845578e-05 -2.46760505e-01] [ 2.83576323e-03 -4.10320523e-05 9.99995978e-01 -2.89156821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.950281692999994 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:29.92, Y:-0.25, Z:-0.29 [[ 9.99767999e-01 -2.12971776e-02 -3.22159689e-03 2.99193912e+01] [ 2.12972134e-02 9.99773188e-01 -2.32092712e-05 -2.47410547e-01] [ 3.22136049e-03 -4.54071498e-05 9.99994810e-01 -2.88645767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.980281692999995 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:29.95, Y:-0.25, Z:-0.29 [[ 9.99767339e-01 -2.13281134e-02 -3.22159611e-03 2.99485524e+01] [ 2.13281489e-02 9.99772529e-01 -2.33180633e-05 -2.47145403e-01] [ 3.22136062e-03 -4.53980434e-05 9.99994810e-01 -2.88671553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.010281692999996 meters Centerline goodness : 0.998117 Centerline is valid? [True, True] Translation: X:29.98, Y:-0.25, Z:-0.29 [[ 9.99747466e-01 -2.18824426e-02 -5.11488430e-03 2.99774275e+01] [ 2.18825353e-02 9.99760548e-01 -3.78454256e-05 -2.49506947e-01] [ 5.11448768e-03 -7.40907679e-05 9.99986918e-01 -2.90583959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.040281693 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:30.01, Y:-0.25, Z:-0.29 [[ 9.99721553e-01 -2.28722319e-02 -5.80314551e-03 3.00054086e+01] [ 2.28723624e-02 9.99738392e-01 -4.39026223e-05 -2.50398299e-01] [ 5.80263151e-03 -8.88412491e-05 9.99983161e-01 -2.91468763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.070281693 meters Centerline goodness : 0.998327 Centerline is valid? [True, True] Translation: X:30.03, Y:-0.25, Z:-0.29 [[ 9.99658861e-01 -2.56361480e-02 -4.99485591e-03 3.00335525e+01] [ 2.56362749e-02 9.99671336e-01 -3.86329509e-05 -2.53148555e-01] [ 4.99420468e-03 -8.94297276e-05 9.99987525e-01 -2.92089649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.100281693 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:30.06, Y:-0.25, Z:-0.29 [[ 9.99611819e-01 -2.75862879e-02 -3.89976897e-03 3.00616393e+01] [ 2.75863774e-02 9.99619423e-01 -3.08404367e-05 -2.54464823e-01] [ 3.89913558e-03 -7.67520336e-05 9.99992395e-01 -2.91543262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.13028169299999 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:30.09, Y:-0.26, Z:-0.29 [[ 9.99573635e-01 -2.90515728e-02 -2.92473105e-03 3.00908200e+01] [ 2.90516281e-02 9.99577912e-01 -2.35695943e-05 -2.56127171e-01] [ 2.92418129e-03 -6.14086538e-05 9.99995723e-01 -2.90742676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.160281692999995 meters Centerline goodness : 0.998283 Centerline is valid? [True, True] Translation: X:30.12, Y:-0.26, Z:-0.29 [[ 9.99486695e-01 -3.19509134e-02 -2.34225131e-03 3.01191942e+01] [ 3.19509560e-02 9.99489438e-01 -1.92387224e-05 -2.60731657e-01] [ 2.34167014e-03 -5.56083215e-05 9.99997257e-01 -2.90912870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.190281692999996 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:30.15, Y:-0.26, Z:-0.29 [[ 9.99452885e-01 -3.29812507e-02 -2.48353918e-03 3.01478849e+01] [ 3.29813009e-02 9.99455969e-01 -2.07493735e-05 -2.63364075e-01] [ 2.48287240e-03 -6.11723321e-05 9.99996916e-01 -2.91498903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.220281693 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:30.18, Y:-0.27, Z:-0.29 [[ 9.99437237e-01 -3.34677399e-02 -2.26250594e-03 3.01765785e+01] [ 3.34677820e-02 9.99439797e-01 -1.92659403e-05 -2.65151544e-01] [ 2.26188326e-03 -5.64659573e-05 9.99997440e-01 -2.91522581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.250281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:30.20, Y:-0.27, Z:-0.29 [[ 9.99482231e-01 -3.21284660e-02 -1.74134304e-03 3.02047044e+01] [ 3.21284887e-02 9.99483747e-01 -1.49383815e-05 -2.67800125e-01] [ 1.74092402e-03 -4.10160735e-05 9.99998484e-01 -2.89906754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.280281693 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:30.23, Y:-0.27, Z:-0.29 [[ 9.99521642e-01 -3.08605000e-02 -2.02887668e-03 3.02336714e+01] [ 3.08605274e-02 9.99523700e-01 -1.77888010e-05 -2.69187766e-01] [ 2.02845930e-03 -4.48319129e-05 9.99997942e-01 -2.89876449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.31028169299999 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:30.26, Y:-0.27, Z:-0.29 [[ 9.99618791e-01 -2.73577592e-02 -3.71828954e-03 3.02617629e+01] [ 2.73578251e-02 9.99625704e-01 -3.31426909e-05 -2.73312407e-01] [ 3.71780451e-03 -6.85942585e-05 9.99993087e-01 -2.90286443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.340281692999994 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:30.29, Y:-0.27, Z:-0.29 [[ 9.99677462e-01 -2.50635228e-02 -4.09787775e-03 3.02898270e+01] [ 2.50635831e-02 9.99685858e-01 -3.66453061e-05 -2.74521753e-01] [ 4.09750890e-03 -6.60740128e-05 9.99991603e-01 -2.90519415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.370281692999995 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:30.32, Y:-0.28, Z:-0.29 [[ 9.99736345e-01 -2.26025276e-02 -4.04548743e-03 3.03179362e+01] [ 2.26025630e-02 9.99744529e-01 -3.69712622e-05 -2.75069400e-01] [ 4.04528957e-03 -5.44768701e-05 9.99991816e-01 -2.90513818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.400281693 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:30.35, Y:-0.28, Z:-0.29 [[ 9.99786830e-01 -2.01599998e-02 -4.45746201e-03 3.03462807e+01] [ 2.01600152e-02 9.99796765e-01 -4.14806717e-05 -2.75714413e-01] [ 4.45739235e-03 -4.83906725e-05 9.99990065e-01 -2.90378127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.430281693 meters Centerline goodness : 0.998391 Centerline is valid? [True, True] Translation: X:30.37, Y:-0.28, Z:-0.29 [[ 9.99853009e-01 -1.64694373e-02 -4.76632921e-03 3.03745970e+01] [ 1.64694092e-02 9.99864369e-01 -4.51424553e-05 -2.78210827e-01] [ 4.76642622e-03 -3.33628065e-05 9.99988640e-01 -2.90756460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.460281693 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:30.40, Y:-0.28, Z:-0.29 [[ 9.99869001e-01 -1.55102671e-02 -4.62726439e-03 3.04024755e+01] [ 1.55102264e-02 9.99879708e-01 -4.46695734e-05 -2.78841075e-01] [ 4.62740061e-03 -2.71061966e-05 9.99989293e-01 -2.90417844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.490281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:30.43, Y:-0.28, Z:-0.29 [[ 9.99896492e-01 -1.39836760e-02 -3.38544750e-03 3.04299859e+01] [ 1.39836451e-02 9.99902224e-01 -3.28024276e-05 -2.79132422e-01] [ 3.38557518e-03 -1.45418641e-05 9.99994269e-01 -2.90030196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.520281692999994 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:30.46, Y:-0.28, Z:-0.29 [[ 9.99902921e-01 -1.37205941e-02 -2.42773209e-03 3.04592867e+01] [ 1.37205763e-02 9.99905868e-01 -2.40106362e-05 -2.79828651e-01] [ 2.42783300e-03 -9.30157797e-06 9.99997053e-01 -2.90800938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.550281692999995 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:30.49, Y:-0.28, Z:-0.29 [[ 9.99904973e-01 -1.35648799e-02 -2.45726743e-03 3.04882506e+01] [ 1.35648601e-02 9.99907993e-01 -2.47082645e-05 -2.81096858e-01] [ 2.45737651e-03 -8.62657244e-06 9.99996981e-01 -2.90993504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.580281692999996 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:30.52, Y:-0.28, Z:-0.29 [[ 9.99911848e-01 -1.24602318e-02 -4.58684365e-03 3.05164269e+01] [ 1.24601515e-02 9.99922368e-01 -4.60886893e-05 -2.82237482e-01] [ 4.58706184e-03 -1.10681400e-05 9.99989479e-01 -2.90734631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.610281693 meters Centerline goodness : 0.998645 Centerline is valid? [True, True] Translation: X:30.54, Y:-0.28, Z:-0.29 [[ 9.99922824e-01 -1.14075296e-02 -4.92088763e-03 3.05441785e+01] [ 1.14074192e-02 9.99934932e-01 -5.04974796e-05 -2.81108384e-01] [ 4.92114349e-03 -5.64104577e-06 9.99987891e-01 -2.90782271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.640281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:30.57, Y:-0.28, Z:-0.29 [[ 9.99941708e-01 -9.88852758e-03 -4.33572124e-03 3.05720150e+01] [ 9.88842626e-03 9.99951107e-01 -4.48067060e-05 -2.80250746e-01] [ 4.33595233e-03 1.93063429e-06 9.99990600e-01 -2.90495191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.670281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:30.60, Y:-0.28, Z:-0.29 [[ 9.99962504e-01 -8.48057231e-03 -1.75222787e-03 3.06002632e+01] [ 8.48055279e-03 9.99964039e-01 -1.85727540e-05 -2.83662521e-01] [ 1.75232236e-03 3.71219666e-06 9.99998465e-01 -2.89808092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.700281692999994 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:30.63, Y:-0.29, Z:-0.29 [[ 9.99960816e-01 -8.71930117e-03 -1.52948345e-03 3.06285557e+01] [ 8.71928663e-03 9.99961986e-01 -1.61731611e-05 -2.86169608e-01] [ 1.52956633e-03 2.83652274e-06 9.99998830e-01 -2.89898389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.730281692999995 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:30.66, Y:-0.29, Z:-0.29 [[ 9.99953058e-01 -9.52980301e-03 -1.75059954e-03 3.06584036e+01] [ 9.52978518e-03 9.99954590e-01 -1.85278388e-05 -2.87806076e-01] [ 1.75069661e-03 1.84413153e-06 9.99998468e-01 -2.90097206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.760281692999996 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:30.69, Y:-0.29, Z:-0.29 [[ 9.99932800e-01 -1.12614582e-02 -2.75224689e-03 3.06873982e+01] [ 1.12614204e-02 9.99936588e-01 -2.92230356e-05 -2.89370172e-01] [ 2.75240145e-03 -1.77313753e-06 9.99996212e-01 -2.90961976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.790281693 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:30.72, Y:-0.29, Z:-0.29 [[ 9.99926193e-01 -1.18592690e-02 -2.63920809e-03 3.07157897e+01] [ 1.18592349e-02 9.99929676e-01 -2.85701935e-05 -2.90318949e-01] [ 2.63936132e-03 -2.73090393e-06 9.99996517e-01 -2.90416892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.820281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:30.74, Y:-0.29, Z:-0.29 [[ 9.99925448e-01 -1.20465261e-02 -1.99501253e-03 3.07446592e+01] [ 1.20465070e-02 9.99927438e-01 -2.15877898e-05 -2.92555290e-01] [ 1.99512782e-03 -2.44675195e-06 9.99998010e-01 -2.90121938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.850281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:30.77, Y:-0.29, Z:-0.29 [[ 9.99921210e-01 -1.24674422e-02 -1.46148241e-03 3.07738837e+01] [ 1.24674319e-02 9.99922278e-01 -1.61685204e-05 -2.94773336e-01] [ 1.46157040e-03 -2.05368591e-06 9.99998932e-01 -2.89538391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.88028169299999 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:30.80, Y:-0.30, Z:-0.29 [[ 9.99902692e-01 -1.38129463e-02 -1.95171530e-03 3.08025267e+01] [ 1.38129306e-02 9.99904597e-01 -2.14994082e-05 -2.98513198e-01] [ 1.95182607e-03 -5.46159179e-06 9.99998095e-01 -2.89186715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.910281692999995 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:30.83, Y:-0.30, Z:-0.29 [[ 9.99890196e-01 -1.46591497e-02 -2.16929632e-03 3.08318078e+01] [ 1.46591314e-02 9.99892549e-01 -2.43583143e-05 -2.99911110e-01] [ 2.16942030e-03 -7.44436014e-06 9.99997647e-01 -2.89897040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.940281692999996 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:30.86, Y:-0.30, Z:-0.29 [[ 9.99879347e-01 -1.54074513e-02 -1.97518459e-03 3.08606856e+01] [ 1.54074377e-02 9.99881298e-01 -2.21469052e-05 -3.02194821e-01] [ 1.97529136e-03 -8.28830029e-06 9.99998049e-01 -2.90566817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.970281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:30.89, Y:-0.31, Z:-0.29 [[ 9.99871223e-01 -1.60024277e-02 -1.20836443e-03 3.08895877e+01] [ 1.60024226e-02 9.99871953e-01 -1.38683326e-05 -3.05598889e-01] [ 1.20843162e-03 -5.47021148e-06 9.99999270e-01 -2.90469632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.000281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:30.92, Y:-0.31, Z:-0.29 [[ 9.99870223e-01 -1.60765557e-02 -1.03967990e-03 3.09196649e+01] [ 1.60765521e-02 9.99870764e-01 -1.18538504e-05 -3.06528286e-01] [ 1.03973611e-03 -4.86215613e-06 9.99999459e-01 -2.89935218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.030281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:30.95, Y:-0.31, Z:-0.29 [[ 9.99875335e-01 -1.57024220e-02 -1.65753718e-03 3.09486499e+01] [ 1.57024122e-02 9.99876709e-01 -1.89532067e-05 -3.07892309e-01] [ 1.65763043e-03 -7.07648800e-06 9.99998626e-01 -2.90060634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.06028169299999 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:30.98, Y:-0.31, Z:-0.29 [[ 9.99881305e-01 -1.52133064e-02 -2.43556474e-03 3.09770368e+01] [ 1.52132825e-02 9.99884271e-01 -2.83349366e-05 -3.08871271e-01] [ 2.43571394e-03 -8.72136101e-06 9.99997034e-01 -2.89478389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.090281692999994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:31.00, Y:-0.31, Z:-0.29 [[ 9.99917434e-01 -1.24813222e-02 -3.05645788e-03 3.10048673e+01] [ 1.24812717e-02 9.99922105e-01 -3.56054980e-05 -3.10344667e-01] [ 3.05666421e-03 -2.54592309e-06 9.99995328e-01 -2.89898139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.120281692999995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:31.03, Y:-0.31, Z:-0.29 [[ 9.99942885e-01 -1.01752263e-02 -3.26983647e-03 3.10322579e+01] [ 1.01751555e-02 9.99948231e-01 -3.82713414e-05 -3.10036952e-01] [ 3.27005661e-03 4.99806100e-06 9.99994653e-01 -2.89487283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.150281693 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:31.06, Y:-0.31, Z:-0.29 [[ 9.99983151e-01 -4.68504672e-03 -3.42764215e-03 3.10610230e+01] [ 4.68493460e-03 9.99989025e-01 -4.07407650e-05 -3.07995873e-01] [ 3.42779541e-03 2.46817993e-05 9.99994125e-01 -2.89418341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.180281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:31.09, Y:-0.31, Z:-0.29 [[ 9.99991705e-01 -2.49162825e-03 -3.22217685e-03 3.10897393e+01] [ 2.49151612e-03 9.99996895e-01 -3.88112338e-05 -3.05931372e-01] [ 3.22226354e-03 3.07828063e-05 9.99994808e-01 -2.89485598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.210281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:31.12, Y:-0.30, Z:-0.29 [[ 9.99996121e-01 -3.33041106e-04 -2.76530031e-03 3.11184512e+01] [ 3.32949023e-04 9.99999944e-01 -3.37595702e-05 -3.03341894e-01] [ 2.76531140e-03 3.28387352e-05 9.99996176e-01 -2.88990044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.240281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:31.15, Y:-0.30, Z:-0.29 [[ 9.99984539e-01 4.54187884e-03 -3.20814797e-03 3.11467378e+01] [-4.54202790e-03 9.99989684e-01 -3.91774969e-05 -2.98328755e-01] [ 3.20793693e-03 5.37483888e-05 9.99994853e-01 -2.88302576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.270281692999994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:31.18, Y:-0.30, Z:-0.29 [[ 9.99972541e-01 6.65903564e-03 -3.25195017e-03 3.11757865e+01] [-6.65920048e-03 9.99977826e-01 -3.98619577e-05 -2.95342537e-01] [ 3.25161262e-03 6.15162512e-05 9.99994712e-01 -2.89147623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.300281692999995 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:31.20, Y:-0.29, Z:-0.29 [[ 9.99965967e-01 7.67102330e-03 -3.03651541e-03 3.12039278e+01] [-7.67117197e-03 9.99970575e-01 -3.73164848e-05 -2.92445199e-01] [ 3.03613981e-03 6.06088467e-05 9.99995389e-01 -2.90185815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.330281692999996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:31.23, Y:-0.29, Z:-0.29 [[ 9.99976003e-01 6.57512646e-03 -2.18207611e-03 3.12326867e+01] [-6.56615808e-03 9.99970070e-01 4.09204340e-03 -2.90909616e-01] [ 2.20891650e-03 -4.07761734e-03 9.99989247e-01 -2.91309812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.360281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:31.26, Y:-0.28, Z:-0.29 [[ 9.99981536e-01 4.89016462e-03 -3.60754573e-03 3.12617624e+01] [-4.90514988e-03 9.99979330e-01 -4.15677956e-03 -2.84261001e-01] [ 3.58714383e-03 4.17439836e-03 9.99984853e-01 -2.90800176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.390281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:31.29, Y:-0.28, Z:-0.29 [[ 9.99987366e-01 2.99108907e-03 -4.04003490e-03 3.12904098e+01] [-2.99131592e-03 9.99995525e-01 -5.01084473e-05 -2.84838553e-01] [ 4.03986694e-03 6.21928349e-05 9.99991838e-01 -2.90158596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.420281693 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:31.32, Y:-0.28, Z:-0.29 [[ 9.99991209e-01 1.08919098e-03 -4.04921673e-03 3.13192662e+01] [-1.08940407e-03 9.99999405e-01 -5.04184870e-05 -2.83270523e-01] [ 4.04915940e-03 5.48292769e-05 9.99991801e-01 -2.90367212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.450281692999994 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:31.35, Y:-0.28, Z:-0.29 [[ 9.99986068e-01 -2.57570734e-03 -4.60755920e-03 3.13466449e+01] [ 2.57546889e-03 9.99996682e-01 -5.76844155e-05 -2.82913169e-01] [ 4.60769249e-03 4.58169865e-05 9.99989383e-01 -2.90790649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.480281692999995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:31.37, Y:-0.28, Z:-0.29 [[ 9.99978123e-01 -4.34485390e-03 -4.98752632e-03 3.13749568e+01] [ 4.34459520e-03 9.99990560e-01 -6.27030938e-05 -2.82242681e-01] [ 4.98775167e-03 4.10329391e-05 9.99987560e-01 -2.90808229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.510281692999996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:31.40, Y:-0.28, Z:-0.29 [[ 9.99970279e-01 -5.80979568e-03 -5.06834924e-03 3.14028175e+01] [ 5.80954594e-03 9.99983122e-01 -6.39967425e-05 -2.80688613e-01] [ 5.06863551e-03 3.45500327e-05 9.99987154e-01 -2.90941091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.540281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:31.43, Y:-0.28, Z:-0.29 [[ 9.99954475e-01 -7.05224320e-03 -6.42754977e-03 3.14308321e+01] [ 7.05185912e-03 9.99975132e-01 -8.24174528e-05 -2.79434072e-01] [ 6.42797115e-03 3.70875253e-05 9.99979340e-01 -2.91482640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.570281693 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:31.46, Y:-0.28, Z:-0.29 [[ 9.99951702e-01 -6.87577368e-03 -7.02264820e-03 3.14576015e+01] [ 6.87530769e-03 9.99976361e-01 -9.04948468e-05 -2.79889024e-01] [ 7.02310441e-03 4.22076089e-05 9.99975337e-01 -2.91027548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.600281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:31.48, Y:-0.28, Z:-0.29 [[ 9.99969321e-01 -5.90900777e-03 -5.14203415e-03 3.14848604e+01] [ 5.90874169e-03 9.99982541e-01 -6.69379735e-05 -2.81063794e-01] [ 5.14233991e-03 3.65529684e-05 9.99986777e-01 -2.89797792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.63028169299999 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:31.51, Y:-0.28, Z:-0.29 [[ 9.99981339e-01 -4.93589403e-03 -3.59972743e-03 3.15133211e+01] [ 4.93575480e-03 9.99987818e-01 -4.75624374e-05 -2.80993973e-01] [ 3.59991835e-03 2.97941779e-05 9.99993520e-01 -2.89123105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.660281692999995 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:31.54, Y:-0.28, Z:-0.29 [[ 9.99991010e-01 -2.91295001e-03 -3.08141408e-03 3.15410188e+01] [ 2.91283775e-03 9.99995757e-01 -4.09167724e-05 -2.80554776e-01] [ 3.08152020e-03 3.19407453e-05 9.99995252e-01 -2.88966677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.690281692999996 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:31.57, Y:-0.28, Z:-0.29 [[ 9.99985558e-01 1.62424812e-03 -5.12297209e-03 3.15697034e+01] [-1.62462240e-03 9.99998678e-01 -6.88993762e-05 -2.78283944e-01] [ 5.12285340e-03 7.72212764e-05 9.99986875e-01 -2.89894184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.720281693 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:31.60, Y:-0.28, Z:-0.29 [[ 9.99978325e-01 3.21777494e-03 -5.74419986e-03 3.15973299e+01] [-3.21827423e-03 9.99994818e-01 -7.76787471e-05 -2.75958900e-01] [ 5.74392014e-03 9.61634738e-05 9.99983499e-01 -2.90355756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.750281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:31.63, Y:-0.27, Z:-0.29 [[ 9.99975291e-01 4.32350453e-03 -5.54292040e-03 3.16258764e+01] [-4.32398761e-03 9.99990649e-01 -7.51726876e-05 -2.73915977e-01] [ 5.54254356e-03 9.91383494e-05 9.99984635e-01 -2.90217458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.780281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:31.65, Y:-0.27, Z:-0.29 [[ 9.99978645e-01 4.44027661e-03 -4.79505824e-03 3.16548462e+01] [-4.44064058e-03 9.99990138e-01 -6.52610253e-05 -2.72213498e-01] [ 4.79472117e-03 8.65527619e-05 9.99988502e-01 -2.89243447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.81028169299999 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:31.68, Y:-0.27, Z:-0.29 [[ 9.99980580e-01 5.62778852e-03 -2.67723146e-03 3.16836675e+01] [-5.62790663e-03 9.99984163e-01 -3.65821460e-05 -2.67832159e-01] [ 2.67698318e-03 5.16486443e-05 9.99996416e-01 -2.87934966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.840281692999994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:31.71, Y:-0.26, Z:-0.29 [[ 9.99969844e-01 7.54345611e-03 -1.84611646e-03 3.17137776e+01] [-7.54351559e-03 9.99971547e-01 -2.52622858e-05 -2.64663591e-01] [ 1.84587337e-03 3.91877324e-05 9.99998296e-01 -2.88104338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.870281692999995 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:31.74, Y:-0.26, Z:-0.29 [[ 9.99952510e-01 9.63502136e-03 -1.46444230e-03 3.17424708e+01] [-9.63506114e-03 9.99953582e-01 -2.01063952e-05 -2.60743784e-01] [ 1.46418059e-03 3.42154314e-05 9.99998928e-01 -2.88434566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.900281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:31.77, Y:-0.26, Z:-0.29 [[ 9.99952622e-01 9.62338816e-03 -1.46444235e-03 3.17724669e+01] [-9.62342792e-03 9.99953694e-01 -2.01022403e-05 -2.60326771e-01] [ 1.46418109e-03 3.41942433e-05 9.99998928e-01 -2.88461023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.930281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:31.80, Y:-0.25, Z:-0.29 [[ 9.99924347e-01 1.21408616e-02 -1.97501387e-03 3.18021553e+01] [-1.21409389e-02 9.99926296e-01 -2.71631297e-05 -2.53642803e-01] [ 1.97453852e-03 5.11395974e-05 9.99998049e-01 -2.90489267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.960281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:31.83, Y:-0.25, Z:-0.29 [[ 9.99919508e-01 1.24169133e-02 -2.60743854e-03 3.18322561e+01] [-1.24170491e-02 9.99922905e-01 -3.59146820e-05 -2.50596647e-01] [ 2.60679157e-03 6.82884835e-05 9.99996600e-01 -2.90964611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.990281693 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:31.86, Y:-0.25, Z:-0.29 [[ 9.99924329e-01 1.17524568e-02 -3.63530981e-03 3.18621498e+01] [-1.17527168e-02 9.99930933e-01 -5.01483307e-05 -2.47098425e-01] [ 3.63446936e-03 9.28693025e-05 9.99993391e-01 -2.89835797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.020281692999994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:31.89, Y:-0.24, Z:-0.29 [[ 9.99936929e-01 1.00206293e-02 -5.07206183e-03 3.18908398e+01] [-1.00211139e-02 9.99949785e-01 -7.01449922e-05 -2.40281944e-01] [ 5.07110424e-03 1.20968278e-04 9.99987135e-01 -2.90327449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.050281692999995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:31.92, Y:-0.24, Z:-0.29 [[ 9.99940672e-01 9.26550443e-03 -5.72729570e-03 3.19200202e+01] [-9.26611157e-03 9.99957066e-01 -7.94804111e-05 -2.37263013e-01] [ 5.72631337e-03 1.32545457e-04 9.99983596e-01 -2.91195515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.080281692999996 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:31.95, Y:-0.23, Z:-0.29 [[ 9.99947970e-01 8.24469132e-03 -6.00685251e-03 3.19482861e+01] [-8.24534310e-03 9.99966003e-01 -8.37478728e-05 -2.34518749e-01] [ 6.00595782e-03 1.33272075e-04 9.99981955e-01 -2.92097117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.110281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:31.98, Y:-0.23, Z:-0.29 [[ 9.99958616e-01 7.22097580e-03 -5.53392424e-03 3.19767277e+01] [-7.22151470e-03 9.99973922e-01 -7.74043775e-05 -2.31141182e-01] [ 5.53322098e-03 1.17364489e-04 9.99984685e-01 -2.91988825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.140281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:32.00, Y:-0.22, Z:-0.29 [[ 9.99980053e-01 3.97969451e-03 -4.90460322e-03 3.20041166e+01] [-3.98008043e-03 9.99992077e-01 -6.89288863e-05 -2.22830895e-01] [ 4.90429004e-03 8.84482267e-05 9.99987970e-01 -2.91149688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.170281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:32.03, Y:-0.22, Z:-0.29 [[ 9.99985766e-01 2.24898921e-03 -4.83841450e-03 3.20331729e+01] [-2.24934554e-03 9.99997468e-01 -6.82045411e-05 -2.18099283e-01] [ 4.83824886e-03 7.90868364e-05 9.99988292e-01 -2.90552732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.200281692999994 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:32.06, Y:-0.21, Z:-0.29 [[ 9.99989192e-01 -2.17792602e-03 -4.10751848e-03 3.20619563e+01] [ 2.17770600e-03 9.99997627e-01 -5.80369484e-05 -2.10323095e-01] [ 4.10763513e-03 4.90913535e-05 9.99991562e-01 -2.90779701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.230281692999995 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:32.09, Y:-0.21, Z:-0.29 [[ 9.99981736e-01 -4.66852997e-03 -3.83820535e-03 3.20902826e+01] [ 4.66835549e-03 9.99989102e-01 -5.44167009e-05 -2.06950969e-01] [ 3.83841756e-03 3.64976000e-05 9.99992633e-01 -2.90288924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.260281692999996 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:32.12, Y:-0.20, Z:-0.29 [[ 9.99967341e-01 -7.18118017e-03 -3.70769858e-03 3.21191548e+01] [ 7.18103210e-03 9.99974215e-01 -5.32484637e-05 -2.03697292e-01] [ 3.70798536e-03 2.66216221e-05 9.99993125e-01 -2.90674103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.290281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:32.15, Y:-0.20, Z:-0.29 [[ 9.99943176e-01 -9.87023672e-03 -4.02786446e-03 3.21475041e+01] [ 9.87008129e-03 9.99951288e-01 -5.84641714e-05 -2.00846199e-01] [ 4.02824531e-03 1.87054995e-05 9.99991886e-01 -2.91572082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.320281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:32.18, Y:-0.20, Z:-0.29 [[ 9.99876428e-01 -1.50683992e-02 -4.48019427e-03 3.21767120e+01] [ 1.50682560e-02 9.99886465e-01 -6.57143211e-05 -1.97008761e-01] [ 4.48067582e-03 -1.80251376e-06 9.99989962e-01 -2.91855995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.350281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:32.21, Y:-0.20, Z:-0.29 [[ 9.99833856e-01 -1.78683639e-02 -3.60301987e-03 3.22056882e+01] [ 1.78682893e-02 9.99840348e-01 -5.28860824e-05 -1.95414434e-01] [ 3.60338963e-03 -1.15025059e-05 9.99993508e-01 -2.92167324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.38028169299999 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:32.23, Y:-0.19, Z:-0.29 [[ 9.99754176e-01 -2.18655519e-02 -3.67225707e-03 3.22346288e+01] [ 2.18655009e-02 9.99760920e-01 -5.40220136e-05 -1.91694048e-01] [ 3.67256032e-03 -2.62870067e-05 9.99993256e-01 -2.90918668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.410281692999995 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:32.26, Y:-0.19, Z:-0.29 [[ 9.99723615e-01 -2.30702991e-02 -4.52261235e-03 3.22646935e+01] [ 2.30702338e-02 9.99733845e-01 -6.66131156e-05 -1.90283074e-01] [ 4.52294541e-03 -3.77430193e-05 9.99989771e-01 -2.91451766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.440281692999996 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:32.29, Y:-0.19, Z:-0.29 [[ 9.99697860e-01 -2.39894551e-02 -5.35679058e-03 3.22929107e+01] [ 2.39893758e-02 9.99712210e-01 -7.90792415e-05 -1.89805175e-01] [ 5.35714602e-03 -4.94507136e-05 9.99985649e-01 -2.92278396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.470281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:32.32, Y:-0.19, Z:-0.29 [[ 9.99675252e-01 -2.48307443e-02 -5.72930759e-03 3.23217826e+01] [ 2.48306617e-02 9.99691668e-01 -8.55457487e-05 -1.89566263e-01] [ 5.72966523e-03 -5.67445309e-05 9.99983584e-01 -2.92479711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.500281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:32.35, Y:-0.19, Z:-0.29 [[ 9.99644053e-01 -2.63788204e-02 -3.99051875e-03 3.23507850e+01] [ 2.63787901e-02 9.99652017e-01 -6.02240312e-05 -1.89088158e-01] [ 3.99071876e-03 -4.50624621e-05 9.99992036e-01 -2.92265696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.530281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:32.38, Y:-0.19, Z:-0.29 [[ 9.99640318e-01 -2.66057957e-02 -3.37148390e-03 3.23793107e+01] [ 2.66057753e-02 9.99646002e-01 -5.09056332e-05 -1.88194475e-01] [ 3.37164479e-03 -3.88136197e-05 9.99994315e-01 -2.91624260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.56028169299999 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:32.41, Y:-0.19, Z:-0.29 [[ 9.99648310e-01 -2.63530314e-02 -2.96197429e-03 3.24094313e+01] [ 2.63530144e-02 9.99652698e-01 -4.47832671e-05 -1.87545278e-01] [ 2.96212577e-03 -3.32894339e-05 9.99995612e-01 -2.92024818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.590281692999994 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:32.44, Y:-0.19, Z:-0.29 [[ 9.99690794e-01 -2.45154919e-02 -4.16016799e-03 3.24393517e+01] [ 2.45154420e-02 9.99699449e-01 -6.29858618e-05 -1.86857406e-01] [ 4.16046178e-03 -3.90219709e-05 9.99991344e-01 -2.91379374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.620281692999995 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:32.47, Y:-0.19, Z:-0.29 [[ 9.99722829e-01 -2.27786211e-02 -5.94970549e-03 3.24686304e+01] [ 2.27784876e-02 9.99740533e-01 -9.02055659e-05 -1.86555311e-01] [ 5.95021650e-03 -4.53447291e-05 9.99982296e-01 -2.91687400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.650281693 meters Centerline goodness : 0.998462 Centerline is valid? [True, True] Translation: X:32.50, Y:-0.19, Z:-0.29 [[ 9.99781620e-01 -1.97185909e-02 -6.92017740e-03 3.24966843e+01] [ 1.97183281e-02 9.99805569e-01 -1.06209519e-04 -1.86235891e-01] [ 6.92092620e-03 -3.02680035e-05 9.99976050e-01 -2.91398429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.680281693 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:32.52, Y:-0.19, Z:-0.29 [[ 9.99806108e-01 -1.87953273e-02 -5.87213347e-03 3.25241686e+01] [ 1.87951198e-02 9.99823352e-01 -9.05283267e-05 -1.85998762e-01] [ 5.87279768e-03 -1.98566780e-05 9.99982755e-01 -2.91590469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.710281693 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:32.55, Y:-0.19, Z:-0.29 [[ 9.99819964e-01 -1.83114180e-02 -4.97317076e-03 3.25516669e+01] [ 1.83112583e-02 9.99832332e-01 -7.76552075e-05 -1.86035023e-01] [ 4.97375890e-03 -1.34237877e-05 9.99987631e-01 -2.91230844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.740281693 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:32.58, Y:-0.19, Z:-0.29 [[ 9.99828273e-01 -1.80937341e-02 -4.00516678e-03 3.25809222e+01] [ 1.80936262e-02 9.99836295e-01 -6.31773525e-05 -1.86243002e-01] [ 4.00565423e-03 -9.30148733e-06 9.99991977e-01 -2.91473299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.770281692999994 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:32.61, Y:-0.19, Z:-0.29 [[ 9.99834577e-01 -1.81119672e-02 -1.66589129e-03 3.26094010e+01] [ 1.81119485e-02 9.99835965e-01 -2.63273041e-05 -1.86589197e-01] [ 1.66609487e-03 -3.84958842e-06 9.99998612e-01 -2.89956715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.800281692999995 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:32.64, Y:-0.19, Z:-0.29 [[ 9.99837815e-01 -1.79418797e-02 -1.55965451e-03 3.26394027e+01] [ 1.79418631e-02 9.99839032e-01 -2.46137112e-05 -1.86013470e-01] [ 1.55984507e-03 -3.37338848e-06 9.99998783e-01 -2.89455642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.830281692999996 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:32.67, Y:-0.19, Z:-0.29 [[ 9.99849250e-01 -1.72729659e-02 -1.76686516e-03 3.26697235e+01] [ 1.72729436e-02 9.99850811e-01 -2.78838092e-05 -1.85055534e-01] [ 1.76708320e-03 -2.63935650e-06 9.99998439e-01 -2.89283283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.860281693 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:32.70, Y:-0.18, Z:-0.29 [[ 9.99893311e-01 -1.45707699e-02 -1.02895901e-03 3.27004969e+01] [ 1.45707609e-02 9.99893841e-01 -1.62385321e-05 -1.82250465e-01] [ 1.02908638e-03 1.24408392e-06 9.99999470e-01 -2.89270415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.890281693 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:32.73, Y:-0.18, Z:-0.29 [[ 9.99920225e-01 -1.25848225e-02 -1.07979821e-03 3.27297141e+01] [ 1.25848114e-02 9.99920808e-01 -1.70634254e-05 -1.79587009e-01] [ 1.07992743e-03 3.47300745e-06 9.99999417e-01 -2.88880972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.920281693 meters Centerline goodness : 0.998466 Centerline is valid? [True, True] Translation: X:32.76, Y:-0.17, Z:-0.29 [[ 9.99956991e-01 -8.61544424e-03 -3.43365428e-03 3.27591871e+01] [ 8.61530866e-03 9.99962886e-01 -5.42761362e-05 -1.74266603e-01] [ 3.43399446e-03 2.46918104e-05 9.99994104e-01 -2.90560300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.950281692999994 meters Centerline goodness : 0.998202 Centerline is valid? [True, True] Translation: X:32.79, Y:-0.17, Z:-0.29 [[ 9.99957513e-01 -8.11837329e-03 -4.36618150e-03 3.27890164e+01] [ 8.11814887e-03 9.99967045e-01 -6.91220351e-05 -1.71531300e-01] [ 4.36659877e-03 3.36737869e-05 9.99990466e-01 -2.91649956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.980281692999995 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:32.82, Y:-0.17, Z:-0.29 [[ 9.99950542e-01 -9.04750548e-03 -4.12993592e-03 3.28174131e+01] [ 9.04730927e-03 9.99959070e-01 -6.61885671e-05 -1.68291569e-01] [ 4.13036572e-03 2.88204860e-05 9.99991470e-01 -2.91257249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.010281692999996 meters Centerline goodness : 0.998509 Centerline is valid? [True, True] Translation: X:32.85, Y:-0.16, Z:-0.29 [[ 9.99924649e-01 -1.19626849e-02 -2.75500948e-03 3.28462723e+01] [ 1.19626085e-02 9.99928444e-01 -4.41841512e-05 -1.61619036e-01] [ 2.75534090e-03 1.12237220e-05 9.99996204e-01 -2.90198197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.040281693 meters Centerline goodness : 0.998687 Centerline is valid? [True, True] Translation: X:32.88, Y:-0.16, Z:-0.29 [[ 9.99911364e-01 -1.32440974e-02 -1.36300052e-03 3.28762202e+01] [ 1.32440799e-02 9.99912293e-01 -2.18694111e-05 -1.58851371e-01] [ 1.36317061e-03 3.81578500e-06 9.99999071e-01 -2.89849624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.070281693 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:32.91, Y:-0.16, Z:-0.29 [[ 9.99886604e-01 -1.50446679e-02 -6.60480488e-04 3.29065319e+01] [ 1.50446642e-02 9.99886823e-01 -1.05926306e-05 -1.57105538e-01] [ 6.60565100e-04 6.54722253e-07 9.99999782e-01 -2.90156447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.100281693 meters Centerline goodness : 0.998558 Centerline is valid? [True, True] Translation: X:32.94, Y:-0.15, Z:-0.29 [[ 9.99782603e-01 -2.08474642e-02 -3.60192052e-04 3.29365722e+01] [ 2.08474635e-02 9.99782668e-01 -5.77667533e-06 -1.54979282e-01] [ 3.60234200e-04 -1.73367116e-06 9.99999935e-01 -2.90980956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.13028169299999 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:32.97, Y:-0.15, Z:-0.29 [[ 9.99703043e-01 -2.43510394e-02 -9.23242636e-04 3.29667772e+01] [ 2.43510362e-02 9.99703469e-01 -1.47869255e-05 -1.52613557e-01] [ 9.23328943e-04 -7.69938038e-06 9.99999574e-01 -2.91187917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.160281692999995 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:33.00, Y:-0.15, Z:-0.29 [[ 9.99578625e-01 -2.89112088e-02 -2.59134552e-03 3.29983684e+01] [ 2.89111985e-02 9.99581983e-01 -4.14544714e-05 -1.47634816e-01] [ 2.59146079e-03 -3.34819013e-05 9.99996642e-01 -2.91427087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.190281692999996 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:33.03, Y:-0.15, Z:-0.29 [[ 9.99552655e-01 -2.97118173e-02 -3.42011746e-03 3.30282116e+01] [ 2.97118037e-02 9.99558505e-01 -5.47853311e-05 -1.46007683e-01] [ 3.42023526e-03 -4.68570354e-05 9.99994150e-01 -2.91682705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.220281693 meters Centerline goodness : 0.998471 Centerline is valid? [True, True] Translation: X:33.06, Y:-0.15, Z:-0.29 [[ 9.99526771e-01 -3.05096945e-02 -3.92343564e-03 3.30581562e+01] [ 3.05096824e-02 9.99534469e-01 -6.29407997e-05 -1.45078816e-01] [ 3.92352946e-03 -5.67917609e-05 9.99992301e-01 -2.92535786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.250281693 meters Centerline goodness : 0.998409 Centerline is valid? [True, True] Translation: X:33.09, Y:-0.14, Z:-0.29 [[ 9.99419965e-01 -3.37505440e-02 -4.54258142e-03 3.30864448e+01] [ 3.37505606e-02 9.99430285e-01 -7.30268177e-05 -1.43142616e-01] [ 4.54245813e-03 -8.03302098e-05 9.99989680e-01 -2.92552829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.280281693 meters Centerline goodness : 0.998382 Centerline is valid? [True, True] Translation: X:33.12, Y:-0.14, Z:-0.29 [[ 9.99348885e-01 -3.57435753e-02 -4.91970190e-03 3.31164218e+01] [ 3.57436184e-02 9.99360990e-01 -7.91874542e-05 -1.40837648e-01] [ 4.91938861e-03 -9.67120535e-05 9.99987895e-01 -2.92109808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.31028169299999 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:33.14, Y:-0.14, Z:-0.29 [[ 9.99287091e-01 -3.74488222e-02 -4.78484893e-03 3.31448833e+01] [ 3.74488815e-02 9.99298542e-01 -7.72283815e-05 -1.39445129e-01] [ 4.78438467e-03 -1.02013916e-04 9.99988550e-01 -2.92030748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.340281692999994 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:33.17, Y:-0.14, Z:-0.29 [[ 9.99251330e-01 -3.84503818e-02 -4.28352209e-03 3.31744956e+01] [ 3.84504382e-02 9.99260506e-01 -6.92189369e-05 -1.39120194e-01] [ 4.28301595e-03 -9.55361868e-05 9.99990823e-01 -2.92476323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.370281692999995 meters Centerline goodness : 0.998098 Centerline is valid? [True, True] Translation: X:33.20, Y:-0.14, Z:-0.29 [[ 9.99224894e-01 -3.91921161e-02 -3.68623125e-03 3.32027942e+01] [ 3.91921624e-02 9.99231690e-01 -5.97016872e-05 -1.40023564e-01] [ 3.68573892e-03 -8.48159617e-05 9.99993204e-01 -2.91865932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.400281693 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:33.23, Y:-0.14, Z:-0.29 [[ 9.99220641e-01 -3.92850698e-02 -3.84640340e-03 3.32322703e+01] [ 3.92851206e-02 9.99228040e-01 -6.23685504e-05 -1.39653888e-01] [ 3.84588428e-03 -8.87864785e-05 9.99992601e-01 -2.91681726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.430281693 meters Centerline goodness : 0.998261 Centerline is valid? [True, True] Translation: X:33.26, Y:-0.14, Z:-0.29 [[ 9.99243838e-01 -3.86505379e-02 -4.22940927e-03 3.32621916e+01] [ 3.86505935e-02 9.99252784e-01 -6.86133099e-05 -1.39689119e-01] [ 4.22890093e-03 -9.49077514e-05 9.99991054e-01 -2.91936903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.460281693 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:33.29, Y:-0.14, Z:-0.29 [[ 9.99320289e-01 -3.67495767e-02 -2.90337579e-03 3.32914021e+01] [ 3.67495947e-02 9.99324504e-01 -4.71769220e-05 -1.40856030e-01] [ 2.90314831e-03 -5.95530284e-05 9.99995784e-01 -2.91998998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.490281693 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:33.32, Y:-0.14, Z:-0.29 [[ 9.99342927e-01 -3.61952360e-02 -1.90255109e-03 3.33217396e+01] [ 3.61952427e-02 9.99344737e-01 -3.09019664e-05 -1.41637032e-01] [ 1.90242292e-03 -3.79816370e-05 9.99998190e-01 -2.91879380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.520281692999994 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:33.35, Y:-0.14, Z:-0.29 [[ 9.99365516e-01 -3.55813096e-02 -1.59236098e-03 3.33527636e+01] [ 3.55813135e-02 9.99366784e-01 -2.58637393e-05 -1.43309842e-01] [ 1.59227293e-03 -3.08109659e-05 9.99998732e-01 -2.91865457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.550281692999995 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:33.38, Y:-0.15, Z:-0.29 [[ 9.99410834e-01 -3.42578912e-02 -2.09326506e-03 3.33823681e+01] [ 3.42578951e-02 9.99413025e-01 -3.40318684e-05 -1.47151368e-01] [ 2.09320223e-03 -3.76990369e-05 9.99997809e-01 -2.92056902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.580281692999996 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:33.41, Y:-0.15, Z:-0.29 [[ 9.99448606e-01 -3.31415418e-02 -2.03020054e-03 3.34125655e+01] [ 3.31415432e-02 9.99450668e-01 -3.29973068e-05 -1.48954697e-01] [ 2.03017887e-03 -3.43048666e-05 9.99997939e-01 -2.91268945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.610281693 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:33.44, Y:-0.15, Z:-0.29 [[ 9.99538229e-01 -3.03725418e-02 -9.14992781e-04 3.34429999e+01] [ 3.03725409e-02 9.99538648e-01 -1.48715838e-05 -1.52886785e-01] [ 9.15022335e-04 -1.29259392e-05 9.99999581e-01 -2.90272138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.640281693 meters Centerline goodness : 0.998500 Centerline is valid? [True, True] Translation: X:33.47, Y:-0.15, Z:-0.29 [[ 9.99583876e-01 -2.88388094e-02 -6.30979268e-04 3.34729921e+01] [ 2.88388086e-02 9.99584075e-01 -1.02385506e-05 -1.53936280e-01] [ 6.31012096e-04 -7.96240032e-06 9.99999801e-01 -2.90424128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.670281693 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:33.50, Y:-0.15, Z:-0.29 [[ 9.99632858e-01 -2.70910108e-02 -4.76203255e-04 3.35038702e+01] [ 2.70910102e-02 9.99632971e-01 -7.73451978e-06 -1.54031265e-01] [ 4.76238011e-04 -5.16914714e-06 9.99999887e-01 -2.90270726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.700281692999994 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:33.53, Y:-0.15, Z:-0.29 [[ 9.99703381e-01 -2.43529481e-02 2.89502318e-04 3.35345276e+01] [ 2.43529478e-02 9.99703423e-01 4.70211276e-06 -1.53724140e-01] [-2.89530968e-04 2.34951681e-06 9.99999958e-01 -2.90041021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.730281692999995 meters Centerline goodness : 0.998485 Centerline is valid? [True, True] Translation: X:33.57, Y:-0.15, Z:-0.29 [[ 9.99827446e-01 -1.85435921e-02 1.10170447e-03 3.35660745e+01] [ 1.85435837e-02 9.99828053e-01 1.78890596e-05 -1.52590851e-01] [-1.10184676e-03 2.54357625e-06 9.99999393e-01 -2.89786387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.760281692999996 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:33.60, Y:-0.15, Z:-0.29 [[ 9.99869864e-01 -1.61217396e-02 5.86320487e-04 3.35977768e+01] [ 1.61217368e-02 9.99870036e-01 9.51663631e-06 -1.52481274e-01] [-5.86397711e-04 -6.28932811e-08 9.99999828e-01 -2.90067066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.790281693 meters Centerline goodness : 0.998328 Centerline is valid? [True, True] Translation: X:33.63, Y:-0.15, Z:-0.29 [[ 9.99870045e-01 -1.61105140e-02 5.86320753e-04 3.36286086e+01] [ 1.61105112e-02 9.99870217e-01 9.50021889e-06 -1.52021522e-01] [-5.86397712e-04 -5.30572597e-08 9.99999828e-01 -2.90094260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.820281693 meters Centerline goodness : 0.998279 Centerline is valid? [True, True] Translation: X:33.66, Y:-0.15, Z:-0.29 [[ 9.99894569e-01 -1.45175319e-02 3.03278138e-04 3.36591292e+01] [ 1.45175311e-02 9.99894615e-01 4.90892618e-06 -1.52211470e-01] [-3.03317443e-04 -5.05558816e-07 9.99999954e-01 -2.90733802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.850281693 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:33.69, Y:-0.15, Z:-0.29 [[ 9.99909744e-01 -1.34349968e-02 -7.17378077e-05 3.36893090e+01] [ 1.34349968e-02 9.99909746e-01 -1.15054336e-06 -1.52772825e-01] [ 7.17467907e-05 1.86642301e-07 9.99999997e-01 -2.90447877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.88028169299999 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:33.72, Y:-0.15, Z:-0.29 [[ 9.99917679e-01 -1.28183151e-02 5.71478047e-04 3.37211223e+01] [ 1.28183119e-02 9.99917842e-01 9.25078023e-06 -1.53705476e-01] [-5.71549675e-04 -1.92463484e-06 9.99999837e-01 -2.89729368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.910281692999995 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:33.75, Y:-0.15, Z:-0.29 [[ 9.99924483e-01 -1.22890969e-02 -8.01112675e-05 3.37510508e+01] [ 1.22890968e-02 9.99924486e-01 -1.28307105e-06 -1.53787476e-01] [ 8.01209858e-05 2.98479031e-07 9.99999997e-01 -2.89924420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.940281692999996 meters Centerline goodness : 0.998151 Centerline is valid? [True, True] Translation: X:33.78, Y:-0.15, Z:-0.29 [[ 9.99940382e-01 -1.07177893e-02 -2.08819775e-03 3.37810536e+01] [ 1.07177423e-02 9.99942563e-01 -3.36727940e-05 -1.53734765e-01] [ 2.08843871e-03 1.12900211e-05 9.99997819e-01 -2.90954324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.970281693 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:33.81, Y:-0.15, Z:-0.29 [[ 9.99944758e-01 -1.02933077e-02 -2.12794026e-03 3.38106999e+01] [ 1.02932578e-02 9.99947022e-01 -3.43906448e-05 -1.53107517e-01] [ 2.12818152e-03 1.24853073e-05 9.99997735e-01 -2.91004928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.000281693 meters Centerline goodness : 0.998200 Centerline is valid? [True, True] Translation: X:33.84, Y:-0.15, Z:-0.29 [[ 9.99949981e-01 -9.87207130e-03 -1.60563183e-03 3.38403666e+01] [ 9.87204234e-03 9.99951270e-01 -2.59622536e-05 -1.52671187e-01] [ 1.60580989e-03 1.01100896e-05 9.99998711e-01 -2.90478702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.030281693 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:33.87, Y:-0.15, Z:-0.29 [[ 9.99960316e-01 -8.90531422e-03 -2.48715963e-04 3.38708649e+01] [ 8.90531349e-03 9.99960347e-01 -4.02008914e-06 -1.53462827e-01] [ 2.48741901e-04 1.80503599e-06 9.99999969e-01 -2.89990537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.06028169299999 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:33.90, Y:-0.15, Z:-0.29 [[ 9.99963206e-01 -8.46815013e-03 -1.36974808e-03 3.39015505e+01] [ 8.46812775e-03 9.99964145e-01 -2.21397506e-05 -1.53753690e-01] [ 1.36988645e-03 1.05397342e-05 9.99999062e-01 -2.89969713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.090281692999994 meters Centerline goodness : 0.998403 Centerline is valid? [True, True] Translation: X:33.93, Y:-0.15, Z:-0.29 [[ 9.99958103e-01 -8.59613581e-03 -3.14627660e-03 3.39315950e+01] [ 8.59601835e-03 9.99963052e-01 -5.08544455e-05 -1.53990276e-01] [ 3.14659751e-03 2.38068635e-05 9.99995049e-01 -2.90664854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.120281692999995 meters Centerline goodness : 0.997398 Centerline is valid? [True, True] Translation: X:33.96, Y:-0.16, Z:-0.29 [[ 9.99931039e-01 -9.71101781e-03 -6.60405197e-03 3.39604739e+01] [ 9.71052297e-03 9.99952846e-01 -1.06991045e-04 -1.55783072e-01] [ 6.60477956e-03 4.28548687e-05 9.99978187e-01 -2.91506760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.150281693 meters Centerline goodness : 0.997606 Centerline is valid? [True, True] Translation: X:33.99, Y:-0.16, Z:-0.29 [[ 9.99923234e-01 -1.06610942e-02 -6.31398509e-03 3.39881964e+01] [ 1.06606530e-02 9.99943168e-01 -1.03524958e-04 -1.56374579e-01] [ 6.31472994e-03 3.62058064e-05 9.99980061e-01 -2.91597951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.180281693 meters Centerline goodness : 0.997972 Centerline is valid? [True, True] Translation: X:34.02, Y:-0.16, Z:-0.29 [[ 9.99921149e-01 -1.12345230e-02 -5.61083782e-03 3.40164221e+01] [ 1.12341824e-02 9.99936890e-01 -9.22132139e-05 -1.56666837e-01] [ 5.61151970e-03 2.91727673e-05 9.99984255e-01 -2.90778606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.210281693 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:34.04, Y:-0.16, Z:-0.29 [[ 9.99942040e-01 -1.04267863e-02 -2.68313237e-03 3.40447107e+01] [ 1.04267051e-02 9.99945639e-01 -4.42655734e-05 -1.56519951e-01] [ 2.68344806e-03 1.62867777e-05 9.99996399e-01 -2.89829824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.240281693 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:34.07, Y:-0.16, Z:-0.29 [[ 9.99953560e-01 -9.38656227e-03 -2.18408758e-03 3.40746595e+01] [ 9.38650590e-03 9.99955945e-01 -3.60591063e-05 -1.55395430e-01] [ 2.18432983e-03 1.55564807e-05 9.99997614e-01 -2.88920120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.270281692999994 meters Centerline goodness : 0.998009 Centerline is valid? [True, True] Translation: X:34.10, Y:-0.15, Z:-0.29 [[ 9.99962300e-01 -8.29057107e-03 -2.58164724e-03 3.41046151e+01] [ 8.29048852e-03 9.99965632e-01 -4.26742655e-05 -1.54297904e-01] [ 2.58191231e-03 2.12695399e-05 9.99996667e-01 -2.88981617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.300281692999995 meters Centerline goodness : 0.997896 Centerline is valid? [True, True] Translation: X:34.13, Y:-0.15, Z:-0.29 [[ 9.99974545e-01 -6.19569294e-03 -3.53884606e-03 3.41342938e+01] [ 6.19552464e-03 9.99980806e-01 -5.85178814e-05 -1.52116538e-01] [ 3.53914069e-03 3.65913838e-05 9.99993737e-01 -2.89022815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.330281692999996 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:34.16, Y:-0.15, Z:-0.29 [[ 9.99983943e-01 -4.86393629e-03 -2.90791715e-03 3.41635224e+01] [ 4.86381540e-03 9.99988170e-01 -4.86435782e-05 -1.49612485e-01] [ 2.90811935e-03 3.44992249e-05 9.99995771e-01 -2.88441678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.360281693 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:34.19, Y:-0.14, Z:-0.29 [[ 9.99995900e-01 -2.62434189e-03 -1.14535394e-03 3.41918550e+01] [ 2.62432166e-03 9.99996556e-01 -1.91721759e-05 -1.44642319e-01] [ 1.14540031e-03 1.61663202e-05 9.99999344e-01 -2.87366102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.390281693 meters Centerline goodness : 0.998214 Centerline is valid? [True, True] Translation: X:34.22, Y:-0.14, Z:-0.29 [[ 9.99996012e-01 -2.78541081e-03 -4.67294855e-04 3.42219399e+01] [ 2.78540747e-03 9.99996121e-01 -7.81061837e-06 -1.42568014e-01] [ 4.67314798e-04 6.50898064e-06 9.99999891e-01 -2.87753583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.420281693 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:34.25, Y:-0.14, Z:-0.29 [[ 9.99990669e-01 -4.23947453e-03 -8.30433619e-04 3.42510228e+01] [ 4.23946445e-03 9.99991013e-01 -1.38998029e-05 -1.41634497e-01] [ 8.30485084e-04 1.03790794e-05 9.99999655e-01 -2.88123366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.450281692999994 meters Centerline goodness : 0.998026 Centerline is valid? [True, True] Translation: X:34.28, Y:-0.14, Z:-0.29 [[ 9.99977689e-01 -6.54576218e-03 -1.33181401e-03 3.42818972e+01] [ 6.54573832e-03 9.99978576e-01 -2.22758154e-05 -1.41459089e-01] [ 1.33193129e-03 1.35576124e-05 9.99999113e-01 -2.89299251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.480281692999995 meters Centerline goodness : 0.997828 Centerline is valid? [True, True] Translation: X:34.31, Y:-0.14, Z:-0.29 [[ 9.99934573e-01 -1.11754779e-02 -2.44106989e-03 3.43111917e+01] [ 1.11754114e-02 9.99937552e-01 -4.08678228e-05 -1.40822264e-01] [ 2.44137417e-03 1.35851886e-05 9.99997020e-01 -2.90097937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.510281692999996 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:34.34, Y:-0.14, Z:-0.29 [[ 9.99919272e-01 -1.24292992e-02 -2.63847022e-03 3.43405275e+01] [ 1.24292260e-02 9.99922753e-01 -4.41525687e-05 -1.39170848e-01] [ 2.63881519e-03 1.13548619e-05 9.99996518e-01 -2.89609877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.540281693 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:34.37, Y:-0.14, Z:-0.29 [[ 9.99914565e-01 -1.28823633e-02 -2.21529219e-03 3.43698051e+01] [ 1.28823127e-02 9.99917019e-01 -3.71071980e-05 -1.36595825e-01] [ 2.21558639e-03 8.56594106e-06 9.99997546e-01 -2.89101735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.570281693 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:34.40, Y:-0.14, Z:-0.29 [[ 9.99922411e-01 -1.23227715e-02 -1.82225829e-03 3.43999366e+01] [ 1.23227364e-02 9.99924072e-01 -3.05156679e-05 -1.35628843e-01] [ 1.82249596e-03 8.05809174e-06 9.99998339e-01 -2.89389631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.600281693 meters Centerline goodness : 0.998123 Centerline is valid? [True, True] Translation: X:34.43, Y:-0.13, Z:-0.29 [[ 9.99936723e-01 -1.11486912e-02 -1.50225093e-03 3.44301950e+01] [ 1.11486660e-02 9.99937851e-01 -2.51568018e-05 -1.34273765e-01] [ 1.50243803e-03 8.40711600e-06 9.99998871e-01 -2.89560560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.63028169299999 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:34.46, Y:-0.13, Z:-0.29 [[ 9.99952310e-01 -9.36346798e-03 -2.77530315e-03 3.44592370e+01] [ 9.36337493e-03 9.99956162e-01 -4.65173754e-05 -1.32390831e-01] [ 2.77561705e-03 2.05289531e-05 9.99996148e-01 -2.90155131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.660281692999995 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:34.49, Y:-0.13, Z:-0.29 [[ 9.99949951e-01 -9.07278437e-03 -4.21675376e-03 3.44891476e+01] [ 9.07256657e-03 9.99958841e-01 -7.07785155e-05 -1.31921883e-01] [ 4.21722236e-03 3.25181939e-05 9.99991107e-01 -2.90687142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.690281692999996 meters Centerline goodness : 0.997476 Centerline is valid? [True, True] Translation: X:34.52, Y:-0.13, Z:-0.29 [[ 9.99938944e-01 -9.61235309e-03 -5.45085928e-03 3.45175063e+01] [ 9.61199164e-03 9.99953799e-01 -9.25034819e-05 -1.30648534e-01] [ 5.45149662e-03 4.01042201e-05 9.99985140e-01 -2.90680695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.720281693 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:34.54, Y:-0.13, Z:-0.29 [[ 9.99916594e-01 -1.16612531e-02 -5.55164161e-03 3.45449458e+01] [ 1.16609085e-02 9.99932005e-01 -9.44391998e-05 -1.26596282e-01] [ 5.55236540e-03 2.96941381e-05 9.99984585e-01 -2.90962117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.750281693 meters Centerline goodness : 0.997933 Centerline is valid? [True, True] Translation: X:34.57, Y:-0.12, Z:-0.29 [[ 9.99900108e-01 -1.33190648e-02 -4.73033022e-03 3.45726528e+01] [ 1.33188319e-02 9.99911297e-01 -8.07399801e-05 -1.23751923e-01] [ 4.73098601e-03 1.77294418e-05 9.99988809e-01 -2.91125136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.780281693 meters Centerline goodness : 0.998127 Centerline is valid? [True, True] Translation: X:34.60, Y:-0.12, Z:-0.29 [[ 9.99875029e-01 -1.51427151e-02 -4.54144264e-03 3.46010994e+01] [ 1.51425156e-02 9.99885342e-01 -7.83197627e-05 -1.21599519e-01] [ 4.54210791e-03 9.54110915e-06 9.99989685e-01 -2.90950843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.81028169299999 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:34.63, Y:-0.12, Z:-0.29 [[ 9.99828960e-01 -1.78395072e-02 -4.87885059e-03 3.46304347e+01] [ 1.78393091e-02 9.99840863e-01 -8.41210235e-05 -1.19735258e-01] [ 4.87957486e-03 -2.92868828e-06 9.99988095e-01 -2.90520166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.840281692999994 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:34.66, Y:-0.12, Z:-0.29 [[ 9.99813050e-01 -1.87617557e-02 -4.67567950e-03 3.46587766e+01] [ 1.87615831e-02 9.99823983e-01 -8.07865606e-05 -1.18134068e-01] [ 4.67637220e-03 -6.95169177e-06 9.99989066e-01 -2.90073272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.870281692999995 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:34.69, Y:-0.12, Z:-0.29 [[ 9.99804502e-01 -1.93502007e-02 -4.06549514e-03 3.46882311e+01] [ 1.93500747e-02 9.99812767e-01 -7.03319184e-05 -1.16167206e-01] [ 4.06609488e-03 -8.34946594e-06 9.99991733e-01 -2.90066889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.900281693 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:34.72, Y:-0.11, Z:-0.29 [[ 9.99793420e-01 -1.99798624e-02 -3.73128465e-03 3.47178742e+01] [ 1.99797607e-02 9.99800383e-01 -6.45305994e-05 -1.14232093e-01] [ 3.73182913e-03 -1.00329057e-05 9.99993037e-01 -2.90114590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.930281693 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:34.75, Y:-0.11, Z:-0.29 [[ 9.99767408e-01 -2.14463943e-02 -2.27633298e-03 3.47478556e+01] [ 2.14463601e-02 9.99770000e-01 -3.94383375e-05 -1.14730123e-01] [ 2.27665524e-03 -9.38989240e-06 9.99997408e-01 -2.91151820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.960281693 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:34.78, Y:-0.12, Z:-0.29 [[ 9.99751627e-01 -2.21758004e-02 -2.21760832e-03 3.47769518e+01] [ 2.21757697e-02 9.99754087e-01 -3.84359585e-05 -1.15518581e-01] [ 2.21791533e-03 -1.07507593e-05 9.99997540e-01 -2.90605952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.990281693 meters Centerline goodness : 0.998101 Centerline is valid? [True, True] Translation: X:34.81, Y:-0.12, Z:-0.29 [[ 9.99727282e-01 -2.32040852e-02 -2.63271509e-03 3.48073151e+01] [ 2.32040455e-02 9.99730749e-01 -4.56191209e-05 -1.15063013e-01] [ 2.63306478e-03 -1.54829610e-05 9.99996533e-01 -2.90389386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.020281692999994 meters Centerline goodness : 0.997991 Centerline is valid? [True, True] Translation: X:34.84, Y:-0.11, Z:-0.29 [[ 9.99725146e-01 -2.28653609e-02 -5.17753862e-03 3.48370997e+01] [ 2.28652026e-02 9.99738553e-01 -8.97817708e-05 -1.13776773e-01] [ 5.17823786e-03 -2.86283756e-05 9.99986592e-01 -2.90591774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.050281692999995 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:34.87, Y:-0.11, Z:-0.29 [[ 9.99757744e-01 -2.12920632e-02 -5.57693484e-03 3.48672362e+01] [ 2.12918543e-02 9.99773298e-01 -9.68335469e-05 -1.13030122e-01] [ 5.57773233e-03 -2.19331958e-05 9.99984444e-01 -2.90352390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.080281692999996 meters Centerline goodness : 0.998210 Centerline is valid? [True, True] Translation: X:34.90, Y:-0.11, Z:-0.29 [[ 9.99856262e-01 -1.66720842e-02 -3.08173861e-03 3.48971664e+01] [ 1.66719982e-02 9.99861011e-01 -5.35907821e-05 -1.09820605e-01] [ 3.08220375e-03 2.20433840e-06 9.99995250e-01 -2.89626196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.110281693 meters Centerline goodness : 0.997961 Centerline is valid? [True, True] Translation: X:34.93, Y:-0.11, Z:-0.29 [[ 9.99892944e-01 -1.45303661e-02 -1.72299604e-03 3.49268048e+01] [ 1.45303360e-02 9.99894429e-01 -2.99812074e-05 -1.07508674e-01] [ 1.72324978e-03 4.94228621e-06 9.99998515e-01 -2.89004660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.140281693 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:34.96, Y:-0.11, Z:-0.29 [[ 9.99914948e-01 -1.30350496e-02 -4.29673387e-04 3.49559691e+01] [ 1.30350476e-02 9.99915040e-01 -7.48895467e-06 -1.06134120e-01] [ 4.29734501e-04 1.88750467e-06 9.99999908e-01 -2.89278226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.170281693 meters Centerline goodness : 0.998071 Centerline is valid? [True, True] Translation: X:34.99, Y:-0.11, Z:-0.29 [[ 9.99891447e-01 -1.46987751e-02 1.01992639e-03 3.49877352e+01] [ 1.46987646e-02 9.99891967e-01 1.77499495e-05 -1.06235712e-01] [-1.02007711e-03 -2.75636475e-06 9.99999480e-01 -2.89095092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.200281692999994 meters Centerline goodness : 0.998174 Centerline is valid? [True, True] Translation: X:35.02, Y:-0.11, Z:-0.29 [[ 9.99850148e-01 -1.72716241e-02 1.17171291e-03 3.50186431e+01] [ 1.72716121e-02 9.99850834e-01 2.03635678e-05 -1.06544521e-01] [-1.17188984e-03 -1.23145387e-07 9.99999313e-01 -2.89662710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.230281692999995 meters Centerline goodness : 0.997945 Centerline is valid? [True, True] Translation: X:35.05, Y:-0.11, Z:-0.29 [[ 9.99782923e-01 -2.08348001e-02 1.30635272e-04 3.50497314e+01] [ 2.08348000e-02 9.99782932e-01 2.28588249e-06 -1.06449220e-01] [-1.30654541e-04 4.36373489e-07 9.99999991e-01 -2.89767781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.260281692999996 meters Centerline goodness : 0.997661 Centerline is valid? [True, True] Translation: X:35.08, Y:-0.11, Z:-0.29 [[ 9.99706022e-01 -2.41964057e-02 -1.55054020e-03 3.50805057e+01] [ 2.41963931e-02 9.99707224e-01 -2.68576567e-05 -1.06961899e-01] [ 1.55073609e-03 -1.06677190e-05 9.99998798e-01 -2.90708629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.290281693 meters Centerline goodness : 0.997591 Centerline is valid? [True, True] Translation: X:35.11, Y:-0.11, Z:-0.29 [[ 9.99523527e-01 -3.04345531e-02 -5.14366923e-03 3.51121038e+01] [ 3.04344981e-02 9.99536759e-01 -8.89906551e-05 -1.10803839e-01] [ 5.14399486e-03 -6.75967379e-05 9.99986767e-01 -2.91957183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.320281693 meters Centerline goodness : 0.997853 Centerline is valid? [True, True] Translation: X:35.14, Y:-0.11, Z:-0.29 [[ 9.99440438e-01 -3.30327675e-02 -5.25812834e-03 3.51410099e+01] [ 3.30327447e-02 9.99454266e-01 -9.12042505e-05 -1.12753456e-01] [ 5.25827153e-03 -8.25371950e-05 9.99986172e-01 -2.91726203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.350281693 meters Centerline goodness : 0.997737 Centerline is valid? [True, True] Translation: X:35.17, Y:-0.12, Z:-0.29 [[ 9.99279641e-01 -3.78369392e-02 -2.92668221e-03 3.51707900e+01] [ 3.78369526e-02 9.99283925e-01 -5.08345086e-05 -1.16494194e-01] [ 2.92650991e-03 -5.99388464e-05 9.99995716e-01 -2.90773150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.38028169299999 meters Centerline goodness : 0.997531 Centerline is valid? [True, True] Translation: X:35.20, Y:-0.12, Z:-0.29 [[ 9.99180228e-01 -4.03568326e-02 -3.19332029e-03 3.52001466e+01] [ 4.03568613e-02 9.99185328e-01 -5.54898290e-05 -1.18446546e-01] [ 3.19295817e-03 -7.34280437e-05 9.99994900e-01 -2.90360365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.410281692999995 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:35.23, Y:-0.12, Z:-0.29 [[ 9.99081184e-01 -4.26329940e-02 -4.38350992e-03 3.52293844e+01] [ 4.26330694e-02 9.99090794e-01 -7.62809269e-05 -1.21379772e-01] [ 4.38277649e-03 -1.10671644e-04 9.99990389e-01 -2.90838610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.440281692999996 meters Centerline goodness : 0.997134 Centerline is valid? [True, True] Translation: X:35.26, Y:-0.13, Z:-0.29 [[ 9.98932548e-01 -4.57036116e-02 -6.70411812e-03 3.52577119e+01] [ 4.57038543e-02 9.98955026e-01 -1.17073171e-04 -1.30004469e-01] [ 6.70246316e-03 -1.89455838e-04 9.99977520e-01 -2.91793153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.470281693 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:35.29, Y:-0.13, Z:-0.29 [[ 9.98914307e-01 -4.61364658e-02 -6.45244026e-03 3.52860497e+01] [ 4.61366912e-02 9.98935129e-01 -1.13986389e-04 -1.33644119e-01] [ 6.45082818e-03 -1.83831609e-04 9.99979176e-01 -2.90965363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.500281693 meters Centerline goodness : 0.997411 Centerline is valid? [True, True] Translation: X:35.31, Y:-0.14, Z:-0.29 [[ 9.98965835e-01 -4.51851882e-02 -5.05568456e-03 3.53131609e+01] [ 4.51853127e-02 9.98978618e-01 -8.96632441e-05 -1.37164263e-01] [ 5.05457223e-03 -1.38872170e-04 9.99987216e-01 -2.89666046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.530281693 meters Centerline goodness : 0.997936 Centerline is valid? [True, True] Translation: X:35.34, Y:-0.15, Z:-0.29 [[ 9.99041155e-01 -4.37242785e-02 -2.22669060e-03 3.53412964e+01] [ 4.37242977e-02 9.99043635e-01 -4.00540457e-05 -1.47300564e-01] [ 2.22631240e-03 -5.73448425e-05 9.99997520e-01 -2.89192787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.56028169299999 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:35.37, Y:-0.15, Z:-0.29 [[ 9.99068634e-01 -4.30820935e-02 -2.40805093e-03 3.53704597e+01] [ 4.30821143e-02 9.99071534e-01 -4.32514998e-05 -1.53276298e-01] [ 2.40767850e-03 -6.05327087e-05 9.99997100e-01 -2.89535633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.590281692999994 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:35.40, Y:-0.16, Z:-0.29 [[ 9.99216716e-01 -3.94871240e-02 -2.59266343e-03 3.53983923e+01] [ 3.94871354e-02 9.99220078e-01 -4.68133563e-05 -1.63296921e-01] [ 2.59248988e-03 -5.56001640e-05 9.99996638e-01 -2.88990129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.620281692999995 meters Centerline goodness : 0.997720 Centerline is valid? [True, True] Translation: X:35.43, Y:-0.17, Z:-0.29 [[ 9.99347900e-01 -3.60233279e-02 -2.46855730e-03 3.54263984e+01] [ 3.60233270e-02 9.99350948e-01 -4.48726563e-05 -1.66257556e-01] [ 2.46857154e-03 -4.40822519e-05 9.99996952e-01 -2.88324860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.650281693 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:35.46, Y:-0.17, Z:-0.29 [[ 9.99480207e-01 -3.21198930e-02 -2.76201548e-03 3.54555720e+01] [ 3.21198756e-02 9.99484022e-01 -5.06723780e-05 -1.68843549e-01] [ 2.76221793e-03 -3.80695546e-05 9.99996184e-01 -2.88132921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.680281693 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:35.48, Y:-0.17, Z:-0.29 [[ 9.99699883e-01 -2.43016083e-02 -3.09455773e-03 3.54845798e+01] [ 2.43015475e-02 9.99704672e-01 -5.72680134e-05 -1.74249620e-01] [ 3.09503552e-03 -1.79517152e-05 9.99995210e-01 -2.88562582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.710281693 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:35.51, Y:-0.17, Z:-0.29 [[ 9.99699028e-01 -2.43367490e-02 -3.09455781e-03 3.55137370e+01] [ 2.43366884e-02 9.99703817e-01 -5.72636244e-05 -1.73661023e-01] [ 3.09503486e-03 -1.80648994e-05 9.99995210e-01 -2.88588305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.740281693 meters Centerline goodness : 0.997262 Centerline is valid? [True, True] Translation: X:35.54, Y:-0.18, Z:-0.29 [[ 9.99781805e-01 -2.06430580e-02 -3.19461871e-03 3.55417057e+01] [ 2.06429738e-02 9.99786909e-01 -5.93208322e-05 -1.75247428e-01] [ 3.19516253e-03 -6.63854161e-06 9.99994895e-01 -2.88144019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.770281692999994 meters Centerline goodness : 0.997161 Centerline is valid? [True, True] Translation: X:35.57, Y:-0.18, Z:-0.29 [[ 9.99835677e-01 -1.77149230e-02 -3.84701397e-03 3.55705483e+01] [ 1.77147766e-02 9.99843078e-01 -7.21179352e-05 -1.75562334e-01] [ 3.84768785e-03 3.95709155e-06 9.99992598e-01 -2.87287032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.800281692999995 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:35.60, Y:-0.17, Z:-0.29 [[ 9.99907504e-01 -1.26879529e-02 -4.89899928e-03 3.55983051e+01] [ 1.26876545e-02 9.99919504e-01 -9.19859409e-05 -1.74775228e-01] [ 4.89977204e-03 2.98206225e-05 9.99987996e-01 -2.87167142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.830281692999996 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:35.63, Y:-0.17, Z:-0.29 [[ 9.99931997e-01 -1.06928728e-02 -4.65444719e-03 3.56266615e+01] [ 1.06925773e-02 9.99942829e-01 -8.83713329e-05 -1.74949309e-01] [ 4.65512603e-03 3.85972870e-05 9.99989164e-01 -2.88080800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.860281693 meters Centerline goodness : 0.997646 Centerline is valid? [True, True] Translation: X:35.65, Y:-0.18, Z:-0.29 [[ 9.99969957e-01 -6.99946175e-03 -3.33052287e-03 3.56542586e+01] [ 6.99928954e-03 9.99975503e-01 -6.33601346e-05 -1.76164502e-01] [ 3.33088477e-03 4.00469372e-05 9.99994452e-01 -2.87359826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.890281693 meters Centerline goodness : 0.997255 Centerline is valid? [True, True] Translation: X:35.68, Y:-0.17, Z:-0.29 [[ 9.99981864e-01 -5.13720553e-03 -3.14349094e-03 3.56827863e+01] [ 5.13704264e-03 9.99986804e-01 -5.98879899e-05 -1.74864508e-01] [ 3.14375711e-03 4.37386567e-05 9.99995057e-01 -2.86934057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.920281693 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:35.71, Y:-0.17, Z:-0.29 [[ 9.99988871e-01 -3.18622166e-03 -3.47928041e-03 3.57115924e+01] [ 3.18600803e-03 9.99994922e-01 -6.69429597e-05 -1.72498687e-01] [ 3.47947604e-03 5.58571995e-05 9.99993945e-01 -2.86891883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.950281692999994 meters Centerline goodness : 0.997652 Centerline is valid? [True, True] Translation: X:35.74, Y:-0.17, Z:-0.29 [[ 9.99989474e-01 -1.47203844e-03 -4.34575837e-03 3.57406098e+01] [ 1.47168601e-03 9.99998914e-01 -8.42927651e-05 -1.69239480e-01] [ 4.34587773e-03 7.78962860e-05 9.99990554e-01 -2.87151681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.980281692999995 meters Centerline goodness : 0.997400 Centerline is valid? [True, True] Translation: X:35.77, Y:-0.17, Z:-0.29 [[ 9.99982006e-01 7.40932118e-04 -5.95305791e-03 3.57690867e+01] [-7.41638184e-04 9.99999718e-01 -1.16399031e-04 -1.65568040e-01] [ 5.95296999e-03 1.20811951e-04 9.99982274e-01 -2.88290948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.010281692999996 meters Centerline goodness : 0.997003 Centerline is valid? [True, True] Translation: X:35.80, Y:-0.16, Z:-0.29 [[ 9.99980875e-01 6.05019148e-04 -6.15496092e-03 3.57967890e+01] [-6.05772952e-04 9.99999809e-01 -1.20607530e-04 -1.64790084e-01] [ 6.15488677e-03 1.24333733e-04 9.99981051e-01 -2.88451160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.040281693 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:35.83, Y:-0.16, Z:-0.29 [[ 9.99984731e-01 5.78640167e-06 -5.52610010e-03 3.58254217e+01] [-6.38632575e-06 9.99999994e-01 -1.08544273e-04 -1.63628624e-01] [ 5.52609944e-03 1.08577907e-04 9.99984725e-01 -2.87482758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.070281693 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:35.85, Y:-0.16, Z:-0.29 [[ 9.99989222e-01 -2.66060079e-03 -3.80498407e-03 3.58533078e+01] [ 2.66033472e-03 9.99996458e-01 -7.49875623e-05 -1.60769569e-01] [ 3.80517011e-03 6.48642228e-05 9.99992758e-01 -2.85768246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.100281693 meters Centerline goodness : 0.997665 Centerline is valid? [True, True] Translation: X:35.88, Y:-0.16, Z:-0.29 [[ 9.99982226e-01 -5.31632554e-03 -2.69905013e-03 3.58821837e+01] [ 5.31620097e-03 9.99985867e-01 -5.33266741e-05 -1.58749692e-01] [ 2.69929548e-03 3.89770333e-05 9.99996356e-01 -2.86069483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.13028169299999 meters Centerline goodness : 0.998024 Centerline is valid? [True, True] Translation: X:35.91, Y:-0.16, Z:-0.29 [[ 9.99964135e-01 -8.23219519e-03 -1.98990356e-03 3.59110821e+01] [ 8.23213311e-03 9.99966115e-01 -3.93874065e-05 -1.57643511e-01] [ 1.99016037e-03 2.30048429e-05 9.99998019e-01 -2.86615211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.160281692999995 meters Centerline goodness : 0.997802 Centerline is valid? [True, True] Translation: X:35.94, Y:-0.16, Z:-0.29 [[ 9.99921360e-01 -1.22658367e-02 -2.61221220e-03 3.59398919e+01] [ 1.22657433e-02 9.99924772e-01 -5.17856970e-05 -1.59102247e-01] [ 2.61265089e-03 1.97409003e-05 9.99996587e-01 -2.87236972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.190281692999996 meters Centerline goodness : 0.997582 Centerline is valid? [True, True] Translation: X:35.97, Y:-0.16, Z:-0.29 [[ 9.99907735e-01 -1.29333600e-02 -4.15315969e-03 3.59682779e+01] [ 1.29331290e-02 9.99916360e-01 -8.24586761e-05 -1.59347884e-01] [ 4.15387879e-03 2.87377179e-05 9.99991372e-01 -2.86956671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.220281693 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:36.00, Y:-0.16, Z:-0.29 [[ 9.99906670e-01 -1.22714724e-02 -6.00518963e-03 3.59967147e+01] [ 1.22709713e-02 9.99924702e-01 -1.20285800e-04 -1.58807531e-01] [ 6.00621354e-03 4.65850645e-05 9.99981961e-01 -2.85838161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.250281693 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:36.02, Y:-0.16, Z:-0.29 [[ 9.99916122e-01 -1.19035883e-02 -5.10429483e-03 3.60238095e+01] [ 1.19032182e-02 9.99929149e-01 -1.02875841e-04 -1.58613254e-01] [ 5.10515777e-03 4.21096768e-05 9.99986968e-01 -2.85598939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.280281693 meters Centerline goodness : 0.997482 Centerline is valid? [True, True] Translation: X:36.05, Y:-0.16, Z:-0.29 [[ 9.99921302e-01 -1.21240344e-02 -3.22458640e-03 3.60515298e+01] [ 1.21238857e-02 9.99926501e-01 -6.56582793e-05 -1.59676243e-01] [ 3.22514544e-03 2.65585951e-05 9.99994799e-01 -2.85469990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.31028169299999 meters Centerline goodness : 0.997731 Centerline is valid? [True, True] Translation: X:36.08, Y:-0.16, Z:-0.29 [[ 9.99906790e-01 -1.36532590e-02 1.39033195e-05 3.60809026e+01] [ 1.36532590e-02 9.99906790e-01 1.46084025e-07 -1.63354242e-01] [-1.39040181e-05 4.37552141e-08 1.00000000e+00 -2.85195303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.340281692999994 meters Centerline goodness : 0.997833 Centerline is valid? [True, True] Translation: X:36.11, Y:-0.16, Z:-0.28 [[ 9.99888934e-01 -1.49031165e-02 1.32428361e-04 3.61113546e+01] [ 1.49031162e-02 9.99888942e-01 2.71077175e-06 -1.63888805e-01] [-1.32454052e-04 -7.36875423e-07 9.99999991e-01 -2.84892466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.370281692999995 meters Centerline goodness : 0.997821 Centerline is valid? [True, True] Translation: X:36.14, Y:-0.16, Z:-0.29 [[ 9.99869052e-01 -1.61751494e-02 -4.93009552e-04 3.61420584e+01] [ 1.61751464e-02 9.99869174e-01 -1.00917686e-05 -1.64094224e-01] [ 4.93108290e-04 2.11594539e-06 9.99999878e-01 -2.85280727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.400281693 meters Centerline goodness : 0.997845 Centerline is valid? [True, True] Translation: X:36.17, Y:-0.16, Z:-0.29 [[ 9.99854017e-01 -1.69906262e-02 -1.80620590e-03 3.61716358e+01] [ 1.69905871e-02 9.99855649e-01 -3.70036239e-05 -1.64724639e-01] [ 1.80657389e-03 6.30972326e-06 9.99998368e-01 -2.85405668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.430281693 meters Centerline goodness : 0.997268 Centerline is valid? [True, True] Translation: X:36.20, Y:-0.17, Z:-0.29 [[ 9.99825394e-01 -1.81181893e-02 -4.57311850e-03 3.62000072e+01] [ 1.81179495e-02 9.99835852e-01 -9.38431285e-05 -1.65791374e-01] [ 4.57406810e-03 1.09712126e-05 9.99989539e-01 -2.85523549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.460281693 meters Centerline goodness : 0.997702 Centerline is valid? [True, True] Translation: X:36.23, Y:-0.16, Z:-0.29 [[ 9.99815139e-01 -1.83079780e-02 -5.87415469e-03 3.62277440e+01] [ 1.83075789e-02 9.99832395e-01 -1.21703902e-04 -1.63937811e-01] [ 5.87539830e-03 1.41398529e-05 9.99982740e-01 -2.85807558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.490281693 meters Centerline goodness : 0.997169 Centerline is valid? [True, True] Translation: X:36.26, Y:-0.16, Z:-0.29 [[ 9.99816534e-01 -1.75187202e-02 -7.74554504e-03 3.62557397e+01] [ 1.75179916e-02 9.99846535e-01 -1.61901301e-04 -1.60377560e-01] [ 7.74719267e-03 2.61852049e-05 9.99969990e-01 -2.86723981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.520281692999994 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:36.28, Y:-0.16, Z:-0.29 [[ 9.99821375e-01 -1.74272441e-02 -7.31498238e-03 3.62823007e+01] [ 1.74265881e-02 9.99848134e-01 -1.53418043e-04 -1.59368754e-01] [ 7.31654514e-03 2.59154538e-05 9.99973233e-01 -2.87495569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.550281692999995 meters Centerline goodness : 0.997335 Centerline is valid? [True, True] Translation: X:36.31, Y:-0.16, Z:-0.29 [[ 9.99820793e-01 -1.79082526e-02 -6.13813872e-03 3.63093835e+01] [ 1.79077966e-02 9.99839634e-01 -1.29249650e-04 -1.58622870e-01] [ 6.13946900e-03 1.93059480e-05 9.99981153e-01 -2.87379208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.580281692999996 meters Centerline goodness : 0.997673 Centerline is valid? [True, True] Translation: X:36.34, Y:-0.16, Z:-0.29 [[ 9.99770158e-01 -2.10882777e-02 -3.86201496e-03 3.63372517e+01] [ 2.10881176e-02 9.99777618e-01 -8.21636477e-05 -1.57302846e-01] [ 3.86288880e-03 7.02137429e-07 9.99992539e-01 -2.85897992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.610281693 meters Centerline goodness : 0.997464 Centerline is valid? [True, True] Translation: X:36.36, Y:-0.16, Z:-0.29 [[ 9.99724291e-01 -2.32214885e-02 -3.47918779e-03 3.63645861e+01] [ 2.32213712e-02 9.99730345e-01 -7.41233097e-05 -1.56030194e-01] [ 3.47997086e-03 -6.68863777e-06 9.99993945e-01 -2.85459971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.640281693 meters Centerline goodness : 0.997373 Centerline is valid? [True, True] Translation: X:36.39, Y:-0.16, Z:-0.29 [[ 9.99668113e-01 -2.55059580e-02 -3.62074906e-03 3.63930028e+01] [ 2.55058434e-02 9.99674670e-01 -7.78283244e-05 -1.55065803e-01] [ 3.62155621e-03 -1.45477642e-05 9.99993442e-01 -2.85173002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.670281693 meters Centerline goodness : 0.996916 Centerline is valid? [True, True] Translation: X:36.42, Y:-0.16, Z:-0.29 [[ 9.99552409e-01 -2.93685398e-02 -5.69834622e-03 3.64204965e+01] [ 2.93683179e-02 9.99568650e-01 -1.22643152e-04 -1.55466288e-01] [ 5.69949009e-03 -4.47625849e-05 9.99983757e-01 -2.85626746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.700281692999994 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:36.45, Y:-0.16, Z:-0.29 [[ 9.99511007e-01 -3.06153873e-02 -6.35962934e-03 3.64489691e+01] [ 3.06151279e-02 9.99531238e-01 -1.38167729e-04 -1.55184770e-01] [ 6.36087824e-03 -5.66006990e-05 9.99979768e-01 -2.86128112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.730281692999995 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:36.48, Y:-0.15, Z:-0.29 [[ 9.99539383e-01 -2.97807623e-02 -5.84186321e-03 3.64762143e+01] [ 2.97805268e-02 9.99556454e-01 -1.27313828e-04 -1.54037135e-01] [ 5.84306358e-03 -4.67185787e-05 9.99982928e-01 -2.85951350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.760281692999996 meters Centerline goodness : 0.997711 Centerline is valid? [True, True] Translation: X:36.50, Y:-0.15, Z:-0.29 [[ 9.99595068e-01 -2.80340459e-02 -4.87772265e-03 3.65038962e+01] [ 2.80338560e-02 9.99606968e-01 -1.07309821e-04 -1.53453588e-01] [ 4.87881388e-03 -2.94750065e-05 9.99988098e-01 -2.85430648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.790281693 meters Centerline goodness : 0.997420 Centerline is valid? [True, True] Translation: X:36.53, Y:-0.15, Z:-0.28 [[ 9.99639613e-01 -2.65412830e-02 -4.02548196e-03 3.65319765e+01] [ 2.65411385e-02 9.99647718e-01 -8.93339967e-05 -1.53213092e-01] [ 4.02643489e-03 -1.75390723e-05 9.99991894e-01 -2.84708910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.820281693 meters Centerline goodness : 0.997436 Centerline is valid? [True, True] Translation: X:36.56, Y:-0.15, Z:-0.28 [[ 9.99717207e-01 -2.35217400e-02 -3.49756872e-03 3.65596700e+01] [ 2.35216120e-02 9.99723326e-01 -7.77286448e-05 -1.53743546e-01] [ 3.49842934e-03 -4.56179066e-06 9.99993880e-01 -2.84209608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.850281693 meters Centerline goodness : 0.997461 Centerline is valid? [True, True] Translation: X:36.59, Y:-0.15, Z:-0.28 [[ 9.99741159e-01 -2.25191347e-02 -3.24094138e-03 3.65889043e+01] [ 2.25190175e-02 9.99746412e-01 -7.26494862e-05 -1.53204805e-01] [ 3.24175552e-03 -3.52134284e-07 9.99994745e-01 -2.84369835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.88028169299999 meters Centerline goodness : 0.997355 Centerline is valid? [True, True] Translation: X:36.62, Y:-0.15, Z:-0.29 [[ 9.99756869e-01 -2.18613001e-02 -2.87868223e-03 3.66171480e+01] [ 2.18612049e-02 9.99761013e-01 -6.45321240e-05 -1.52431234e-01] [ 2.87940502e-03 1.58497213e-06 9.99995855e-01 -2.85090481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.910281692999995 meters Centerline goodness : 0.997697 Centerline is valid? [True, True] Translation: X:36.65, Y:-0.15, Z:-0.28 [[ 9.99784692e-01 -2.06677670e-02 -1.84760836e-03 3.66463512e+01] [ 2.06677249e-02 9.99786399e-01 -4.18495651e-05 -1.51199156e-01] [ 1.84807865e-03 3.65469318e-06 9.99998292e-01 -2.84337235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.940281692999996 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:36.68, Y:-0.15, Z:-0.28 [[ 9.99809179e-01 -1.94931072e-02 -1.27422152e-03 3.66753155e+01] [ 1.94930863e-02 9.99809991e-01 -2.88372164e-05 -1.50325694e-01] [ 1.27454154e-03 3.99320351e-06 9.99999188e-01 -2.83428477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.970281693 meters Centerline goodness : 0.997402 Centerline is valid? [True, True] Translation: X:36.70, Y:-0.15, Z:-0.28 [[ 9.99850513e-01 -1.70477865e-02 -2.88530831e-03 3.67045227e+01] [ 1.70476690e-02 9.99854676e-01 -6.53167412e-05 -1.47910602e-01] [ 2.88600251e-03 1.61191960e-05 9.99995835e-01 -2.83731478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.000281693 meters Centerline goodness : 0.997627 Centerline is valid? [True, True] Translation: X:36.73, Y:-0.15, Z:-0.28 [[ 9.99866585e-01 -1.57094843e-02 -4.47482665e-03 3.67329904e+01] [ 1.57091875e-02 9.99876598e-01 -1.01455948e-04 -1.45301115e-01] [ 4.47586826e-03 3.11465216e-05 9.99989983e-01 -2.84321389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.030281693 meters Centerline goodness : 0.997404 Centerline is valid? [True, True] Translation: X:36.76, Y:-0.14, Z:-0.28 [[ 9.99877727e-01 -1.47718488e-02 -5.13056944e-03 3.67620443e+01] [ 1.47714417e-02 9.99890889e-01 -1.17221253e-04 -1.42013753e-01] [ 5.13174122e-03 4.14210127e-05 9.99986832e-01 -2.84662844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.06028169299999 meters Centerline goodness : 0.997172 Centerline is valid? [True, True] Translation: X:36.79, Y:-0.14, Z:-0.28 [[ 9.99914449e-01 -1.21016608e-02 -4.96435877e-03 3.67899167e+01] [ 1.21012420e-02 9.99926771e-01 -1.14404563e-04 -1.37147567e-01] [ 4.96537972e-03 5.43198689e-05 9.99987671e-01 -2.83958288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.090281692999994 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:36.82, Y:-0.13, Z:-0.28 [[ 9.99921694e-01 -1.14081132e-02 -5.14391233e-03 3.68181411e+01] [ 1.14076534e-02 9.99934924e-01 -1.18723984e-04 -1.34215970e-01] [ 5.14493200e-03 6.00347181e-05 9.99986763e-01 -2.84036097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.120281692999995 meters Centerline goodness : 0.997294 Centerline is valid? [True, True] Translation: X:36.85, Y:-0.13, Z:-0.28 [[ 9.99922844e-01 -1.11996192e-02 -5.37351846e-03 3.68457340e+01] [ 1.11991084e-02 9.99937280e-01 -1.25131551e-04 -1.31263036e-01] [ 5.37458286e-03 6.49432804e-05 9.99985555e-01 -2.84454107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.150281693 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:36.87, Y:-0.13, Z:-0.29 [[ 9.99903540e-01 -1.25590332e-02 -5.93131583e-03 3.68736720e+01] [ 1.25584283e-02 9.99921130e-01 -1.39220368e-04 -1.26499741e-01] [ 5.93259650e-03 6.47189340e-05 9.99982400e-01 -2.85618431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.180281693 meters Centerline goodness : 0.997036 Centerline is valid? [True, True] Translation: X:36.90, Y:-0.12, Z:-0.29 [[ 9.99890835e-01 -1.34655301e-02 -6.08262057e-03 3.69014126e+01] [ 1.34649037e-02 9.99909334e-01 -1.43913625e-04 -1.24617939e-01] [ 6.08400696e-03 6.19960145e-05 9.99981490e-01 -2.85320960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.210281693 meters Centerline goodness : 0.997216 Centerline is valid? [True, True] Translation: X:36.93, Y:-0.12, Z:-0.28 [[ 9.99876063e-01 -1.43944528e-02 -6.37634386e-03 3.69286068e+01] [ 1.43937807e-02 9.99896393e-01 -1.51282872e-04 -1.20915823e-01] [ 6.37786086e-03 5.94844272e-05 9.99979659e-01 -2.83820509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.24028169299999 meters Centerline goodness : 0.997328 Centerline is valid? [True, True] Translation: X:36.96, Y:-0.12, Z:-0.28 [[ 9.99861410e-01 -1.49606677e-02 -7.30341468e-03 3.69563072e+01] [ 1.49597904e-02 9.99888081e-01 -1.74736930e-04 -1.17163807e-01] [ 7.30521147e-03 6.54551602e-05 9.99973314e-01 -2.84222980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.270281692999994 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:36.98, Y:-0.11, Z:-0.28 [[ 9.99852462e-01 -1.51018168e-02 -8.18471890e-03 3.69836050e+01] [ 1.51007152e-02 9.99885958e-01 -1.96376501e-04 -1.13803549e-01] [ 8.18675115e-03 7.27524194e-05 9.99966485e-01 -2.84857960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.300281692999995 meters Centerline goodness : 0.997166 Centerline is valid? [True, True] Translation: X:37.01, Y:-0.11, Z:-0.28 [[ 9.99850772e-01 -1.51165721e-02 -8.36198459e-03 3.70103170e+01] [ 1.51154092e-02 9.99885735e-01 -2.02256526e-04 -1.11152472e-01] [ 8.36408654e-03 7.58315248e-05 9.99965018e-01 -2.84314994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.330281692999996 meters Centerline goodness : 0.997539 Centerline is valid? [True, True] Translation: X:37.04, Y:-0.11, Z:-0.28 [[ 9.99885138e-01 -1.44242016e-02 -4.65320620e-03 3.70383381e+01] [ 1.44238295e-02 9.99895965e-01 -1.13502293e-04 -1.07817434e-01] [ 4.65435929e-03 4.63722030e-05 9.99989167e-01 -2.82338777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.360281693 meters Centerline goodness : 0.997572 Centerline is valid? [True, True] Translation: X:37.07, Y:-0.11, Z:-0.28 [[ 9.99890512e-01 -1.44991950e-02 -2.95605077e-03 3.70664703e+01] [ 1.44990448e-02 9.99894881e-01 -7.22234145e-05 -1.05244789e-01] [ 2.95678722e-03 2.93555942e-05 9.99995628e-01 -2.81911847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.390281693 meters Centerline goodness : 0.998177 Centerline is valid? [True, True] Translation: X:37.10, Y:-0.10, Z:-0.28 [[ 9.99876496e-01 -1.56497675e-02 -1.44122675e-03 3.70957395e+01] [ 1.56497329e-02 9.99877535e-01 -3.52418445e-05 -1.02071307e-01] [ 1.44160178e-03 1.26826783e-05 9.99998961e-01 -2.81516077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.420281693 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:37.13, Y:-0.10, Z:-0.28 [[ 9.99810770e-01 -1.94525601e-02 1.46176973e-04 3.71252565e+01] [ 1.94525598e-02 9.99810781e-01 3.56381223e-06 -9.86619309e-02] [-1.46218639e-04 -7.19621537e-07 9.99999989e-01 -2.81983026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.450281692999994 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:37.16, Y:-0.10, Z:-0.28 [[ 9.99780598e-01 -2.09459361e-02 1.55954335e-04 3.71562978e+01] [ 2.09459358e-02 9.99780610e-01 3.82964293e-06 -9.79650657e-02] [-1.56000336e-04 -5.62193210e-07 9.99999988e-01 -2.82280649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.480281692999995 meters Centerline goodness : 0.997798 Centerline is valid? [True, True] Translation: X:37.19, Y:-0.10, Z:-0.28 [[ 9.99709574e-01 -2.40892414e-02 -6.90409600e-04 3.71877084e+01] [ 2.40892356e-02 9.99709812e-01 -1.68282599e-05 -9.60078105e-02] [ 6.90614631e-04 1.91933062e-07 9.99999762e-01 -2.82760372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.510281692999996 meters Centerline goodness : 0.998080 Centerline is valid? [True, True] Translation: X:37.22, Y:-0.09, Z:-0.28 [[ 9.99675950e-01 -2.54331901e-02 -1.07162576e-03 3.72183781e+01] [ 2.54331767e-02 9.99676524e-01 -2.61518744e-05 -9.37448143e-02] [ 1.07194424e-03 -1.11144731e-06 9.99999425e-01 -2.82900064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.540281693 meters Centerline goodness : 0.997678 Centerline is valid? [True, True] Translation: X:37.25, Y:-0.09, Z:-0.28 [[ 9.99647953e-01 -2.64563080e-02 -2.00837568e-03 3.72479135e+01] [ 2.64562630e-02 9.99649971e-01 -4.90048671e-05 -9.18619915e-02] [ 2.00896917e-03 -4.14649995e-06 9.99997982e-01 -2.82719723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.570281693 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:37.28, Y:-0.09, Z:-0.28 [[ 9.99602260e-01 -2.80291309e-02 -3.11272261e-03 3.72780095e+01] [ 2.80290302e-02 9.99607107e-01 -7.59546981e-05 -9.04116314e-02] [ 3.11362859e-03 -1.13221084e-05 9.99995153e-01 -2.83862293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.600281693 meters Centerline goodness : 0.997901 Centerline is valid? [True, True] Translation: X:37.31, Y:-0.09, Z:-0.28 [[ 9.99600955e-01 -2.80756566e-02 -3.11271807e-03 3.73071595e+01] [ 2.80755556e-02 9.99605801e-01 -7.61406142e-05 -8.96467770e-02] [ 3.11362874e-03 -1.12810587e-05 9.99995153e-01 -2.83888011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.63028169299999 meters Centerline goodness : 0.997823 Centerline is valid? [True, True] Translation: X:37.34, Y:-0.09, Z:-0.28 [[ 9.99602749e-01 -2.79639861e-02 -3.51569695e-03 3.73359708e+01] [ 2.79638560e-02 9.99608931e-01 -8.61554535e-05 -8.90972765e-02] [ 3.51673132e-03 -1.21912152e-05 9.99993816e-01 -2.84193591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.660281692999995 meters Centerline goodness : 0.997847 Centerline is valid? [True, True] Translation: X:37.37, Y:-0.09, Z:-0.28 [[ 9.99610463e-01 -2.77686285e-02 -2.79737174e-03 3.73655505e+01] [ 2.77685452e-02 9.99614377e-01 -6.86036015e-05 -8.88032356e-02] [ 2.79819804e-03 -9.10206574e-06 9.99996085e-01 -2.84042774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.690281692999996 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:37.39, Y:-0.09, Z:-0.28 [[ 9.99606163e-01 -2.80003569e-02 -1.87036084e-03 3.73949927e+01] [ 2.79846524e-02 9.99576720e-01 -7.95238648e-03 -8.57416993e-02] [ 2.09223882e-03 7.89691314e-03 9.99966630e-01 -2.81981968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.720281693 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:37.42, Y:-0.09, Z:-0.28 [[ 9.99599322e-01 -2.83050977e-02 1.28141352e-04 3.74232401e+01] [ 2.83032061e-02 9.99568242e-01 7.89043885e-03 -9.49918115e-02] [-3.51425669e-04 -7.88365052e-03 9.99968862e-01 -2.83565024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.750281693 meters Centerline goodness : 0.997872 Centerline is valid? [True, True] Translation: X:37.45, Y:-0.09, Z:-0.28 [[ 9.99614018e-01 -2.77644779e-02 -9.74340601e-04 3.74538014e+01] [ 2.77644677e-02 9.99614493e-01 -2.40579102e-05 -9.09505749e-02] [ 9.74632941e-04 -3.00342387e-06 9.99999525e-01 -2.84522914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.780281693 meters Centerline goodness : 0.997837 Centerline is valid? [True, True] Translation: X:37.48, Y:-0.09, Z:-0.29 [[ 9.99647967e-01 -2.64732202e-02 -1.76377190e-03 3.74831582e+01] [ 2.64731846e-02 9.99649523e-01 -4.35438400e-05 -9.11084321e-02] [ 1.76430648e-03 -3.16414786e-06 9.99998444e-01 -2.85615650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.81028169299999 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:37.51, Y:-0.09, Z:-0.29 [[ 9.99685406e-01 -2.50173124e-02 -1.79555872e-03 3.75114109e+01] [ 2.50172729e-02 9.99687018e-01 -4.44210241e-05 -9.17598429e-02] [ 1.79610804e-03 -5.12933086e-07 9.99998387e-01 -2.86532203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.840281692999994 meters Centerline goodness : 0.997950 Centerline is valid? [True, True] Translation: X:37.54, Y:-0.09, Z:-0.29 [[ 9.99714053e-01 -2.38805650e-02 -1.23751332e-03 3.75407358e+01] [ 2.38805454e-02 9.99714819e-01 -3.06421251e-05 -9.22133201e-02] [ 1.23789216e-03 1.08086999e-06 9.99999234e-01 -2.86153654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.870281692999995 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:37.57, Y:-0.09, Z:-0.28 [[ 9.99771754e-01 -2.13626134e-02 -2.81095566e-04 3.75706694e+01] [ 2.13626123e-02 9.99771793e-01 -6.98267205e-06 -9.28433395e-02] [ 2.81180586e-04 9.76142713e-07 9.99999960e-01 -2.84885589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.900281693 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:37.60, Y:-0.09, Z:-0.28 [[ 9.99805043e-01 -1.97319120e-02 -7.26616329e-04 3.75999400e+01] [ 1.97319041e-02 9.99805307e-01 -1.80342402e-05 -9.23259642e-02] [ 7.26830712e-04 3.69320057e-06 9.99999736e-01 -2.84678556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.930281693 meters Centerline goodness : 0.998141 Centerline is valid? [True, True] Translation: X:37.63, Y:-0.09, Z:-0.29 [[ 9.99889340e-01 -1.47174069e-02 -2.16931978e-03 3.76293228e+01] [ 1.47173247e-02 9.99891693e-01 -5.38506513e-05 -9.20323416e-02] [ 2.16987737e-03 2.19181085e-05 9.99997646e-01 -2.85898826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.960281693 meters Centerline goodness : 0.997790 Centerline is valid? [True, True] Translation: X:37.66, Y:-0.09, Z:-0.29 [[ 9.99925068e-01 -1.19315044e-02 -2.73822412e-03 3.76592119e+01] [ 1.19313629e-02 9.99928816e-01 -6.79887614e-05 -9.06332773e-02] [ 2.73884041e-03 3.53129212e-05 9.99996249e-01 -2.86057057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.99028169299999 meters Centerline goodness : 0.998229 Centerline is valid? [True, True] Translation: X:37.69, Y:-0.09, Z:-0.29 [[ 9.99963405e-01 -8.10970723e-03 -2.72420897e-03 3.76891265e+01] [ 8.10955284e-03 9.99967115e-01 -6.77145716e-05 -8.56359704e-02] [ 2.72466853e-03 4.56199770e-05 9.99996287e-01 -2.86271929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.020281692999994 meters Centerline goodness : 0.997939 Centerline is valid? [True, True] Translation: X:37.72, Y:-0.08, Z:-0.29 [[ 9.99972205e-01 -7.03054377e-03 -2.48206025e-03 3.77175459e+01] [ 7.03041204e-03 9.99975284e-01 -6.17936135e-05 -8.25865486e-02] [ 2.48243335e-03 4.43419897e-05 9.99996918e-01 -2.86673757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.050281692999995 meters Centerline goodness : 0.997810 Centerline is valid? [True, True] Translation: X:37.75, Y:-0.08, Z:-0.29 [[ 9.99977328e-01 -6.37347559e-03 -2.17294951e-03 3.77470785e+01] [ 6.37337297e-03 9.99979688e-01 -5.41436769e-05 -7.96072390e-02] [ 2.17325046e-03 4.02934316e-05 9.99997638e-01 -2.86705091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.080281692999996 meters Centerline goodness : 0.997873 Centerline is valid? [True, True] Translation: X:37.78, Y:-0.08, Z:-0.29 [[ 9.99978728e-01 -6.16889451e-03 -2.11869663e-03 3.77761027e+01] [ 6.16879647e-03 9.99980971e-01 -5.28068111e-05 -7.66982604e-02] [ 2.11898207e-03 3.97358795e-05 9.99997754e-01 -2.86578062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.110281693 meters Centerline goodness : 0.998316 Centerline is valid? [True, True] Translation: X:37.81, Y:-0.07, Z:-0.29 [[ 9.99975085e-01 -7.04552564e-03 -4.36325620e-04 3.78055562e+01] [ 7.04552155e-03 9.99975180e-01 -1.09040104e-05 -6.99682939e-02] [ 4.36391615e-04 7.82959716e-06 9.99999905e-01 -2.86457441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.140281693 meters Centerline goodness : 0.998243 Centerline is valid? [True, True] Translation: X:37.84, Y:-0.06, Z:-0.29 [[ 9.99943585e-01 -1.06218293e-02 5.26133427e-05 3.78355360e+01] [ 1.06218293e-02 9.99943587e-01 1.34218750e-06 -6.39116481e-02] [-5.26246311e-05 -7.83261841e-07 9.99999999e-01 -2.87738238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.170281693 meters Centerline goodness : 0.997799 Centerline is valid? [True, True] Translation: X:37.87, Y:-0.06, Z:-0.29 [[ 9.99901011e-01 -1.37357948e-02 -3.04891060e-03 3.78661301e+01] [ 1.37078994e-02 9.99865636e-01 -8.98902163e-03 -5.71267989e-02] [ 3.17197230e-03 8.94633765e-03 9.99954950e-01 -2.86049703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.200281692999994 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:37.89, Y:-0.06, Z:-0.29 [[ 9.99854546e-01 -1.69873634e-02 -1.52221127e-03 3.78946636e+01] [ 1.70001985e-02 9.99816247e-01 8.85807421e-03 -6.49563943e-02] [ 1.37145623e-03 -8.88266365e-03 9.99959608e-01 -2.88791901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.230281692999995 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:37.92, Y:-0.06, Z:-0.29 [[ 9.99805234e-01 -1.96593835e-02 -1.73270476e-03 3.79248738e+01] [ 1.96593379e-02 9.99806736e-01 -4.33736469e-05 -5.76805357e-02] [ 1.73322259e-03 9.30137094e-06 9.99998498e-01 -2.87864483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.260281692999996 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:37.96, Y:-0.05, Z:-0.29 [[ 9.99727593e-01 -2.33035520e-02 -1.29743030e-03 3.79551826e+01] [ 2.33035295e-02 9.99728435e-01 -3.24777106e-05 -5.39007082e-02] [ 1.29783481e-03 2.23415818e-06 9.99999158e-01 -2.87901259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.290281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:37.99, Y:-0.05, Z:-0.29 [[ 9.99708373e-01 -2.41162131e-02 -1.25593233e-03 3.79850917e+01] [ 2.41161926e-02 9.99709162e-01 -3.14637233e-05 -5.22534095e-02] [ 1.25632584e-03 1.16624159e-06 9.99999211e-01 -2.88426531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.320281693 meters Centerline goodness : 0.998061 Centerline is valid? [True, True] Translation: X:38.02, Y:-0.05, Z:-0.29 [[ 9.99684038e-01 -2.51122481e-02 -1.09465821e-03 3.80158264e+01] [ 2.51122331e-02 9.99684638e-01 -2.74144978e-05 -5.13813133e-02] [ 1.09500144e-03 -8.34764299e-08 9.99999400e-01 -2.88722595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.350281693 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:38.05, Y:-0.05, Z:-0.29 [[ 9.99673495e-01 -2.55374377e-02 -8.62303067e-04 3.80460182e+01] [ 2.55374285e-02 9.99673866e-01 -2.15954215e-05 -5.07425098e-02] [ 8.62573333e-04 -4.32632479e-07 9.99999628e-01 -2.88402491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.38028169299999 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:38.08, Y:-0.05, Z:-0.29 [[ 9.99668003e-01 -2.57599028e-02 -5.57070646e-04 3.80766438e+01] [ 2.57598990e-02 9.99668159e-01 -1.39512149e-05 -4.97173372e-02] [ 5.57245168e-04 -4.03500450e-07 9.99999845e-01 -2.88409889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.410281692999995 meters Centerline goodness : 0.998166 Centerline is valid? [True, True] Translation: X:38.11, Y:-0.05, Z:-0.29 [[ 9.99676233e-01 -2.54333890e-02 -7.56455063e-04 3.81074552e+01] [ 2.54333820e-02 9.99676519e-01 -1.89256512e-05 -4.98849470e-02] [ 7.56691708e-04 -3.19686927e-07 9.99999714e-01 -2.88532935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.440281692999996 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:38.14, Y:-0.05, Z:-0.29 [[ 9.99674576e-01 -2.54872111e-02 -1.06935237e-03 3.81367514e+01] [ 2.54871970e-02 9.99675148e-01 -2.67632983e-05 -4.96288123e-02] [ 1.06968711e-03 -5.00205708e-07 9.99999428e-01 -2.88434160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.470281693 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:38.17, Y:-0.05, Z:-0.29 [[ 9.99661896e-01 -2.59429409e-02 -1.74838689e-03 3.81670687e+01] [ 2.59429041e-02 9.99663425e-01 -4.37617212e-05 -4.98816558e-02] [ 1.74893374e-03 -1.61130826e-06 9.99998471e-01 -2.88347474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.500281693 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:38.20, Y:-0.05, Z:-0.29 [[ 9.99588579e-01 -2.86269436e-02 -1.78077562e-03 3.81974867e+01] [ 2.86269096e-02 9.99590165e-01 -4.45724035e-05 -5.19343436e-02] [ 1.78132176e-03 -6.42403708e-06 9.99998413e-01 -2.87179688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.530281693 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:38.23, Y:-0.05, Z:-0.29 [[ 9.99533550e-01 -3.05017135e-02 -1.52589986e-03 3.82272582e+01] [ 3.05016906e-02 9.99534714e-01 -3.82473423e-05 -5.29293653e-02] [ 1.52635649e-03 -8.31302373e-06 9.99998835e-01 -2.87436449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.56028169299999 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:38.26, Y:-0.05, Z:-0.29 [[ 9.99468950e-01 -3.25762930e-02 -7.76015738e-04 3.82572145e+01] [ 3.25762877e-02 9.99469252e-01 -1.94786534e-05 -5.36885519e-02] [ 7.76238412e-04 -5.81140268e-06 9.99999699e-01 -2.87102165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.590281692999994 meters Centerline goodness : 0.998498 Centerline is valid? [True, True] Translation: X:38.29, Y:-0.06, Z:-0.29 [[ 9.99408537e-01 -3.43885795e-02 3.20176323e-05 3.82873063e+01] [ 3.43885795e-02 9.99408538e-01 7.93172382e-07 -5.79427910e-02] [-3.20259712e-05 3.08337646e-07 9.99999999e-01 -2.88133334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.620281692999995 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:38.32, Y:-0.06, Z:-0.29 [[ 9.99396469e-01 -3.47223560e-02 -1.02710303e-03 3.83166018e+01] [ 3.47223479e-02 9.99396997e-01 -2.57874268e-05 -6.05177739e-02] [ 1.02737908e-03 -9.89156524e-06 9.99999472e-01 -2.89020278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.650281693 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:38.35, Y:-0.07, Z:-0.29 [[ 9.99367611e-01 -3.54163239e-02 -3.17209713e-03 3.83467118e+01] [ 3.54162494e-02 9.99372645e-01 -7.97007555e-05 -6.54623527e-02] [ 3.17292981e-03 -3.26934293e-05 9.99994966e-01 -2.89172447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.680281693 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:38.38, Y:-0.07, Z:-0.29 [[ 9.99340676e-01 -3.61402560e-02 -3.47795168e-03 3.83754240e+01] [ 3.61401684e-02 9.99346727e-01 -8.80408372e-05 -6.70435084e-02] [ 3.47886145e-03 -3.77109699e-05 9.99993948e-01 -2.88536024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.710281693 meters Centerline goodness : 0.998420 Centerline is valid? [True, True] Translation: X:38.40, Y:-0.07, Z:-0.29 [[ 9.99322431e-01 -3.66450498e-02 -3.43780917e-03 3.84038674e+01] [ 3.66449653e-02 9.99328344e-01 -8.75875397e-05 -6.91397287e-02] [ 3.43870980e-03 -3.84502048e-05 9.99994087e-01 -2.87942047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.74028169299999 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:38.43, Y:-0.08, Z:-0.29 [[ 9.99338263e-01 -3.62829023e-02 -2.56636222e-03 3.84319295e+01] [ 3.62828538e-02 9.99341558e-01 -6.54755012e-05 -7.60101357e-02] [ 2.56704806e-03 -2.76827716e-05 9.99996705e-01 -2.88170242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.770281692999994 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:38.46, Y:-0.08, Z:-0.29 [[ 9.99372558e-01 -3.53373579e-02 -2.40028317e-03 3.84602346e+01] [ 3.53373124e-02 9.99375440e-01 -6.13700982e-05 -7.83822326e-02] [ 2.40095271e-03 -2.34879643e-05 9.99997117e-01 -2.87552443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.800281692999995 meters Centerline goodness : 0.998521 Centerline is valid? [True, True] Translation: X:38.49, Y:-0.08, Z:-0.29 [[ 9.99403168e-01 -3.44724247e-02 -2.22694929e-03 3.84892233e+01] [ 3.44723824e-02 9.99405649e-01 -5.73923482e-05 -7.96222799e-02] [ 2.22760415e-03 -1.94101528e-05 9.99997519e-01 -2.87722008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.830281692999996 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:38.52, Y:-0.08, Z:-0.29 [[ 9.99464774e-01 -3.26302404e-02 -2.33071025e-03 3.85170078e+01] [ 3.26301889e-02 9.99467492e-01 -6.00998900e-05 -8.29193232e-02] [ 2.33143021e-03 -1.59837930e-05 9.99997282e-01 -2.88294561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.860281693 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:38.54, Y:-0.08, Z:-0.29 [[ 9.99493853e-01 -3.17637166e-02 -1.76181272e-03 3.85447638e+01] [ 3.17636856e-02 9.99495406e-01 -4.55411675e-05 -8.46797138e-02] [ 1.76237028e-03 -1.04435485e-05 9.99998447e-01 -2.88276993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.890281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:38.57, Y:-0.09, Z:-0.29 [[ 9.99581052e-01 -2.89088519e-02 -1.41409039e-03 3.85727145e+01] [ 2.89045587e-02 9.99577771e-01 -2.96767701e-03 -8.55848874e-02] [ 1.49928546e-03 2.92556005e-03 9.99994597e-01 -2.86502302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.920281693 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:38.60, Y:-0.08, Z:-0.28 [[ 9.99631781e-01 -2.66978298e-02 -4.85060652e-03 3.86019887e+01] [ 2.66476749e-02 9.99593600e-01 -1.01259733e-02 -8.13629076e-02] [ 5.11897675e-03 9.99298737e-03 9.99936966e-01 -2.84693959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.950281692999994 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:38.63, Y:-0.09, Z:-0.29 [[ 9.99709652e-01 -2.39681306e-02 -2.47801568e-03 3.86312048e+01] [ 2.39979703e-02 9.99629941e-01 1.28092748e-02 -9.27588186e-02] [ 2.17008430e-03 -1.28650230e-02 9.99914887e-01 -2.86714303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.980281692999995 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:38.66, Y:-0.08, Z:-0.29 [[ 9.99775467e-01 -2.09203858e-02 -3.36929803e-03 3.86605951e+01] [ 2.09202083e-02 9.99781145e-01 -8.79236758e-05 -8.43226406e-02] [ 3.37040004e-03 1.74175176e-05 9.99994320e-01 -2.86837234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.010281692999996 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:38.69, Y:-0.08, Z:-0.29 [[ 9.99856355e-01 -1.66794490e-02 -3.01075371e-03 3.86898004e+01] [ 1.66792862e-02 9.99860888e-01 -7.91655790e-05 -8.16196043e-02] [ 3.01165531e-03 2.89369845e-05 9.99995465e-01 -2.87726818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.040281693 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:38.72, Y:-0.08, Z:-0.29 [[ 9.99873517e-01 -1.55371246e-02 -3.39814378e-03 3.87179627e+01] [ 1.55199023e-02 9.99866871e-01 -5.03712581e-03 -7.70669825e-02] [ 3.47595384e-03 4.98374984e-03 9.99981540e-01 -2.86357912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.070281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:38.75, Y:-0.08, Z:-0.29 [[ 9.99858265e-01 -1.67648486e-02 -1.54587267e-03 3.87470786e+01] [ 1.67718691e-02 9.99848547e-01 4.64617463e-03 -7.90107717e-02] [ 1.46774613e-03 -4.67144328e-03 9.99988012e-01 -2.87212001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.100281693 meters Centerline goodness : 0.998844 Centerline is valid? [True, True] Translation: X:38.78, Y:-0.08, Z:-0.29 [[ 9.99848617e-01 -1.73039417e-02 -1.82103409e-03 3.87765898e+01] [ 1.73038830e-02 9.99850275e-01 -4.79845271e-05 -7.55421721e-02] [ 1.82159176e-03 1.64663022e-05 9.99998341e-01 -2.87476214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.13028169299999 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:38.81, Y:-0.07, Z:-0.29 [[ 9.99832770e-01 -1.82025783e-02 -1.76000926e-03 3.88057412e+01] [ 1.82025248e-02 9.99834319e-01 -4.64230940e-05 -7.46781065e-02] [ 1.76056268e-03 1.43787185e-05 9.99998450e-01 -2.87530876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.160281692999995 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:38.83, Y:-0.07, Z:-0.29 [[ 9.99795572e-01 -2.01513223e-02 -1.65465049e-03 3.88348699e+01] [ 2.01512777e-02 9.99796941e-01 -4.36563317e-05 -7.32142542e-02] [ 1.65519423e-03 1.03040857e-05 9.99998630e-01 -2.87413331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.190281692999996 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:38.86, Y:-0.07, Z:-0.29 [[ 9.99774276e-01 -2.11410224e-02 -2.11031933e-03 3.88641444e+01] [ 2.11409518e-02 9.99776504e-01 -5.57334597e-05 -7.17898259e-02] [ 2.11102594e-03 1.11067201e-05 9.99997772e-01 -2.87883106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.220281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:38.89, Y:-0.07, Z:-0.29 [[ 9.99754840e-01 -2.19762450e-02 -2.70264614e-03 3.88939723e+01] [ 2.19761322e-02 9.99758493e-01 -7.14361726e-05 -7.03037985e-02] [ 2.70356333e-03 1.20249505e-05 9.99996345e-01 -2.87848309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.250281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:38.92, Y:-0.07, Z:-0.29 [[ 9.99745304e-01 -2.22835816e-02 -3.57325454e-03 3.89227520e+01] [ 2.22833859e-02 9.99751690e-01 -9.45759709e-05 -6.85461485e-02] [ 3.57447476e-03 1.49276728e-05 9.99993611e-01 -2.88063837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.280281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:38.95, Y:-0.07, Z:-0.29 [[ 9.99756829e-01 -2.18399818e-02 -3.04926922e-03 3.89515281e+01] [ 2.18398355e-02 9.99761479e-01 -8.12715360e-05 -6.68513642e-02] [ 3.05031688e-03 1.46562348e-05 9.99995348e-01 -2.87399308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.31028169299999 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:38.98, Y:-0.06, Z:-0.29 [[ 9.99816128e-01 -1.90633708e-02 -2.07316080e-03 3.89803258e+01] [ 1.90632971e-02 9.99818277e-01 -5.53074702e-05 -6.48057463e-02] [ 2.07383841e-03 1.57760203e-05 9.99997849e-01 -2.86087904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.340281692999994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:39.01, Y:-0.06, Z:-0.29 [[ 9.99851493e-01 -1.71267646e-02 -1.91463504e-03 3.90102171e+01] [ 1.71266981e-02 9.99853326e-01 -5.11129250e-05 -6.37538850e-02] [ 1.91522961e-03 1.83139581e-05 9.99998166e-01 -2.86523533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.370281692999995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:39.04, Y:-0.06, Z:-0.29 [[ 9.99883857e-01 -1.51452092e-02 -1.70134468e-03 3.90400210e+01] [ 1.51451538e-02 9.99885305e-01 -4.54332285e-05 -6.25732137e-02] [ 1.70183764e-03 1.96608248e-05 9.99998552e-01 -2.86909177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.400281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:39.07, Y:-0.06, Z:-0.29 [[ 9.99922092e-01 -1.24759274e-02 -4.01362440e-04 3.90691103e+01] [ 1.24759241e-02 9.99922173e-01 -1.07279558e-05 -6.11884625e-02] [ 4.01465044e-04 5.71975265e-06 9.99999919e-01 -2.86764312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.430281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:39.10, Y:-0.06, Z:-0.29 [[ 9.99942392e-01 -1.07334304e-02 -7.74218055e-05 3.90994004e+01] [ 1.07334303e-02 9.99942395e-01 -2.06802863e-06 -6.00822186e-02] [ 7.74395427e-05 1.23690794e-06 9.99999997e-01 -2.86079785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.460281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:39.13, Y:-0.06, Z:-0.29 [[ 9.99986860e-01 -4.49264116e-03 -2.46921055e-03 3.91299511e+01] [ 4.49249199e-03 9.99989907e-01 -6.59555545e-05 -5.57844742e-02] [ 2.46948194e-03 5.48617792e-05 9.99996949e-01 -2.86054475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.49028169299999 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:39.16, Y:-0.05, Z:-0.29 [[ 9.99994770e-01 -5.85107630e-04 -3.18080333e-03 3.91597979e+01] [ 5.84840053e-04 9.99999825e-01 -8.50516856e-05 -5.23475644e-02] [ 3.18085254e-03 8.31909796e-05 9.99994938e-01 -2.86328817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.520281692999994 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:39.19, Y:-0.05, Z:-0.29 [[ 9.99994749e-01 -6.19835310e-04 -3.18080018e-03 3.91889482e+01] [ 6.19567535e-04 9.99999804e-01 -8.51693743e-05 -5.15169302e-02] [ 3.18085235e-03 8.31982065e-05 9.99994938e-01 -2.86347181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.550281692999995 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:39.22, Y:-0.05, Z:-0.29 [[ 9.99968811e-01 7.58655356e-03 -2.19573477e-03 3.92177298e+01] [-7.58670111e-03 9.99971219e-01 -5.88757435e-05 -4.57092461e-02] [ 2.19522491e-03 7.55322906e-05 9.99997588e-01 -2.86659060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.580281692999996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:39.25, Y:-0.04, Z:-0.29 [[ 9.99933238e-01 1.13610235e-02 -2.10861153e-03 3.92459692e+01] [-1.13644475e-02 9.99934112e-01 -1.61902203e-03 -4.15840601e-02] [ 2.09007885e-03 1.64287715e-03 9.99996466e-01 -2.85763381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.610281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:39.27, Y:-0.04, Z:-0.29 [[ 9.99902753e-01 1.37883868e-02 -2.08933889e-03 3.92749561e+01] [-1.37883779e-02 9.99904936e-01 1.86360123e-05 -3.86573011e-02] [ 2.08939722e-03 1.01743942e-05 9.99997817e-01 -2.85450881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.640281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:39.30, Y:-0.03, Z:-0.29 [[ 9.99878039e-01 1.55342013e-02 -1.61109450e-03 3.93043346e+01] [-1.55318616e-02 9.99878315e-01 1.45472097e-03 -3.48784745e-02] [ 1.63349638e-03 -1.42952025e-03 9.99997644e-01 -2.86203401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.670281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:39.33, Y:-0.03, Z:-0.29 [[ 9.99888314e-01 1.48190023e-02 -1.93826254e-03 3.93343278e+01] [-1.48191312e-02 9.99890189e-01 -5.21883366e-05 -3.19815996e-02] [ 1.93727632e-03 8.09058749e-05 9.99998120e-01 -2.86040652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.700281692999994 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:39.36, Y:-0.03, Z:-0.29 [[ 9.99901364e-01 1.39126563e-02 -1.92367939e-03 3.93641444e+01] [-1.39127817e-02 9.99903211e-01 -5.18385135e-05 -2.94702155e-02] [ 1.92277199e-03 7.85971317e-05 9.99998148e-01 -2.86142656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.730281692999995 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:39.39, Y:-0.02, Z:-0.29 [[ 9.99931264e-01 1.14597834e-02 -2.47805442e-03 3.93922540e+01] [-1.14599842e-02 9.99934330e-01 -6.68629064e-05 -2.48711861e-02] [ 2.47712545e-03 9.52567750e-05 9.99996927e-01 -2.86326774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.760281692999996 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:39.42, Y:-0.02, Z:-0.29 [[ 9.99945044e-01 1.00675121e-02 -2.92478092e-03 3.94213300e+01] [-1.00677862e-02 9.99949315e-01 -7.90091456e-05 -2.28092687e-02] [ 2.92383725e-03 1.08450873e-04 9.99995720e-01 -2.86791216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.790281693 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:39.45, Y:-0.02, Z:-0.29 [[ 9.99955038e-01 8.99330464e-03 -3.00697884e-03 3.94510576e+01] [-8.99358969e-03 9.99959554e-01 -8.12888195e-05 -2.15628001e-02] [ 3.00612616e-03 1.08328698e-04 9.99995476e-01 -2.86598890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.820281693 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:39.48, Y:-0.02, Z:-0.29 [[ 9.99969110e-01 7.75665076e-03 -1.27041128e-03 3.94803138e+01] [-7.75670069e-03 9.99969916e-01 -3.43792952e-05 -1.85277772e-02] [ 1.27010640e-03 4.42324333e-05 9.99999192e-01 -2.85843498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.850281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:39.51, Y:-0.02, Z:-0.29 [[ 9.99970873e-01 7.60215514e-03 -6.78638775e-04 3.95085293e+01] [-7.60216937e-03 9.99971103e-01 -1.83880956e-05 -1.57957367e-02] [ 6.78479375e-04 2.35466870e-05 9.99999770e-01 -2.85417813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.88028169299999 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:39.54, Y:-0.01, Z:-0.28 [[ 9.99969360e-01 7.66680670e-03 -1.58113241e-03 3.95376213e+01] [-7.66688404e-03 9.99970608e-01 -4.28598253e-05 -9.42984405e-03] [ 1.58075734e-03 5.49808709e-05 9.99998749e-01 -2.84223987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.910281692999995 meters Centerline goodness : 0.998477 Centerline is valid? [True, True] Translation: X:39.57, Y:-0.01, Z:-0.28 [[ 9.99970602e-01 7.56278588e-03 -1.26443126e-03 3.95661284e+01] [-7.56358498e-03 9.99971198e-01 -6.28401329e-04 -6.39541992e-03] [ 1.25964238e-03 6.37946489e-04 9.99999003e-01 -2.84389863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.940281692999996 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:39.60, Y:-0.00, Z:-0.28 [[ 9.99981310e-01 6.08172457e-03 -6.26918699e-04 3.95962001e+01] [-6.08136075e-03 9.99981340e-01 5.80617768e-04 -4.26902012e-03] [ 6.30438158e-04 -5.76794397e-04 9.99999635e-01 -2.83935115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.970281693 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:39.63, Y:-0.00, Z:-0.28 [[ 9.99999875e-01 4.26320075e-04 2.61399819e-04 3.96258747e+01] [-4.26321944e-04 9.99999909e-01 7.09550461e-06 -9.55947235e-04] [-2.61396770e-04 -7.20694420e-06 9.99999966e-01 -2.84855232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.000281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:39.66, Y:-0.00, Z:-0.29 [[ 9.99992214e-01 -3.90272664e-03 5.84041572e-04 3.96552929e+01] [ 3.90125513e-03 9.99989266e-01 2.49981862e-03 -6.04538861e-04] [-5.93791412e-04 -2.49752066e-03 9.99996705e-01 -2.85969884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.030281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:39.69, Y:0.00, Z:-0.29 [[ 9.99966147e-01 -8.22617310e-03 -1.88067744e-04 3.96863455e+01] [ 8.22567767e-03 9.99963047e-01 -2.49862397e-03 3.32102599e-03] [ 2.08614908e-04 2.49699240e-03 9.99996861e-01 -2.85501388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.06028169299999 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:39.72, Y:0.00, Z:-0.29 [[ 9.99862372e-01 -1.65869095e-02 3.33310998e-04 3.97169510e+01] [ 1.65869074e-02 9.99862428e-01 9.00924344e-06 2.05548143e-03] [-3.33414579e-04 -3.47940486e-06 9.99999944e-01 -2.86163003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.090281692999994 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:39.75, Y:0.00, Z:-0.29 [[ 9.99808644e-01 -1.95552755e-02 5.15412801e-04 3.97485014e+01] [ 1.95552709e-02 9.99808777e-01 1.39337506e-05 1.93901421e-03] [-5.15586721e-04 -3.85204733e-06 9.99999867e-01 -2.86370914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.120281692999995 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:39.78, Y:-0.00, Z:-0.29 [[ 9.99706722e-01 -2.42162060e-02 2.12549545e-04 3.97792258e+01] [ 2.42162053e-02 9.99706745e-01 5.74487097e-06 -4.16241878e-04] [-2.12626332e-04 -5.96042700e-07 9.99999977e-01 -2.87598133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.150281693 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:39.81, Y:-0.00, Z:-0.29 [[ 9.99660560e-01 -2.60251923e-02 -1.20563216e-03 3.98097029e+01] [ 2.60251720e-02 9.99661287e-01 -3.25460428e-05 -1.92897074e-03] [ 1.20607081e-03 1.15821099e-06 9.99999273e-01 -2.87769901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.180281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:39.84, Y:-0.00, Z:-0.29 [[ 9.99621741e-01 -2.73707302e-02 -2.68660811e-03 3.98394769e+01] [ 2.73706340e-02 9.99625351e-01 -7.25625063e-05 -3.80353825e-03] [ 2.68758766e-03 -9.99108427e-07 9.99996388e-01 -2.87692688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.210281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:39.87, Y:-0.01, Z:-0.28 [[ 9.99581075e-01 -2.88982827e-02 -1.60125785e-03 3.98682420e+01] [ 2.88982503e-02 9.99582357e-01 -4.33420861e-05 -6.61108878e-03] [ 1.60184161e-03 -2.94962122e-06 9.99998717e-01 -2.84960815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.24028169299999 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:39.90, Y:-0.01, Z:-0.28 [[ 9.99585151e-01 -2.87988679e-02 3.87611379e-04 3.98974999e+01] [ 2.87988660e-02 9.99585227e-01 1.04799036e-05 -6.77270385e-03] [-3.87752418e-04 6.87212190e-07 9.99999925e-01 -2.84903928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.270281692999994 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:39.93, Y:-0.01, Z:-0.28 [[ 9.99605005e-01 -2.80860842e-02 1.00284413e-03 3.99277387e+01] [ 2.80860711e-02 9.99605508e-01 2.71356504e-05 -7.30269977e-03] [-1.00321065e-03 1.04101956e-06 9.99999497e-01 -2.84755230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.300281692999995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:39.96, Y:-0.01, Z:-0.29 [[ 9.99669572e-01 -2.56973543e-02 -6.26534620e-04 3.99587931e+01] [ 2.56973487e-02 9.99669768e-01 -1.69551152e-05 -1.09267557e-02] [ 6.26763420e-04 8.49234153e-07 9.99999804e-01 -2.86540284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.330281692999996 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:39.99, Y:-0.01, Z:-0.29 [[ 9.99699370e-01 -2.44839732e-02 -1.30584431e-03 3.99883106e+01] [ 2.44839479e-02 9.99700223e-01 -3.53165916e-05 -1.07098477e-02] [ 1.30631754e-03 3.33375035e-06 9.99999147e-01 -2.86721757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.360281693 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:40.02, Y:-0.01, Z:-0.29 [[ 9.99764057e-01 -2.17072443e-02 -7.90651048e-04 4.00173589e+01] [ 2.17072342e-02 9.99764370e-01 -2.14153189e-05 -5.31974718e-03] [ 7.90929614e-04 4.24741865e-06 9.99999687e-01 -2.85394273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.390281693 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:40.05, Y:-0.00, Z:-0.29 [[ 9.99802140e-01 -1.98917508e-02 -6.76850568e-06 4.00481933e+01] [ 1.98917508e-02 9.99802140e-01 -1.83212475e-07 -2.33073601e-03] [ 6.77081088e-06 4.85387967e-08 1.00000000e+00 -2.85170493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.420281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:40.08, Y:-0.00, Z:-0.28 [[ 9.99828907e-01 -1.84908795e-02 4.93994109e-04 4.00788623e+01] [ 1.84908751e-02 9.99829029e-01 1.33764416e-05 -4.34897706e-05] [-4.94156992e-04 -4.23976966e-06 9.99999878e-01 -2.84836415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.450281692999994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:40.11, Y:0.01, Z:-0.28 [[ 9.99869525e-01 -1.61447387e-02 5.29383387e-04 4.01093578e+01] [ 1.61447333e-02 9.99869665e-01 1.43100667e-05 5.03155353e-03] [-5.29545422e-04 -5.76144594e-06 9.99999860e-01 -2.84746956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.480281692999995 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:40.14, Y:0.01, Z:-0.28 [[ 9.99887627e-01 -1.49911110e-02 -1.31899775e-05 4.01398523e+01] [ 1.49911110e-02 9.99887627e-01 -3.56370807e-07 9.51200883e-03] [ 1.31938377e-05 1.58598344e-07 1.00000000e+00 -2.84733646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.510281692999996 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:40.17, Y:0.02, Z:-0.29 [[ 9.99914598e-01 -1.29368912e-02 -1.85275013e-03 4.01702367e+01] [ 1.29368207e-02 9.99916315e-01 -5.00304314e-05 1.77960469e-02] [ 1.85324232e-03 2.60574625e-05 9.99998282e-01 -2.85198508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.540281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:40.20, Y:0.02, Z:-0.29 [[ 9.99928710e-01 -1.16160698e-02 -2.76452048e-03 4.02011267e+01] [ 1.16159078e-02 9.99932530e-01 -7.46616284e-05 2.14234564e-02] [ 2.76520124e-03 4.25438907e-05 9.99996176e-01 -2.85481565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.570281693 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:40.23, Y:0.03, Z:-0.29 [[ 9.99938178e-01 -1.06841797e-02 -3.08032121e-03 4.02305074e+01] [ 1.06839739e-02 9.99942921e-01 -8.32770428e-05 2.53883579e-02] [ 3.08103514e-03 5.03618230e-05 9.99995252e-01 -2.85658308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.600281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:40.26, Y:0.03, Z:-0.28 [[ 9.99945711e-01 -9.94799217e-03 -3.10051710e-03 4.02601602e+01] [ 9.94777998e-03 9.99950516e-01 -8.38518361e-05 3.00794188e-02] [ 3.10119784e-03 5.30040218e-05 9.99995190e-01 -2.84997360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.63028169299999 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:40.29, Y:0.04, Z:-0.28 [[ 9.99959782e-01 -8.94695003e-03 -6.22068407e-04 4.02898265e+01] [ 8.94694128e-03 9.99959975e-01 -1.68510088e-05 4.00210729e-02] [ 6.22194274e-04 1.12847215e-05 9.99999806e-01 -2.84268230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.660281692999995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:40.32, Y:0.05, Z:-0.28 [[ 9.99953330e-01 -9.65999282e-03 1.52826784e-04 4.03195474e+01] [ 9.65999230e-03 9.99953341e-01 4.15325226e-06 4.66647464e-02] [-1.52859774e-04 -2.67675287e-06 9.99999988e-01 -2.84622088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.690281692999996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:40.35, Y:0.05, Z:-0.29 [[ 9.99938613e-01 -1.10692595e-02 -4.91214855e-04 4.03510974e+01] [ 1.10692544e-02 9.99938734e-01 -1.32403723e-05 4.95936349e-02] [ 4.91331321e-04 7.80217730e-06 9.99999879e-01 -2.85456728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.720281693 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:40.38, Y:0.05, Z:-0.29 [[ 9.99911289e-01 -1.32565390e-02 -1.29549581e-03 4.03820676e+01] [ 1.32565049e-02 9.99912128e-01 -3.49303005e-05 5.24152072e-02] [ 1.29584503e-03 1.77534552e-05 9.99999160e-01 -2.86369110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.750281693 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:40.41, Y:0.06, Z:-0.29 [[ 9.99819109e-01 -1.88764984e-02 -2.32972324e-03 4.04137088e+01] [ 1.88764034e-02 9.99821823e-01 -6.27720501e-05 5.80551529e-02] [ 2.33049305e-03 1.87838996e-05 9.99997284e-01 -2.86453276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.780281693 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:40.44, Y:0.06, Z:-0.29 [[ 9.99775242e-01 -2.10984719e-02 -2.07838523e-03 4.04439266e+01] [ 2.10984012e-02 9.99777402e-01 -5.59085527e-05 6.12391868e-02] [ 2.07910217e-03 1.20453814e-05 9.99997839e-01 -2.86340236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.81028169299999 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:40.48, Y:0.07, Z:-0.29 [[ 9.99704278e-01 -2.42671093e-02 -1.56977387e-03 4.04752327e+01] [ 2.42670730e-02 9.99705510e-01 -4.21930468e-05 6.58121940e-02] [ 1.57033550e-03 4.08675217e-06 9.99998767e-01 -2.85859576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.840281692999994 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:40.51, Y:0.07, Z:-0.29 [[ 9.99685225e-01 -2.49782400e-02 -2.35327492e-03 4.05056274e+01] [ 2.49781605e-02 9.99687995e-01 -6.31542295e-05 6.81751899e-02] [ 2.35411817e-03 4.35387140e-06 9.99997229e-01 -2.86288873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.870281692999995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:40.54, Y:0.07, Z:-0.29 [[ 9.99666781e-01 -2.56299186e-02 -3.07155781e-03 4.05364656e+01] [ 2.56297862e-02 9.99671500e-01 -8.24632279e-05 7.09760308e-02] [ 3.07266233e-03 3.71237955e-06 9.99995279e-01 -2.87320127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.900281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:40.57, Y:0.08, Z:-0.29 [[ 9.99614295e-01 -2.74908403e-02 -3.93896341e-03 4.05666774e+01] [ 2.74906371e-02 9.99622055e-01 -1.05750781e-04 7.63652679e-02] [ 3.94038187e-03 -2.57462118e-06 9.99992237e-01 -2.87937775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.930281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:40.60, Y:0.08, Z:-0.29 [[ 9.99595423e-01 -2.81641534e-02 -3.97134237e-03 4.05974378e+01] [ 2.81639521e-02 9.99603312e-01 -1.06620071e-04 7.88077925e-02] [ 3.97276985e-03 -5.27176158e-06 9.99992109e-01 -2.88061647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.960281693 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:40.63, Y:0.08, Z:-0.29 [[ 9.99582189e-01 -2.86869698e-02 -3.53621054e-03 4.06280227e+01] [ 2.86868135e-02 9.99588444e-01 -9.49379285e-05 8.04021725e-02] [ 3.53747868e-03 -6.54434984e-06 9.99993743e-01 -2.88002170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.99028169299999 meters Centerline goodness : 0.998767 Centerline is valid? [True, True] Translation: X:40.66, Y:0.08, Z:-0.29 [[ 9.99553892e-01 -2.96393433e-02 -3.67770136e-03 4.06584014e+01] [ 2.96391813e-02 9.99560658e-01 -9.85697561e-05 8.17338048e-02] [ 3.67900713e-03 -1.04782739e-05 9.99993232e-01 -2.87795909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.020281692999994 meters Centerline goodness : 0.998557 Centerline is valid? [True, True] Translation: X:40.69, Y:0.08, Z:-0.29 [[ 9.99552194e-01 -2.96976356e-02 -3.66902545e-03 4.06883914e+01] [ 2.96974748e-02 9.99558928e-01 -9.83114935e-05 8.22435745e-02] [ 3.67032677e-03 -1.06933220e-05 9.99993264e-01 -2.87634738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.050281692999995 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:40.72, Y:0.08, Z:-0.29 [[ 9.99541254e-01 -3.02646287e-02 -1.15509590e-03 4.07185668e+01] [ 3.02646132e-02 9.99541921e-01 -3.09530379e-05 8.34016581e-02] [ 1.15550356e-03 -4.01969232e-06 9.99999332e-01 -2.86999654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.080281692999996 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:40.75, Y:0.08, Z:-0.29 [[ 9.99519245e-01 -3.09867979e-02 1.04768228e-03 4.07486252e+01] [ 3.09867855e-02 9.99519794e-01 2.80697517e-05 8.47357774e-02] [-1.04804897e-03 4.40804921e-06 9.99999451e-01 -2.86632956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.110281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:40.78, Y:0.09, Z:-0.29 [[ 9.99488398e-01 -3.18980116e-02 2.33654389e-03 4.07794523e+01] [ 3.18979526e-02 9.99491129e-01 6.25267325e-05 8.50051125e-02] [-2.33734937e-03 1.20362225e-05 9.99997268e-01 -2.85810057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.140281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:40.81, Y:0.08, Z:-0.29 [[ 9.99468433e-01 -3.24991550e-02 2.57996582e-03 4.08102669e+01] [ 3.24990855e-02 9.99471763e-01 6.88691025e-05 8.34022500e-02] [-2.58084118e-03 1.50140358e-05 9.99996670e-01 -2.85812965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.170281693 meters Centerline goodness : 0.999289 Centerline is valid? [True, True] Translation: X:40.84, Y:0.08, Z:-0.29 [[ 9.99413097e-01 -3.42515833e-02 -5.38352385e-04 4.08420691e+01] [ 3.42515806e-02 9.99413242e-01 -1.43076449e-05 8.00296563e-02] [ 5.38526562e-04 -4.14017238e-06 9.99999855e-01 -2.86946679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.200281692999994 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:40.87, Y:0.08, Z:-0.29 [[ 9.99371305e-01 -3.53941293e-02 -2.06165337e-03 4.08736439e+01] [ 3.53940915e-02 9.99373431e-01 -5.48390051e-05 8.00206948e-02] [ 2.06230258e-03 -1.81658201e-05 9.99997873e-01 -2.87560025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.230281692999995 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:40.90, Y:0.08, Z:-0.29 [[ 9.99303000e-01 -3.73175634e-02 -9.56270844e-04 4.09036291e+01] [ 3.73175562e-02 9.99303457e-01 -2.54248250e-05 7.70049550e-02] [ 9.56553553e-04 -1.02785871e-05 9.99999542e-01 -2.87767232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.260281692999996 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:40.93, Y:0.07, Z:-0.29 [[ 9.99268529e-01 -3.82406353e-02 2.45685950e-04 4.09348324e+01] [ 3.82406349e-02 9.99268559e-01 6.54250567e-06 7.46030690e-02] [-2.45756435e-04 2.85746671e-06 9.99999970e-01 -2.87531845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.290281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:40.97, Y:0.07, Z:-0.29 [[ 9.99209384e-01 -3.97546860e-02 4.15618903e-04 4.09656257e+01] [ 3.97546848e-02 9.99209470e-01 1.10508199e-05 7.09185024e-02] [-4.15729666e-04 5.48071556e-06 9.99999914e-01 -2.87569166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.320281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:41.00, Y:0.07, Z:-0.29 [[ 9.99244647e-01 -3.88582538e-02 -4.13842126e-04 4.09955535e+01] [ 3.88582526e-02 9.99244733e-01 -1.09711379e-05 6.95585019e-02] [ 4.13955884e-04 -5.11833102e-06 9.99999914e-01 -2.88365349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.350281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:41.03, Y:0.07, Z:-0.29 [[ 9.99326529e-01 -3.66664248e-02 -1.43581072e-03 4.10259901e+01] [ 3.66664079e-02 9.99327560e-01 -3.80876218e-05 6.76970665e-02] [ 1.43624176e-03 -1.45840506e-05 9.99998968e-01 -2.88833052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.38028169299999 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:41.06, Y:0.06, Z:-0.29 [[ 9.99526655e-01 -3.06994199e-02 -2.00283156e-03 4.10561189e+01] [ 3.06993751e-02 9.99528662e-01 -5.31289327e-05 6.37001682e-02] [ 2.00351858e-03 -8.38189297e-06 9.99997993e-01 -2.88429939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.410281692999995 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:41.09, Y:0.06, Z:-0.29 [[ 9.99526998e-01 -3.06882651e-02 -2.00283234e-03 4.10869447e+01] [ 3.06882203e-02 9.99529004e-01 -5.30996779e-05 6.44786366e-02] [ 2.00351855e-03 -8.38879840e-06 9.99997993e-01 -2.88449019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.440281692999996 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:41.12, Y:0.06, Z:-0.29 [[ 9.99622783e-01 -2.74380980e-02 -1.20136510e-03 4.11175776e+01] [ 2.74380795e-02 9.99623505e-01 -3.18550871e-05 6.43094598e-02] [ 1.20178683e-03 -1.12008025e-06 9.99999278e-01 -2.88071818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.470281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:41.15, Y:0.07, Z:-0.29 [[ 9.99790592e-01 -2.04378756e-02 -1.03176538e-03 4.11477911e+01] [ 2.04378583e-02 9.99791125e-01 -2.73580248e-05 6.52592478e-02] [ 1.03210901e-03 6.26522119e-06 9.99999467e-01 -2.87526388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.500281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:41.18, Y:0.07, Z:-0.29 [[ 9.99865643e-01 -1.63447851e-02 -1.24252176e-03 4.11787565e+01] [ 1.63447567e-02 9.99866415e-01 -3.29463865e-05 6.58924652e-02] [ 1.24289428e-03 1.26332441e-05 9.99999228e-01 -2.88387824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.530281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:41.21, Y:0.07, Z:-0.29 [[ 9.99921614e-01 -1.23709579e-02 -1.92992629e-03 4.12081059e+01] [ 1.23708821e-02 9.99923476e-01 -5.12016424e-05 6.63629566e-02] [ 1.93041202e-03 2.73227382e-05 9.99998136e-01 -2.88600070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.56028169299999 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:41.24, Y:0.07, Z:-0.29 [[ 9.99956102e-01 -9.14747055e-03 -2.02911517e-03 4.12387938e+01] [ 9.14738016e-03 9.99958160e-01 -5.38259592e-05 6.74355630e-02] [ 2.02952264e-03 3.52625085e-05 9.99997940e-01 -2.89302233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.590281692999994 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:41.27, Y:0.07, Z:-0.29 [[ 9.99985371e-01 -5.23352276e-03 -1.36706365e-03 4.12681832e+01] [ 5.23347804e-03 9.99986305e-01 -3.62861148e-05 7.07269571e-02] [ 1.36723483e-03 2.91310864e-05 9.99999065e-01 -2.89292184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.620281692999995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:41.30, Y:0.07, Z:-0.29 [[ 9.99988608e-01 -4.68571995e-03 -9.09958533e-04 4.12972702e+01] [ 4.68569990e-03 9.99989022e-01 -2.41655068e-05 7.25764010e-02] [ 9.10061776e-04 1.99014389e-05 9.99999586e-01 -2.88988678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.650281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:41.33, Y:0.07, Z:-0.29 [[ 9.99988565e-01 -4.42571824e-03 -1.81197628e-03 4.13273266e+01] [ 4.42563833e-03 9.99990206e-01 -4.81064338e-05 7.36362019e-02] [ 1.81217144e-03 4.00867320e-05 9.99998357e-01 -2.89449563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.680281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:41.36, Y:0.08, Z:-0.29 [[ 9.99986523e-01 -4.63759595e-03 -2.33398324e-03 4.13568135e+01] [ 4.63746387e-03 9.99989245e-01 -6.19973161e-05 7.50784668e-02] [ 2.33424566e-03 5.11727176e-05 9.99997274e-01 -2.90122395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.710281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:41.39, Y:0.08, Z:-0.29 [[ 9.99984060e-01 -5.29990836e-03 -1.94709624e-03 4.13861394e+01] [ 5.29981760e-03 9.99985955e-01 -5.17703485e-05 7.81761729e-02] [ 1.94734327e-03 4.14502683e-05 9.99998103e-01 -2.89717487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.74028169299999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:41.42, Y:0.08, Z:-0.29 [[ 9.99981062e-01 -6.15321676e-03 1.18508352e-04 4.14169436e+01] [ 6.15321643e-03 9.99981069e-01 3.15014423e-06 8.25801096e-02] [-1.18525492e-04 -2.42087703e-06 9.99999993e-01 -2.89160594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.770281692999994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:41.45, Y:0.08, Z:-0.29 [[ 9.99976476e-01 -6.74840658e-03 1.22711491e-03 4.14486756e+01] [ 6.74837165e-03 9.99977229e-01 3.26056975e-05 8.41702053e-02] [-1.22730700e-03 -2.43239030e-05 9.99999247e-01 -2.89581605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.800281692999995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:41.48, Y:0.09, Z:-0.29 [[ 9.99965581e-01 -8.28800325e-03 3.80654606e-04 4.14800448e+01] [ 8.28800000e-03 9.99965654e-01 1.01156468e-05 8.65643989e-02] [-3.80725371e-04 -6.96043325e-06 9.99999928e-01 -2.90764405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.830281692999996 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:41.51, Y:0.09, Z:-0.29 [[ 9.99953046e-01 -9.63446127e-03 -1.04090502e-03 4.15110928e+01] [ 9.63443777e-03 9.99953587e-01 -2.75860639e-05 8.86770707e-02] [ 1.04112249e-03 1.75562339e-05 9.99999458e-01 -2.91557677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.860281693 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:41.54, Y:0.09, Z:-0.29 [[ 9.99905497e-01 -1.34841474e-02 -2.67853682e-03 4.15414096e+01] [ 1.34840056e-02 9.99909084e-01 -7.09854076e-05 9.03733089e-02] [ 2.67925048e-03 3.48612937e-05 9.99996410e-01 -2.92060290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.890281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:41.57, Y:0.09, Z:-0.29 [[ 9.99869385e-01 -1.58828714e-02 -2.99116760e-03 4.15706524e+01] [ 1.58827053e-02 9.99873859e-01 -7.92694081e-05 9.03230606e-02] [ 2.99204932e-03 3.17512208e-05 9.99995523e-01 -2.92351978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.920281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:41.60, Y:0.09, Z:-0.29 [[ 9.99830194e-01 -1.82678289e-02 -2.42253013e-03 4.16009822e+01] [ 1.82677270e-02 9.99833129e-01 -6.42010934e-05 8.95608484e-02] [ 2.42329870e-03 1.99360726e-05 9.99997064e-01 -2.92644400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.950281692999994 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:41.63, Y:0.09, Z:-0.29 [[ 9.99795542e-01 -2.01594047e-02 -1.57228895e-03 4.16316493e+01] [ 2.01593641e-02 9.99796779e-01 -4.16682824e-05 8.94547782e-02] [ 1.57280943e-03 9.96341758e-06 9.99998763e-01 -2.92671506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.980281692999995 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:41.66, Y:0.09, Z:-0.29 [[ 9.99758258e-01 -2.19864441e-02 -1.49393487e-04 4.16621840e+01] [ 2.19864438e-02 9.99758269e-01 -3.95917683e-06 9.05031157e-02] [ 1.49444422e-04 6.73588235e-07 9.99999989e-01 -2.91288708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.010281692999996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:41.69, Y:0.09, Z:-0.29 [[ 9.99758308e-01 -2.19845967e-02 6.33515786e-05 4.16922487e+01] [ 2.19845966e-02 9.99758310e-01 1.69893944e-06 9.22907917e-02] [-6.33736176e-05 -3.05769917e-07 9.99999998e-01 -2.90383025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.040281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:41.72, Y:0.09, Z:-0.29 [[ 9.99749458e-01 -2.23727562e-02 6.92875171e-04 4.17235785e+01] [ 2.23727489e-02 9.99749699e-01 1.83356772e-05 9.36863974e-02] [-6.93111963e-04 -2.82956112e-06 9.99999760e-01 -2.90407319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.070281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:41.75, Y:0.10, Z:-0.29 [[ 9.99744474e-01 -2.25694726e-02 1.26711367e-03 4.17537783e+01] [ 2.25694483e-02 9.99745277e-01 3.34810737e-05 9.52395304e-02] [-1.26754656e-03 -4.87446193e-06 9.99999197e-01 -2.90738934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.100281693 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:41.79, Y:0.10, Z:-0.29 [[ 9.99737709e-01 -2.28373201e-02 1.72336367e-03 4.17863415e+01] [ 2.28372757e-02 9.99739194e-01 4.54513478e-05 9.70228863e-02] [-1.72395219e-03 -6.08249514e-06 9.99998514e-01 -2.91004005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.13028169299999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:41.82, Y:0.10, Z:-0.29 [[ 9.99740616e-01 -2.27172023e-02 1.62146266e-03 4.18175233e+01] [ 2.27171629e-02 9.99741931e-01 4.27002565e-05 9.87265228e-02] [-1.62201424e-03 -5.85414919e-06 9.99998685e-01 -2.91586589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.160281692999995 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:41.85, Y:0.10, Z:-0.29 [[ 9.99688525e-01 -2.49428701e-02 -8.40485997e-04 4.18492796e+01] [ 2.49428604e-02 9.99688878e-01 -2.20547235e-05 9.99872023e-02] [ 8.40774612e-04 1.08372911e-06 9.99999647e-01 -2.92111316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.190281692999996 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:41.88, Y:0.10, Z:-0.29 [[ 9.99648848e-01 -2.64690914e-02 -1.25191904e-03 4.18804523e+01] [ 2.64690710e-02 9.99649632e-01 -3.28288850e-05 1.01892981e-01] [ 1.25234935e-03 -3.19776803e-07 9.99999216e-01 -2.91942006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.220281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:41.91, Y:0.10, Z:-0.29 [[ 9.99613440e-01 -2.77866672e-02 -9.34178851e-04 4.19105634e+01] [ 2.77866565e-02 9.99613876e-01 -2.44535844e-05 1.04619057e-01] [ 9.34497625e-04 -1.51357526e-06 9.99999563e-01 -2.92323011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.250281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:41.94, Y:0.11, Z:-0.29 [[ 9.99575397e-01 -2.91141289e-02 -1.18067699e-03 4.19414642e+01] [ 2.91141128e-02 9.99576094e-01 -3.08945697e-05 1.07970751e-01] [ 1.18107596e-03 -3.49291131e-06 9.99999303e-01 -2.92403198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.280281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:41.97, Y:0.11, Z:-0.29 [[ 9.99530024e-01 -3.06353770e-02 -1.09724226e-03 4.19723851e+01] [ 3.06353639e-02 9.99530627e-01 -2.86839402e-05 1.13667755e-01] [ 1.09760599e-03 -4.94395655e-06 9.99999398e-01 -2.93447248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.31028169299999 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:42.00, Y:0.12, Z:-0.29 [[ 9.99507609e-01 -3.13569052e-02 -1.13302918e-03 4.20032913e+01] [ 3.13568918e-02 9.99508251e-01 -2.95932289e-05 1.16820425e-01] [ 1.13339996e-03 -5.94961571e-06 9.99999358e-01 -2.93334959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.340281692999994 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:42.03, Y:0.12, Z:-0.29 [[ 9.99451216e-01 -3.31043174e-02 -1.17072370e-03 4.20331427e+01] [ 3.31043043e-02 9.99451902e-01 -3.05718555e-05 1.23028127e-01] [ 1.17109409e-03 -8.20091534e-06 9.99999314e-01 -2.93359911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.370281692999995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:42.06, Y:0.13, Z:-0.29 [[ 9.99412819e-01 -3.42638893e-02 -6.11490001e-05 4.20640441e+01] [ 3.42638893e-02 9.99412821e-01 -1.58183157e-06 1.25884370e-01] [ 6.11672944e-05 -5.14299819e-07 9.99999998e-01 -2.93491754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.400281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:42.10, Y:0.13, Z:-0.29 [[ 9.99253743e-01 -3.85119964e-02 2.96351880e-03 4.20960033e+01] [ 3.85119367e-02 9.99258137e-01 7.72293296e-05 1.27782214e-01] [-2.96429453e-03 3.69591515e-05 9.99995606e-01 -2.93371328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.430281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:42.13, Y:0.13, Z:-0.29 [[ 9.99144866e-01 -4.12054064e-02 3.41343276e-03 4.21276485e+01] [ 4.12053433e-02 9.99150695e-01 8.88228633e-05 1.27561402e-01] [-3.41419370e-03 5.19047611e-05 9.99994170e-01 -2.93533239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.460281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:42.16, Y:0.13, Z:-0.29 [[ 9.99021395e-01 -4.41261500e-02 3.02251697e-03 4.21595608e+01] [ 4.41261143e-02 9.99025966e-01 7.85218831e-05 1.27190174e-01] [-3.02303780e-03 5.49268880e-05 9.99995429e-01 -2.93876478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.49028169299999 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:42.19, Y:0.13, Z:-0.29 [[ 9.98908162e-01 -4.66736326e-02 2.01376102e-03 4.21905609e+01] [ 4.66736221e-02 9.98910191e-01 5.22490038e-05 1.26395248e-01] [-2.01400506e-03 4.17975646e-05 9.99997971e-01 -2.94381685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.520281692999994 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:42.22, Y:0.12, Z:-0.30 [[ 9.98747404e-01 -5.00351859e-02 3.20924282e-04 4.22223609e+01] [ 5.00351858e-02 9.98747456e-01 8.33692107e-06 1.23166855e-01] [-3.20939449e-04 7.73102778e-06 9.99999948e-01 -2.95112970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.550281692999995 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:42.25, Y:0.12, Z:-0.30 [[ 9.98715660e-01 -5.06657213e-02 -1.25770705e-04 4.22544185e+01] [ 5.06657213e-02 9.98715668e-01 -3.22236736e-06 1.21754988e-01] [ 1.25772437e-04 -3.15403475e-06 9.99999992e-01 -2.95272238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.580281692999996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:42.28, Y:0.12, Z:-0.29 [[ 9.98713474e-01 -5.07081345e-02 2.87462294e-04 4.22849917e+01] [ 5.07081345e-02 9.98713515e-01 7.43302085e-06 1.18104654e-01] [-2.87469393e-04 7.15321859e-06 9.99999959e-01 -2.94699292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.610281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:42.32, Y:0.12, Z:-0.29 [[ 9.98728119e-01 -5.04087029e-02 1.05222129e-03 4.23159977e+01] [ 5.04087022e-02 9.98728673e-01 2.71724122e-05 1.16561116e-01] [-1.05225330e-03 2.59032574e-05 9.99999446e-01 -2.94213236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.640281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:42.35, Y:0.12, Z:-0.29 [[ 9.98744055e-01 -5.00731623e-02 1.72963828e-03 4.23481283e+01] [ 5.00731601e-02 9.98745552e-01 4.45910707e-05 1.15326319e-01] [-1.72970135e-03 4.20733878e-05 9.99998503e-01 -2.93327962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.670281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:42.38, Y:0.11, Z:-0.29 [[ 9.98769195e-01 -4.95877084e-02 1.07411425e-03 4.23794672e+01] [ 4.95877073e-02 9.98769773e-01 2.76573603e-05 1.12517984e-01] [-1.07416431e-03 2.56395437e-05 9.99999423e-01 -2.93435656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.700281692999994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:42.41, Y:0.11, Z:-0.29 [[ 9.98750707e-01 -4.99640321e-02 -7.88026224e-04 4.24118023e+01] [ 4.99640317e-02 9.98751018e-01 -2.02116140e-05 1.12559496e-01] [ 7.88051846e-04 -1.91866035e-05 9.99999689e-01 -2.94190686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.730281692999995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:42.44, Y:0.11, Z:-0.30 [[ 9.98738667e-01 -5.01528978e-02 -2.40058866e-03 4.24426125e+01] [ 5.01528944e-02 9.98741550e-01 -6.16223585e-05 1.12746594e-01] [ 2.40065818e-03 -5.88518375e-05 9.99997117e-01 -2.95001623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.760281692999996 meters Centerline goodness : 0.998662 Centerline is valid? [True, True] Translation: X:42.47, Y:0.11, Z:-0.29 [[ 9.98728278e-01 -5.03781347e-02 -1.96740652e-03 4.24729362e+01] [ 5.03781329e-02 9.98730214e-01 -5.05083878e-05 1.11452357e-01] [ 1.96745285e-03 -4.86701119e-05 9.99998063e-01 -2.94869280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.790281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:42.50, Y:0.11, Z:-0.29 [[ 9.98761469e-01 -4.97534074e-02 3.56468937e-04 4.25024907e+01] [ 4.97534073e-02 9.98761532e-01 9.14858310e-06 1.11425273e-01] [-3.56482635e-04 8.59829193e-06 9.99999936e-01 -2.93573717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.820281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:42.53, Y:0.11, Z:-0.29 [[ 9.98945548e-01 -4.58617480e-02 2.11951585e-03 4.25338995e+01] [ 4.58617357e-02 9.98947796e-01 5.44035960e-05 1.12790573e-01] [-2.11978073e-03 4.28584460e-05 9.99997752e-01 -2.91417928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.850281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:42.56, Y:0.11, Z:-0.29 [[ 9.99068555e-01 -4.31132683e-02 1.80793983e-03 4.25648639e+01] [ 4.31132549e-02 9.99070190e-01 4.63672061e-05 1.13690274e-01] [-1.80825783e-03 3.16221534e-05 9.99998365e-01 -2.92366018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.88028169299999 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:42.60, Y:0.11, Z:-0.29 [[ 9.99151871e-01 -4.11695944e-02 7.77099724e-04 4.25974982e+01] [ 4.11695914e-02 9.99152173e-01 1.99164938e-05 1.14222943e-01] [-7.77260832e-04 1.20932761e-05 9.99999698e-01 -2.93170570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.910281692999995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:42.63, Y:0.11, Z:-0.29 [[ 9.99185335e-01 -4.03414395e-02 -1.11095150e-03 4.26287658e+01] [ 4.03414328e-02 9.99185953e-01 -2.83731622e-05 1.13906087e-01] [ 1.11119175e-03 -1.64673277e-05 9.99999382e-01 -2.94402973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.940281692999996 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:42.66, Y:0.12, Z:-0.29 [[ 9.99157528e-01 -4.10383518e-02 -2.95366276e-04 4.26595996e+01] [ 4.10383513e-02 9.99157572e-01 -7.52918613e-06 1.15095485e-01] [ 2.95426436e-04 -4.59850199e-06 9.99999956e-01 -2.94523685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.970281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:42.69, Y:0.12, Z:-0.29 [[ 9.99083839e-01 -4.27131724e-02 2.65836563e-03 4.26903819e+01] [ 4.27131430e-02 9.99087375e-01 6.78638814e-05 1.15951488e-01] [-2.65883822e-03 4.57454441e-05 9.99996464e-01 -2.92845271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.000281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:42.72, Y:0.12, Z:-0.29 [[ 9.99044402e-01 -4.35732044e-02 3.41460469e-03 4.27223924e+01] [ 4.35731613e-02 9.99050235e-01 8.70356125e-05 1.16268556e-01] [-3.41515403e-03 6.18326795e-05 9.99994166e-01 -2.92921205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.030281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:42.75, Y:0.12, Z:-0.29 [[ 9.98992507e-01 -4.47478600e-02 3.40592932e-03 4.27533337e+01] [ 4.47478244e-02 9.98998311e-01 8.66937077e-05 1.16228870e-01] [-3.40639700e-03 6.58015627e-05 9.99994196e-01 -2.93438455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.06028169299999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:42.79, Y:0.12, Z:-0.29 [[ 9.98915519e-01 -4.65013593e-02 2.32592172e-03 4.27852287e+01] [ 4.65013476e-02 9.98918225e-01 5.91111468e-05 1.15237433e-01] [-2.32615435e-03 4.91114528e-05 9.99997293e-01 -2.94335826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.090281692999994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:42.82, Y:0.12, Z:-0.29 [[ 9.98903998e-01 -4.67973307e-02 9.01591653e-04 4.28165270e+01] [ 4.67973291e-02 9.98904405e-01 2.28924729e-05 1.15583786e-01] [-9.01675180e-04 1.93246986e-05 9.99999593e-01 -2.94634842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.120281692999995 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:42.85, Y:0.12, Z:-0.29 [[ 9.98891518e-01 -4.70715983e-02 2.36440370e-05 4.28477382e+01] [ 4.70715983e-02 9.98891518e-01 6.13355005e-07 1.16137052e-01] [-2.36466996e-05 5.00287498e-07 1.00000000e+00 -2.94584420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.150281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:42.88, Y:0.12, Z:-0.30 [[ 9.98906285e-01 -4.67565990e-02 -2.32107740e-04 4.28781410e+01] [ 4.67565989e-02 9.98906312e-01 -5.87311123e-06 1.15084431e-01] [ 2.32128494e-04 -4.98588080e-06 9.99999973e-01 -2.95252390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.180281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:42.91, Y:0.11, Z:-0.30 [[ 9.98929324e-01 -4.62619674e-02 -1.88864879e-04 4.29089945e+01] [ 4.62619673e-02 9.98929342e-01 -4.78463041e-06 1.14144109e-01] [ 1.88884016e-04 -3.95775326e-06 9.99999982e-01 -2.95330718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.210281693 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:42.94, Y:0.11, Z:-0.30 [[ 9.99002085e-01 -4.46575117e-02 -7.35311214e-04 4.29394969e+01] [ 4.46575101e-02 9.99002356e-01 -1.86280922e-05 1.12501585e-01] [ 7.35409519e-04 -1.42276650e-05 9.99999729e-01 -2.95568235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.24028169299999 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:42.97, Y:0.11, Z:-0.30 [[ 9.99032246e-01 -4.39579073e-02 -1.50782103e-03 4.29686885e+01] [ 4.39578997e-02 9.99033384e-01 -3.81931363e-05 1.12166486e-01] [ 1.50804243e-03 -2.81244709e-05 9.99998863e-01 -2.95597564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.270281692999994 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:43.00, Y:0.11, Z:-0.30 [[ 9.99042692e-01 -4.36908585e-02 -2.19274796e-03 4.29991165e+01] [ 4.36908418e-02 9.99045098e-01 -5.55446433e-05 1.11356675e-01] [ 2.19308090e-03 -4.03115344e-05 9.99997594e-01 -2.96711121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.300281692999995 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:43.03, Y:0.11, Z:-0.30 [[ 9.99068223e-01 -4.30655666e-02 -2.83607113e-03 4.30288091e+01] [ 4.30655360e-02 9.99072247e-01 -7.18808496e-05 1.07725005e-01] [ 2.83653555e-03 -5.03230509e-05 9.99995976e-01 -2.96375455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.330281692999996 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:43.06, Y:0.11, Z:-0.30 [[ 9.99067724e-01 -4.30771381e-02 -2.83607030e-03 4.30587970e+01] [ 4.30771075e-02 9.99071748e-01 -7.19136786e-05 1.08490148e-01] [ 2.83653555e-03 -5.03230700e-05 9.99995976e-01 -2.96394017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.360281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:43.09, Y:0.11, Z:-0.30 [[ 9.99103067e-01 -4.23078866e-02 -1.76183928e-03 4.30879093e+01] [ 4.23078735e-02 9.99104620e-01 -4.46976021e-05 1.07266067e-01] [ 1.76215283e-03 -2.98821620e-05 9.99998447e-01 -2.95894103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.390281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:43.12, Y:0.11, Z:-0.29 [[ 9.99184230e-01 -4.03837127e-02 -1.71515758e-04 4.31180202e+01] [ 4.03837126e-02 9.99184245e-01 -4.35063521e-06 1.06137957e-01] [ 1.71551538e-04 -2.57935698e-06 9.99999985e-01 -2.94892039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.420281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:43.15, Y:0.11, Z:-0.29 [[ 9.99222746e-01 -3.94190890e-02 1.98873084e-04 4.31482420e+01] [ 3.94190887e-02 9.99222766e-01 5.04943968e-06 1.05392652e-01] [-1.98917557e-04 2.79388077e-06 9.99999980e-01 -2.94580918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.450281692999994 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:43.18, Y:0.10, Z:-0.29 [[ 9.99235523e-01 -3.90827558e-02 9.53146701e-04 4.31798245e+01] [ 3.90827505e-02 9.99235977e-01 2.41586369e-05 1.04072444e-01] [-9.53362661e-04 1.31114265e-05 9.99999545e-01 -2.94897361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.480281692999995 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:43.21, Y:0.10, Z:-0.29 [[ 9.99194063e-01 -4.00312512e-02 2.95337401e-03 4.32109883e+01] [ 4.00312051e-02 9.99198427e-01 7.47586727e-05 1.01436349e-01] [-2.95399935e-03 4.35286986e-05 9.99995636e-01 -2.94416592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.510281692999996 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:43.24, Y:0.10, Z:-0.29 [[ 9.99155892e-01 -4.08717371e-02 4.12372051e-03 4.32428535e+01] [ 4.08716551e-02 9.99164399e-01 1.04201348e-04 1.01529807e-01] [-4.12453362e-03 6.44298913e-05 9.99991492e-01 -2.94189999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.540281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:43.27, Y:0.10, Z:-0.29 [[ 9.99130984e-01 -4.15299607e-02 3.54113940e-03 4.32738588e+01] [ 4.15299048e-02 9.99137257e-01 8.93546823e-05 1.00220018e-01] [-3.54179520e-03 5.77861503e-05 9.99993726e-01 -2.94512678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.570281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:43.30, Y:0.10, Z:-0.30 [[ 9.99141703e-01 -4.13861729e-02 1.74436709e-03 4.33048184e+01] [ 4.13861592e-02 9.99143225e-01 4.39795541e-05 9.94545239e-02] [-1.74469271e-03 2.82508475e-05 9.99998478e-01 -2.95029166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.600281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:43.34, Y:0.10, Z:-0.30 [[ 9.99142509e-01 -4.14027015e-02 2.51523261e-04 4.33366452e+01] [ 4.14027013e-02 9.99142541e-01 6.34798945e-06 9.97385189e-02] [-2.51570414e-04 4.07119632e-06 9.99999968e-01 -2.95888709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.63028169299999 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:43.37, Y:0.10, Z:-0.30 [[ 9.99103311e-01 -4.23365717e-02 4.33537040e-04 4.33665470e+01] [ 4.23365710e-02 9.99103405e-01 1.09236837e-05 1.02741647e-01] [-4.33610804e-04 7.44058312e-06 9.99999906e-01 -2.95707123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.660281692999995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:43.40, Y:0.10, Z:-0.30 [[ 9.99047208e-01 -4.36244555e-02 1.25787136e-03 4.33979332e+01] [ 4.36244503e-02 9.99048000e-01 3.16124420e-05 1.03437812e-01] [-1.25805294e-03 2.32916247e-05 9.99999208e-01 -2.96233650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.690281692999996 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:43.43, Y:0.10, Z:-0.30 [[ 9.98841624e-01 -4.80894280e-02 1.67846266e-03 4.34289040e+01] [ 4.80894251e-02 9.98843033e-01 4.21384793e-05 1.00799187e-01] [-1.67854715e-03 3.86266371e-05 9.99998590e-01 -2.96842324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.720281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:43.46, Y:0.10, Z:-0.30 [[ 9.98725602e-01 -5.04483145e-02 1.46264335e-03 4.34587730e+01] [ 5.04483148e-02 9.98726672e-01 3.66977226e-05 1.00111689e-01] [-1.46263227e-03 3.71369372e-05 9.99998930e-01 -2.96693995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.750281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:43.49, Y:0.10, Z:-0.30 [[ 9.98619162e-01 -5.25296732e-02 6.35046491e-04 4.34887497e+01] [ 5.25296737e-02 9.98619363e-01 1.59303651e-05 1.00550088e-01] [-6.35006540e-04 1.74504171e-05 9.99999798e-01 -2.96020519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.780281693 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:43.52, Y:0.10, Z:-0.30 [[ 9.98461068e-01 -5.54569785e-02 1.38101342e-04 4.35191100e+01] [ 5.54569785e-02 9.98461078e-01 3.46583523e-06 9.95201811e-02] [-1.38081020e-04 4.19818162e-06 9.99999990e-01 -2.96148115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.81028169299999 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:43.55, Y:0.10, Z:-0.30 [[ 9.98427807e-01 -5.60515362e-02 3.73058129e-04 4.35486743e+01] [ 5.60515366e-02 9.98427877e-01 9.35958699e-06 9.87832129e-02] [-3.72996255e-04 1.15656095e-05 9.99999930e-01 -2.96002203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.840281692999994 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:43.58, Y:0.10, Z:-0.30 [[ 9.98442610e-01 -5.57814584e-02 8.85683517e-04 4.35784404e+01] [ 5.57814606e-02 9.98443002e-01 2.22435748e-05 9.86835304e-02] [-8.85545288e-04 2.71957873e-05 9.99999608e-01 -2.96356917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.870281692999995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:43.61, Y:0.10, Z:-0.30 [[ 9.98557702e-01 -5.36886565e-02 -2.10791332e-04 4.36080013e+01] [ 5.36886566e-02 9.98557724e-01 -5.29516853e-06 1.00684248e-01] [ 2.10771603e-04 -6.02957209e-06 9.99999978e-01 -2.95052769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.900281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:43.64, Y:0.10, Z:-0.29 [[ 9.98643786e-01 -5.20594797e-02 -6.31101635e-04 4.36371979e+01] [ 5.20594800e-02 9.98643986e-01 -1.58857941e-05 1.02044211e-01] [ 6.31072858e-04 -1.69905734e-05 9.99999801e-01 -2.94660891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.930281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:43.67, Y:0.10, Z:-0.29 [[ 9.98813980e-01 -4.86741262e-02 1.20983082e-03 4.36672708e+01] [ 4.86741250e-02 9.98814712e-01 3.04410423e-05 1.01747125e-01] [-1.20987852e-03 2.84825181e-05 9.99999268e-01 -2.94380191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.960281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:43.70, Y:0.10, Z:-0.29 [[ 9.98894069e-01 -4.69790362e-02 1.89961734e-03 4.36966559e+01] [ 4.69790302e-02 9.98895875e-01 4.78165256e-05 1.01323318e-01] [-1.89976630e-03 4.14785364e-05 9.99998195e-01 -2.94274736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.99028169299999 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:43.73, Y:0.10, Z:-0.29 [[ 9.98975345e-01 -4.52488832e-02 8.93545656e-04 4.37267313e+01] [ 4.52488812e-02 9.98975745e-01 2.24881706e-05 1.01610980e-01] [-8.93648002e-04 1.79668132e-05 9.99999601e-01 -2.94413588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.020281692999994 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:43.76, Y:0.10, Z:-0.29 [[ 9.99041212e-01 -4.37724099e-02 -7.95532699e-04 4.37575458e+01] [ 4.37724078e-02 9.99041529e-01 -2.00152065e-05 1.03053285e-01] [ 7.95646317e-04 -1.48263656e-05 9.99999683e-01 -2.94701129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.050281692999995 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:43.79, Y:0.11, Z:-0.29 [[ 9.99213392e-01 -3.96117112e-02 -1.87334510e-03 4.37870953e+01] [ 3.96116924e-02 9.99215148e-01 -4.71324297e-05 1.05327326e-01] [ 1.87374180e-03 -2.71110149e-05 9.99998244e-01 -2.94657794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.080281692999996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:43.82, Y:0.11, Z:-0.29 [[ 9.99305684e-01 -3.72449879e-02 -9.79871334e-04 4.38174600e+01] [ 3.72449817e-02 9.99306165e-01 -2.46530748e-05 1.06624526e-01] [ 9.80109668e-04 -1.18593321e-05 9.99999520e-01 -2.94329176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.110281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:43.85, Y:0.11, Z:-0.29 [[ 9.99473546e-01 -3.24364345e-02 7.13146800e-04 4.38470222e+01] [ 3.24364299e-02 9.99473800e-01 1.79424183e-05 1.08148240e-01] [-7.13353530e-04 5.19896375e-06 9.99999746e-01 -2.93416479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.140281693 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:43.88, Y:0.11, Z:-0.29 [[ 9.99532050e-01 -3.05842739e-02 5.32572607e-04 4.38779763e+01] [ 3.05842711e-02 9.99532192e-01 1.34012543e-05 1.10303956e-01] [-5.32733333e-04 2.89336177e-06 9.99999858e-01 -2.93466658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.170281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:43.91, Y:0.11, Z:-0.29 [[ 9.99628544e-01 -2.72496974e-02 4.78506431e-04 4.39094630e+01] [ 2.72496947e-02 9.99628658e-01 1.20329124e-05 1.12921375e-01] [-4.78656634e-04 1.01071145e-06 9.99999885e-01 -2.93172263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.200281692999994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:43.94, Y:0.11, Z:-0.29 [[ 9.99655180e-01 -2.62203430e-02 1.41957911e-03 4.39397291e+01] [ 2.62203189e-02 9.99656188e-01 3.56225889e-05 1.12777242e-01] [-1.42002508e-03 1.61151149e-06 9.99998992e-01 -2.93027687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.230281692999995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:43.97, Y:0.11, Z:-0.29 [[ 9.99659638e-01 -2.59756419e-02 2.42367092e-03 4.39712796e+01] [ 2.59755710e-02 9.99662576e-01 6.07646494e-05 1.12494268e-01] [-2.42443152e-03 2.21226866e-06 9.99997061e-01 -2.92972975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.260281692999996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:44.00, Y:0.11, Z:-0.29 [[ 9.99657239e-01 -2.59946335e-02 3.11176367e-03 4.40020451e+01] [ 2.59945168e-02 9.99662082e-01 7.79688546e-05 1.13236619e-01] [-3.11273892e-03 2.94666283e-06 9.99995155e-01 -2.92288096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.290281693 meters Centerline goodness : 0.998978 Centerline is valid? [True, True] Translation: X:44.03, Y:0.11, Z:-0.29 [[ 9.99660461e-01 -2.59728923e-02 2.09064237e-03 4.40329211e+01] [ 2.59728396e-02 9.99662648e-01 5.23283840e-05 1.14220126e-01] [-2.09129620e-03 1.98930247e-06 9.99997813e-01 -2.93097463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.320281693 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:44.06, Y:0.11, Z:-0.29 [[ 9.99666892e-01 -2.57799543e-02 -1.22434218e-03 4.40647166e+01] [ 2.57799361e-02 9.99667642e-01 -3.05910153e-05 1.13633478e-01] [ 1.22472390e-03 -9.82638101e-07 9.99999250e-01 -2.93955025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.350281693 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:44.09, Y:0.11, Z:-0.29 [[ 9.99686529e-01 -2.49919735e-02 -1.49814039e-03 4.40937563e+01] [ 2.49919454e-02 9.99687652e-01 -3.74729892e-05 1.14487152e-01] [ 1.49860898e-03 1.97996764e-08 9.99998877e-01 -2.94904677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.38028169299999 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:44.12, Y:0.12, Z:-0.29 [[ 9.99709258e-01 -2.40815410e-02 -1.21606199e-03 4.41243850e+01] [ 2.40815218e-02 9.99709998e-01 -3.04117089e-05 1.16528156e-01] [ 1.21644169e-03 1.11824364e-06 9.99999260e-01 -2.94215351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.410281692999995 meters Centerline goodness : 0.998672 Centerline is valid? [True, True] Translation: X:44.16, Y:0.12, Z:-0.29 [[ 9.99745146e-01 -2.25717607e-02 -3.97708193e-04 4.41551561e+01] [ 2.25717586e-02 9.99745225e-01 -9.94602735e-06 1.17470049e-01] [ 3.97831367e-04 9.66519247e-07 9.99999921e-01 -2.94962191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.440281692999996 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:44.19, Y:0.12, Z:-0.30 [[ 9.99745097e-01 -2.25654186e-02 -7.36818736e-04 4.41858646e+01] [ 2.25654111e-02 9.99745369e-01 -1.84266239e-05 1.16853480e-01] [ 7.37046923e-04 1.79530920e-06 9.99999728e-01 -2.95541599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.470281693 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:44.22, Y:0.12, Z:-0.30 [[ 9.99736693e-01 -2.28851938e-02 -1.67710786e-03 4.42162110e+01] [ 2.28851557e-02 9.99738100e-01 -4.19147301e-05 1.16483811e-01] [ 1.67762785e-03 3.52281926e-06 9.99998593e-01 -2.95398174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.500281693 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:44.25, Y:0.12, Z:-0.29 [[ 9.99720481e-01 -2.35249447e-02 -2.35286182e-03 4.42471512e+01] [ 2.35248714e-02 9.99723250e-01 -5.88135524e-05 1.17080076e-01] [ 2.35359425e-03 3.44634118e-06 9.99997230e-01 -2.94640716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.530281693 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:44.28, Y:0.12, Z:-0.29 [[ 9.99722415e-01 -2.35192954e-02 -1.39146842e-03 4.42771323e+01] [ 2.35192697e-02 9.99723383e-01 -3.48055791e-05 1.18067336e-01] [ 1.39190212e-03 2.06959656e-06 9.99999031e-01 -2.93831365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.56028169299999 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:44.31, Y:0.12, Z:-0.29 [[ 9.99707309e-01 -2.41912145e-02 2.85682359e-04 4.43079927e+01] [ 2.41912135e-02 9.99707350e-01 7.14444207e-06 1.17639309e-01] [-2.85771587e-04 -2.31348024e-07 9.99999959e-01 -2.94449489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.590281692999994 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:44.34, Y:0.12, Z:-0.29 [[ 9.99659381e-01 -2.60948356e-02 4.24944748e-04 4.43384544e+01] [ 2.60948335e-02 9.99659472e-01 1.06349426e-05 1.17684768e-01] [-4.25077560e-04 4.57542307e-07 9.99999910e-01 -2.94357509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.620281692999995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:44.37, Y:0.12, Z:-0.29 [[ 9.99588925e-01 -2.86651705e-02 5.38129760e-04 4.43697427e+01] [ 2.86651675e-02 9.99589070e-01 1.34379719e-05 1.17458148e-01] [-5.38293828e-04 1.99313179e-06 9.99999855e-01 -2.94489801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.650281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:44.40, Y:0.12, Z:-0.29 [[ 9.99343997e-01 -3.62141954e-02 -3.28440293e-04 4.43998282e+01] [ 3.62141947e-02 9.99344051e-01 -8.15666485e-06 1.15378153e-01] [ 3.28520240e-04 -3.74288667e-06 9.99999946e-01 -2.94135633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.680281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:44.43, Y:0.11, Z:-0.29 [[ 9.99183493e-01 -4.03830507e-02 -1.24732989e-03 4.44307653e+01] [ 4.03830434e-02 9.99184272e-01 -3.10669114e-05 1.13897251e-01] [ 1.24756698e-03 -1.93294319e-05 9.99999222e-01 -2.94660395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.710281693 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:44.46, Y:0.11, Z:-0.30 [[ 9.98953408e-01 -4.57122551e-02 -1.57454392e-03 4.44609877e+01] [ 4.57122499e-02 9.98954648e-01 -3.92668685e-05 1.08569702e-01] [ 1.57469295e-03 -3.27501733e-05 9.99998760e-01 -2.95403368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.74028169299999 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:44.49, Y:0.11, Z:-0.30 [[ 9.98884946e-01 -4.72106788e-02 -1.30504268e-04 4.44908788e+01] [ 4.72106787e-02 9.98884954e-01 -3.26188458e-06 1.06209396e-01] [ 1.30512746e-04 -2.90294768e-06 9.99999991e-01 -2.95231405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.770281692999994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:44.52, Y:0.10, Z:-0.29 [[ 9.98873336e-01 -4.74385655e-02 1.28072664e-03 4.45210968e+01] [ 4.74385635e-02 9.98874157e-01 3.19424634e-05 1.03952085e-01] [-1.28080005e-03 2.88493572e-05 9.99999179e-01 -2.94195943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.800281692999995 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:44.55, Y:0.10, Z:-0.29 [[ 9.98963707e-01 -4.53853120e-02 3.41840205e-03 4.45505283e+01] [ 4.53852858e-02 9.98969553e-01 8.52892966e-05 9.86818925e-02] [-3.41875045e-03 6.99442418e-05 9.99994154e-01 -2.92587142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.830281692999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:44.58, Y:0.10, Z:-0.29 [[ 9.99021183e-01 -4.41380580e-02 2.91669263e-03 4.45809272e+01] [ 4.41380336e-02 9.99025439e-01 7.27522045e-05 9.55694033e-02] [-2.91706128e-03 5.60560838e-05 9.99995744e-01 -2.93017495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.860281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:44.61, Y:0.09, Z:-0.29 [[ 9.99094614e-01 -4.25033624e-02 1.84812593e-03 4.46110142e+01] [ 4.25033498e-02 9.99096323e-01 4.61077637e-05 8.87341797e-02] [-1.84841556e-03 3.24855246e-05 9.99998291e-01 -2.94524042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.890281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:44.64, Y:0.09, Z:-0.30 [[ 9.99138465e-01 -4.15001446e-02 2.58031747e-04 4.46413267e+01] [ 4.15001444e-02 9.99138498e-01 6.43842830e-06 8.62255133e-02] [-2.58076647e-04 4.27547337e-06 9.99999967e-01 -2.95036682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.920281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:44.67, Y:0.08, Z:-0.29 [[ 9.99196908e-01 -4.00510536e-02 -1.20535358e-03 4.46701085e+01] [ 4.00510464e-02 9.99197634e-01 -3.01162769e-05 8.35986665e-02] [ 1.20559264e-03 -1.81835815e-05 9.99999273e-01 -2.94840743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.950281692999994 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:44.70, Y:0.08, Z:-0.29 [[ 9.99279433e-01 -3.79200762e-02 -1.63787866e-03 4.46986545e+01] [ 3.79200595e-02 9.99280775e-01 -4.12731569e-05 7.56031341e-02] [ 1.63826574e-03 -2.08650395e-05 9.99998658e-01 -2.94066029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.980281692999995 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:44.73, Y:0.07, Z:-0.29 [[ 9.99306789e-01 -3.72003673e-02 -1.44048407e-03 4.47264743e+01] [ 3.72003535e-02 9.99307827e-01 -3.63297621e-05 7.24398339e-02] [ 1.44083848e-03 -1.72819387e-05 9.99998962e-01 -2.94060329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.010281692999996 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:44.76, Y:0.07, Z:-0.29 [[ 9.99343211e-01 -3.61998907e-02 -1.64780156e-03 4.47556086e+01] [ 3.61998708e-02 9.99344569e-01 -4.18796004e-05 7.01497242e-02] [ 1.64823758e-03 -1.77981093e-05 9.99998641e-01 -2.93412067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.040281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:44.78, Y:0.07, Z:-0.29 [[ 9.99514741e-01 -3.11083978e-02 -1.59662726e-03 4.47836967e+01] [ 3.11083725e-02 9.99516017e-01 -4.06787374e-05 6.71410310e-02] [ 1.59711997e-03 -9.00947778e-06 9.99998725e-01 -2.93870611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.070281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:44.81, Y:0.07, Z:-0.29 [[ 9.99632468e-01 -2.70503782e-02 -1.79062965e-03 4.48120703e+01] [ 2.70503392e-02 9.99634072e-01 -4.59481096e-05 6.74217733e-02] [ 1.79121732e-03 -2.50591731e-06 9.99998396e-01 -2.92615973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.100281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:44.84, Y:0.07, Z:-0.29 [[ 9.99860319e-01 -1.66813199e-02 -1.03691700e-03 4.48408915e+01] [ 1.66813013e-02 9.99860857e-01 -2.66068710e-05 6.86703833e-02] [ 1.03721656e-03 9.30602962e-06 9.99999462e-01 -2.91593190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.13028169299999 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:44.87, Y:0.07, Z:-0.29 [[ 9.99936547e-01 -1.12601492e-02 3.34679737e-04 4.48707449e+01] [ 1.12601470e-02 9.99936602e-01 8.57405983e-06 7.08509687e-02] [-3.34755064e-04 -4.80497274e-06 9.99999944e-01 -2.91634661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.160281692999995 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:44.90, Y:0.07, Z:-0.29 [[ 9.99980587e-01 -6.13584331e-03 1.08519385e-03 4.49003546e+01] [ 6.13581669e-03 9.99981175e-01 2.78550262e-05 7.33685742e-02] [-1.08534434e-03 -2.11959349e-05 9.99999411e-01 -2.91484324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.190281692999996 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:44.93, Y:0.08, Z:-0.29 [[ 9.99998125e-01 -1.69457911e-03 9.37209064e-04 4.49315273e+01] [ 1.69455731e-03 9.99998564e-01 2.40561354e-05 7.59797868e-02] [-9.37248483e-04 -2.24679358e-05 9.99999561e-01 -2.92100832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.220281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:44.96, Y:0.08, Z:-0.29 [[ 9.99998143e-01 -1.68397937e-03 9.37209487e-04 4.49623528e+01] [ 1.68395758e-03 9.99998582e-01 2.40396434e-05 7.67300195e-02] [-9.37248640e-04 -2.24613778e-05 9.99999561e-01 -2.92119911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.250281693 meters Centerline goodness : 0.998743 Centerline is valid? [True, True] Translation: X:44.99, Y:0.08, Z:-0.29 [[ 9.99989271e-01 4.38251288e-03 -1.50019709e-03 4.49937145e+01] [-4.38257544e-03 9.99990396e-01 -3.84195289e-05 8.13293184e-02] [ 1.50001430e-03 4.49938436e-05 9.99998874e-01 -2.94171431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.280281693 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:45.02, Y:0.08, Z:-0.29 [[ 9.99979194e-01 6.13892722e-03 -1.98134870e-03 4.50227197e+01] [-6.13903978e-03 9.99981155e-01 -5.07304493e-05 8.48677829e-02] [ 1.98099993e-03 6.28929723e-05 9.99998036e-01 -2.94428357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.31028169299999 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:45.05, Y:0.09, Z:-0.29 [[ 9.99964095e-01 8.32203054e-03 -1.59779426e-03 4.50524176e+01] [-8.32210661e-03 9.99965370e-01 -4.09664395e-05 9.26899026e-02] [ 1.59739801e-03 5.42619828e-05 9.99998723e-01 -2.93410499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.340281692999994 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:45.08, Y:0.10, Z:-0.29 [[ 9.99958530e-01 8.96501434e-03 -1.60184605e-03 4.50813461e+01] [-8.96509171e-03 9.99959812e-01 -4.11315166e-05 9.70516517e-02] [ 1.60141293e-03 5.54905076e-05 9.99998716e-01 -2.93784687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.370281692999995 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:45.11, Y:0.10, Z:-0.29 [[ 9.99950984e-01 9.74622137e-03 -1.74349596e-03 4.51107789e+01] [-9.74631428e-03 9.99952503e-01 -4.47989220e-05 1.00888053e-01] [ 1.74297652e-03 6.17893857e-05 9.99998479e-01 -2.93889684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.400281693 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:45.14, Y:0.11, Z:-0.29 [[ 9.99934651e-01 1.12840709e-02 -1.83378855e-03 4.51394215e+01] [-1.12841764e-02 9.99936331e-01 -4.72190505e-05 1.09472381e-01] [ 1.83313897e-03 6.79087583e-05 9.99998317e-01 -2.94220980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.430281693 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:45.17, Y:0.11, Z:-0.29 [[ 9.99915548e-01 1.28995456e-02 -1.58091341e-03 4.51676547e+01] [-1.28996261e-02 9.99916796e-01 -4.07591299e-05 1.14456279e-01] [ 1.58025610e-03 6.11488796e-05 9.99998750e-01 -2.94297190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.460281693 meters Centerline goodness : 0.998635 Centerline is valid? [True, True] Translation: X:45.20, Y:0.12, Z:-0.29 [[ 9.99898648e-01 1.41410951e-02 -1.65016412e-03 4.51967791e+01] [-1.41411847e-02 9.99900008e-01 -4.26273319e-05 1.19594640e-01] [ 1.64939632e-03 6.59582872e-05 9.99998638e-01 -2.94242982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.49028169299999 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:45.23, Y:0.13, Z:-0.29 [[ 9.99882067e-01 1.51757640e-02 -2.35540146e-03 4.52252894e+01] [-1.51759495e-02 9.99884837e-01 -6.09073336e-05 1.29908114e-01] [ 2.35420589e-03 9.66456042e-05 9.99997224e-01 -2.94724483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.520281692999994 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:45.25, Y:0.14, Z:-0.29 [[ 9.99878899e-01 1.53593871e-02 -2.50517313e-03 4.52535055e+01] [-1.53595978e-02 9.99882032e-01 -6.48996573e-05 1.35566580e-01] [ 2.50388078e-03 1.03370250e-04 9.99996860e-01 -2.94825316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.550281692999995 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:45.28, Y:0.14, Z:-0.30 [[ 9.99900113e-01 1.39281806e-02 -2.40194925e-03 4.52821208e+01] [-1.39283705e-02 9.99902994e-01 -6.23438123e-05 1.44466299e-01] [ 2.40084791e-03 9.57928241e-05 9.99997113e-01 -2.95621908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.580281692999996 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:45.31, Y:0.15, Z:-0.30 [[ 9.99930637e-01 1.15511801e-02 -2.30019682e-03 4.53105893e+01] [-1.15513481e-02 9.99933279e-01 -5.97788179e-05 1.48821008e-01] [ 2.29935283e-03 8.63450457e-05 9.99997353e-01 -2.95084932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.610281693 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:45.34, Y:0.16, Z:-0.30 [[ 9.99986538e-01 5.04176138e-03 -1.22631906e-03 4.53391417e+01] [-5.04180432e-03 9.99987290e-01 -3.19236703e-05 1.55048778e-01] [ 1.22614252e-03 3.81061013e-05 9.99999248e-01 -2.95227526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.640281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:45.37, Y:0.16, Z:-0.30 [[ 9.99998602e-01 1.59657610e-03 -4.97726961e-04 4.53689097e+01] [-1.59658275e-03 9.99998725e-01 -1.29734276e-05 1.58109311e-01] [ 4.97705613e-04 1.37680717e-05 9.99999876e-01 -2.95400259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.67028169299999 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:45.40, Y:0.16, Z:-0.30 [[ 9.99998861e-01 -1.47020176e-03 -3.40414601e-04 4.53995701e+01] [ 1.47019882e-03 9.99998919e-01 -8.86339241e-06 1.61144157e-01] [ 3.40427264e-04 8.36290517e-06 9.99999942e-01 -2.95782374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.700281692999994 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:45.43, Y:0.16, Z:-0.30 [[ 9.99991199e-01 -4.05199029e-03 -1.08747651e-03 4.54302574e+01] [ 4.05196189e-03 9.99991790e-01 -2.83146816e-05 1.63710147e-01] [ 1.08758231e-03 2.39080191e-05 9.99999408e-01 -2.95971619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.730281692999995 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:45.46, Y:0.17, Z:-0.30 [[ 9.99959052e-01 -7.72244863e-03 -4.71788818e-03 4.54596054e+01] [ 7.72195469e-03 9.99970178e-01 -1.22903606e-04 1.67825491e-01] [ 4.71869660e-03 8.64672550e-05 9.99988863e-01 -2.96664732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.760281692999996 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:45.49, Y:0.17, Z:-0.30 [[ 9.99937902e-01 -9.26943414e-03 -6.18628176e-03 4.54888090e+01] [ 9.26860758e-03 9.99957032e-01 -1.62266974e-04 1.70147213e-01] [ 6.18752008e-03 1.04918680e-04 9.99980852e-01 -2.96642984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.790281693 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:45.52, Y:0.17, Z:-0.30 [[ 9.99932514e-01 -1.07353688e-02 -4.44054021e-03 4.55164575e+01] [ 1.07349564e-02 9.99942372e-01 -1.16699001e-04 1.73890851e-01] [ 4.44153712e-03 6.90221200e-05 9.99990134e-01 -2.95349315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.820281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:45.55, Y:0.18, Z:-0.29 [[ 9.99942250e-01 -1.04418561e-02 -2.54254952e-03 4.55460156e+01] [ 1.04417198e-02 9.99945482e-01 -6.68703886e-05 1.76713290e-01] [ 2.54310916e-03 4.03179371e-05 9.99996765e-01 -2.94226230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.850281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:45.58, Y:0.18, Z:-0.29 [[ 9.99950638e-01 -9.89673409e-03 -8.81142990e-04 4.55759868e+01] [ 9.89671751e-03 9.99951026e-01 -2.31696410e-05 1.79581445e-01] [ 8.81329140e-04 1.44480740e-05 9.99999612e-01 -2.93897317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.88028169299999 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:45.61, Y:0.18, Z:-0.29 [[ 9.99968080e-01 -7.98478004e-03 -2.85133563e-04 4.56065557e+01] [ 7.98477823e-03 9.99968121e-01 -7.48689156e-06 1.82584392e-01] [ 2.85184255e-04 5.20992431e-06 9.99999959e-01 -2.93346701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.910281692999995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:45.64, Y:0.18, Z:-0.29 [[ 9.99972747e-01 -7.36976879e-03 -4.37282628e-04 4.56380916e+01] [ 7.36976448e-03 9.99972843e-01 -1.14688774e-05 1.83937357e-01] [ 4.37355276e-04 8.24589489e-06 9.99999904e-01 -2.93399736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.940281692999996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:45.67, Y:0.19, Z:-0.29 [[ 9.99973395e-01 -7.28732025e-03 -3.23906874e-04 4.56698158e+01] [ 7.28731789e-03 9.99973447e-01 -8.48332372e-06 1.85022960e-01] [ 3.23960094e-04 6.12268566e-06 9.99999948e-01 -2.93427262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.970281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:45.70, Y:0.19, Z:-0.29 [[ 9.99961398e-01 -8.78442077e-03 1.89692848e-04 4.57005915e+01] [ 8.78441999e-03 9.99961416e-01 4.98192160e-06 1.85066020e-01] [-1.89729293e-04 -3.31538764e-06 9.99999982e-01 -2.92959205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.000281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:45.73, Y:0.19, Z:-0.29 [[ 9.99956025e-01 -9.36448015e-03 5.05256304e-04 4.57320562e+01] [ 9.36447465e-03 9.99956152e-01 1.32526648e-05 1.85505888e-01] [-5.05358254e-04 -8.52062216e-06 9.99999872e-01 -2.92365793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.030281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:45.76, Y:0.19, Z:-0.29 [[ 9.99955342e-01 -9.44776987e-03 -2.32424686e-04 4.57632025e+01] [ 9.44776871e-03 9.99955369e-01 -6.07001201e-06 1.86843294e-01] [ 2.32471660e-04 3.87384626e-06 9.99999973e-01 -2.92588092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.06028169299999 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:45.79, Y:0.19, Z:-0.29 [[ 9.99961662e-01 -8.73353708e-03 -6.31986927e-04 4.57932150e+01] [ 8.73352837e-03 9.99961862e-01 -1.65289363e-05 1.87658542e-01] [ 6.32107181e-04 1.10088269e-05 9.99999800e-01 -2.93081231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.090281692999994 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:45.82, Y:0.19, Z:-0.29 [[ 9.99972711e-01 -7.34854961e-03 -7.58392580e-04 4.58232439e+01] [ 7.34853668e-03 9.99972999e-01 -1.98272346e-05 1.88457023e-01] [ 7.58517804e-04 1.42536178e-05 9.99999712e-01 -2.92960684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.120281692999995 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:45.85, Y:0.19, Z:-0.29 [[ 9.99991127e-01 -4.10966501e-03 -9.25472160e-04 4.58532554e+01] [ 4.10964437e-03 9.99991555e-01 -2.42044816e-05 1.90028178e-01] [ 9.25563817e-04 2.04009053e-05 9.99999571e-01 -2.91964698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.150281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:45.88, Y:0.19, Z:-0.29 [[ 9.99994998e-01 -2.88548287e-03 -1.29497735e-03 4.58824120e+01] [ 2.88544140e-03 9.99995837e-01 -3.38916847e-05 1.91394120e-01] [ 1.29506975e-03 3.01549339e-05 9.99999161e-01 -2.92379673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.180281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:45.91, Y:0.19, Z:-0.29 [[ 9.99996668e-01 -2.23735047e-03 -1.28738339e-03 4.59115164e+01] [ 2.23730892e-03 9.99997497e-01 -3.37076417e-05 1.93085152e-01] [ 1.28745558e-03 3.08272551e-05 9.99999171e-01 -2.92533265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.210281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:45.94, Y:0.19, Z:-0.29 [[ 9.99994480e-01 -2.97459920e-03 -1.48029627e-03 4.59424669e+01] [ 2.97454510e-03 9.99995575e-01 -3.87504122e-05 1.94823108e-01] [ 1.48040499e-03 3.43469903e-05 9.99998904e-01 -2.93518068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.24028169299999 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:45.97, Y:0.20, Z:-0.29 [[ 9.99987692e-01 -4.38174564e-03 -2.32725816e-03 4.59716764e+01] [ 4.38161564e-03 9.99990399e-01 -6.09551356e-05 1.96408226e-01] [ 2.32750291e-03 5.07572346e-05 9.99997290e-01 -2.93564041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.270281692999994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:46.00, Y:0.20, Z:-0.29 [[ 9.99949454e-01 -9.28123091e-03 -3.86638804e-03 4.60012647e+01] [ 9.28090836e-03 9.99956926e-01 -1.01357082e-04 1.97162435e-01] [ 3.86716222e-03 6.54683655e-05 9.99992520e-01 -2.94350262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.300281692999995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:46.03, Y:0.20, Z:-0.29 [[ 9.99920877e-01 -1.20061780e-02 -3.75373227e-03 4.60307610e+01] [ 1.20058929e-02 9.99927922e-01 -9.84923446e-05 1.97936067e-01] [ 3.75464423e-03 5.34176441e-05 9.99992950e-01 -2.94000823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.330281692999996 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:46.06, Y:0.20, Z:-0.29 [[ 9.99890668e-01 -1.45144696e-02 -2.82537791e-03 4.60603153e+01] [ 1.45143178e-02 9.99894659e-01 -7.42032387e-05 1.98154078e-01] [ 2.82615730e-03 3.31866930e-05 9.99996006e-01 -2.93720695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.360281693 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:46.09, Y:0.20, Z:-0.29 [[ 9.99830220e-01 -1.83733119e-02 -1.39761075e-03 4.60897584e+01] [ 1.83732786e-02 9.99831196e-01 -3.67219490e-05 1.97688106e-01] [ 1.39804953e-03 1.10370228e-05 9.99999023e-01 -2.92439038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.390281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:46.12, Y:0.20, Z:-0.29 [[ 9.99807669e-01 -1.95301871e-02 -1.78805737e-03 4.61210797e+01] [ 1.95301344e-02 9.99809268e-01 -4.69150540e-05 1.97388058e-01] [ 1.78863259e-03 1.19850300e-05 9.99998400e-01 -2.92940184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.42028169299999 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:46.15, Y:0.20, Z:-0.29 [[ 9.99813884e-01 -1.90224034e-02 -3.21631457e-03 4.61512684e+01] [ 1.90222302e-02 9.99819057e-01 -8.44158334e-05 1.96975539e-01] [ 3.21733840e-03 2.32186459e-05 9.99994824e-01 -2.93692769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.450281692999994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:46.18, Y:0.20, Z:-0.29 [[ 9.99835454e-01 -1.75284087e-02 -4.67112943e-03 4.61805165e+01] [ 1.75280269e-02 9.99846365e-01 -1.22660743e-04 1.98125510e-01] [ 4.67256183e-03 4.07648777e-05 9.99989083e-01 -2.93057049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.480281692999995 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:46.21, Y:0.20, Z:-0.29 [[ 9.99854446e-01 -1.60443647e-02 -5.80221870e-03 4.62100535e+01] [ 1.60437502e-02 9.99871279e-01 -1.52428148e-04 1.99498287e-01] [ 5.80391744e-03 5.93166138e-05 9.99983155e-01 -2.93034696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.510281692999996 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:46.24, Y:0.20, Z:-0.29 [[ 9.99870144e-01 -1.47442342e-02 -6.50407790e-03 4.62383920e+01] [ 1.47434271e-02 9.99891295e-01 -1.72022435e-04 2.01224894e-01] [ 6.50590721e-03 7.61076984e-05 9.99978833e-01 -2.92756266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.540281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:46.27, Y:0.20, Z:-0.29 [[ 9.99882303e-01 -1.43063577e-02 -5.54155092e-03 4.62666191e+01] [ 1.43057635e-02 9.99897657e-01 -1.46835909e-04 2.04233174e-01] [ 5.54308446e-03 6.75425099e-05 9.99984635e-01 -2.91790133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.570281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:46.30, Y:0.21, Z:-0.29 [[ 9.99875851e-01 -1.52005041e-02 -4.15045875e-03 4.62953598e+01] [ 1.52001755e-02 9.99884465e-01 -1.10715140e-04 2.06643274e-01] [ 4.15166216e-03 4.76136936e-05 9.99991381e-01 -2.92177856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.600281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:46.32, Y:0.21, Z:-0.29 [[ 9.99829068e-01 -1.82544047e-02 -2.93454169e-03 4.63248080e+01] [ 1.82542536e-02 9.99833374e-01 -7.82503901e-05 2.09016631e-01] [ 2.93548114e-03 2.46691463e-05 9.99995691e-01 -2.92726402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.63028169299999 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:46.36, Y:0.21, Z:-0.29 [[ 9.99793714e-01 -2.01026500e-02 -2.90066337e-03 4.63554190e+01] [ 2.01025102e-02 9.99797921e-01 -7.73400311e-05 2.09637304e-01] [ 2.90163194e-03 1.90134619e-05 9.99995790e-01 -2.92531035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.660281692999995 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:46.39, Y:0.21, Z:-0.29 [[ 9.99757869e-01 -2.18474247e-02 -2.62555258e-03 4.63857948e+01] [ 2.18473162e-02 9.99761316e-01 -6.99673756e-05 2.10095086e-01] [ 2.62645451e-03 1.25891569e-05 9.99996551e-01 -2.92205423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.690281692999996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:46.42, Y:0.21, Z:-0.29 [[ 9.99697233e-01 -2.45327606e-02 -1.89385345e-03 4.64157632e+01] [ 2.45327090e-02 9.99699027e-01 -5.04450323e-05 2.10408159e-01] [ 1.89452100e-03 3.96840356e-06 9.99998205e-01 -2.91032723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.720281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:46.45, Y:0.21, Z:-0.29 [[ 9.99682518e-01 -2.51378073e-02 -1.71858248e-03 4.64463609e+01] [ 2.51377658e-02 9.99683995e-01 -4.57828964e-05 2.10620085e-01] [ 1.71919028e-03 2.56703734e-06 9.99998522e-01 -2.90963581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.750281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:46.48, Y:0.21, Z:-0.29 [[ 9.99677519e-01 -2.53403881e-02 -1.64984995e-03 4.64771017e+01] [ 2.53403501e-02 9.99678881e-01 -4.39263751e-05 2.11022293e-01] [ 1.65043326e-03 2.10443430e-06 9.99998638e-01 -2.91302855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.780281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:46.51, Y:0.21, Z:-0.29 [[ 9.99691797e-01 -2.48075936e-02 -9.46069255e-04 4.65075703e+01] [ 2.48075809e-02 9.99692244e-01 -2.51753124e-05 2.12953648e-01] [ 9.46402636e-04 1.69786371e-06 9.99999552e-01 -2.90454939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.81028169299999 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:46.54, Y:0.21, Z:-0.29 [[ 9.99705139e-01 -2.42823961e-02 -1.75744146e-05 4.65392205e+01] [ 2.42823961e-02 9.99705139e-01 -4.53416696e-07 2.14376774e-01] [ 1.75802427e-05 2.65341037e-08 1.00000000e+00 -2.90134910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.840281692999994 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:46.57, Y:0.21, Z:-0.29 [[ 9.99732997e-01 -2.30969626e-02 -6.82457711e-04 4.65692231e+01] [ 2.30969556e-02 9.99733230e-01 -1.81353525e-05 2.14663973e-01] [ 6.82694523e-04 2.36781488e-06 9.99999767e-01 -2.90713519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.870281692999995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:46.60, Y:0.22, Z:-0.29 [[ 9.99741945e-01 -2.26293557e-02 -1.98875691e-03 4.66009228e+01] [ 2.26292954e-02 9.99743923e-01 -5.28081890e-05 2.16158672e-01] [ 1.98944265e-03 7.79039398e-06 9.99998021e-01 -2.90420481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.900281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:46.63, Y:0.22, Z:-0.29 [[ 9.99749409e-01 -2.22274359e-02 -2.65693840e-03 4.66310393e+01] [ 2.22273270e-02 9.99752940e-01 -7.05319103e-05 2.18393414e-01] [ 2.65784972e-03 1.14575970e-05 9.99996468e-01 -2.90495286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.930281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:46.66, Y:0.22, Z:-0.29 [[ 9.99750031e-01 -2.22377793e-02 -2.31441800e-03 4.66600105e+01] [ 2.22376966e-02 9.99752710e-01 -6.14791152e-05 2.21795286e-01] [ 2.31521283e-03 9.99642207e-06 9.99997320e-01 -2.90982781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.960281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:46.69, Y:0.22, Z:-0.29 [[ 9.99731593e-01 -2.30456301e-02 -2.37525569e-03 4.66903717e+01] [ 2.30455452e-02 9.99734414e-01 -6.30879027e-05 2.22968349e-01] [ 2.37607876e-03 8.33190693e-06 9.99997177e-01 -2.90748061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.99028169299999 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:46.72, Y:0.22, Z:-0.29 [[ 9.99662307e-01 -2.58344234e-02 -2.80245343e-03 4.67214081e+01] [ 2.58343165e-02 9.99666236e-01 -7.43538576e-05 2.24501294e-01] [ 2.80343896e-03 1.92928001e-06 9.99996070e-01 -2.91177011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.020281692999994 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:46.75, Y:0.23, Z:-0.29 [[ 9.99618280e-01 -2.74219624e-02 -3.36617581e-03 4.67521260e+01] [ 2.74218176e-02 9.99623947e-01 -8.91684995e-05 2.25190368e-01] [ 3.36735512e-03 -3.17219702e-06 9.99994330e-01 -2.91107370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.050281692999995 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:46.78, Y:0.22, Z:-0.29 [[ 9.99568026e-01 -2.91194437e-02 -3.97748537e-03 4.67823245e+01] [ 2.91192549e-02 9.99575939e-01 -1.05391051e-04 2.24820565e-01] [ 3.97886761e-03 -1.04758853e-05 9.99992084e-01 -2.90986971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.080281692999996 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:46.81, Y:0.22, Z:-0.29 [[ 9.99443903e-01 -3.30798297e-02 -4.19635790e-03 4.68122454e+01] [ 3.30796542e-02 9.99452712e-01 -1.11246109e-04 2.21668825e-01] [ 4.19774129e-03 -2.76298227e-05 9.99991189e-01 -2.91899973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.110281693 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:46.84, Y:0.22, Z:-0.29 [[ 9.99365715e-01 -3.53808547e-02 -4.04503216e-03 4.68423893e+01] [ 3.53807105e-02 9.99373901e-01 -1.07227553e-04 2.20516635e-01] [ 4.04629337e-03 -3.59565714e-05 9.99991813e-01 -2.91656448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.140281693 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:46.87, Y:0.22, Z:-0.29 [[ 9.99365297e-01 -3.53926595e-02 -4.04503070e-03 4.68723762e+01] [ 3.53925152e-02 9.99373483e-01 -1.07282640e-04 2.21316570e-01] [ 4.04629344e-03 -3.59492627e-05 9.99991813e-01 -2.91675009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.17028169299999 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:46.90, Y:0.22, Z:-0.29 [[ 9.99293939e-01 -3.73754459e-02 -3.83393445e-03 4.69021648e+01] [ 3.73753307e-02 9.99301293e-01 -1.01729345e-04 2.19227145e-01] [ 3.83505783e-03 -4.16370497e-05 9.99992645e-01 -2.92133699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.200281692999994 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:46.93, Y:0.21, Z:-0.29 [[ 9.99106180e-01 -4.20839442e-02 -3.97275651e-03 4.69317272e+01] [ 4.20838575e-02 9.99114076e-01 -1.05458425e-04 2.10696715e-01] [ 3.97367506e-03 -6.18247541e-05 9.99992103e-01 -2.92473891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.230281692999995 meters Centerline goodness : 0.997628 Centerline is valid? [True, True] Translation: X:46.96, Y:0.21, Z:-0.28 [[ 9.99013299e-01 -4.41883299e-02 -4.45198805e-03 4.69618735e+01] [ 4.41882420e-02 9.99023216e-01 -1.18171800e-04 2.06575193e-01] [ 4.45286123e-03 -7.86703250e-05 9.99990083e-01 -2.83132430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.260281692999996 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:46.99, Y:0.20, Z:-0.29 [[ 9.98852517e-01 -4.77869971e-02 -3.17040597e-03 4.69905077e+01] [ 4.77869702e-02 9.98857547e-01 -8.42841378e-05 1.97167237e-01] [ 3.17081162e-03 -6.73166724e-05 9.99994971e-01 -2.91216519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.290281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:47.02, Y:0.19, Z:-0.29 [[ 9.98807850e-01 -4.86983016e-02 -3.36967178e-03 4.70210149e+01] [ 4.86982764e-02 9.98813531e-01 -8.95589689e-05 1.93003266e-01] [ 3.37003514e-03 -7.46450068e-05 9.99994319e-01 -2.91017233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.320281693 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:47.05, Y:0.19, Z:-0.29 [[ 9.98804203e-01 -4.87903348e-02 -3.10938898e-03 4.70501835e+01] [ 4.87903137e-02 9.98809040e-01 -8.26840929e-05 1.88302163e-01] [ 3.10972001e-03 -6.91228441e-05 9.99995162e-01 -2.91007718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.350281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:47.08, Y:0.18, Z:-0.29 [[ 9.98821120e-01 -4.84750033e-02 -2.55831782e-03 4.70801916e+01] [ 4.84749878e-02 9.98824394e-01 -6.80985898e-05 1.83425212e-01] [ 2.55861133e-03 -5.59961156e-05 9.99996725e-01 -2.90951956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.38028169299999 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:47.11, Y:0.17, Z:-0.29 [[ 9.98951782e-01 -4.57669875e-02 -8.48048483e-04 4.71090692e+01] [ 4.57669848e-02 9.98952142e-01 -2.26200885e-05 1.73221644e-01] [ 8.48195102e-04 -1.62162443e-05 9.99999640e-01 -2.89683763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.410281692999995 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:47.14, Y:0.17, Z:-0.29 [[ 9.99027448e-01 -4.40903202e-02 -4.48280942e-04 4.71380182e+01] [ 4.40903192e-02 9.99027549e-01 -1.20986650e-05 1.70017339e-01] [ 4.48378445e-04 -7.67795145e-06 9.99999899e-01 -2.89406222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.440281692999996 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:47.17, Y:0.16, Z:-0.29 [[ 9.99169534e-01 -4.07262812e-02 -1.26957881e-03 4.71689761e+01] [ 4.07262709e-02 9.99170341e-01 -3.40134385e-05 1.63815598e-01] [ 1.26991074e-03 -1.77200192e-05 9.99999194e-01 -2.90255128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.470281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:47.20, Y:0.16, Z:-0.29 [[ 9.99231776e-01 -3.91409813e-02 -1.96001308e-03 4.71983304e+01] [ 3.91409535e-02 9.99233698e-01 -5.25406066e-05 1.61260769e-01] [ 1.96056761e-03 -2.42165373e-05 9.99998078e-01 -2.90233114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.500281693 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:47.23, Y:0.16, Z:-0.29 [[ 9.99338157e-01 -3.61888817e-02 -3.68942721e-03 4.72280135e+01] [ 3.61887628e-02 9.99344967e-01 -9.89856902e-05 1.57161925e-01] [ 3.69059269e-03 -3.45956289e-05 9.99993189e-01 -2.88566070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.530281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:47.26, Y:0.16, Z:-0.29 [[ 9.99388829e-01 -3.48008997e-02 -3.29647123e-03 4.72555343e+01] [ 3.48007966e-02 9.99394265e-01 -8.86548128e-05 1.56929640e-01] [ 3.29755971e-03 -2.61191952e-05 9.99994563e-01 -2.88802838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.56028169299999 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:47.28, Y:0.16, Z:-0.29 [[ 9.99436754e-01 -3.34989037e-02 -1.99950502e-03 4.72838695e+01] [ 3.34988623e-02 9.99438754e-01 -5.41751573e-05 1.57923939e-01] [ 2.00019761e-03 -1.28364999e-05 9.99998000e-01 -2.88442635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.590281692999994 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:47.31, Y:0.16, Z:-0.29 [[ 9.99504630e-01 -3.14591166e-02 -9.04288658e-04 4.73132307e+01] [ 3.14591074e-02 9.99505039e-01 -2.44917945e-05 1.58413391e-01] [ 9.04611561e-04 -3.96845197e-06 9.99999591e-01 -2.88385725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.620281692999995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:47.34, Y:0.16, Z:-0.29 [[ 9.99617996e-01 -2.76267303e-02 -7.91026961e-04 4.73422779e+01] [ 2.76267220e-02 9.99618309e-01 -2.14280455e-05 1.58052745e-01] [ 7.91317020e-04 -4.33622001e-07 9.99999687e-01 -2.88509697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.650281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:47.37, Y:0.16, Z:-0.29 [[ 9.99659303e-01 -2.60635563e-02 -1.40355197e-03 4.73720804e+01] [ 2.60635285e-02 9.99660288e-01 -3.80576068e-05 1.60179350e-01] [ 1.40406708e-03 1.46312394e-06 9.99999014e-01 -2.88093329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.680281693 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:47.40, Y:0.17, Z:-0.29 [[ 9.99751840e-01 -2.22286468e-02 -1.46457084e-03 4.74012752e+01] [ 2.22286125e-02 9.99752913e-01 -3.97218068e-05 1.66459023e-01] [ 1.46509192e-03 7.15657194e-06 9.99998927e-01 -2.88116411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.710281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:47.43, Y:0.17, Z:-0.29 [[ 9.99788894e-01 -2.04680565e-02 -1.79603341e-03 4.74309522e+01] [ 2.04680020e-02 9.99790507e-01 -4.87588680e-05 1.69489677e-01] [ 1.79665515e-03 1.19873595e-05 9.99998386e-01 -2.88017184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.74028169299999 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:47.46, Y:0.17, Z:-0.29 [[ 9.99810260e-01 -1.92686114e-02 -2.85748787e-03 4.74604011e+01] [ 1.92684684e-02 9.99814343e-01 -7.75928373e-05 1.71237845e-01] [ 2.85845247e-03 2.25187001e-05 9.99995914e-01 -2.88433902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.770281692999994 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:47.49, Y:0.17, Z:-0.29 [[ 9.99788299e-01 -2.00527899e-02 -4.60909685e-03 4.74900770e+01] [ 2.00524255e-02 9.99798922e-01 -1.25267252e-04 1.73793072e-01] [ 4.61068202e-03 3.28171613e-05 9.99989370e-01 -2.88797432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.800281692999995 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:47.52, Y:0.18, Z:-0.29 [[ 9.99753466e-01 -2.18124781e-02 -4.14998046e-03 4.75188240e+01] [ 2.18121972e-02 9.99762079e-01 -1.12942970e-04 1.75954332e-01] [ 4.15145666e-03 2.23949340e-05 9.99991382e-01 -2.88616939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.830281692999996 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:47.55, Y:0.18, Z:-0.29 [[ 9.99666857e-01 -2.57895634e-02 -1.03638827e-03 4.75479523e+01] [ 2.57895477e-02 9.99667394e-01 -2.84614218e-05 1.79028720e-01] [ 1.03677757e-03 1.72395526e-06 9.99999463e-01 -2.87834734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.860281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:47.58, Y:0.18, Z:-0.29 [[ 9.99619129e-01 -2.75948901e-02 3.45233892e-04 4.75787307e+01] [ 2.75948885e-02 9.99619189e-01 9.44833494e-06 1.81364453e-01] [-3.45363149e-04 8.19544109e-08 9.99999940e-01 -2.87291180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.890281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:47.61, Y:0.18, Z:-0.29 [[ 9.99569823e-01 -2.93077228e-02 1.10711977e-03 4.76091451e+01] [ 2.93077072e-02 9.99570436e-01 3.02995699e-05 1.83850187e-01] [-1.10753220e-03 2.16060647e-06 9.99999387e-01 -2.86491929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.92028169299999 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:47.64, Y:0.19, Z:-0.29 [[ 9.99448357e-01 -3.31848473e-02 1.32192239e-03 4.76393665e+01] [ 3.31848285e-02 9.99449231e-01 3.61700901e-05 1.89537894e-01] [-1.32239462e-03 7.71763058e-06 9.99999126e-01 -2.86377175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.950281692999994 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:47.67, Y:0.19, Z:-0.29 [[ 9.99381762e-01 -3.51380834e-02 1.18734995e-03 4.76710723e+01] [ 3.51380696e-02 9.99382467e-01 3.24684523e-05 1.92797546e-01] [-1.18775760e-03 9.27280622e-06 9.99999295e-01 -2.86645184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.980281692999995 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:47.70, Y:0.20, Z:-0.29 [[ 9.99304963e-01 -3.72707111e-02 6.96924245e-04 4.77016285e+01] [ 3.72707069e-02 9.99305206e-01 1.90483951e-05 1.99007961e-01] [-6.97149973e-04 6.93970354e-06 9.99999757e-01 -2.86733897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.010281692999996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:47.73, Y:0.20, Z:-0.29 [[ 9.99278314e-01 -3.79848684e-02 1.00031538e-05 4.77331722e+01] [ 3.79848684e-02 9.99278314e-01 2.87044322e-07 2.02878069e-01] [-1.00068380e-05 9.31313131e-08 1.00000000e+00 -2.86795908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.040281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:47.76, Y:0.21, Z:-0.29 [[ 9.99239952e-01 -3.89690092e-02 -9.67289248e-04 4.77644797e+01] [ 3.89690019e-02 9.99240420e-01 -2.63704819e-05 2.06400404e-01] [ 9.67582145e-04 -1.13438575e-05 9.99999532e-01 -2.86681651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.070281693 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:47.80, Y:0.21, Z:-0.29 [[ 9.99102722e-01 -4.23157716e-02 -1.76804697e-03 4.77951807e+01] [ 4.23157525e-02 9.99104286e-01 -4.82265739e-05 2.12239183e-01] [ 1.76850405e-03 -2.66329366e-05 9.99998436e-01 -2.86374015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.100281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:47.83, Y:0.22, Z:-0.29 [[ 9.99033079e-01 -4.38992139e-02 -2.40113416e-03 4.78252985e+01] [ 4.38991835e-02 9.99035964e-01 -6.53861720e-05 2.15157580e-01] [ 2.40168978e-03 -4.00848803e-05 9.99997115e-01 -2.86962569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.13028169299999 meters Centerline goodness : 0.998843 Centerline is valid? [True, True] Translation: X:47.86, Y:0.22, Z:-0.29 [[ 9.98918847e-01 -4.63878304e-02 -3.05067381e-03 4.78559968e+01] [ 4.63877929e-02 9.98923503e-01 -8.31023835e-05 2.18869901e-01] [ 3.05124471e-03 -5.85014879e-05 9.99995343e-01 -2.87159762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.160281692999995 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:47.89, Y:0.22, Z:-0.29 [[ 9.98892719e-01 -4.69396105e-02 -3.16378519e-03 4.78850172e+01] [ 4.69395729e-02 9.98897727e-01 -8.61740923e-05 2.20527943e-01] [ 3.16434281e-03 -6.24280524e-05 9.99994992e-01 -2.87328418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.190281692999996 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:47.92, Y:0.22, Z:-0.29 [[ 9.98874440e-01 -4.72651014e-02 -3.98285437e-03 4.79159347e+01] [ 4.72650444e-02 9.98882377e-01 -1.08485577e-04 2.22398504e-01] [ 3.98353062e-03 -7.98863189e-05 9.99992063e-01 -2.87309606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.220281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:47.95, Y:0.22, Z:-0.29 [[ 9.98846638e-01 -4.78164106e-02 -4.35715016e-03 4.79455187e+01] [ 4.78163474e-02 9.98856137e-01 -1.18736468e-04 2.24423064e-01] [ 4.35784373e-03 -8.97434846e-05 9.99990501e-01 -2.87759114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.250281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:47.98, Y:0.23, Z:-0.29 [[ 9.98788483e-01 -4.90906017e-02 -3.41745372e-03 4.79755304e+01] [ 4.90905700e-02 9.98794327e-01 -9.32135445e-05 2.27102422e-01] [ 3.41790929e-03 -7.46641360e-05 9.99994156e-01 -2.87569579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.280281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:48.01, Y:0.23, Z:-0.29 [[ 9.98665840e-01 -5.15456854e-02 -3.09569349e-03 4.80055495e+01] [ 5.15456709e-02 9.98670635e-01 -8.45071931e-05 2.26392523e-01] [ 3.09593416e-03 -7.51751507e-05 9.99995205e-01 -2.88070661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.31028169299999 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:48.03, Y:0.23, Z:-0.29 [[ 9.98552607e-01 -5.36883222e-02 -3.20222416e-03 4.80348198e+01] [ 5.36883178e-02 9.98557738e-01 -8.73914627e-05 2.25754123e-01] [ 3.20229761e-03 -8.46570553e-05 9.99994869e-01 -2.88514755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.340281692999994 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:48.06, Y:0.22, Z:-0.29 [[ 9.98419259e-01 -5.61358439e-02 -2.78386037e-03 4.80642774e+01] [ 5.61358499e-02 9.98423137e-01 -7.60499378e-05 2.24727628e-01] [ 2.78373973e-03 -8.03446451e-05 9.99996122e-01 -2.88930764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.370281692999995 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:48.09, Y:0.22, Z:-0.29 [[ 9.98272096e-01 -5.87180378e-02 -2.23925304e-03 4.80942800e+01] [ 5.87180480e-02 9.98274605e-01 -6.12248686e-05 2.23306680e-01] [ 2.23898445e-03 -7.03654895e-05 9.99997491e-01 -2.88739905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.400281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:48.12, Y:0.22, Z:-0.29 [[ 9.98081089e-01 -6.18831918e-02 -2.14730663e-03 4.81235700e+01] [ 6.18832084e-02 9.98083396e-01 -5.88159496e-05 2.18707837e-01] [ 2.14683081e-03 -7.41791365e-05 9.99997693e-01 -2.88107107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.430281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:48.15, Y:0.22, Z:-0.29 [[ 9.98057069e-01 -6.22513064e-02 -2.61933547e-03 4.81523177e+01] [ 6.22513310e-02 9.98060502e-01 -7.22143901e-05 2.17231170e-01] [ 2.61875071e-03 -9.09830364e-05 9.99996567e-01 -2.88268985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.460281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:48.18, Y:0.21, Z:-0.29 [[ 9.98167103e-01 -6.04775410e-02 -2.21383347e-03 4.81809939e+01] [ 6.04775542e-02 9.98169556e-01 -6.10474363e-05 2.13501671e-01] [ 2.21347317e-03 -7.29516913e-05 9.99997548e-01 -2.88518897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.49028169299999 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:48.21, Y:0.21, Z:-0.29 [[ 9.98246856e-01 -5.91772081e-02 -1.12819772e-03 4.82098759e+01] [ 5.91772104e-02 9.98247493e-01 -3.13804969e-05 2.11848928e-01] [ 1.12807755e-03 -3.54381113e-05 9.99999363e-01 -2.88244673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.520281692999994 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:48.24, Y:0.21, Z:-0.29 [[ 9.98304284e-01 -5.82111147e-02 -1.49449993e-04 4.82387481e+01] [ 5.82111147e-02 9.98304295e-01 -4.17001411e-06 2.09971703e-01] [ 1.49439311e-04 -4.53670771e-06 9.99999989e-01 -2.87729130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.550281692999995 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:48.27, Y:0.20, Z:-0.29 [[ 9.98347113e-01 -5.74636214e-02 -9.86800830e-04 4.82677105e+01] [ 5.74636223e-02 9.98347600e-01 -2.74469234e-05 2.04889572e-01] [ 9.86747441e-04 -2.93035935e-05 9.99999513e-01 -2.87657129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.580281692999996 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:48.30, Y:0.20, Z:-0.29 [[ 9.98361295e-01 -5.71761975e-02 -2.36809684e-03 4.82969441e+01] [ 5.71762009e-02 9.98364101e-01 -6.62934351e-05 2.02739846e-01] [ 2.36801328e-03 -6.92139810e-05 9.99997194e-01 -2.88707309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.610281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:48.33, Y:0.20, Z:-0.29 [[ 9.98452197e-01 -5.54596536e-02 -4.17582317e-03 4.83259036e+01] [ 5.54596468e-02 9.98460923e-01 -1.17491827e-04 1.96139703e-01] [ 4.17591231e-03 -1.14279706e-04 9.99991274e-01 -2.89568836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.640281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:48.35, Y:0.19, Z:-0.29 [[ 9.98526226e-01 -5.41762053e-02 -3.21174608e-03 4.83536770e+01] [ 5.41761942e-02 9.98531387e-01 -9.05076234e-05 1.94310327e-01] [ 3.21193263e-03 -8.36259435e-05 9.99994838e-01 -2.89429570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.67028169299999 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:48.38, Y:0.19, Z:-0.29 [[ 9.98622900e-01 -5.24104883e-02 -2.33320852e-03 4.83828786e+01] [ 5.24104766e-02 9.98625624e-01 -6.62052292e-05 1.93473075e-01] [ 2.33347167e-03 -5.61705128e-05 9.99997276e-01 -2.88126420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.700281692999994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:48.41, Y:0.19, Z:-0.29 [[ 9.98847115e-01 -4.79181589e-02 -2.87943109e-03 4.84120514e+01] [ 4.79181211e-02 9.98851264e-01 -8.21501050e-05 1.90878175e-01] [ 2.88005986e-03 -5.59215320e-05 9.99995851e-01 -2.89738998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.730281692999995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:48.44, Y:0.19, Z:-0.29 [[ 9.98941189e-01 -4.58238212e-02 -4.08393849e-03 4.84400773e+01] [ 4.58237266e-02 9.98949534e-01 -1.16767350e-04 1.89415666e-01] [ 4.08499918e-03 -7.04975655e-05 9.99991654e-01 -2.90522653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.760281692999996 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:48.47, Y:0.19, Z:-0.29 [[ 9.99017862e-01 -4.41187011e-02 -4.10503402e-03 4.84680893e+01] [ 4.41185878e-02 9.99026294e-01 -1.18193337e-04 1.88173043e-01] [ 4.10625146e-03 -6.30310493e-05 9.99991567e-01 -2.90857446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.790281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:48.50, Y:0.19, Z:-0.29 [[ 9.99171578e-01 -4.06515756e-02 -1.89917567e-03 4.84965280e+01] [ 4.06515443e-02 9.99173383e-01 -5.51036127e-05 1.85728332e-01] [ 1.89984583e-03 -2.21464603e-05 9.99998195e-01 -2.89199309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.820281693 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:48.52, Y:0.18, Z:-0.29 [[ 9.99257998e-01 -3.84718871e-02 -1.83494891e-03 4.85249669e+01] [ 3.84718543e-02 9.99259683e-01 -5.32136494e-05 1.84751312e-01] [ 1.83563770e-03 -1.74197224e-05 9.99998315e-01 -2.89314383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.850281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:48.55, Y:0.18, Z:-0.29 [[ 9.99380830e-01 -3.50060804e-02 -3.53989154e-03 4.85542310e+01] [ 3.50059352e-02 9.99387099e-01 -1.02994180e-04 1.82943935e-01] [ 3.54132736e-03 -2.09868049e-05 9.99993729e-01 -2.88763310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.88028169299999 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:48.58, Y:0.18, Z:-0.29 [[ 9.99422290e-01 -3.37537010e-02 -3.97152075e-03 4.85833882e+01] [ 3.37535056e-02 9.99430181e-01 -1.16248477e-04 1.84469394e-01] [ 3.97318152e-03 -1.78714286e-05 9.99992107e-01 -2.89098357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.910281692999995 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:48.61, Y:0.19, Z:-0.29 [[ 9.99461896e-01 -3.25857304e-02 -3.75347397e-03 4.86112816e+01] [ 3.25855452e-02 9.99468944e-01 -1.10488244e-04 1.86791434e-01] [ 3.75508100e-03 -1.18802063e-05 9.99992950e-01 -2.88612126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.940281692999996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:48.64, Y:0.19, Z:-0.29 [[ 9.99543964e-01 -3.01498639e-02 -1.68831034e-03 4.86394378e+01] [ 3.01498229e-02 9.99545390e-01 -4.97867928e-05 1.88870208e-01] [ 1.68904388e-03 -1.13816938e-06 9.99998574e-01 -2.88112745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.970281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:48.67, Y:0.19, Z:-0.29 [[ 9.99548559e-01 -3.00425692e-02 -3.48736653e-04 4.86693978e+01] [ 3.00425674e-02 9.99548620e-01 -1.03002563e-05 1.90026947e-01] [ 3.48888687e-04 -1.81338122e-07 9.99999939e-01 -2.88115464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.000281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:48.70, Y:0.19, Z:-0.29 [[ 9.99540180e-01 -3.03123035e-02 7.70347269e-04 4.86991575e+01] [ 3.03122950e-02 9.99540477e-01 2.27211616e-05 1.91287099e-01] [-7.70682007e-04 6.40279723e-07 9.99999703e-01 -2.88042979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.030281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:48.73, Y:0.19, Z:-0.29 [[ 9.99539826e-01 -3.03239526e-02 7.70346994e-04 4.87291429e+01] [ 3.03239441e-02 9.99540123e-01 2.27304966e-05 1.92177504e-01] [-7.70682007e-04 6.39922556e-07 9.99999703e-01 -2.88061541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.06028169299999 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:48.76, Y:0.20, Z:-0.29 [[ 9.99434627e-01 -3.36009226e-02 1.18472897e-03 4.87593593e+01] [ 3.36009048e-02 9.99435330e-01 3.49686897e-05 1.95659073e-01] [-1.18523497e-03 4.85904585e-06 9.99999298e-01 -2.87401043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.090281692999994 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:48.79, Y:0.20, Z:-0.29 [[ 9.99352073e-01 -3.59905272e-02 3.41236780e-04 4.87885982e+01] [ 3.59905259e-02 9.99352131e-01 1.00687719e-05 1.96803437e-01] [-3.41378083e-04 2.21904308e-06 9.99999942e-01 -2.87349837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.120281692999995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:48.82, Y:0.20, Z:-0.29 [[ 9.99234676e-01 -3.91151877e-02 -2.53568930e-04 4.88178597e+01] [ 3.91151871e-02 9.99234708e-01 -7.50749382e-06 1.96806811e-01] [ 2.53668533e-04 -2.41664799e-06 9.99999968e-01 -2.87703123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.150281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:48.85, Y:0.20, Z:-0.29 [[ 9.99087649e-01 -4.27003800e-02 -7.39930139e-04 4.88466649e+01] [ 4.27003755e-02 9.99087923e-01 -2.19125241e-05 1.96190760e-01] [ 7.40190939e-04 -9.70276256e-06 9.99999726e-01 -2.88684033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.180281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:48.88, Y:0.19, Z:-0.29 [[ 9.98790885e-01 -4.91578648e-02 -5.21305288e-04 4.88763852e+01] [ 4.91578634e-02 9.98791021e-01 -1.54502020e-05 1.94385839e-01] [ 5.21434539e-04 -1.01947332e-05 9.99999864e-01 -2.89121169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.210281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:48.91, Y:0.19, Z:-0.29 [[ 9.98677785e-01 -5.14069663e-02 -7.43671053e-05 4.89054716e+01] [ 5.14069662e-02 9.98677788e-01 -2.23292539e-06 1.94530723e-01] [ 7.43835641e-05 -1.59301429e-06 9.99999997e-01 -2.88974702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.24028169299999 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:48.93, Y:0.19, Z:-0.29 [[ 9.98553667e-01 -5.37617561e-02 4.97430004e-04 4.89345026e+01] [ 5.37617555e-02 9.98553791e-01 1.47465680e-05 1.91983408e-01] [-4.97503418e-04 1.20174707e-05 9.99999876e-01 -2.89015409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.270281692999994 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:48.96, Y:0.19, Z:-0.29 [[ 9.98526906e-01 -5.42517610e-02 8.74046737e-04 4.89633711e+01] [ 5.42517590e-02 9.98527289e-01 2.59895574e-05 1.90513214e-01] [-8.74169498e-04 2.14673006e-05 9.99999618e-01 -2.88586199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.300281692999995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:48.99, Y:0.19, Z:-0.29 [[ 9.98525169e-01 -5.42334388e-02 2.49417013e-03 4.89919730e+01] [ 5.42334212e-02 9.98528282e-01 7.47450283e-05 1.87669645e-01] [-2.49455310e-03 6.06325873e-05 9.99996887e-01 -2.88000753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.330281692999996 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:49.02, Y:0.19, Z:-0.29 [[ 9.98539376e-01 -5.39780504e-02 2.34190717e-03 4.90218572e+01] [ 5.39780338e-02 9.98542121e-01 7.03165932e-05 1.87488161e-01] [-2.34228851e-03 5.61976574e-05 9.99997255e-01 -2.87933494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.360281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:49.05, Y:0.19, Z:-0.29 [[ 9.98575016e-01 -5.33535359e-02 1.15618426e-03 4.90509375e+01] [ 5.33535314e-02 9.98575685e-01 3.47408086e-05 1.86936448e-01] [-1.15639103e-03 2.69952097e-05 9.99999331e-01 -2.88069746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.390281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:49.08, Y:0.19, Z:-0.29 [[ 9.98604036e-01 -5.28160712e-02 -6.65110646e-04 4.90795421e+01] [ 5.28160694e-02 9.98604257e-01 -2.02041300e-05 1.85276005e-01] [ 6.65249426e-04 -1.49526043e-05 9.99999779e-01 -2.88858497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.42028169299999 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:49.11, Y:0.18, Z:-0.29 [[ 9.98628336e-01 -5.21629894e-02 -4.52421759e-03 4.91078770e+01] [ 5.21629005e-02 9.98638580e-01 -1.37707430e-04 1.80782316e-01] [ 4.52524146e-03 -9.84777699e-05 9.99989756e-01 -2.90323730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.450281692999994 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:49.14, Y:0.18, Z:-0.29 [[ 9.98674044e-01 -5.12538075e-02 -4.81684723e-03 4.91350398e+01] [ 5.12536947e-02 9.98685655e-01 -1.46931365e-04 1.79666409e-01] [ 4.81804702e-03 -1.00144677e-04 9.99988388e-01 -2.90415791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.480281692999995 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:49.16, Y:0.18, Z:-0.29 [[ 9.98935627e-01 -4.58728142e-02 -4.82688219e-03 4.91621832e+01] [ 4.58726336e-02 9.98947286e-01 -1.48178020e-04 1.78273827e-01] [ 4.82859820e-03 -7.34014949e-05 9.99988340e-01 -2.88692159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.510281692999996 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:49.19, Y:0.18, Z:-0.29 [[ 9.99076363e-01 -4.26994590e-02 -4.81421997e-03 4.91900290e+01] [ 4.26992383e-02 9.99087961e-01 -1.48678262e-04 1.78273680e-01] [ 4.81617770e-03 -5.70225882e-05 9.99988401e-01 -2.88768159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.540281693 meters Centerline goodness : 0.998807 Centerline is valid? [True, True] Translation: X:49.22, Y:0.18, Z:-0.29 [[ 9.99198405e-01 -3.96983998e-02 -5.15593348e-03 4.92165737e+01] [ 3.96981034e-02 9.99211707e-01 -1.59843905e-04 1.77755700e-01] [ 5.15821464e-03 -4.49650051e-05 9.99986695e-01 -2.88622141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.570281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:49.24, Y:0.18, Z:-0.29 [[ 9.99294456e-01 -3.72422215e-02 -4.85865027e-03 4.92442091e+01] [ 3.72419248e-02 9.99306267e-01 -1.51557099e-04 1.76954158e-01] [ 4.86092399e-03 -2.94953192e-05 9.99988185e-01 -2.88957130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.600281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:49.27, Y:0.17, Z:-0.29 [[ 9.99403180e-01 -3.44087426e-02 -3.05330798e-03 4.92727728e+01] [ 3.44086103e-02 9.99407844e-01 -9.58447227e-05 1.74218686e-01] [ 3.05479785e-03 -9.27256396e-06 9.99995334e-01 -2.88631558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.63028169299999 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:49.30, Y:0.17, Z:-0.29 [[ 9.99427860e-01 -3.37557170e-02 -2.12224226e-03 4.92993047e+01] [ 3.37556510e-02 9.99430113e-01 -6.68960375e-05 1.73628027e-01] [ 2.12329095e-03 -4.77990544e-06 9.99997746e-01 -2.88219155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.660281692999995 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:49.33, Y:0.17, Z:-0.29 [[ 9.99460021e-01 -3.28575538e-02 2.17599353e-04 4.93282510e+01] [ 3.28575531e-02 9.99460045e-01 6.78603829e-06 1.69906051e-01] [-2.17704831e-04 3.67408322e-07 9.99999976e-01 -2.88256753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.690281692999996 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:49.36, Y:0.17, Z:-0.29 [[ 9.99462298e-01 -3.27622410e-02 1.32279402e-03 4.93569904e+01] [ 3.27622141e-02 9.99463174e-01 4.19758276e-05 1.68261094e-01] [-1.32345913e-03 1.38440374e-06 9.99999124e-01 -2.88304384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.720281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:49.39, Y:0.17, Z:-0.29 [[ 9.99445401e-01 -3.31046181e-02 3.60191932e-03 4.93861845e+01] [ 3.31044184e-02 9.99451892e-01 1.15074031e-04 1.66136560e-01] [-3.60375456e-03 4.22923332e-06 9.99993506e-01 -2.87814820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.750281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:49.42, Y:0.17, Z:-0.29 [[ 9.99478340e-01 -3.20571750e-02 3.92248561e-03 4.94152525e+01] [ 3.20569297e-02 9.99486037e-01 1.25422438e-04 1.66189675e-01] [-3.92449029e-03 3.85835845e-07 9.99992299e-01 -2.87285251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.780281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:49.44, Y:0.17, Z:-0.29 [[ 9.99534440e-01 -3.02014884e-02 4.33280819e-03 4.94443238e+01] [ 3.02011714e-02 9.99543831e-01 1.38585199e-04 1.66653169e-01] [-4.33501718e-03 -7.66479638e-06 9.99990604e-01 -2.87473948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.81028169299999 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:49.47, Y:0.17, Z:-0.29 [[ 9.99707838e-01 -2.40802916e-02 2.09223731e-03 4.94744307e+01] [ 2.40802043e-02 9.99710028e-01 6.69238844e-05 1.68268210e-01] [-2.09324216e-03 -1.65228300e-05 9.99997809e-01 -2.88269718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.840281692999994 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:49.50, Y:0.17, Z:-0.29 [[ 9.99785387e-01 -2.07148235e-02 2.77243084e-04 4.95040848e+01] [ 2.07148219e-02 9.99785425e-01 8.86416834e-06 1.70638481e-01] [-2.77367214e-04 -3.11922488e-06 9.99999962e-01 -2.88452578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.870281692999995 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:49.53, Y:0.17, Z:-0.29 [[ 9.99846400e-01 -1.75100058e-02 -7.58848800e-04 4.95336930e+01] [ 1.75099924e-02 9.99846688e-01 -2.43133328e-05 1.73548913e-01] [ 7.59158186e-04 1.10221616e-05 9.99999712e-01 -2.88161471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.900281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:49.56, Y:0.18, Z:-0.29 [[ 9.99934015e-01 -1.14868094e-02 -1.35361046e-04 4.95635135e+01] [ 1.14868089e-02 9.99934024e-01 -4.35194152e-06 1.79167671e-01] [ 1.35402106e-04 2.79678789e-06 9.99999991e-01 -2.87697220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.930281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:49.59, Y:0.18, Z:-0.29 [[ 9.99960305e-01 -8.87737102e-03 7.61873790e-04 4.95933955e+01] [ 8.87735500e-03 9.99960595e-01 2.44154370e-05 1.83285205e-01] [-7.62060513e-04 -1.76510437e-05 9.99999709e-01 -2.87552042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.960281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:49.62, Y:0.19, Z:-0.29 [[ 9.99974838e-01 -6.92298103e-03 1.54777093e-03 4.96238075e+01] [ 6.92291252e-03 9.99976035e-01 4.96152307e-05 1.87621330e-01] [-1.54807732e-03 -3.88988995e-05 9.99998801e-01 -2.88043679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.99028169299999 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:49.65, Y:0.19, Z:-0.29 [[ 9.99988366e-01 -4.61022490e-03 1.41927323e-03 4.96542893e+01] [ 4.61016498e-03 9.99989372e-01 4.54870193e-05 1.94287482e-01] [-1.41946785e-03 -3.89434064e-05 9.99998992e-01 -2.88148514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.020281692999994 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:49.68, Y:0.20, Z:-0.29 [[ 9.99989896e-01 -4.46067347e-03 5.57117122e-04 4.96840884e+01] [ 4.46066422e-03 9.99990051e-01 1.78532670e-05 1.98683325e-01] [-5.57191216e-04 -1.53679742e-05 9.99999845e-01 -2.88304660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.050281692999995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:49.71, Y:0.20, Z:-0.29 [[ 9.99988788e-01 -4.60986214e-03 -1.08302949e-03 4.97148356e+01] [ 4.60982727e-03 9.99989374e-01 -3.46929988e-05 2.03634924e-01] [ 1.08317791e-03 2.97000310e-05 9.99999413e-01 -2.88445047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.080281692999996 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:49.74, Y:0.21, Z:-0.29 [[ 9.99971694e-01 -6.18326736e-03 -4.28689388e-03 4.97441350e+01] [ 6.18273520e-03 9.99980877e-01 -1.37378298e-04 2.12254510e-01] [ 4.28766135e-03 1.10869680e-04 9.99990802e-01 -2.90267813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.110281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:49.77, Y:0.22, Z:-0.29 [[ 9.99960244e-01 -7.79656545e-03 -4.32714343e-03 4.97729940e+01] [ 7.79603503e-03 9.99969601e-01 -1.39432981e-04 2.16316881e-01] [ 4.32809899e-03 1.05692876e-04 9.99990628e-01 -2.91013660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.140281693 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:49.80, Y:0.22, Z:-0.29 [[ 9.99949779e-01 -9.24689786e-03 -3.86454445e-03 4.98020235e+01] [ 9.24648324e-03 9.99957243e-01 -1.25141755e-04 2.20393265e-01] [ 3.86553639e-03 8.94020249e-05 9.99992525e-01 -2.90030212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.17028169299999 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:49.83, Y:0.23, Z:-0.29 [[ 9.99924080e-01 -1.18439152e-02 -3.39925262e-03 4.98303976e+01] [ 1.18436075e-02 9.99929856e-01 -1.10615991e-04 2.27703840e-01] [ 3.40032431e-03 7.03481793e-05 9.99994216e-01 -2.90164859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.200281692999994 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:49.86, Y:0.23, Z:-0.29 [[ 9.99898508e-01 -1.38040906e-02 -3.52421318e-03 4.98588978e+01] [ 1.38037702e-02 9.99904717e-01 -1.15223762e-04 2.30839684e-01] [ 3.52546794e-03 6.65646385e-05 9.99993783e-01 -2.90495341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.230281692999995 meters Centerline goodness : 0.999241 Centerline is valid? [True, True] Translation: X:49.89, Y:0.23, Z:-0.29 [[ 9.99819334e-01 -1.88424696e-02 -2.50198781e-03 4.98878122e+01] [ 1.88423237e-02 9.99822464e-01 -8.18691427e-05 2.34647169e-01] [ 2.50308623e-03 3.47110877e-05 9.99996867e-01 -2.90479645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.260281692999996 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:49.92, Y:0.24, Z:-0.29 [[ 9.99744451e-01 -2.25701958e-02 -1.27219136e-03 4.99159846e+01] [ 2.25701610e-02 9.99745261e-01 -4.16767989e-05 2.37425450e-01] [ 1.27280794e-03 1.29525845e-05 9.99999190e-01 -2.90324207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.290281693 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:49.95, Y:0.24, Z:-0.29 [[ 9.99649896e-01 -2.64583804e-02 -1.96324029e-04 4.99461662e+01] [ 2.64583796e-02 9.99649916e-01 -6.42840574e-06 2.39842896e-01] [ 1.96425384e-04 1.23173945e-06 9.99999981e-01 -2.89898235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.320281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:49.98, Y:0.24, Z:-0.29 [[ 9.99411749e-01 -3.42951187e-02 1.80872378e-05 4.99761554e+01] [ 3.42951187e-02 9.99411749e-01 5.85717904e-07 2.38818798e-01] [-1.80966852e-05 3.49306134e-08 1.00000000e+00 -2.90666874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.350281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:50.00, Y:0.24, Z:-0.29 [[ 9.99242958e-01 -3.88993066e-02 -5.95883909e-04 5.00045284e+01] [ 3.88993018e-02 9.99243136e-01 -1.95570239e-05 2.36560971e-01] [ 5.96193661e-04 -3.63724970e-06 9.99999822e-01 -2.91051726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.38028169299999 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:50.03, Y:0.23, Z:-0.29 [[ 9.99024934e-01 -4.41337014e-02 -1.18208514e-03 5.00331935e+01] [ 4.41336861e-02 9.99025633e-01 -3.90269495e-05 2.34667465e-01] [ 1.18265576e-03 -1.31808788e-05 9.99999301e-01 -2.91229178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.410281692999995 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:50.06, Y:0.23, Z:-0.29 [[ 9.98791471e-01 -4.91317964e-02 -1.28970778e-03 5.00608556e+01] [ 4.91317823e-02 9.98792304e-01 -4.25805357e-05 2.32700577e-01] [ 1.29024226e-03 -2.08365658e-05 9.99999167e-01 -2.91263620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.440281692999996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:50.09, Y:0.23, Z:-0.29 [[ 9.98318848e-01 -5.79593114e-02 -4.42411442e-04 5.00903538e+01] [ 5.79593105e-02 9.98318946e-01 -1.47606813e-05 2.26794558e-01] [ 4.42523244e-04 -1.09059958e-05 9.99999902e-01 -2.91477255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.470281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:50.12, Y:0.22, Z:-0.29 [[ 9.98161648e-01 -6.06031928e-02 -7.60194289e-04 5.01181823e+01] [ 6.06031909e-02 9.98161937e-01 -2.54495231e-05 2.24058177e-01] [ 7.60339327e-04 -2.06674617e-05 9.99999711e-01 -2.91605114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.500281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:50.14, Y:0.22, Z:-0.29 [[ 9.98122207e-01 -6.12333763e-02 -1.59188286e-03 5.01449165e+01] [ 6.12333693e-02 9.98123475e-01 -5.32308754e-05 2.19794044e-01] [ 1.59215516e-03 -4.43454320e-05 9.99998732e-01 -2.90945746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.530281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:50.17, Y:0.22, Z:-0.29 [[ 9.98239652e-01 -5.92786318e-02 -1.90815563e-03 5.01728855e+01] [ 5.92786172e-02 9.98241475e-01 -6.42164336e-05 2.18984359e-01] [ 1.90860675e-03 -4.90094367e-05 9.99998177e-01 -2.89961546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.56028169299999 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:50.20, Y:0.22, Z:-0.29 [[ 9.98425235e-01 -5.60693575e-02 -1.81058727e-03 5.01997791e+01] [ 5.60693390e-02 9.98426875e-01 -6.10200500e-05 2.18073843e-01] [ 1.81116035e-03 -4.05944737e-05 9.99998359e-01 -2.89374535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.590281692999994 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:50.23, Y:0.22, Z:-0.29 [[ 9.98844406e-01 -4.80558550e-02 -6.97785562e-04 5.02274128e+01] [ 4.80558501e-02 9.98844650e-01 -2.37312787e-05 2.15813908e-01] [ 6.98119803e-04 -9.82882344e-06 9.99999756e-01 -2.88814422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.620281692999995 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:50.26, Y:0.22, Z:-0.29 [[ 9.99005456e-01 -4.45870018e-02 -3.13030566e-04 5.02558612e+01] [ 4.45870006e-02 9.99005505e-01 -1.07644231e-05 2.16786140e-01] [ 3.13199212e-04 -3.20337661e-06 9.99999951e-01 -2.89541187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.650281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:50.28, Y:0.22, Z:-0.29 [[ 9.99179252e-01 -4.05070289e-02 6.04570988e-05 5.02838938e+01] [ 4.05070288e-02 9.99179253e-01 2.02621461e-06 2.19030110e-01] [-6.04895547e-05 4.24385847e-07 9.99999998e-01 -2.90095917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.680281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:50.31, Y:0.22, Z:-0.29 [[ 9.99205802e-01 -3.98467539e-02 3.50187681e-05 5.03122891e+01] [ 3.98467539e-02 9.99205803e-01 1.09841845e-06 2.20778200e-01] [-3.50347247e-05 2.97838146e-07 9.99999999e-01 -2.90311220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.710281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:50.34, Y:0.22, Z:-0.29 [[ 9.99217126e-01 -3.95617860e-02 -2.02347108e-05 5.03411548e+01] [ 3.95617860e-02 9.99217126e-01 -7.15205522e-07 2.22046699e-01] [ 2.02471644e-05 -8.58756916e-08 1.00000000e+00 -2.90589988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.74028169299999 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:50.37, Y:0.23, Z:-0.29 [[ 9.99216825e-01 -3.95671043e-02 -4.25821887e-04 5.03694743e+01] [ 3.95671016e-02 9.99216916e-01 -1.47715970e-05 2.26062470e-01] [ 4.26072901e-04 -2.08850957e-06 9.99999909e-01 -2.91109464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.770281692999994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:50.40, Y:0.23, Z:-0.29 [[ 9.99240328e-01 -3.89544893e-02 -1.14688656e-03 5.03971568e+01] [ 3.89544695e-02 9.99240986e-01 -3.96137808e-05 2.28645561e-01] [ 1.14755919e-03 -5.09267009e-06 9.99999342e-01 -2.91042315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.800281692999995 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:50.43, Y:0.23, Z:-0.29 [[ 9.99256687e-01 -3.85379087e-02 -9.50188939e-04 5.04257363e+01] [ 3.85378947e-02 9.99257139e-01 -3.30475803e-05 2.30711264e-01] [ 9.50756666e-04 -3.59526562e-06 9.99999548e-01 -2.91905400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.830281692999996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:50.45, Y:0.23, Z:-0.29 [[ 9.99299480e-01 -3.74200125e-02 5.40935667e-04 5.04537415e+01] [ 3.74200079e-02 9.99299626e-01 1.87514145e-05 2.33112741e-01] [-5.41258488e-04 1.50353817e-06 9.99999854e-01 -2.90637711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.860281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:50.48, Y:0.24, Z:-0.29 [[ 9.99326635e-01 -3.66464293e-02 1.82118787e-03 5.04828867e+01] [ 3.66463748e-02 9.99328294e-01 6.32801633e-05 2.35487869e-01] [-1.82228356e-03 3.50238078e-06 9.99998340e-01 -2.89725915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.890281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:50.51, Y:0.24, Z:-0.29 [[ 9.99360747e-01 -3.56924504e-02 2.03626905e-03 5.05121868e+01] [ 3.56923803e-02 9.99362821e-01 7.07689097e-05 2.38234244e-01] [-2.03749749e-03 1.95561869e-06 9.99997924e-01 -2.89512378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.92028169299999 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:50.54, Y:0.24, Z:-0.29 [[ 9.99481386e-01 -3.22017286e-02 -8.68236934e-05 5.05418877e+01] [ 3.22017285e-02 9.99481390e-01 -3.02548549e-06 2.40867343e-01] [ 8.68760916e-05 2.28043432e-07 9.99999996e-01 -2.90628022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.950281692999994 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:50.57, Y:0.24, Z:-0.29 [[ 9.99480286e-01 -3.22358646e-02 -8.68230994e-05 5.05710313e+01] [ 3.22358645e-02 9.99480289e-01 -3.04255739e-06 2.41932882e-01] [ 8.68760560e-05 2.42158458e-07 9.99999996e-01 -2.90646067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.980281692999995 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:50.60, Y:0.24, Z:-0.29 [[ 9.99519079e-01 -3.09961257e-02 -9.22700310e-04 5.06008028e+01] [ 3.09961093e-02 9.99519505e-01 -3.21447771e-05 2.43895910e-01] [ 9.23253320e-04 3.52919842e-06 9.99999574e-01 -2.91806875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.010281692999996 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:50.63, Y:0.25, Z:-0.29 [[ 9.99561595e-01 -2.95663992e-02 -1.56365452e-03 5.06294094e+01] [ 2.95663501e-02 9.99562818e-01 -5.45247895e-05 2.48501526e-01] [ 1.56458302e-03 8.26932865e-06 9.99998776e-01 -2.92354789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.040281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:50.66, Y:0.25, Z:-0.29 [[ 9.99548578e-01 -3.00339954e-02 -7.74414529e-04 5.06581714e+01] [ 3.00339833e-02 9.99548878e-01 -2.72134195e-05 2.52017898e-01] [ 7.74882501e-04 3.94238170e-06 9.99999700e-01 -2.91671068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.070281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:50.69, Y:0.25, Z:-0.29 [[ 9.99535992e-01 -3.04445058e-02 9.65464692e-04 5.06876437e+01] [ 3.04424183e-02 9.99534300e-01 2.10774243e-03 2.53761843e-01] [-1.02918425e-03 -2.07737334e-03 9.99997313e-01 -2.91596915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.100281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:50.72, Y:0.26, Z:-0.29 [[ 9.99505975e-01 -3.14207588e-02 7.35439349e-04 5.07181881e+01] [ 3.14222042e-02 9.99504110e-01 -2.04407581e-03 2.58406249e-01] [-6.70848240e-04 2.06617511e-03 9.99997640e-01 -2.91245512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.13028169299999 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:50.75, Y:0.26, Z:-0.29 [[ 9.99446459e-01 -3.32511822e-02 -1.06507617e-03 5.07477364e+01] [ 3.32511611e-02 9.99447027e-01 -3.74726964e-05 2.60981399e-01] [ 1.06573322e-03 2.03693438e-06 9.99999432e-01 -2.92299375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.160281692999995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:50.78, Y:0.26, Z:-0.29 [[ 9.99413259e-01 -3.41710276e-02 -2.34059347e-03 5.07774337e+01] [ 3.41709283e-02 9.99416000e-01 -8.23878251e-05 2.64104761e-01] [ 2.34204184e-03 2.35923314e-06 9.99997257e-01 -2.93069411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.190281692999996 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:50.81, Y:0.27, Z:-0.29 [[ 9.99342463e-01 -3.61887724e-02 -2.23940149e-03 5.08060422e+01] [ 3.61886865e-02 9.99344972e-01 -7.89123286e-05 2.70162489e-01] [ 2.24079036e-03 -2.18055764e-06 9.99997489e-01 -2.93580642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.220281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:50.83, Y:0.27, Z:-0.29 [[ 9.99297554e-01 -3.74643522e-02 -9.06347418e-04 5.08349769e+01] [ 3.74643386e-02 9.99297965e-01 -3.19808132e-05 2.73168337e-01] [ 9.06909270e-04 -1.99735818e-06 9.99999589e-01 -2.92653538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.250281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:50.86, Y:0.28, Z:-0.29 [[ 9.99218613e-01 -3.95168641e-02 7.61532089e-04 5.08637021e+01] [ 3.95168551e-02 9.99218904e-01 2.68574155e-05 2.75441852e-01] [-7.61998580e-04 3.25692375e-06 9.99999710e-01 -2.92296922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.280281693 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:50.89, Y:0.28, Z:-0.29 [[ 9.98913370e-01 -4.65495727e-02 2.28394016e-03 5.08930132e+01] [ 4.65495100e-02 9.98915981e-01 8.06483365e-05 2.77087457e-01] [-2.28521847e-03 2.57555936e-05 9.99997389e-01 -2.92366824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.31028169299999 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:50.92, Y:0.28, Z:-0.29 [[ 9.98788871e-01 -4.91893842e-02 1.09301001e-03 5.09233902e+01] [ 4.91893714e-02 9.98789469e-01 3.86020331e-05 2.77463622e-01] [-1.09358570e-03 1.52091943e-05 9.99999402e-01 -2.92655841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.340281692999994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:50.95, Y:0.28, Z:-0.29 [[ 9.98618411e-01 -5.25321262e-02 -1.28260955e-03 5.09533207e+01] [ 5.25321113e-02 9.98619234e-01 -4.53400844e-05 2.78690175e-01] [ 1.28322038e-03 -2.21007448e-05 9.99999176e-01 -2.93287692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.370281692999995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:50.98, Y:0.28, Z:-0.29 [[ 9.98565504e-01 -5.35242452e-02 -1.44525697e-03 5.09816203e+01] [ 5.35242268e-02 9.98566550e-01 -5.14112148e-05 2.80385240e-01] [ 1.44593702e-03 -2.60187964e-05 9.99998954e-01 -2.93232724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.400281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:51.01, Y:0.28, Z:-0.29 [[ 9.98536969e-01 -5.40618851e-02 -1.11080377e-03 5.10100756e+01] [ 5.40618746e-02 9.98537587e-01 -3.94955074e-05 2.81574013e-01] [ 1.11131452e-03 -2.06144100e-05 9.99999382e-01 -2.93299835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.430281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:51.04, Y:0.28, Z:-0.29 [[ 9.98546114e-01 -5.38973696e-02 -8.55801575e-04 5.10379198e+01] [ 5.38973632e-02 9.98546480e-01 -3.05285524e-05 2.84095316e-01] [ 8.56203059e-04 -1.56412810e-05 9.99999633e-01 -2.93832178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.460281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:51.07, Y:0.29, Z:-0.29 [[ 9.98577684e-01 -5.33008308e-02 -1.27657766e-03 5.10671358e+01] [ 5.33008158e-02 9.98578500e-01 -4.57617322e-05 2.85958212e-01] [ 1.27720215e-03 -2.23459863e-05 9.99999184e-01 -2.93783636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.49028169299999 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:51.10, Y:0.29, Z:-0.29 [[ 9.98622030e-01 -5.24525557e-02 -1.66469621e-03 5.10954141e+01] [ 5.24525291e-02 9.98623417e-01 -5.96730390e-05 2.87031658e-01] [ 1.66553462e-03 -2.77267152e-05 9.99998613e-01 -2.93883552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.520281692999994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:51.12, Y:0.28, Z:-0.29 [[ 9.98614309e-01 -5.26237395e-02 -4.51606292e-04 5.11243702e+01] [ 5.26237375e-02 9.98614411e-01 -1.63451512e-05 2.84413116e-01] [ 4.51840695e-04 -7.44270911e-06 9.99999898e-01 -2.93938549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.550281692999995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:51.15, Y:0.29, Z:-0.29 [[ 9.98593688e-01 -5.30082003e-02 8.81508175e-04 5.11535343e+01] [ 5.30081930e-02 9.98594077e-01 3.17215816e-05 2.85524711e-01] [-8.81950346e-04 1.50501843e-05 9.99999611e-01 -2.92341497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.580281692999996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:51.18, Y:0.29, Z:-0.29 [[ 9.98616626e-01 -5.25493888e-02 1.84267945e-03 5.11825714e+01] [ 5.25493557e-02 9.98618326e-01 6.63835726e-05 2.89133717e-01] [-1.84362188e-03 3.05398784e-05 9.99998300e-01 -2.91748443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.610281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:51.21, Y:0.30, Z:-0.29 [[ 9.98854081e-01 -4.78223610e-02 1.88328209e-03 5.12111783e+01] [ 4.78223179e-02 9.98855856e-01 6.79109495e-05 2.95158929e-01] [-1.88437501e-03 2.22297859e-05 9.99998224e-01 -2.92146239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.640281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:51.24, Y:0.30, Z:-0.29 [[ 9.98990597e-01 -4.49171515e-02 4.86711885e-04 5.12410399e+01] [ 4.49171483e-02 9.98990715e-01 1.75529674e-05 2.97137386e-01] [-4.87009083e-04 4.32646054e-06 9.99999881e-01 -2.92652741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.67028169299999 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:51.27, Y:0.30, Z:-0.29 [[ 9.99095195e-01 -4.25114885e-02 -1.25079429e-03 5.12711805e+01] [ 4.25114653e-02 9.99095978e-01 -4.51241009e-05 3.02074622e-01] [ 1.25158184e-03 -8.08982574e-06 9.99999217e-01 -2.92873048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.700281692999994 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:51.30, Y:0.31, Z:-0.29 [[ 9.99076862e-01 -4.29351368e-02 -1.41378187e-03 5.13012026e+01] [ 4.29351075e-02 9.99077862e-01 -5.10617090e-05 3.06032109e-01] [ 1.41467051e-03 -9.68630464e-06 9.99998999e-01 -2.92932145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.730281692999995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:51.33, Y:0.31, Z:-0.29 [[ 9.99045339e-01 -4.36680300e-02 -1.23023332e-03 5.13302970e+01] [ 4.36680083e-02 9.99046097e-01 -4.44414872e-05 3.08380110e-01] [ 1.23100047e-03 -9.32277842e-06 9.99999242e-01 -2.93846455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.760281692999996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:51.36, Y:0.31, Z:-0.29 [[ 9.98909335e-01 -4.66897593e-02 4.55431609e-04 5.13596364e+01] [ 4.66897567e-02 9.98909439e-01 1.64453477e-05 3.08773940e-01] [-4.55702762e-04 4.83657969e-06 9.99999896e-01 -2.94651619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.790281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:51.39, Y:0.31, Z:-0.29 [[ 9.98801525e-01 -4.89437015e-02 1.64604732e-04 5.13901545e+01] [ 4.89437012e-02 9.98801539e-01 5.94906144e-06 3.09846559e-01] [-1.64698628e-04 2.11443315e-06 9.99999986e-01 -2.94099588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.820281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:51.42, Y:0.31, Z:-0.29 [[ 9.98668298e-01 -5.15817351e-02 -9.77617234e-04 5.14196258e+01] [ 5.15817252e-02 9.98668776e-01 -3.53513547e-05 3.11232211e-01] [ 9.78139290e-04 -1.51229063e-05 9.99999522e-01 -2.94550926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.850281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:51.45, Y:0.31, Z:-0.30 [[ 9.98398824e-01 -5.65092960e-02 -2.54701644e-03 5.14482901e+01] [ 5.65092446e-02 9.98402072e-01 -9.21936309e-05 3.09333858e-01] [ 2.54815629e-03 -5.18839623e-05 9.99996752e-01 -2.95534201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.88028169299999 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:51.48, Y:0.31, Z:-0.30 [[ 9.98331241e-01 -5.77125952e-02 -1.99763294e-03 5.14760532e+01] [ 5.77125658e-02 9.98333238e-01 -7.24373353e-05 3.07913320e-01] [ 1.99848390e-03 -4.29720673e-05 9.99998002e-01 -2.95497631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.910281692999995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:51.51, Y:0.30, Z:-0.30 [[ 9.98339352e-01 -5.76036189e-02 -6.01480588e-04 5.15054861e+01] [ 5.76036161e-02 9.98339533e-01 -2.19910856e-05 3.04855586e-01] [ 6.01748615e-04 -1.26928908e-05 9.99999819e-01 -2.95078462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.940281692999996 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:51.53, Y:0.30, Z:-0.29 [[ 9.98415048e-01 -5.62771438e-02 -5.24563578e-04 5.15347917e+01] [ 5.62771414e-02 9.98415186e-01 -1.92823905e-05 3.04305746e-01] [ 5.24817400e-04 -1.02691098e-05 9.99999862e-01 -2.94672603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.970281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:51.56, Y:0.30, Z:-0.29 [[ 9.98525779e-01 -5.42708609e-02 -9.70362584e-04 5.15632325e+01] [ 5.42708517e-02 9.98526251e-01 -3.57399722e-05 3.03532814e-01] [ 9.70872152e-04 -1.69751203e-05 9.99999529e-01 -2.94606379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.000281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:51.59, Y:0.30, Z:-0.30 [[ 9.98725927e-01 -5.04342308e-02 -1.70634179e-03 5.15910946e+01] [ 5.04341971e-02 9.98727384e-01 -6.28016523e-05 3.01091612e-01] [ 1.70733762e-03 -2.33363396e-05 9.99998542e-01 -2.95248728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.030281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:51.62, Y:0.30, Z:-0.29 [[ 9.98773823e-01 -4.94967343e-02 -9.60741032e-04 5.16198733e+01] [ 4.94967229e-02 9.98774285e-01 -3.55969649e-05 3.01303312e-01] [ 9.61325372e-04 -1.20002159e-05 9.99999538e-01 -2.94842791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.06028169299999 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:51.65, Y:0.30, Z:-0.29 [[ 9.98838985e-01 -4.81727244e-02 2.66467284e-04 5.16488284e+01] [ 4.81727235e-02 9.98839020e-01 9.83211300e-06 3.01298822e-01] [-2.66631561e-04 3.01575702e-06 9.99999964e-01 -2.94253394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.090281692999994 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:51.68, Y:0.30, Z:-0.29 [[ 9.98915538e-01 -4.65393136e-02 1.35632196e-03 5.16781782e+01] [ 4.65392883e-02 9.98916459e-01 5.01735870e-05 3.01464769e-01] [-1.35718737e-03 1.30030831e-05 9.99999079e-01 -2.93882483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.120281692999995 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:51.71, Y:0.30, Z:-0.29 [[ 9.99119791e-01 -4.19226966e-02 1.45967717e-03 5.17065876e+01] [ 4.19226623e-02 9.99120857e-01 5.40500467e-05 3.04046662e-01] [-1.46065983e-03 7.19108162e-06 9.99998933e-01 -2.94486720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.150281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:51.74, Y:0.31, Z:-0.29 [[ 9.99226415e-01 -3.93203114e-02 6.96735750e-04 5.17356149e+01] [ 3.93203029e-02 9.99226658e-01 2.58127824e-05 3.06828560e-01] [-6.97211902e-04 1.60304675e-06 9.99999757e-01 -2.94615560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.180281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:51.77, Y:0.31, Z:-0.30 [[ 9.99349377e-01 -3.60382125e-02 -1.43864768e-03 5.17652222e+01] [ 3.60381731e-02 9.99350413e-01 -5.33223838e-05 3.10356089e-01] [ 1.43963480e-03 1.44145676e-06 9.99998964e-01 -2.95529114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.210281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:51.80, Y:0.31, Z:-0.30 [[ 9.99353258e-01 -3.58769580e-02 -2.43076972e-03 5.17952373e+01] [ 3.58768449e-02 9.99356215e-01 -9.01510809e-05 3.12690987e-01] [ 2.43243917e-03 2.88442834e-06 9.99997042e-01 -2.95746887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.24028169299999 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:51.82, Y:0.32, Z:-0.30 [[ 9.99338912e-01 -3.62880438e-02 -2.21756731e-03 5.18238169e+01] [ 3.62879496e-02 9.99341372e-01 -8.27001358e-05 3.15863460e-01] [ 2.21910779e-03 2.17449282e-06 9.99997538e-01 -2.95084609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.270281692999994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:51.85, Y:0.32, Z:-0.30 [[ 9.99264871e-01 -3.83367386e-02 1.10566771e-04 5.18523824e+01] [ 3.83367384e-02 9.99264877e-01 4.09998411e-06 3.21001118e-01] [-1.10642670e-04 1.41799267e-07 9.99999994e-01 -2.95188481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.300281692999995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:51.88, Y:0.32, Z:-0.30 [[ 9.99202488e-01 -3.99194324e-02 9.09107377e-04 5.18816110e+01] [ 3.99194181e-02 9.99202902e-01 3.38959519e-05 3.23297618e-01] [-9.09735837e-04 2.42211802e-06 9.99999586e-01 -2.95618552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.330281692999996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:51.91, Y:0.33, Z:-0.30 [[ 9.99096825e-01 -4.24915832e-02 -5.91304782e-06 5.19123143e+01] [ 4.24915832e-02 9.99096825e-01 -2.20514335e-07 3.26223256e-01] [ 5.91707731e-06 -3.09395905e-08 1.00000000e+00 -2.96777567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.360281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:51.94, Y:0.33, Z:-0.30 [[ 9.99059448e-01 -4.33414327e-02 -1.31927813e-03 5.19422144e+01] [ 4.33414055e-02 9.99060319e-01 -4.92223790e-05 3.28132753e-01] [ 1.32017179e-03 -8.00328551e-06 9.99999129e-01 -2.97287533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.390281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:51.97, Y:0.33, Z:-0.30 [[ 9.98963612e-01 -4.54563362e-02 -2.32866725e-03 5.19708135e+01] [ 4.54562569e-02 9.98966326e-01 -8.69713268e-05 3.30334757e-01] [ 2.33021357e-03 -1.89713061e-05 9.99997285e-01 -2.96488044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.42028169299999 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:52.00, Y:0.33, Z:-0.30 [[ 9.98912400e-01 -4.65897624e-02 -1.84686659e-03 5.19997890e+01] [ 4.65897138e-02 9.98914107e-01 -6.93484649e-05 3.31565219e-01] [ 1.84809202e-03 -1.67719443e-05 9.99998292e-01 -2.96069731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.450281692999994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:52.03, Y:0.33, Z:-0.30 [[ 9.98894177e-01 -4.69913996e-02 -1.49370349e-03 5.20297848e+01] [ 4.69913684e-02 9.98895294e-01 -5.60569980e-05 3.32188038e-01] [ 1.49468758e-03 -1.41961619e-05 9.99998883e-01 -2.95875706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.480281692999995 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:52.06, Y:0.33, Z:-0.30 [[ 9.98914472e-01 -4.65289719e-02 -2.22102404e-03 5.20581290e+01] [ 4.65289015e-02 9.98916941e-01 -8.33968748e-05 3.31451318e-01] [ 2.22249891e-03 -2.00354636e-05 9.99997530e-01 -2.95470427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.510281692999996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:52.09, Y:0.33, Z:-0.30 [[ 9.98918302e-01 -4.64120798e-02 -2.85378521e-03 5.20867938e+01] [ 4.64119614e-02 9.98922378e-01 -1.07705201e-04 3.32355846e-01] [ 2.85570874e-03 -2.48610723e-05 9.99995922e-01 -2.95573139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.540281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:52.12, Y:0.33, Z:-0.30 [[ 9.98908281e-01 -4.67019661e-02 -1.08322814e-03 5.21156519e+01] [ 4.67019492e-02 9.98908868e-01 -4.09026012e-05 3.32982604e-01] [ 1.08395643e-03 -9.73091868e-06 9.99999412e-01 -2.95549778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.570281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:52.14, Y:0.33, Z:-0.30 [[ 9.98884908e-01 -4.72033482e-02 8.86015607e-04 5.21446266e+01] [ 4.72033371e-02 9.98885301e-01 3.34465446e-05 3.33370917e-01] [-8.86606755e-04 8.41364474e-06 9.99999607e-01 -2.95105079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.60028169299999 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:52.18, Y:0.33, Z:-0.29 [[ 9.98860631e-01 -4.76455696e-02 2.70930675e-03 5.21751415e+01] [ 4.76454673e-02 9.98864305e-01 1.02339129e-04 3.33548680e-01] [-2.71110581e-03 2.68636587e-05 9.99996325e-01 -2.94119639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.63028169299999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:52.21, Y:0.33, Z:-0.29 [[ 9.98877747e-01 -4.72718830e-02 2.93519464e-03 5.22060156e+01] [ 4.72717613e-02 9.98882059e-01 1.10871633e-04 3.34459864e-01] [-2.93715437e-03 2.80046130e-05 9.99995686e-01 -2.93051375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.660281692999995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:52.24, Y:0.34, Z:-0.29 [[ 9.98886852e-01 -4.71160265e-02 2.26649344e-03 5.22351815e+01] [ 4.71159535e-02 9.98889423e-01 8.56315455e-05 3.36233217e-01] [-2.26801094e-03 2.12517744e-05 9.99997428e-01 -2.93844470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.690281692999996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:52.26, Y:0.34, Z:-0.30 [[ 9.98845327e-01 -4.80037068e-02 1.91228470e-03 5.22647971e+01] [ 4.80036564e-02 9.98847157e-01 7.22698690e-05 3.35630532e-01] [-1.91354936e-03 1.96102369e-05 9.99998169e-01 -2.95014269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.720281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:52.30, Y:0.33, Z:-0.29 [[ 9.98791193e-01 -4.91314731e-02 1.50061802e-03 5.22957524e+01] [ 4.91314434e-02 9.98792320e-01 5.67176750e-05 3.34517821e-01] [-1.50159238e-03 1.70784151e-05 9.99998872e-01 -2.94871409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.750281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:52.33, Y:0.33, Z:-0.29 [[ 9.98697601e-01 -5.10017667e-02 1.38622233e-03 5.23259604e+01] [ 5.10017431e-02 9.98698563e-01 5.23939512e-05 3.33714122e-01] [-1.38709043e-03 1.83740416e-05 9.99999038e-01 -2.94833286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.780281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:52.36, Y:0.33, Z:-0.29 [[ 9.98595015e-01 -5.29664130e-02 1.59846464e-03 5.23559847e+01] [ 5.29663841e-02 9.98596294e-01 6.04159063e-05 3.34090531e-01] [-1.59942088e-03 2.43338691e-05 9.99998721e-01 -2.94227576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.81028169299999 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:52.39, Y:0.33, Z:-0.29 [[ 9.98505115e-01 -5.46431823e-02 1.28790431e-03 5.23866213e+01] [ 5.46431649e-02 9.98505945e-01 4.86779026e-05 3.33232471e-01] [-1.28864002e-03 2.17700327e-05 9.99999169e-01 -2.93771570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.840281692999994 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:52.42, Y:0.33, Z:-0.29 [[ 9.98503197e-01 -5.46782180e-02 1.28790344e-03 5.24157609e+01] [ 5.46782006e-02 9.98504027e-01 4.87009574e-05 3.34382424e-01] [-1.28863965e-03 2.17921808e-05 9.99999169e-01 -2.93789980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.870281692999995 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:52.44, Y:0.33, Z:-0.29 [[ 9.98484556e-01 -5.50214310e-02 1.11051882e-03 5.24446320e+01] [ 5.50214183e-02 9.98485174e-01 4.20291900e-05 3.33035085e-01] [-1.11114908e-03 1.91368232e-05 9.99999382e-01 -2.94440193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.900281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:52.47, Y:0.33, Z:-0.29 [[ 9.98471112e-01 -5.52681462e-02 9.33101649e-04 5.24738478e+01] [ 5.52681373e-02 9.98471548e-01 3.53435724e-05 3.28646546e-01] [-9.33628822e-04 1.62812540e-05 9.99999564e-01 -2.94703370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.930281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:52.50, Y:0.33, Z:-0.29 [[ 9.98448796e-01 -5.56728870e-02 7.29110065e-04 5.25024055e+01] [ 5.56728816e-02 9.98449062e-01 2.76372968e-05 3.27749835e-01] [-7.29517909e-04 1.29972327e-05 9.99999734e-01 -2.94468485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.960281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:52.53, Y:0.32, Z:-0.29 [[ 9.98423248e-01 -5.61327573e-02 3.61516794e-04 5.25317228e+01] [ 5.61327560e-02 9.98423314e-01 1.36702113e-05 3.24190994e-01] [-3.61714142e-04 6.64427722e-06 9.99999935e-01 -2.94431424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.99028169299999 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:52.56, Y:0.32, Z:-0.29 [[ 9.98433140e-01 -5.59564675e-02 -3.73278266e-04 5.25591789e+01] [ 5.59564660e-02 9.98433209e-01 -1.43837807e-05 3.22610771e-01] [ 3.73498283e-04 -6.52608927e-06 9.99999930e-01 -2.94056209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.020281692999994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:52.59, Y:0.32, Z:-0.29 [[ 9.98463981e-01 -5.53896933e-02 -1.28875405e-03 5.25873707e+01] [ 5.53896756e-02 9.98464812e-01 -4.94185630e-05 3.21781032e-01] [ 1.28951285e-03 -2.20410137e-05 9.99999168e-01 -2.94268544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.050281692999995 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:52.62, Y:0.32, Z:-0.29 [[ 9.98515993e-01 -5.44246092e-02 -1.94245914e-03 5.26155891e+01] [ 5.44245665e-02 9.98517882e-01 -7.49015792e-05 3.21797999e-01] [ 1.94365668e-03 -3.09270718e-05 9.99998111e-01 -2.94633668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.080281692999996 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:52.64, Y:0.32, Z:-0.30 [[ 9.98594588e-01 -5.29455320e-02 -2.37050417e-03 5.26440783e+01] [ 5.29454632e-02 9.98597401e-01 -9.18176598e-05 3.19637609e-01] [ 2.37204064e-03 -3.38188234e-05 9.99997186e-01 -2.95357970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.110281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:52.67, Y:0.32, Z:-0.29 [[ 9.98595648e-01 -5.29392625e-02 -2.04101582e-03 5.26724846e+01] [ 5.29392106e-02 9.98597734e-01 -7.94458116e-05 3.18134522e-01] [ 2.04235958e-03 -2.87155247e-05 9.99997914e-01 -2.94785543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.140281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:52.70, Y:0.31, Z:-0.29 [[ 9.98672661e-01 -5.14928084e-02 -1.18609868e-03 5.26996089e+01] [ 5.14927897e-02 9.98673365e-01 -4.62458973e-05 3.14851769e-01] [ 1.18690649e-03 -1.48910166e-05 9.99999296e-01 -2.93832838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.17028169299999 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:52.73, Y:0.32, Z:-0.29 [[ 9.98748077e-01 -5.00034515e-02 -1.39062291e-03 5.27273843e+01] [ 5.00034241e-02 9.98749045e-01 -5.45228603e-05 3.15459898e-01] [ 1.39160963e-03 -1.50813052e-05 9.99999032e-01 -2.93670710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.200281692999994 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:52.76, Y:0.32, Z:-0.29 [[ 9.98849769e-01 -4.79281034e-02 -1.42649091e-03 5.27553827e+01] [ 4.79280720e-02 9.98850788e-01 -5.61814749e-05 3.16580703e-01] [ 1.42754424e-03 -1.22521057e-05 9.99998981e-01 -2.94160783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.230281692999995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:52.78, Y:0.32, Z:-0.29 [[ 9.99073005e-01 -4.29611084e-02 -2.73394171e-03 5.27835424e+01] [ 4.29609734e-02 9.99076745e-01 -1.08097764e-04 3.18986612e-01] [ 2.73606158e-03 -9.45523883e-06 9.99996257e-01 -2.94345920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.260281692999996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:52.81, Y:0.32, Z:-0.29 [[ 9.99161628e-01 -4.08190830e-02 -3.13732454e-03 5.28100833e+01] [ 4.08188941e-02 9.99166554e-01 -1.24221130e-04 3.22423030e-01] [ 3.13978035e-03 -3.94513206e-06 9.99995071e-01 -2.94346365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.290281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:52.84, Y:0.33, Z:-0.29 [[ 9.99246797e-01 -3.86590314e-02 -3.36409758e-03 5.28367056e+01] [ 3.86588012e-02 9.99252460e-01 -1.33466246e-04 3.26607941e-01] [ 3.36674246e-03 3.31373907e-06 9.99994333e-01 -2.93293898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.320281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:52.86, Y:0.33, Z:-0.29 [[ 9.99390141e-01 -3.48624667e-02 -1.98877433e-03 5.28643629e+01] [ 3.48623778e-02 9.99392119e-01 -7.93461932e-05 3.33113856e-01] [ 1.99033159e-03 9.96440114e-06 9.99998019e-01 -2.94062050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.35028169299999 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:52.89, Y:0.34, Z:-0.29 [[ 9.99409659e-01 -3.43365216e-02 -1.15662343e-03 5.28931305e+01] [ 3.43364910e-02 9.99410328e-01 -4.63518843e-05 3.35748936e-01] [ 1.15753296e-03 6.61013091e-06 9.99999330e-01 -2.94572383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.38028169299999 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:52.92, Y:0.34, Z:-0.29 [[ 9.99375565e-01 -3.53336749e-02 -1.07842010e-04 5.29217646e+01] [ 3.53336747e-02 9.99375571e-01 -4.33878301e-06 3.39115721e-01] [ 1.07927975e-04 5.25619244e-07 9.99999994e-01 -2.94552051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.410281692999995 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:52.95, Y:0.34, Z:-0.29 [[ 9.99313970e-01 -3.70344327e-02 -2.02446648e-04 5.29517900e+01] [ 3.70344318e-02 9.99313990e-01 -8.12290928e-06 3.42160315e-01] [ 2.02608595e-04 6.19840133e-07 9.99999979e-01 -2.93461332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.440281692999996 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:52.98, Y:0.34, Z:-0.29 [[ 9.99223661e-01 -3.93960547e-02 1.61847163e-04 5.29807716e+01] [ 3.93960541e-02 9.99223674e-01 6.46568910e-06 3.44833533e-01] [-1.61976239e-04 -8.45299477e-08 9.99999987e-01 -2.93083938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.470281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:53.01, Y:0.35, Z:-0.29 [[ 9.99070494e-01 -4.30778594e-02 1.56374393e-03 5.30106310e+01] [ 4.30778141e-02 9.99071718e-01 6.27050244e-05 3.48253109e-01] [-1.56499353e-03 4.71593056e-06 9.99998775e-01 -2.92613771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.500281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:53.04, Y:0.35, Z:-0.29 [[ 9.99034228e-01 -4.39155984e-02 1.42524034e-03 5.30399671e+01] [ 4.39155616e-02 9.99035245e-01 5.71733883e-05 3.51305662e-01] [-1.42637614e-03 5.47205808e-06 9.99998983e-01 -2.92791006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.530281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:53.07, Y:0.36, Z:-0.29 [[ 9.99029014e-01 -4.40090882e-02 -2.05644176e-03 5.30700828e+01] [ 4.40090116e-02 9.99031131e-01 -8.25043577e-05 3.57712502e-01] [ 2.05808028e-03 -8.07772191e-06 9.99997882e-01 -2.94149195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.56028169299999 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:53.10, Y:0.36, Z:-0.29 [[ 9.99032739e-01 -4.37900277e-02 -4.00244982e-03 5.30990572e+01] [ 4.37897328e-02 9.99040757e-01 -1.61310672e-04 3.61430868e-01] [ 4.00567430e-03 -1.41115660e-05 9.99991977e-01 -2.94274383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.590281692999994 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:53.13, Y:0.37, Z:-0.29 [[ 9.99011919e-01 -4.41917629e-02 -4.71960312e-03 5.31273811e+01] [ 4.41913534e-02 9.99023067e-01 -1.91060435e-04 3.65042261e-01] [ 4.72343568e-03 -1.76939983e-05 9.99988844e-01 -2.94268909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.620281692999995 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:53.15, Y:0.37, Z:-0.29 [[ 9.98910553e-01 -4.66072993e-02 -2.33822900e-03 5.31547040e+01] [ 4.66072043e-02 9.98913289e-01 -9.51328658e-05 3.71212551e-01] [ 2.34012191e-03 -1.39490933e-05 9.99997262e-01 -2.94368160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.650281693 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:53.18, Y:0.37, Z:-0.29 [[ 9.98831412e-01 -4.83255403e-02 -6.73244277e-04 5.31827613e+01] [ 4.83255328e-02 9.98831639e-01 -2.74314893e-05 3.74155663e-01] [ 6.73783326e-04 -5.13545524e-06 9.99999773e-01 -2.94295076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.680281693 meters Centerline goodness : 0.998526 Centerline is valid? [True, True] Translation: X:53.21, Y:0.38, Z:-0.29 [[ 9.98609058e-01 -5.27237348e-02 3.97540258e-04 5.32119406e+01] [ 5.27237325e-02 9.98609137e-01 1.61718532e-05 3.78473265e-01] [-3.97839974e-04 4.81044715e-06 9.99999921e-01 -2.93874458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.710281693 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:53.24, Y:0.38, Z:-0.29 [[ 9.98493685e-01 -5.48650473e-02 -4.32023481e-04 5.32423066e+01] [ 5.48650448e-02 9.98493779e-01 -1.75901972e-05 3.81805165e-01] [ 4.32337845e-04 -6.13928682e-06 9.99999907e-01 -2.93461975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.74028169299999 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:53.27, Y:0.39, Z:-0.29 [[ 9.98392481e-01 -5.66692286e-02 -1.02554925e-03 5.32712186e+01] [ 5.66692156e-02 9.98393008e-01 -4.18130408e-05 3.85956652e-01] [ 1.02627071e-03 -1.63712461e-05 9.99999473e-01 -2.93255703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.770281692999994 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:53.30, Y:0.39, Z:-0.29 [[ 9.98289167e-01 -5.84331308e-02 -2.07543091e-03 5.32997325e+01] [ 5.84330810e-02 9.98291324e-01 -8.46664639e-05 3.92051630e-01] [ 2.07683200e-03 -3.67522089e-05 9.99997843e-01 -2.93328639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.800281692999995 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:53.33, Y:0.39, Z:-0.29 [[ 9.98202295e-01 -5.98629574e-02 -2.93330263e-03 5.33283972e+01] [ 5.98628626e-02 9.98206603e-01 -1.20199781e-04 3.94476474e-01] [ 2.93523757e-03 -5.56121956e-05 9.99995691e-01 -2.93965490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.830281692999996 meters Centerline goodness : 0.998169 Centerline is valid? [True, True] Translation: X:53.36, Y:0.40, Z:-0.29 [[ 9.98050359e-01 -6.23366299e-02 -3.10256049e-03 5.33564664e+01] [ 6.23365354e-02 9.98055179e-01 -1.27240386e-04 3.95968358e-01] [ 3.10445830e-03 -6.64105586e-05 9.99995179e-01 -2.94485734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.860281693 meters Centerline goodness : 0.997797 Centerline is valid? [True, True] Translation: X:53.38, Y:0.40, Z:-0.29 [[ 9.97992959e-01 -6.32937995e-02 -1.98723246e-03 5.33843642e+01] [ 6.32937617e-02 9.97994936e-01 -8.19462052e-05 3.97333344e-01] [ 1.98843462e-03 -4.39976821e-05 9.99998022e-01 -2.94041484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.890281693 meters Centerline goodness : 0.997576 Centerline is valid? [True, True] Translation: X:53.41, Y:0.40, Z:-0.29 [[ 9.97956281e-01 -6.38942801e-02 -8.84691579e-04 5.34128286e+01] [ 6.38942726e-02 9.97956673e-01 -3.66719250e-05 3.99062307e-01] [ 8.85226991e-04 -1.99297470e-05 9.99999608e-01 -2.93410083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.92028169299999 meters Centerline goodness : 0.997562 Centerline is valid? [True, True] Translation: X:53.44, Y:0.40, Z:-0.29 [[ 9.98039759e-01 -6.25671458e-02 -1.41097913e-03 5.34417103e+01] [ 6.25671257e-02 9.98040756e-01 -5.84091836e-05 4.00166822e-01] [ 1.41186917e-03 -2.99862208e-05 9.99999003e-01 -2.93262582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.950281692999994 meters Centerline goodness : 0.997645 Centerline is valid? [True, True] Translation: X:53.47, Y:0.40, Z:-0.29 [[ 9.98105247e-01 -6.14883018e-02 -2.25916313e-03 5.34709647e+01] [ 6.14882466e-02 9.98107803e-01 -9.39327425e-05 4.01590046e-01] [ 2.26066412e-03 -4.51572167e-05 9.99997444e-01 -2.93555460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.980281692999995 meters Centerline goodness : 0.997805 Centerline is valid? [True, True] Translation: X:53.50, Y:0.40, Z:-0.29 [[ 9.98179154e-01 -6.02137825e-02 -3.56052060e-03 5.34993059e+01] [ 6.02136355e-02 9.98185502e-01 -1.48575180e-04 4.02967662e-01] [ 3.56300632e-03 -6.60872421e-05 9.99993650e-01 -2.93530498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.010281692999996 meters Centerline goodness : 0.997867 Centerline is valid? [True, True] Translation: X:53.53, Y:0.40, Z:-0.29 [[ 9.98217390e-01 -5.96189216e-02 -2.76157920e-03 5.35280016e+01] [ 5.96188295e-02 9.98221209e-01 -1.15715301e-04 4.03572907e-01] [ 2.76356575e-03 -4.91330936e-05 9.99996180e-01 -2.92964260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.040281693 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:53.56, Y:0.40, Z:-0.29 [[ 9.98416857e-01 -5.62383209e-02 -1.01554259e-03 5.35556489e+01] [ 5.62383067e-02 9.98417373e-01 -4.26115970e-05 4.02380292e-01] [ 1.01633177e-03 -1.45682586e-05 9.99999483e-01 -2.91132689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.070281693 meters Centerline goodness : 0.997419 Centerline is valid? [True, True] Translation: X:53.58, Y:0.40, Z:-0.29 [[ 9.98539615e-01 -5.39898790e-02 -1.93140363e-03 5.35842799e+01] [ 5.39898226e-02 9.98541483e-01 -8.13432184e-05 4.03531284e-01] [ 1.93297836e-03 -2.30517135e-05 9.99998132e-01 -2.91275431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.10028169299999 meters Centerline goodness : 0.997474 Centerline is valid? [True, True] Translation: X:53.61, Y:0.41, Z:-0.29 [[ 9.98701030e-01 -5.08494208e-02 -3.25404154e-03 5.36134879e+01] [ 5.08492426e-02 9.98706331e-01 -1.37527954e-04 4.05573063e-01] [ 3.25682510e-03 -2.81162389e-05 9.99994696e-01 -2.92141459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.13028169299999 meters Centerline goodness : 0.997299 Centerline is valid? [True, True] Translation: X:53.64, Y:0.41, Z:-0.29 [[ 9.98873339e-01 -4.72692086e-02 -4.20421483e-03 5.36410370e+01] [ 4.72688788e-02 9.98882186e-01 -1.77833697e-04 4.08358448e-01] [ 4.20792136e-03 -2.10951829e-05 9.99991146e-01 -2.92237967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.160281692999995 meters Centerline goodness : 0.997841 Centerline is valid? [True, True] Translation: X:53.67, Y:0.41, Z:-0.29 [[ 9.99186072e-01 -4.02269962e-02 -2.99711159e-03 5.36697815e+01] [ 4.02267952e-02 9.99190567e-01 -1.27342837e-04 4.13642107e-01] [ 2.99980825e-03 6.67499535e-06 9.99995501e-01 -2.91812717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.190281692999996 meters Centerline goodness : 0.997471 Centerline is valid? [True, True] Translation: X:53.70, Y:0.42, Z:-0.29 [[ 9.99321875e-01 -3.67505171e-02 -2.27798062e-03 5.36982374e+01] [ 3.67503919e-02 9.99324471e-01 -9.68112390e-05 4.17033458e-01] [ 2.27999964e-03 1.30289086e-05 9.99997401e-01 -2.91519466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.220281693 meters Centerline goodness : 0.997456 Centerline is valid? [True, True] Translation: X:53.73, Y:0.42, Z:-0.29 [[ 9.99512179e-01 -3.11191327e-02 -2.64645390e-03 5.37276189e+01] [ 3.11189438e-02 9.99515682e-01 -1.12521274e-04 4.21999329e-01] [ 2.64867374e-03 3.01115334e-05 9.99996492e-01 -2.92353474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.250281693 meters Centerline goodness : 0.997389 Centerline is valid? [True, True] Translation: X:53.76, Y:0.43, Z:-0.29 [[ 9.99570953e-01 -2.90333477e-02 -3.86967406e-03 5.37565358e+01] [ 2.90329281e-02 9.99578442e-01 -1.64560397e-04 4.25091718e-01] [ 3.87282051e-03 5.21418238e-05 9.99992499e-01 -2.92130995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.280281693 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:53.78, Y:0.43, Z:-0.29 [[ 9.99615736e-01 -2.73718567e-02 -4.37742882e-03 5.37848368e+01] [ 2.73713004e-02 9.99625318e-01 -1.86952164e-04 4.29023595e-01] [ 4.38090590e-03 6.70644059e-05 9.99990402e-01 -2.91936354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.31028169299999 meters Centerline goodness : 0.997423 Centerline is valid? [True, True] Translation: X:53.81, Y:0.44, Z:-0.29 [[ 9.99715845e-01 -2.34926792e-02 -4.04009075e-03 5.38127320e+01] [ 2.34921732e-02 9.99724006e-01 -1.72651250e-04 4.36674937e-01] [ 4.04303175e-03 7.76916789e-05 9.99991824e-01 -2.91045678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.340281692999994 meters Centerline goodness : 0.997524 Centerline is valid? [True, True] Translation: X:53.84, Y:0.44, Z:-0.29 [[ 9.99763958e-01 -2.14673371e-02 -3.34379042e-03 5.38423443e+01] [ 2.14669790e-02 9.99769548e-01 -1.42963718e-04 4.41318805e-01] [ 3.34608889e-03 7.11488940e-05 9.99994399e-01 -2.90910990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.370281692999995 meters Centerline goodness : 0.997550 Centerline is valid? [True, True] Translation: X:53.87, Y:0.45, Z:-0.29 [[ 9.99812874e-01 -1.91621557e-02 -2.65113665e-03 5.38723425e+01] [ 1.91619223e-02 9.99816387e-01 -1.13413107e-04 4.45560570e-01] [ 2.65282311e-03 6.25910098e-05 9.99996479e-01 -2.91056717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.400281693 meters Centerline goodness : 0.997682 Centerline is valid? [True, True] Translation: X:53.90, Y:0.45, Z:-0.29 [[ 9.99874762e-01 -1.57523211e-02 -1.52461677e-03 5.39011103e+01] [ 1.57522399e-02 9.99875924e-01 -6.52378956e-05 4.53752803e-01] [ 1.52545525e-03 4.12135963e-05 9.99998836e-01 -2.90746246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.430281693 meters Centerline goodness : 0.997890 Centerline is valid? [True, True] Translation: X:53.93, Y:0.46, Z:-0.29 [[ 9.99886602e-01 -1.50385671e-02 -7.89814973e-04 5.39303335e+01] [ 1.50385451e-02 9.99886914e-01 -3.38080587e-05 4.59532981e-01] [ 7.90234081e-04 2.19265569e-05 9.99999688e-01 -2.90698971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.460281693 meters Centerline goodness : 0.997952 Centerline is valid? [True, True] Translation: X:53.96, Y:0.47, Z:-0.29 [[ 9.99867644e-01 -1.62566181e-02 -6.45709027e-04 5.39617401e+01] [ 1.62566036e-02 9.99867852e-01 -2.76038639e-05 4.68947582e-01] [ 6.46072444e-04 1.71031746e-05 9.99999791e-01 -2.91298534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.49028169299999 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:53.99, Y:0.47, Z:-0.29 [[ 9.99833517e-01 -1.82067713e-02 -1.20454088e-03 5.39919993e+01] [ 1.82067226e-02 9.99834243e-01 -5.14500520e-05 4.73623000e-01] [ 1.20527796e-03 2.95107448e-05 9.99999273e-01 -2.91390323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.520281692999994 meters Centerline goodness : 0.997614 Centerline is valid? [True, True] Translation: X:54.02, Y:0.48, Z:-0.29 [[ 9.99779294e-01 -2.09699426e-02 -1.27449955e-03 5.40232467e+01] [ 2.09698902e-02 9.99780106e-01 -5.44211443e-05 4.77621996e-01] [ 1.27536051e-03 2.76830175e-05 9.99999186e-01 -2.91063342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.550281692999995 meters Centerline goodness : 0.997904 Centerline is valid? [True, True] Translation: X:54.05, Y:0.48, Z:-0.29 [[ 9.99607039e-01 -2.80279530e-02 -4.49372112e-04 5.40538287e+01] [ 2.80279472e-02 9.99607140e-01 -1.91685569e-05 4.84582740e-01] [ 4.49732827e-04 6.56604657e-06 9.99999899e-01 -2.90801611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.580281692999996 meters Centerline goodness : 0.997900 Centerline is valid? [True, True] Translation: X:54.08, Y:0.49, Z:-0.29 [[ 9.99521929e-01 -3.09178342e-02 -3.77894567e-06 5.40841430e+01] [ 3.09178342e-02 9.99521929e-01 -1.54137216e-07 4.88553640e-01] [ 3.78190466e-06 3.72267128e-08 1.00000000e+00 -2.89937892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.610281693 meters Centerline goodness : 0.997607 Centerline is valid? [True, True] Translation: X:54.12, Y:0.49, Z:-0.29 [[ 9.99401891e-01 -3.45736696e-02 -7.21564453e-04 5.41156380e+01] [ 3.45736565e-02 9.99402152e-01 -3.07622105e-05 4.94024699e-01] [ 7.22196629e-04 5.79668987e-06 9.99999739e-01 -2.90535823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.640281693 meters Centerline goodness : 0.997725 Centerline is valid? [True, True] Translation: X:54.15, Y:0.50, Z:-0.29 [[ 9.99360353e-01 -3.57052745e-02 -2.00461375e-03 5.41463544e+01] [ 3.57051748e-02 9.99362363e-01 -8.54724927e-05 4.96412134e-01] [ 2.00638736e-03 1.38427360e-05 9.99997987e-01 -2.90772056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.67028169299999 meters Centerline goodness : 0.997723 Centerline is valid? [True, True] Translation: X:54.18, Y:0.50, Z:-0.29 [[ 9.99328880e-01 -3.65173865e-02 -2.87570725e-03 5.41778204e+01] [ 3.65171851e-02 9.99333018e-01 -1.22545821e-04 4.98395561e-01] [ 2.87826426e-03 1.74508445e-05 9.99995858e-01 -2.90888121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.700281692999994 meters Centerline goodness : 0.997820 Centerline is valid? [True, True] Translation: X:54.21, Y:0.50, Z:-0.29 [[ 9.99296199e-01 -3.74143750e-02 -2.69637874e-03 5.42091301e+01] [ 3.74142013e-02 9.99299837e-01 -1.14839571e-04 5.01270033e-01] [ 2.69878749e-03 1.38758897e-05 9.99996358e-01 -2.89837029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.730281692999995 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:54.24, Y:0.50, Z:-0.29 [[ 9.99303238e-01 -3.72615098e-02 -2.14891757e-03 5.42405520e+01] [ 3.72613992e-02 9.99305549e-01 -9.14701989e-05 5.04106807e-01] [ 2.15083357e-03 1.13347905e-05 9.99997687e-01 -2.89720495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.760281692999996 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:54.27, Y:0.51, Z:-0.29 [[ 9.99303670e-01 -3.72499330e-02 -2.14891832e-03 5.42713617e+01] [ 3.72498224e-02 9.99305980e-01 -9.14526214e-05 5.05379740e-01] [ 2.15083353e-03 1.13421144e-05 9.99997687e-01 -2.89739960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.790281693 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:54.30, Y:0.51, Z:-0.29 [[ 9.99389979e-01 -3.48573889e-02 -2.15246420e-03 5.43017703e+01] [ 3.48572725e-02 9.99392296e-01 -9.15787270e-05 5.09898557e-01] [ 2.15434834e-03 1.64938307e-05 9.99997679e-01 -2.90190422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.820281693 meters Centerline goodness : 0.997520 Centerline is valid? [True, True] Translation: X:54.33, Y:0.51, Z:-0.29 [[ 9.99413116e-01 -3.41420753e-02 -2.78252377e-03 5.43327136e+01] [ 3.41418782e-02 9.99416989e-01 -1.18314801e-04 5.12686532e-01] [ 2.78494104e-03 2.32447760e-05 9.99996122e-01 -2.90488805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.85028169299999 meters Centerline goodness : 0.997747 Centerline is valid? [True, True] Translation: X:54.36, Y:0.51, Z:-0.29 [[ 9.99417383e-01 -3.39670863e-02 -3.33640856e-03 5.43628590e+01] [ 3.39668021e-02 9.99422952e-01 -1.41837792e-04 5.14278589e-01] [ 3.33930111e-03 2.84280252e-05 9.99994424e-01 -2.91150749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.88028169299999 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:54.39, Y:0.52, Z:-0.29 [[ 9.99375444e-01 -3.51563443e-02 -3.57121123e-03 5.43945951e+01] [ 3.51560265e-02 9.99381824e-01 -1.51731105e-04 5.16237334e-01] [ 3.57433791e-03 2.60867431e-05 9.99993612e-01 -2.92070017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.910281692999995 meters Centerline goodness : 0.998164 Centerline is valid? [True, True] Translation: X:54.42, Y:0.52, Z:-0.29 [[ 9.99333403e-01 -3.64334836e-02 -2.31311252e-03 5.44246498e+01] [ 3.64333538e-02 9.99336080e-01 -9.82536185e-05 5.18770528e-01] [ 2.31515652e-03 1.39136761e-05 9.99997320e-01 -2.92089441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.940281692999996 meters Centerline goodness : 0.998139 Centerline is valid? [True, True] Translation: X:54.46, Y:0.52, Z:-0.29 [[ 9.99202452e-01 -3.99265267e-02 -5.76945200e-04 5.44560824e+01] [ 3.99265192e-02 9.99202618e-01 -2.44805901e-05 5.21108385e-01] [ 5.77462579e-04 1.42565201e-06 9.99999833e-01 -2.91267795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.970281693 meters Centerline goodness : 0.998043 Centerline is valid? [True, True] Translation: X:54.49, Y:0.52, Z:-0.29 [[ 9.99117504e-01 -4.19770172e-02 -1.46410577e-03 5.44869500e+01] [ 4.19769713e-02 9.99118577e-01 -6.20884992e-05 5.20499316e-01] [ 1.46542157e-03 5.74980448e-07 9.99998926e-01 -2.91149153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.000281693 meters Centerline goodness : 0.997458 Centerline is valid? [True, True] Translation: X:54.52, Y:0.52, Z:-0.29 [[ 9.98874619e-01 -4.73254125e-02 -3.13066784e-03 5.45180713e+01] [ 4.73252289e-02 9.98879525e-01 -1.32724010e-04 5.16965465e-01] [ 3.13344122e-03 -1.55849271e-05 9.99995091e-01 -2.92151437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.030281693 meters Centerline goodness : 0.997634 Centerline is valid? [True, True] Translation: X:54.55, Y:0.52, Z:-0.29 [[ 9.98779580e-01 -4.92674290e-02 -3.47435671e-03 5.45489825e+01] [ 4.92672150e-02 9.98785623e-01 -1.47215965e-04 5.16944498e-01] [ 3.47739048e-03 -2.41355794e-05 9.99993954e-01 -2.92492457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.06028169299999 meters Centerline goodness : 0.997514 Centerline is valid? [True, True] Translation: X:54.58, Y:0.52, Z:-0.29 [[ 9.98711502e-01 -5.05907219e-02 -3.98932205e-03 5.45789663e+01] [ 5.05904500e-02 9.98719469e-01 -1.69105678e-04 5.17302182e-01] [ 3.99276878e-03 -3.29338126e-05 9.99992028e-01 -2.92770822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.090281692999994 meters Centerline goodness : 0.997382 Centerline is valid? [True, True] Translation: X:54.61, Y:0.51, Z:-0.29 [[ 9.98636297e-01 -5.20151936e-02 -4.46836830e-03 5.46100959e+01] [ 5.20148668e-02 9.98646293e-01 -1.89404165e-04 5.13213577e-01] [ 4.47217133e-03 -4.32757076e-05 9.99989999e-01 -2.94718268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.120281692999995 meters Centerline goodness : 0.997244 Centerline is valid? [True, True] Translation: X:54.64, Y:0.51, Z:-0.29 [[ 9.98642630e-01 -5.18656597e-02 -4.78025142e-03 5.46404042e+01] [ 5.18652839e-02 9.98654070e-01 -2.02624195e-04 5.10563745e-01] [ 4.78432678e-03 -4.55799382e-05 9.99988554e-01 -2.94419605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.150281693 meters Centerline goodness : 0.997538 Centerline is valid? [True, True] Translation: X:54.67, Y:0.51, Z:-0.29 [[ 9.98827564e-01 -4.81536060e-02 -4.97260627e-03 5.46696935e+01] [ 4.81531524e-02 9.98839942e-01 -2.10967969e-04 5.07767608e-01] [ 4.97699663e-03 -2.87260453e-05 9.99987614e-01 -2.92836803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.180281693 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:54.70, Y:0.51, Z:-0.29 [[ 9.98981099e-01 -4.49405096e-02 -4.13693452e-03 5.46993787e+01] [ 4.49401677e-02 9.98989665e-01 -1.75603128e-04 5.08295583e-01] [ 4.14064653e-03 -1.04903250e-05 9.99991427e-01 -2.92607178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.210281693 meters Centerline goodness : 0.997381 Centerline is valid? [True, True] Translation: X:54.73, Y:0.51, Z:-0.29 [[ 9.99135638e-01 -4.13917125e-02 -3.83440042e-03 5.47290241e+01] [ 4.13913926e-02 9.99142996e-01 -1.62798305e-04 5.08246805e-01] [ 3.83785282e-03 3.94641503e-06 9.99992635e-01 -2.92001296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.24028169299999 meters Centerline goodness : 0.997103 Centerline is valid? [True, True] Translation: X:54.76, Y:0.50, Z:-0.29 [[ 9.99383912e-01 -3.50189850e-02 -2.33806273e-03 5.47579377e+01] [ 3.50188483e-02 9.99386647e-01 -9.93630196e-05 5.04186742e-01] [ 2.34010827e-03 1.74255389e-05 9.99997262e-01 -2.92308718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.270281692999994 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:54.79, Y:0.50, Z:-0.29 [[ 9.99454001e-01 -3.30134575e-02 -1.34605372e-03 5.47883351e+01] [ 3.30134104e-02 9.99454907e-01 -5.71924376e-05 5.03488317e-01] [ 1.34720811e-03 1.27233868e-05 9.99999092e-01 -2.91623603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.300281692999995 meters Centerline goodness : 0.997303 Centerline is valid? [True, True] Translation: X:54.82, Y:0.50, Z:-0.29 [[ 9.99503738e-01 -3.14880298e-02 8.83713102e-04 5.48188336e+01] [ 3.14880089e-02 9.99504129e-01 3.75452473e-05 5.00713910e-01] [-8.84457120e-04 -9.70024898e-06 9.99999609e-01 -2.92015275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.330281692999996 meters Centerline goodness : 0.997304 Centerline is valid? [True, True] Translation: X:54.85, Y:0.50, Z:-0.29 [[ 9.99487537e-01 -3.20021252e-02 7.26602715e-04 5.48504702e+01] [ 3.20021112e-02 9.99487801e-01 3.08623936e-05 4.98976879e-01] [-7.27218212e-04 -7.59375686e-06 9.99999736e-01 -2.92956738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.360281693 meters Centerline goodness : 0.997008 Centerline is valid? [True, True] Translation: X:54.88, Y:0.50, Z:-0.29 [[ 9.99446426e-01 -3.32662838e-02 4.42071075e-04 5.48816505e+01] [ 3.32662787e-02 9.99446524e-01 1.87729844e-05 4.96841644e-01] [-4.42450907e-04 -4.05653259e-06 9.99999902e-01 -2.93356224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.390281693 meters Centerline goodness : 0.996842 Centerline is valid? [True, True] Translation: X:54.91, Y:0.49, Z:-0.29 [[ 9.99417003e-01 -3.41184774e-02 -1.25824467e-03 5.49120279e+01] [ 3.41184372e-02 9.99417795e-01 -5.33664722e-05 4.94057722e-01] [ 1.25933290e-03 1.04060179e-05 9.99999207e-01 -2.91349870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.42028169299999 meters Centerline goodness : 0.996769 Centerline is valid? [True, True] Translation: X:54.94, Y:0.50, Z:-0.29 [[ 9.99408447e-01 -3.43720395e-02 -1.14805460e-03 5.49421988e+01] [ 3.43720062e-02 9.99409107e-01 -4.86998366e-05 4.95203949e-01] [ 1.14905013e-03 9.21008823e-06 9.99999340e-01 -2.90775232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.450281692999994 meters Centerline goodness : 0.997157 Centerline is valid? [True, True] Translation: X:54.97, Y:0.49, Z:-0.29 [[ 9.99412106e-01 -3.42785390e-02 -6.51341484e-04 5.49740701e+01] [ 3.42785283e-02 9.99412318e-01 -2.75982762e-05 4.93543205e-01] [ 6.51904731e-04 5.25502383e-06 9.99999787e-01 -2.90832097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.480281692999995 meters Centerline goodness : 0.996953 Centerline is valid? [True, True] Translation: X:55.00, Y:0.49, Z:-0.29 [[ 9.99418077e-01 -3.41099252e-02 -1.40865793e-04 5.50048042e+01] [ 3.41099247e-02 9.99418087e-01 -5.96265488e-06 4.91348446e-01] [ 1.40987207e-04 1.15426347e-06 9.99999990e-01 -2.91862676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.510281692999996 meters Centerline goodness : 0.996896 Centerline is valid? [True, True] Translation: X:55.03, Y:0.49, Z:-0.29 [[ 9.99404251e-01 -3.45064014e-02 6.71533958e-04 5.50349265e+01] [ 3.45063901e-02 9.99404477e-01 2.84599894e-05 4.88966732e-01] [-6.72116096e-04 -5.27082168e-06 9.99999774e-01 -2.92779759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.540281693 meters Centerline goodness : 0.997119 Centerline is valid? [True, True] Translation: X:55.07, Y:0.48, Z:-0.29 [[ 9.99421622e-01 -3.40049992e-02 -2.86579173e-04 5.50657307e+01] [ 3.40049971e-02 9.99421663e-01 -1.21245903e-05 4.84400372e-01] [ 2.86825730e-04 2.37245373e-06 9.99999959e-01 -2.92003711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.570281693 meters Centerline goodness : 0.997451 Centerline is valid? [True, True] Translation: X:55.09, Y:0.48, Z:-0.29 [[ 9.99500660e-01 -3.15933754e-02 -5.37788916e-04 5.50942372e+01] [ 3.15952548e-02 9.99492958e-01 3.94548072e-03 4.79055180e-01] [ 4.12865181e-04 -3.96050216e-03 9.99992072e-01 -2.93018506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.60028169299999 meters Centerline goodness : 0.997192 Centerline is valid? [True, True] Translation: X:55.13, Y:0.48, Z:-0.29 [[ 9.99505826e-01 -3.13805717e-02 -1.83407021e-03 5.51260009e+01] [ 3.13737171e-02 9.99501046e-01 -3.65374276e-03 4.81034717e-01] [ 1.94781163e-03 3.59439558e-03 9.99991643e-01 -2.91834403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.63028169299999 meters Centerline goodness : 0.997139 Centerline is valid? [True, True] Translation: X:55.16, Y:0.47, Z:-0.29 [[ 9.99597197e-01 -2.83683509e-02 -8.25038469e-04 5.51564254e+01] [ 2.83683321e-02 9.99597537e-01 -3.44930164e-05 4.74205452e-01] [ 8.25684932e-04 1.10741572e-05 9.99999659e-01 -2.91937901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.660281692999995 meters Centerline goodness : 0.997079 Centerline is valid? [True, True] Translation: X:55.19, Y:0.47, Z:-0.29 [[ 9.99671447e-01 -2.56287326e-02 -4.07534059e-04 5.51866130e+01] [ 2.56287277e-02 9.99671530e-01 -1.70262378e-05 4.73845707e-01] [ 4.07836557e-04 6.57606437e-06 9.99999917e-01 -2.92610977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.690281692999996 meters Centerline goodness : 0.997407 Centerline is valid? [True, True] Translation: X:55.22, Y:0.47, Z:-0.29 [[ 9.99831864e-01 -1.83275084e-02 -5.88958574e-04 5.52163701e+01] [ 1.83274971e-02 9.99832037e-01 -2.46254032e-05 4.72387932e-01] [ 5.89310973e-04 1.38271262e-05 9.99999826e-01 -2.93314507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.720281693 meters Centerline goodness : 0.997291 Centerline is valid? [True, True] Translation: X:55.25, Y:0.47, Z:-0.29 [[ 9.99893496e-01 -1.45911854e-02 -3.05927467e-04 5.52457486e+01] [ 1.45911822e-02 9.99893543e-01 -1.28003238e-05 4.72685185e-01] [ 3.06081670e-04 8.33511711e-06 9.99999953e-01 -2.92887581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.750281693 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:55.28, Y:0.47, Z:-0.29 [[ 9.99927977e-01 -1.20016432e-02 3.15144078e-05 5.52763166e+01] [ 1.20016431e-02 9.99927978e-01 1.31738299e-06 4.73406875e-01] [-3.15279489e-05 -9.39063431e-07 1.00000000e+00 -2.92145832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.780281693 meters Centerline goodness : 0.997214 Centerline is valid? [True, True] Translation: X:55.31, Y:0.47, Z:-0.29 [[ 9.99946348e-01 -1.03493270e-02 -4.37802341e-04 5.53073473e+01] [ 1.03493200e-02 9.99946444e-01 -1.82672986e-05 4.74106059e-01] [ 4.37967948e-04 1.37353620e-05 9.99999904e-01 -2.91870277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.81028169299999 meters Centerline goodness : 0.997080 Centerline is valid? [True, True] Translation: X:55.34, Y:0.47, Z:-0.29 [[ 9.99942693e-01 -1.04478385e-02 -2.33518570e-03 5.53381486e+01] [ 1.04476394e-02 9.99945417e-01 -9.74306808e-05 4.73667000e-01] [ 2.33607618e-03 7.30279192e-05 9.99997269e-01 -2.93262107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.840281692999994 meters Centerline goodness : 0.997033 Centerline is valid? [True, True] Translation: X:55.37, Y:0.47, Z:-0.29 [[ 9.99892292e-01 -1.45940507e-02 -1.55470346e-03 5.53678348e+01] [ 1.45939674e-02 9.99893500e-01 -6.49522035e-05 4.73834227e-01] [ 1.55548580e-03 4.22559161e-05 9.99998789e-01 -2.93744130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.870281692999995 meters Centerline goodness : 0.997396 Centerline is valid? [True, True] Translation: X:55.40, Y:0.48, Z:-0.29 [[ 9.99847388e-01 -1.74674269e-02 -2.99933286e-04 5.53984631e+01] [ 1.74674240e-02 9.99847433e-01 -1.25260858e-05 4.75432012e-01] [ 3.00106325e-04 7.28511229e-06 9.99999955e-01 -2.93047844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.900281693 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:55.43, Y:0.48, Z:-0.29 [[ 9.99802652e-01 -1.98609028e-02 4.48050676e-04 5.54288077e+01] [ 1.98608964e-02 9.99802753e-01 1.87336032e-05 4.76651236e-01] [-4.48334365e-04 -9.83121808e-06 9.99999899e-01 -2.92462541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.930281693 meters Centerline goodness : 0.997155 Centerline is valid? [True, True] Translation: X:55.46, Y:0.48, Z:-0.29 [[ 9.99763859e-01 -2.17231455e-02 5.74936505e-04 5.54600221e+01] [ 2.17231353e-02 9.99764025e-01 2.39989727e-05 4.76818151e-01] [-5.75322167e-04 -1.15038821e-05 9.99999834e-01 -2.92637387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.960281693 meters Centerline goodness : 0.997049 Centerline is valid? [True, True] Translation: X:55.49, Y:0.48, Z:-0.29 [[ 9.99730054e-01 -2.31069516e-02 -2.42639191e-03 5.54896854e+01] [ 2.31067740e-02 9.99732998e-01 -1.01222241e-04 4.75983424e-01] [ 2.42808300e-03 4.51288272e-05 9.99997051e-01 -2.93265996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.99028169299999 meters Centerline goodness : 0.997417 Centerline is valid? [True, True] Translation: X:55.52, Y:0.48, Z:-0.29 [[ 9.99743368e-01 -2.23927674e-02 -3.42973082e-03 5.55189707e+01] [ 2.23924080e-02 9.99749248e-01 -1.43165148e-04 4.78485058e-01] [ 3.43207667e-03 6.63284755e-05 9.99994108e-01 -2.93039651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.020281692999994 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:55.55, Y:0.48, Z:-0.29 [[ 9.99765063e-01 -2.14319301e-02 -3.23897621e-03 5.55476931e+01] [ 2.14316040e-02 9.99770308e-01 -1.35372526e-04 4.80350928e-01] [ 3.24113354e-03 6.59242667e-05 9.99994745e-01 -2.92693919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.050281692999995 meters Centerline goodness : 0.997327 Centerline is valid? [True, True] Translation: X:55.58, Y:0.48, Z:-0.29 [[ 9.99791662e-01 -2.03070682e-02 -2.06306486e-03 5.55771410e+01] [ 2.03069334e-02 9.99793789e-01 -8.62680136e-05 4.81996459e-01] [ 2.06439129e-03 4.43555198e-05 9.99997868e-01 -2.92484472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.080281692999996 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:55.61, Y:0.49, Z:-0.29 [[ 9.99851456e-01 -1.72282814e-02 5.01485026e-04 5.56054233e+01] [ 1.72282730e-02 9.99851582e-01 2.09465013e-05 4.86347663e-01] [-5.01771469e-04 -1.23036689e-05 9.99999874e-01 -2.89394789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.110281693 meters Centerline goodness : 0.997672 Centerline is valid? [True, True] Translation: X:55.64, Y:0.49, Z:-0.29 [[ 9.99883837e-01 -1.51602319e-02 1.57471201e-03 5.56362697e+01] [ 1.51601469e-02 9.99885076e-01 6.58841122e-05 4.90243890e-01] [-1.57552986e-03 -4.20035935e-05 9.99998758e-01 -2.88724247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.140281693 meters Centerline goodness : 0.998131 Centerline is valid? [True, True] Translation: X:55.67, Y:0.50, Z:-0.29 [[ 9.99939512e-01 -1.05911522e-02 2.96638498e-03 5.56671406e+01] [ 1.05908307e-02 9.99943908e-01 1.24064793e-04 4.97037654e-01] [-2.96753257e-03 -9.26408074e-05 9.99995593e-01 -2.88867994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.17028169299999 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:55.70, Y:0.50, Z:-0.29 [[ 9.99954506e-01 -8.90540779e-03 3.41754337e-03 5.56980802e+01] [ 8.90497152e-03 9.99960340e-01 1.42851444e-04 5.00512316e-01] [-3.41867998e-03 -1.12411819e-04 9.99994150e-01 -2.88987669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.200281692999994 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:55.73, Y:0.50, Z:-0.29 [[ 9.99960747e-01 -7.86376773e-03 4.08226804e-03 5.57288952e+01] [ 7.86313711e-03 9.99969071e-01 1.70502885e-04 5.04338212e-01] [-4.08348258e-03 -1.38396759e-04 9.99991653e-01 -2.89269005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.230281692999995 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:55.76, Y:0.51, Z:-0.29 [[ 9.99963482e-01 -7.18579533e-03 4.62582141e-03 5.57613147e+01] [ 7.18497932e-03 9.99974169e-01 1.92998473e-04 5.10894050e-01] [-4.62708877e-03 -1.59754994e-04 9.99989282e-01 -2.89369249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.260281692999996 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:55.79, Y:0.51, Z:-0.29 [[ 9.99965616e-01 -7.28568475e-03 3.96038581e-03 5.57928613e+01] [ 7.28508812e-03 9.99973450e-01 1.65055760e-04 5.14755992e-01] [-3.96148321e-03 -1.36198325e-04 9.99992144e-01 -2.89955228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.290281693 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:55.82, Y:0.52, Z:-0.29 [[ 9.99965271e-01 -8.10122683e-03 1.95649706e-03 5.58238825e+01] [ 8.10108289e-03 9.99967182e-01 8.14832701e-05 5.19966636e-01] [-1.95709297e-03 -6.56306954e-05 9.99998083e-01 -2.90366983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.320281693 meters Centerline goodness : 0.998105 Centerline is valid? [True, True] Translation: X:55.86, Y:0.52, Z:-0.29 [[ 9.99965406e-01 -8.15455229e-03 1.64001289e-03 5.58550468e+01] [ 8.14753781e-03 9.99957822e-01 4.23923394e-03 5.20774288e-01] [-1.67451277e-03 -4.22572522e-03 9.99989670e-01 -2.91432824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.35028169299999 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:55.89, Y:0.53, Z:-0.29 [[ 9.99966351e-01 -8.20213164e-03 -1.46308393e-04 5.58857587e+01] [ 8.20144751e-03 9.99957608e-01 -4.18561173e-03 5.28921956e-01] [ 1.80633129e-04 4.18427094e-03 9.99991230e-01 -2.90385525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.38028169299999 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:55.92, Y:0.53, Z:-0.29 [[ 9.99969771e-01 -7.76325734e-03 -4.34080495e-04 5.59160133e+01] [ 7.76325024e-03 9.99969865e-01 -1.80398904e-05 5.33316203e-01] [ 4.34207462e-04 1.46694696e-05 9.99999906e-01 -2.91381090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.410281692999995 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:55.95, Y:0.54, Z:-0.29 [[ 9.99967553e-01 -8.05549473e-03 -3.46562181e-05 5.59458235e+01] [ 8.05549469e-03 9.99967554e-01 -1.42823928e-06 5.36945762e-01] [ 3.46665988e-05 1.14901995e-06 9.99999999e-01 -2.90878646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.440281692999996 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:55.98, Y:0.54, Z:-0.29 [[ 9.99962430e-01 -8.66803538e-03 -5.45461350e-05 5.59770465e+01] [ 8.66803527e-03 9.99962432e-01 -2.24169130e-06 5.40707844e-01] [ 5.45635168e-05 1.76879926e-06 9.99999999e-01 -2.90677329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.470281693 meters Centerline goodness : 0.998089 Centerline is valid? [True, True] Translation: X:56.01, Y:0.55, Z:-0.29 [[ 9.99940925e-01 -1.08116640e-02 -1.11975169e-03 5.60077384e+01] [ 1.08116188e-02 9.99941552e-01 -4.64472412e-05 5.45666788e-01] [ 1.12018841e-03 3.43381690e-05 9.99999372e-01 -2.91415157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.500281693 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:56.04, Y:0.55, Z:-0.29 [[ 9.99888130e-01 -1.49434119e-02 -6.49329899e-04 5.60378594e+01] [ 1.49433975e-02 9.99888341e-01 -2.69478291e-05 5.49932713e-01] [ 6.49660088e-04 1.72416197e-05 9.99999789e-01 -2.92321986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.530281693 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:56.07, Y:0.55, Z:-0.29 [[ 9.99845666e-01 -1.75681574e-02 -6.70317063e-05 5.60678203e+01] [ 1.75681572e-02 9.99845668e-01 -2.76923531e-06 5.52518018e-01] [ 6.70700115e-05 1.59118437e-06 9.99999998e-01 -2.92689797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.56028169299999 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:56.10, Y:0.55, Z:-0.29 [[ 9.99782553e-01 -2.08524571e-02 1.45039384e-04 5.60987593e+01] [ 2.08524564e-02 9.99782564e-01 6.03783203e-06 5.54679045e-01] [-1.45133751e-04 -3.01209168e-06 9.99999989e-01 -2.92521367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.590281692999994 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:56.13, Y:0.56, Z:-0.29 [[ 9.99696788e-01 -2.46171464e-02 5.73677764e-04 5.61289476e+01] [ 2.46171368e-02 9.99696952e-01 2.37931093e-05 5.55606046e-01] [-5.74089631e-04 -9.66359097e-06 9.99999835e-01 -2.91994542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.620281692999995 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:56.16, Y:0.56, Z:-0.29 [[ 9.99480078e-01 -3.21542391e-02 2.38303792e-03 5.61604974e+01] [ 3.21540950e-02 9.99482919e-01 9.87562090e-05 5.55310990e-01] [-2.38498113e-03 -2.20804356e-05 9.99997156e-01 -2.91290167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.650281693 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:56.19, Y:0.56, Z:-0.29 [[ 9.99482474e-01 -3.20796585e-02 2.38304310e-03 5.61921565e+01] [ 3.20795145e-02 9.99485315e-01 9.86311782e-05 5.56513769e-01] [-2.38498064e-03 -2.21332684e-05 9.99997156e-01 -2.91322209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.680281693 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:56.22, Y:0.56, Z:-0.29 [[ 9.99396604e-01 -3.46337272e-02 2.63298416e-03 5.62244046e+01] [ 3.46335607e-02 9.99400072e-01 1.08813600e-04 5.57514317e-01] [-2.63517318e-03 -1.75583259e-05 9.99996528e-01 -2.90972263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.710281693 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:56.26, Y:0.56, Z:-0.29 [[ 9.99324478e-01 -3.67143019e-02 1.62690407e-03 5.62554648e+01] [ 3.67142412e-02 9.99325803e-01 6.71825344e-05 5.59248135e-01] [-1.62827377e-03 -7.40660284e-06 9.99998674e-01 -2.92163589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.74028169299999 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:56.29, Y:0.56, Z:-0.29 [[ 9.99330711e-01 -3.65561028e-02 1.33432756e-03 5.62878700e+01] [ 3.65560619e-02 9.99331602e-01 5.50554100e-05 5.59880833e-01] [-1.33544831e-03 -6.24080132e-06 9.99999108e-01 -2.92293845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.770281692999994 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:56.32, Y:0.56, Z:-0.29 [[ 9.99337717e-01 -3.63763290e-02 9.43550073e-04 5.63194887e+01] [ 3.63763084e-02 9.99338162e-01 3.88996018e-05 5.60512796e-01] [-9.44340621e-04 -4.55097080e-06 9.99999554e-01 -2.92531357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.800281692999995 meters Centerline goodness : 0.998389 Centerline is valid? [True, True] Translation: X:56.35, Y:0.56, Z:-0.29 [[ 9.99373752e-01 -3.53767313e-02 -7.68515141e-04 5.63509216e+01] [ 3.53767175e-02 9.99374048e-01 -3.16017098e-05 5.60935105e-01] [ 7.69152052e-04 4.39437630e-06 9.99999704e-01 -2.92364903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.830281692999996 meters Centerline goodness : 0.998335 Centerline is valid? [True, True] Translation: X:56.38, Y:0.56, Z:-0.29 [[ 9.99380092e-01 -3.51952050e-02 -8.54038861e-04 5.63823018e+01] [ 3.51951878e-02 9.99380457e-01 -3.51150326e-05 5.61953728e-01] [ 8.54745628e-04 5.03520632e-06 9.99999635e-01 -2.92610181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.860281693 meters Centerline goodness : 0.998573 Centerline is valid? [True, True] Translation: X:56.41, Y:0.56, Z:-0.29 [[ 9.99390346e-01 -3.49117973e-02 3.20706266e-04 5.64125120e+01] [ 3.49117949e-02 9.99390397e-01 1.32029309e-05 5.62525764e-01] [-3.20971701e-04 -1.99845027e-06 9.99999948e-01 -2.93027058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.890281693 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:56.44, Y:0.56, Z:-0.29 [[ 9.99379193e-01 -3.50742146e-02 3.32070431e-03 5.64429536e+01] [ 3.50739545e-02 9.99384710e-01 1.36562238e-04 5.61583634e-01] [-3.32345093e-03 -2.00072274e-05 9.99994477e-01 -2.92068428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.92028169299999 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:56.48, Y:0.56, Z:-0.29 [[ 9.99382464e-01 -3.48870541e-02 4.19325358e-03 5.64750387e+01] [ 3.48866383e-02 9.99391261e-01 1.72285750e-04 5.62977527e-01] [-4.19671152e-03 -2.58908367e-05 9.99991193e-01 -2.91539712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.950281692999994 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:56.51, Y:0.57, Z:-0.29 [[ 9.99453867e-01 -3.29746651e-02 2.15406636e-03 5.65075281e+01] [ 3.29745511e-02 9.99456188e-01 8.84252058e-05 5.66270004e-01] [-2.15581074e-03 -1.73475426e-05 9.99997676e-01 -2.91331287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.980281692999995 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:56.54, Y:0.57, Z:-0.29 [[ 9.99517445e-01 -3.10505652e-02 8.59901276e-04 5.65386927e+01] [ 3.10505463e-02 9.99517815e-01 3.52855474e-05 5.68663286e-01] [-8.60582280e-04 -8.56811582e-06 9.99999630e-01 -2.92017203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.010281692999996 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:56.57, Y:0.57, Z:-0.29 [[ 9.99591190e-01 -2.85885157e-02 3.85598289e-04 5.65692837e+01] [ 2.85885117e-02 9.99591265e-01 1.58138386e-05 5.70954903e-01] [-3.85892775e-04 -4.78369262e-06 9.99999926e-01 -2.92031962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.040281693 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:56.60, Y:0.57, Z:-0.29 [[ 9.99668921e-01 -2.57294756e-02 2.08246915e-04 5.66006117e+01] [ 2.57294744e-02 9.99668942e-01 8.55278156e-06 5.73775372e-01] [-2.08398032e-04 -3.19186624e-06 9.99999978e-01 -2.92022120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.070281693 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:56.63, Y:0.58, Z:-0.29 [[ 9.99814371e-01 -1.91802825e-02 -1.82782158e-03 5.66313670e+01] [ 1.91801778e-02 9.99816041e-01 -7.47989026e-05 5.79555053e-01] [ 1.82892000e-03 3.97270748e-05 9.99998327e-01 -2.92322057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.10028169299999 meters Centerline goodness : 0.998056 Centerline is valid? [True, True] Translation: X:56.66, Y:0.59, Z:-0.29 [[ 9.99891247e-01 -1.45177891e-02 -2.59375198e-03 5.66611229e+01] [ 1.45175625e-02 9.99894609e-01 -1.06166807e-04 5.85319950e-01] [ 2.59501993e-03 6.85003047e-05 9.99996631e-01 -2.91988787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.13028169299999 meters Centerline goodness : 0.998074 Centerline is valid? [True, True] Translation: X:56.69, Y:0.59, Z:-0.29 [[ 9.99912656e-01 -1.31028145e-02 -1.73132614e-03 5.66905766e+01] [ 1.31027114e-02 9.99914153e-01 -7.08996709e-05 5.88088794e-01] [ 1.73210650e-03 4.82084115e-05 9.99998499e-01 -2.91291507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.160281692999995 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:56.72, Y:0.59, Z:-0.29 [[ 9.99917444e-01 -1.28471609e-02 -2.35744276e-04 5.67205631e+01] [ 1.28471590e-02 9.99917472e-01 -9.65239119e-06 5.90872141e-01] [ 2.35848826e-04 6.62295014e-06 9.99999972e-01 -2.91335340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.190281692999996 meters Centerline goodness : 0.998388 Centerline is valid? [True, True] Translation: X:56.75, Y:0.60, Z:-0.29 [[ 9.99892497e-01 -1.44761352e-02 2.33168007e-03 5.67521468e+01] [ 1.44759519e-02 9.99895213e-01 9.54394100e-05 5.95362657e-01] [-2.33281734e-03 -6.16758613e-05 9.99997277e-01 -2.90649419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.220281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:56.78, Y:0.60, Z:-0.29 [[ 9.99866421e-01 -1.61613471e-02 2.43928228e-03 5.67842872e+01] [ 1.61611518e-02 9.99869395e-01 9.97559002e-05 5.98383556e-01] [-2.44057589e-03 -6.03209637e-05 9.99997020e-01 -2.91048901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.250281693 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:56.82, Y:0.60, Z:-0.29 [[ 9.99844951e-01 -1.75183377e-02 1.78397397e-03 5.68159371e+01] [ 1.75182355e-02 9.99846541e-01 7.28888674e-05 6.00687357e-01] [-1.78497709e-03 -4.16254900e-05 9.99998406e-01 -2.91639436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.280281693 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:56.85, Y:0.60, Z:-0.29 [[ 9.99809021e-01 -1.95312126e-02 6.72859060e-04 5.68484942e+01] [ 1.95311986e-02 9.99809248e-01 2.74901447e-05 6.03017806e-01] [-6.73267627e-04 -1.43431508e-05 9.99999773e-01 -2.92058926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.31028169299999 meters Centerline goodness : 0.998458 Centerline is valid? [True, True] Translation: X:56.88, Y:0.60, Z:-0.29 [[ 9.99790433e-01 -2.04689609e-02 3.34189717e-04 5.68797507e+01] [ 2.04689575e-02 9.99790489e-01 1.36460840e-05 6.04783663e-01] [-3.34399022e-04 -6.80270912e-06 9.99999944e-01 -2.92709419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.340281692999994 meters Centerline goodness : 0.998366 Centerline is valid? [True, True] Translation: X:56.91, Y:0.61, Z:-0.29 [[ 9.99724300e-01 -2.34343123e-02 -1.46864443e-03 5.69110643e+01] [ 2.34342499e-02 9.99725378e-01 -5.96679051e-05 6.06854022e-01] [ 1.46963939e-03 2.52348741e-05 9.99998920e-01 -2.93135295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.370281692999995 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:56.94, Y:0.61, Z:-0.29 [[ 9.99671842e-01 -2.55401703e-02 -1.97668505e-03 5.69410317e+01] [ 2.55400613e-02 9.99673796e-01 -8.03817262e-05 6.07669100e-01] [ 1.97809321e-03 2.98706911e-05 9.99998043e-01 -2.93534675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.400281693 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:56.97, Y:0.61, Z:-0.29 [[ 9.99611361e-01 -2.78603884e-02 -9.62190126e-04 5.69712136e+01] [ 2.78603637e-02 9.99611824e-01 -3.91330697e-05 6.08463608e-01] [ 9.62906890e-04 1.23108942e-05 9.99999536e-01 -2.93657257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.430281693 meters Centerline goodness : 0.998503 Centerline is valid? [True, True] Translation: X:57.00, Y:0.61, Z:-0.29 [[ 9.99462018e-01 -3.27616950e-02 1.53176273e-03 5.70021176e+01] [ 3.27616380e-02 9.99463192e-01 6.22863559e-05 6.09483374e-01] [-1.53298107e-03 -1.20697908e-05 9.99998825e-01 -2.92511483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.460281693 meters Centerline goodness : 0.998511 Centerline is valid? [True, True] Translation: X:57.03, Y:0.61, Z:-0.29 [[ 9.99374493e-01 -3.53342404e-02 1.45421257e-03 5.70343930e+01] [ 3.53341918e-02 9.99375551e-01 5.90909517e-05 6.10494196e-01] [-1.45539242e-03 -7.67056411e-06 9.99998941e-01 -2.92518465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.49028169299999 meters Centerline goodness : 0.998454 Centerline is valid? [True, True] Translation: X:57.07, Y:0.61, Z:-0.29 [[ 9.99211962e-01 -3.96844034e-02 -7.76899928e-04 5.70659660e+01] [ 3.96843909e-02 9.99212264e-01 -3.14825253e-05 6.09723738e-01] [ 7.77537301e-04 6.26915485e-07 9.99999698e-01 -2.93841351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.520281692999994 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:57.10, Y:0.61, Z:-0.29 [[ 9.99147403e-01 -4.12716132e-02 -1.05844590e-03 5.70970751e+01] [ 4.12715909e-02 9.99147964e-01 -4.28916901e-05 6.09878541e-01] [ 1.05931428e-03 -8.28625406e-07 9.99999439e-01 -2.94113289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.550281692999995 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:57.13, Y:0.61, Z:-0.29 [[ 9.99076637e-01 -4.29502618e-02 -1.07135630e-03 5.71286477e+01] [ 4.29502399e-02 9.99077212e-01 -4.33910309e-05 6.10692586e-01] [ 1.07223132e-03 -2.66404497e-06 9.99999425e-01 -2.93931914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.580281692999996 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:57.16, Y:0.61, Z:-0.29 [[ 9.98965815e-01 -4.54532915e-02 -1.13923456e-03 5.71604647e+01] [ 4.54532685e-02 9.98966465e-01 -4.61149374e-05 6.10599892e-01] [ 1.14015319e-03 -5.71468811e-06 9.99999350e-01 -2.93521249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.610281693 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:57.19, Y:0.61, Z:-0.29 [[ 9.98911746e-01 -4.66083580e-02 -1.72776236e-03 5.71912729e+01] [ 4.66083068e-02 9.98913240e-01 -6.98645218e-05 6.09734524e-01] [ 1.72914097e-03 -1.07395869e-05 9.99998505e-01 -2.94010614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.640281693 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:57.22, Y:0.61, Z:-0.29 [[ 9.98847587e-01 -4.79717047e-02 -1.48780587e-03 5.72215128e+01] [ 4.79716683e-02 9.98848695e-01 -6.01960939e-05 6.05280477e-01] [ 1.48898066e-03 -1.12458066e-05 9.99998891e-01 -2.93772185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.67028169299999 meters Centerline goodness : 0.998194 Centerline is valid? [True, True] Translation: X:57.25, Y:0.60, Z:-0.29 [[ 9.98834468e-01 -4.82417805e-02 -1.56082511e-03 5.72513728e+01] [ 4.82417407e-02 9.98835687e-01 -6.31437527e-05 6.04723693e-01] [ 1.56205399e-03 -1.22267636e-05 9.99998780e-01 -2.93712359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.700281692999994 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:57.28, Y:0.60, Z:-0.29 [[ 9.98843785e-01 -4.80162735e-02 -2.35155042e-03 5.72814518e+01] [ 4.80161826e-02 9.98846553e-01 -9.51367868e-05 6.04787575e-01] [ 2.35340615e-03 -1.78856860e-05 9.99997231e-01 -2.94060109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.730281692999995 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:57.31, Y:0.60, Z:-0.29 [[ 9.98854530e-01 -4.77053368e-02 -3.71860646e-03 5.73116555e+01] [ 4.77051073e-02 9.98861452e-01 -1.50443838e-04 6.02421103e-01] [ 3.72154962e-03 -2.71250112e-05 9.99993075e-01 -2.94861814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.760281692999996 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:57.34, Y:0.60, Z:-0.29 [[ 9.98834648e-01 -4.81428801e-02 -3.40734144e-03 5.73413140e+01] [ 4.81426898e-02 9.98840459e-01 -1.37900648e-04 6.01313499e-01] [ 3.41002942e-03 -2.62986366e-05 9.99994185e-01 -2.94196991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.790281693 meters Centerline goodness : 0.998338 Centerline is valid? [True, True] Translation: X:57.37, Y:0.60, Z:-0.29 [[ 9.98876368e-01 -4.73187168e-02 -2.63430277e-03 5.73722198e+01] [ 4.73186002e-02 9.98879842e-01 -1.06605732e-04 5.99865831e-01] [ 2.63639638e-03 -1.81655736e-05 9.99996525e-01 -2.91953832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.820281693 meters Centerline goodness : 0.998206 Centerline is valid? [True, True] Translation: X:57.40, Y:0.60, Z:-0.29 [[ 9.98955525e-01 -4.56071077e-02 -2.80179334e-03 5.74018592e+01] [ 4.56069691e-02 9.98959454e-01 -1.13374041e-04 5.99786532e-01] [ 2.80404861e-03 -1.45256779e-05 9.99996069e-01 -2.91854998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.85028169299999 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:57.43, Y:0.60, Z:-0.29 [[ 9.99043466e-01 -4.36374003e-02 -2.81620204e-03 5.74319285e+01] [ 4.36372522e-02 9.99047435e-01 -1.14045170e-04 5.99706947e-01] [ 2.81849606e-03 -8.95523682e-06 9.99996028e-01 -2.92265898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.88028169299999 meters Centerline goodness : 0.998196 Centerline is valid? [True, True] Translation: X:57.46, Y:0.60, Z:-0.29 [[ 9.99244549e-01 -3.88609746e-02 -3.95153041e-04 5.74620918e+01] [ 3.88609713e-02 9.99244627e-01 -1.60301858e-05 5.99476711e-01] [ 3.95477501e-04 6.62044800e-07 9.99999922e-01 -2.92778100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.910281692999995 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:57.49, Y:0.60, Z:-0.29 [[ 9.99318755e-01 -3.68965766e-02 8.17540080e-04 5.74911115e+01] [ 3.68965618e-02 9.99319089e-01 3.31192596e-05 6.01839828e-01] [-8.18205396e-04 -2.93227919e-06 9.99999665e-01 -2.91944277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.940281692999996 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:57.52, Y:0.61, Z:-0.29 [[ 9.99430489e-01 -3.37067510e-02 1.59766576e-03 5.75211064e+01] [ 3.37066906e-02 9.99431766e-01 6.47177985e-05 6.07215757e-01] [-1.59893934e-03 -1.08289157e-05 9.99998722e-01 -2.90327964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.970281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:57.55, Y:0.61, Z:-0.29 [[ 9.99481885e-01 -3.21651219e-02 1.16870542e-03 5.75518923e+01] [ 3.21650885e-02 9.99482569e-01 4.73381170e-05 6.10167228e-01] [-1.16962333e-03 -9.72207706e-06 9.99999316e-01 -2.89925365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.000281693 meters Centerline goodness : 0.998309 Centerline is valid? [True, True] Translation: X:57.58, Y:0.61, Z:-0.29 [[ 9.99510144e-01 -3.12920274e-02 5.30917406e-04 5.75835662e+01] [ 3.12920204e-02 9.99510285e-01 2.15054364e-05 6.13480548e-01] [-5.31330356e-04 -4.88142351e-06 9.99999859e-01 -2.90435939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.030281693 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:57.61, Y:0.62, Z:-0.29 [[ 9.99543336e-01 -3.02172838e-02 1.87867626e-04 5.76133329e+01] [ 3.02172829e-02 9.99543354e-01 7.61096466e-06 6.17407183e-01] [-1.88011820e-04 -1.93063981e-06 9.99999982e-01 -2.90162661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.06028169299999 meters Centerline goodness : 0.998380 Centerline is valid? [True, True] Translation: X:57.64, Y:0.62, Z:-0.29 [[ 9.99552102e-01 -2.99226586e-02 4.79994613e-04 5.76441315e+01] [ 2.99226527e-02 9.99552217e-01 1.94289585e-05 6.20107389e-01] [-4.80361046e-04 -5.05754422e-06 9.99999885e-01 -2.89654883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.090281692999994 meters Centerline goodness : 0.998183 Centerline is valid? [True, True] Translation: X:57.67, Y:0.63, Z:-0.29 [[ 9.99508008e-01 -3.13000657e-02 2.01186887e-03 5.76739836e+01] [ 3.12999654e-02 9.99510033e-01 8.13256630e-05 6.25219468e-01] [-2.01342862e-03 -1.83142253e-05 9.99997973e-01 -2.88948888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.120281692999995 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:57.71, Y:0.63, Z:-0.29 [[ 9.99467740e-01 -3.24979551e-02 2.84956005e-03 5.77061297e+01] [ 3.24977591e-02 9.99471802e-01 1.15086818e-04 6.28227693e-01] [-2.85179501e-03 -2.24212455e-05 9.99995933e-01 -2.89252437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.150281693 meters Centerline goodness : 0.998536 Centerline is valid? [True, True] Translation: X:57.74, Y:0.63, Z:-0.29 [[ 9.99422953e-01 -3.38627332e-02 2.65996294e-03 5.77382323e+01] [ 3.38625675e-02 9.99426493e-01 1.07307961e-04 6.30942440e-01] [-2.66207117e-03 -1.71728649e-05 9.99996457e-01 -2.89930326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.180281693 meters Centerline goodness : 0.998000 Centerline is valid? [True, True] Translation: X:57.77, Y:0.63, Z:-0.29 [[ 9.99309466e-01 -3.71434676e-02 -9.76451562e-04 5.77696865e+01] [ 3.71434470e-02 9.99309943e-01 -3.93038476e-05 6.33907705e-01] [ 9.77237636e-04 3.00793018e-06 9.99999522e-01 -2.91597880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.210281693 meters Centerline goodness : 0.998179 Centerline is valid? [True, True] Translation: X:57.80, Y:0.64, Z:-0.29 [[ 9.99248174e-01 -3.86399253e-02 -3.16904480e-03 5.78005011e+01] [ 3.86397150e-02 9.99253199e-01 -1.27578394e-04 6.36554602e-01] [ 3.17160778e-03 5.03148944e-06 9.99994970e-01 -2.91876945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.24028169299999 meters Centerline goodness : 0.998045 Centerline is valid? [True, True] Translation: X:57.83, Y:0.64, Z:-0.29 [[ 9.99005690e-01 -4.44012786e-02 -4.01962990e-03 5.78303239e+01] [ 4.44009876e-02 9.99013777e-01 -1.61657846e-04 6.39075187e-01] [ 4.02284346e-03 -1.69784289e-05 9.99991908e-01 -2.92217631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.270281692999994 meters Centerline goodness : 0.998047 Centerline is valid? [True, True] Translation: X:57.86, Y:0.64, Z:-0.29 [[ 9.98813899e-01 -4.85674994e-02 -3.46318916e-03 5.78612994e+01] [ 4.85673083e-02 9.98819902e-01 -1.39312822e-04 6.39386036e-01] [ 3.46586834e-03 -2.90501928e-05 9.99993993e-01 -2.92195135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.300281692999995 meters Centerline goodness : 0.998067 Centerline is valid? [True, True] Translation: X:57.89, Y:0.64, Z:-0.29 [[ 9.98585576e-01 -5.30821739e-02 -3.02161930e-03 5.78911580e+01] [ 5.30820491e-02 9.98590147e-01 -1.21548156e-04 6.38279555e-01] [ 3.02381130e-03 -3.90175089e-05 9.99995428e-01 -2.92336493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.330281692999996 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:57.92, Y:0.63, Z:-0.29 [[ 9.98060890e-01 -6.21385276e-02 -3.64188120e-03 5.79219717e+01] [ 6.21384065e-02 9.98067531e-01 -1.46499441e-04 6.33106858e-01] [ 3.64394664e-03 -8.00853316e-05 9.99993358e-01 -2.93299208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.360281693 meters Centerline goodness : 0.998129 Centerline is valid? [True, True] Translation: X:57.95, Y:0.63, Z:-0.29 [[ 9.97843265e-01 -6.55372894e-02 -3.69903798e-03 5.79521243e+01] [ 6.55371874e-02 9.97850116e-01 -1.48904639e-04 6.30807506e-01] [ 3.70084429e-03 -9.38410543e-05 9.99993147e-01 -2.93383371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.390281693 meters Centerline goodness : 0.998115 Centerline is valid? [True, True] Translation: X:57.98, Y:0.63, Z:-0.29 [[ 9.97699256e-01 -6.77095884e-02 -3.40671384e-03 5.79820683e+01] [ 6.77095143e-02 9.97705068e-01 -1.37215950e-04 6.28674491e-01] [ 3.40818649e-03 -9.37666880e-05 9.99994188e-01 -2.92861573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.42028169299999 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:58.01, Y:0.62, Z:-0.29 [[ 9.97617342e-01 -6.89771774e-02 -1.33705217e-03 5.80108201e+01] [ 6.89771671e-02 9.97618237e-01 -5.39241220e-05 6.22629701e-01] [ 1.33758716e-03 -3.84304317e-05 9.99999105e-01 -2.92175299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.450281692999994 meters Centerline goodness : 0.997967 Centerline is valid? [True, True] Translation: X:58.04, Y:0.62, Z:-0.29 [[ 9.97613223e-01 -6.90489896e-02 -3.05689773e-04 5.80397938e+01] [ 6.90489891e-02 9.97613270e-01 -1.23648442e-05 6.20038429e-01] [ 3.05813954e-04 -8.77223768e-06 9.99999953e-01 -2.91766986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.480281692999995 meters Centerline goodness : 0.998263 Centerline is valid? [True, True] Translation: X:58.07, Y:0.61, Z:-0.29 [[ 9.97786084e-01 -6.65047529e-02 2.20186780e-04 5.80698397e+01] [ 6.65047526e-02 9.97786108e-01 8.86444411e-06 6.14440790e-01] [-2.20288838e-04 5.79864837e-06 9.99999976e-01 -2.91044132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.510281692999996 meters Centerline goodness : 0.998170 Centerline is valid? [True, True] Translation: X:58.10, Y:0.61, Z:-0.29 [[ 9.97909450e-01 -6.46276168e-02 5.79251162e-07 5.80992663e+01] [ 6.46276168e-02 9.97909450e-01 4.84736382e-10 6.13070758e-01] [-5.78071532e-07 3.69518997e-08 1.00000000e+00 -2.90216552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.540281693 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:58.13, Y:0.61, Z:-0.29 [[ 9.98031813e-01 -6.27096340e-02 5.51103168e-05 5.81283854e+01] [ 6.27096340e-02 9.98031814e-01 2.21472933e-06 6.11956302e-01] [-5.51407343e-05 1.24557747e-06 9.99999998e-01 -2.90658948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.570281693 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:58.16, Y:0.61, Z:-0.29 [[ 9.98031105e-01 -6.27208952e-02 5.51102911e-05 5.81583588e+01] [ 6.27208952e-02 9.98031106e-01 2.21536708e-06 6.13172442e-01] [-5.51407346e-05 1.24556154e-06 9.99999998e-01 -2.90689290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.60028169299999 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:58.19, Y:0.61, Z:-0.29 [[ 9.98231556e-01 -5.94448227e-02 -2.69647463e-04 5.81884453e+01] [ 5.94448220e-02 9.98231593e-01 -1.09249591e-05 6.10079204e-01] [ 2.69820049e-04 -5.12350651e-06 9.99999964e-01 -2.90617995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.63028169299999 meters Centerline goodness : 0.998149 Centerline is valid? [True, True] Translation: X:58.22, Y:0.61, Z:-0.29 [[ 9.98293040e-01 -5.84027013e-02 -3.60777185e-04 5.82167165e+01] [ 5.84026998e-02 9.98293105e-01 -1.46332250e-05 6.10022831e-01] [ 3.61015996e-04 -6.46211495e-06 9.99999935e-01 -2.90187954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.660281692999995 meters Centerline goodness : 0.998140 Centerline is valid? [True, True] Translation: X:58.25, Y:0.61, Z:-0.29 [[ 9.98429292e-01 -5.60200478e-02 -8.38240261e-04 5.82464941e+01] [ 5.60200391e-02 9.98429644e-01 -3.39592192e-05 6.10724503e-01] [ 8.38826322e-04 -1.30523730e-05 9.99999648e-01 -2.90440884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.690281692999996 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:58.28, Y:0.61, Z:-0.29 [[ 9.98534169e-01 -5.41107337e-02 -1.24189633e-03 5.82762617e+01] [ 5.41107129e-02 9.98534941e-01 -5.03290006e-05 6.12006180e-01] [ 1.24280021e-03 -1.69446689e-05 9.99999228e-01 -2.90230548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.720281693 meters Centerline goodness : 0.998128 Centerline is valid? [True, True] Translation: X:58.31, Y:0.61, Z:-0.29 [[ 9.98751200e-01 -4.99241197e-02 -1.90313405e-03 5.83055454e+01] [ 4.99240633e-02 9.98753013e-01 -7.71598512e-05 6.14352679e-01] [ 1.90461301e-03 -1.79486909e-05 9.99998186e-01 -2.90863190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.750281693 meters Centerline goodness : 0.998353 Centerline is valid? [True, True] Translation: X:58.33, Y:0.62, Z:-0.29 [[ 9.98866471e-01 -4.75684109e-02 -1.73782254e-03 5.83347777e+01] [ 4.75683603e-02 9.98867982e-01 -7.04678289e-05 6.16856303e-01] [ 1.73920733e-03 -1.22774170e-05 9.99998488e-01 -2.91512064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.780281693 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:58.36, Y:0.62, Z:-0.29 [[ 9.98976541e-01 -4.52123740e-02 -1.30828507e-03 5.83641708e+01] [ 4.52123433e-02 9.98977398e-01 -5.30679228e-05 6.18785925e-01] [ 1.30934654e-03 -6.13702373e-06 9.99999143e-01 -2.91838284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.81028169299999 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:58.39, Y:0.62, Z:-0.29 [[ 9.99139478e-01 -4.14750667e-02 -3.50683478e-04 5.83942237e+01] [ 4.14750642e-02 9.99139539e-01 -1.42529482e-05 6.21134879e-01] [ 3.50972871e-04 -3.03936583e-07 9.99999938e-01 -2.91655685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.840281692999994 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:58.42, Y:0.62, Z:-0.29 [[ 9.99167568e-01 -4.07818177e-02 -1.00742540e-03 5.84247321e+01] [ 4.07817972e-02 9.99168076e-01 -4.08784395e-05 6.23093812e-01] [ 1.00825440e-03 -2.40207437e-07 9.99999492e-01 -2.91829172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.870281692999995 meters Centerline goodness : 0.998118 Centerline is valid? [True, True] Translation: X:58.45, Y:0.62, Z:-0.29 [[ 9.99103800e-01 -4.22385263e-02 -2.73914392e-03 5.84545220e+01] [ 4.22383807e-02 9.99107555e-01 -1.11011276e-04 6.24978582e-01] [ 2.74138834e-03 -4.78521613e-06 9.99996242e-01 -2.92859648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.900281693 meters Centerline goodness : 0.998284 Centerline is valid? [True, True] Translation: X:58.48, Y:0.62, Z:-0.29 [[ 9.99047086e-01 -4.35564422e-02 -2.78502757e-03 5.84839576e+01] [ 4.35562965e-02 9.99050968e-01 -1.12993989e-04 6.24848619e-01] [ 2.78730611e-03 -8.41917127e-06 9.99996115e-01 -2.93079050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.930281693 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:58.51, Y:0.62, Z:-0.29 [[ 9.98939527e-01 -4.59631120e-02 -2.68583465e-03 5.85132721e+01] [ 4.59629851e-02 9.98943138e-01 -1.08989289e-04 6.22821864e-01] [ 2.68800558e-03 -1.45752688e-05 9.99996387e-01 -2.91395353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.960281693 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:58.54, Y:0.62, Z:-0.29 [[ 9.98918508e-01 -4.64118809e-02 -2.78414388e-03 5.85432693e+01] [ 4.64117461e-02 9.98922388e-01 -1.13051426e-04 6.23410749e-01] [ 2.78639058e-03 -1.62878175e-05 9.99996118e-01 -2.90799786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.99028169299999 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:58.57, Y:0.63, Z:-0.29 [[ 9.98935586e-01 -4.60658921e-02 -2.37262765e-03 5.85726480e+01] [ 4.60657931e-02 9.98938403e-01 -9.64016986e-05 6.25219183e-01] [ 2.37454970e-03 -1.29978870e-05 9.99997181e-01 -2.90972152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.020281693 meters Centerline goodness : 0.997969 Centerline is valid? [True, True] Translation: X:58.60, Y:0.63, Z:-0.29 [[ 9.99065619e-01 -4.31901590e-02 -1.58084344e-03 5.86025966e+01] [ 4.31901114e-02 9.99066870e-01 -6.42755616e-05 6.28425539e-01] [ 1.58214438e-03 -4.06130051e-06 9.99998748e-01 -2.90769322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.050281693 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:58.63, Y:0.63, Z:-0.29 [[ 9.99144626e-01 -4.12721372e-02 -2.57426531e-03 5.86317167e+01] [ 4.12720045e-02 9.99147942e-01 -1.04670296e-04 6.30523732e-01] [ 2.57639185e-03 -1.66432546e-06 9.99996681e-01 -2.90875532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.080281693 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:58.66, Y:0.64, Z:-0.29 [[ 9.99265265e-01 -3.80618186e-02 -4.49765797e-03 5.86607673e+01] [ 3.80613811e-02 9.99275386e-01 -1.82855475e-04 6.35083838e-01] [ 4.50135871e-03 1.15340510e-05 9.99989869e-01 -2.91484107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.110281693 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:58.69, Y:0.64, Z:-0.29 [[ 9.99276091e-01 -3.78230991e-02 -4.08755736e-03 5.86908046e+01] [ 3.78227352e-02 9.99284451e-01 -1.66300451e-04 6.38261463e-01] [ 4.09092251e-03 1.15774649e-05 9.99991632e-01 -2.91300596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.140281693 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:58.72, Y:0.64, Z:-0.29 [[ 9.99257963e-01 -3.83834394e-02 -3.19924901e-03 5.87198080e+01] [ 3.83832190e-02 9.99263084e-01 -1.30286582e-04 6.40602712e-01] [ 3.20189228e-03 7.39242940e-06 9.99994874e-01 -2.91077148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.170281693 meters Centerline goodness : 0.998187 Centerline is valid? [True, True] Translation: X:58.75, Y:0.64, Z:-0.29 [[ 9.99144171e-01 -4.13339791e-02 -1.55826628e-03 5.87494740e+01] [ 4.13339304e-02 9.99145386e-01 -6.35006814e-05 6.42927098e-01] [ 1.55955930e-03 -9.62934361e-07 9.99998784e-01 -2.90433221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.20028169300001 meters Centerline goodness : 0.997924 Centerline is valid? [True, True] Translation: X:58.78, Y:0.65, Z:-0.29 [[ 9.99057231e-01 -4.33764535e-02 -1.76998440e-03 5.87799300e+01] [ 4.33763940e-02 9.99058799e-01 -7.20026985e-05 6.45509757e-01] [ 1.77144171e-03 -4.84072403e-06 9.99998431e-01 -2.89973151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.23028169300001 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:58.81, Y:0.65, Z:-0.29 [[ 9.98875304e-01 -4.74019779e-02 -1.08628816e-03 5.88099369e+01] [ 4.74019579e-02 9.98875894e-01 -4.42122304e-05 6.50423410e-01] [ 1.08716280e-03 -7.32968053e-06 9.99999409e-01 -2.89466169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.260281693 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:58.84, Y:0.65, Z:-0.29 [[ 9.98815651e-01 -4.86474018e-02 -8.51650686e-04 5.88408103e+01] [ 4.86473899e-02 9.98816014e-01 -3.46624199e-05 6.53098827e-01] [ 8.52328580e-04 -6.80921550e-06 9.99999637e-01 -2.89023358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.290281693 meters Centerline goodness : 0.998368 Centerline is valid? [True, True] Translation: X:58.87, Y:0.65, Z:-0.29 [[ 9.98766572e-01 -4.96469704e-02 -7.16867076e-04 5.88698398e+01] [ 4.96469623e-02 9.98766829e-01 -2.91966896e-05 6.54782425e-01] [ 7.17432583e-04 -6.42959511e-06 9.99999743e-01 -2.89052288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.320281693 meters Centerline goodness : 0.998413 Centerline is valid? [True, True] Translation: X:58.90, Y:0.66, Z:-0.29 [[ 9.98707619e-01 -5.07997545e-02 -1.57345946e-03 5.88988120e+01] [ 5.07997167e-02 9.98708859e-01 -6.40520133e-05 6.57482979e-01] [ 1.57468173e-03 -1.59620611e-05 9.99998760e-01 -2.90042262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.350281693 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:58.93, Y:0.66, Z:-0.29 [[ 9.98669562e-01 -5.15113606e-02 -2.38443247e-03 5.89289847e+01] [ 5.15112757e-02 9.98672408e-01 -9.70687271e-05 6.59828495e-01] [ 2.38626706e-03 -2.58855749e-05 9.99997153e-01 -2.90326091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.380281693 meters Centerline goodness : 0.998150 Centerline is valid? [True, True] Translation: X:58.96, Y:0.66, Z:-0.29 [[ 9.98630099e-01 -5.22668113e-02 -2.47095770e-03 5.89590929e+01] [ 5.22667224e-02 9.98633156e-01 -1.00591114e-04 6.60262663e-01] [ 2.47283786e-03 -2.86955457e-05 9.99996942e-01 -2.90492334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.410281693 meters Centerline goodness : 0.998226 Centerline is valid? [True, True] Translation: X:58.99, Y:0.66, Z:-0.29 [[ 9.98595992e-01 -5.29268570e-02 -2.18922832e-03 5.89899906e+01] [ 5.29267888e-02 9.98598391e-01 -8.91220908e-05 6.60349885e-01] [ 2.19087683e-03 -2.68718625e-05 9.99997600e-01 -2.90654452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.440281693 meters Centerline goodness : 0.998421 Centerline is valid? [True, True] Translation: X:59.02, Y:0.66, Z:-0.29 [[ 9.98562374e-01 -5.35632506e-02 -2.04054456e-03 5.90199203e+01] [ 5.35631926e-02 9.98564458e-01 -8.31055891e-05 6.60680386e-01] [ 2.04206668e-03 -2.63119670e-05 9.99997915e-01 -2.90010839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.470281693 meters Centerline goodness : 0.998451 Centerline is valid? [True, True] Translation: X:59.05, Y:0.66, Z:-0.29 [[ 9.98524331e-01 -5.42728998e-02 -1.90085349e-03 5.90503990e+01] [ 5.42728508e-02 9.98526140e-01 -7.74051621e-05 6.60949656e-01] [ 1.90225290e-03 -2.58738001e-05 9.99998190e-01 -2.89246988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.500281693 meters Centerline goodness : 0.998459 Centerline is valid? [True, True] Translation: X:59.08, Y:0.66, Z:-0.29 [[ 9.98564982e-01 -5.35018723e-02 -2.35091244e-03 5.90799608e+01] [ 5.35017948e-02 9.98567749e-01 -9.59166304e-05 6.61564637e-01] [ 2.35267706e-03 -2.99990464e-05 9.99997232e-01 -2.89933174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.530281693 meters Centerline goodness : 0.998493 Centerline is valid? [True, True] Translation: X:59.11, Y:0.66, Z:-0.29 [[ 9.98719326e-01 -5.05249780e-02 -2.63338894e-03 5.91082500e+01] [ 5.05248701e-02 9.98722797e-01 -1.07548241e-04 6.60445832e-01] [ 2.63545944e-03 -2.56411270e-05 9.99996527e-01 -2.89745636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.56028169300001 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:59.14, Y:0.66, Z:-0.29 [[ 9.98762905e-01 -4.96540267e-02 -2.67141578e-03 5.91381476e+01] [ 4.96539124e-02 9.98766478e-01 -1.09138248e-04 6.60282854e-01] [ 2.67353968e-03 -2.36430114e-05 9.99996426e-01 -2.89623905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.59028169300001 meters Centerline goodness : 0.998337 Centerline is valid? [True, True] Translation: X:59.17, Y:0.66, Z:-0.29 [[ 9.98772699e-01 -4.94649119e-02 -2.51350960e-03 5.91682337e+01] [ 4.94648101e-02 9.98775862e-01 -1.02665324e-04 6.60328748e-01] [ 2.51551104e-03 -2.17909527e-05 9.99996836e-01 -2.89489100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.62028169300001 meters Centerline goodness : 0.998693 Centerline is valid? [True, True] Translation: X:59.20, Y:0.66, Z:-0.29 [[ 9.98748335e-01 -4.99556174e-02 -2.48991478e-03 5.91986495e+01] [ 4.99555191e-02 9.98751438e-01 -1.01701584e-04 6.58048774e-01] [ 2.49188654e-03 -2.28106981e-05 9.99996895e-01 -2.89941072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.650281693 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:59.23, Y:0.66, Z:-0.29 [[ 9.98758019e-01 -4.97446529e-02 -2.80862569e-03 5.92281509e+01] [ 4.97445268e-02 9.98761968e-01 -1.14763930e-04 6.56687681e-01] [ 2.81085741e-03 -2.50923610e-05 9.99996049e-01 -2.90653155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.680281693 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:59.26, Y:0.65, Z:-0.29 [[ 9.98836313e-01 -4.81727412e-02 -2.32527162e-03 5.92578889e+01] [ 4.81726504e-02 9.98839019e-01 -9.50784340e-05 6.53413025e-01] [ 2.32715221e-03 -1.70467043e-05 9.99997292e-01 -2.90055202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.710281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:59.29, Y:0.65, Z:-0.29 [[ 9.98865487e-01 -4.75868104e-02 -1.79837120e-03 5.92887555e+01] [ 4.75867552e-02 9.98867106e-01 -7.35164111e-05 6.52999274e-01] [ 1.79983225e-03 -1.21456442e-05 9.99998380e-01 -2.89305223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.740281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:59.32, Y:0.65, Z:-0.29 [[ 9.98853453e-01 -4.78444731e-02 -1.63883495e-03 5.93183688e+01] [ 4.78444275e-02 9.98854797e-01 -6.70260344e-05 6.53066370e-01] [ 1.64016498e-03 -1.14599342e-05 9.99998655e-01 -2.89337837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.770281693 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:59.35, Y:0.65, Z:-0.29 [[ 9.98710457e-01 -5.07459930e-02 -1.50591836e-03 5.93476621e+01] [ 5.07459577e-02 9.98711592e-01 -6.16366948e-05 6.50739484e-01] [ 1.50710594e-03 -1.48620579e-05 9.99998864e-01 -2.90767675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.800281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:59.38, Y:0.65, Z:-0.29 [[ 9.98598342e-01 -5.29105519e-02 -1.35104544e-03 5.93776499e+01] [ 5.29105254e-02 9.98599256e-01 -5.53322762e-05 6.49533888e-01] [ 1.35208063e-03 -1.62298049e-05 9.99999086e-01 -2.91789781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.830281693 meters Centerline goodness : 0.998384 Centerline is valid? [True, True] Translation: X:59.41, Y:0.65, Z:-0.29 [[ 9.98424748e-01 -5.60675446e-02 -2.11025369e-03 5.94071718e+01] [ 5.60674870e-02 9.98426978e-01 -8.64617032e-05 6.46844270e-01] [ 2.11178191e-03 -3.19911170e-05 9.99997770e-01 -2.92241289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.860281693 meters Centerline goodness : 0.998278 Centerline is valid? [True, True] Translation: X:59.44, Y:0.65, Z:-0.29 [[ 9.98388354e-01 -5.66950946e-02 -2.52212203e-03 5.94368528e+01] [ 5.66950143e-02 9.98391539e-01 -1.03390752e-04 6.47317801e-01] [ 2.52392705e-03 -3.97676219e-05 9.99996814e-01 -2.91604017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.890281693 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:59.47, Y:0.65, Z:-0.29 [[ 9.98445092e-01 -5.57214127e-02 -1.58843528e-03 5.94657099e+01] [ 5.57213790e-02 9.98446355e-01 -6.55223619e-05 6.47600300e-01] [ 1.58961841e-03 -2.30893234e-05 9.99998736e-01 -2.89950195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.920281693 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:59.49, Y:0.65, Z:-0.29 [[ 9.98513583e-01 -5.44928521e-02 -1.07399482e-03 5.94947256e+01] [ 5.44928357e-02 9.98514161e-01 -4.45301175e-05 6.48762586e-01] [ 1.07482561e-03 -1.40610961e-05 9.99999422e-01 -2.89931951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.95028169300001 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:59.52, Y:0.65, Z:-0.29 [[ 9.98720061e-01 -5.05561757e-02 -1.52058088e-03 5.95237222e+01] [ 5.05561385e-02 9.98721219e-01 -6.29019093e-05 6.49917077e-01] [ 1.52181647e-03 -1.40532989e-05 9.99998842e-01 -2.90393473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.98028169300001 meters Centerline goodness : 0.998108 Centerline is valid? [True, True] Translation: X:59.55, Y:0.65, Z:-0.29 [[ 9.98826570e-01 -4.83764730e-02 -2.28048133e-03 5.95524267e+01] [ 4.83763836e-02 9.98829173e-01 -9.43963407e-05 6.51034362e-01] [ 2.28237784e-03 -1.60358665e-05 9.99997395e-01 -2.91090160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.010281693 meters Centerline goodness : 0.998137 Centerline is valid? [True, True] Translation: X:59.58, Y:0.65, Z:-0.29 [[ 9.98915585e-01 -4.64840712e-02 -2.62401354e-03 5.95824737e+01] [ 4.64839463e-02 9.98919031e-01 -1.08619799e-04 6.52629850e-01] [ 2.62622615e-03 -1.34724946e-05 9.99996551e-01 -2.91652148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.040281693 meters Centerline goodness : 0.997917 Centerline is valid? [True, True] Translation: X:59.61, Y:0.66, Z:-0.29 [[ 9.99007539e-01 -4.44467811e-02 -2.90198409e-03 5.96121111e+01] [ 4.44466196e-02 9.99011753e-01 -1.20159558e-04 6.56273408e-01] [ 2.90445692e-03 -8.94307900e-06 9.99995782e-01 -2.91164221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.070281693 meters Centerline goodness : 0.998165 Centerline is valid? [True, True] Translation: X:59.64, Y:0.66, Z:-0.29 [[ 9.98967759e-01 -4.53918182e-02 -1.73164967e-03 5.96415325e+01] [ 4.53917620e-02 9.98969260e-01 -7.17600170e-05 6.58974013e-01] [ 1.73312211e-03 -6.91668653e-06 9.99998498e-01 -2.90887931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.100281693 meters Centerline goodness : 0.998370 Centerline is valid? [True, True] Translation: X:59.67, Y:0.66, Z:-0.29 [[ 9.98762007e-01 -4.97288587e-02 -1.22203433e-03 5.96710296e+01] [ 4.97288339e-02 9.98762755e-01 -5.06510384e-05 6.60510226e-01] [ 1.22304120e-03 -1.01820096e-05 9.99999252e-01 -2.91667526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.130281693 meters Centerline goodness : 0.998122 Centerline is valid? [True, True] Translation: X:59.70, Y:0.66, Z:-0.29 [[ 9.98645386e-01 -5.19750263e-02 -2.44739096e-03 5.97001795e+01] [ 5.19749337e-02 9.98648385e-01 -1.01455898e-04 6.61256673e-01] [ 2.44935620e-03 -2.58845189e-05 9.99997000e-01 -2.91902702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.160281693 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:59.73, Y:0.66, Z:-0.29 [[ 9.98548550e-01 -5.37522232e-02 -3.38996240e-03 5.97297890e+01] [ 5.37520555e-02 9.98554303e-01 -1.40610978e-04 6.62063018e-01] [ 3.39261969e-03 -4.18105589e-05 9.99994244e-01 -2.92076173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.190281693 meters Centerline goodness : 0.997826 Centerline is valid? [True, True] Translation: X:59.76, Y:0.66, Z:-0.29 [[ 9.98463823e-01 -5.52732480e-02 -3.85526668e-03 5.97588758e+01] [ 5.52730396e-02 9.98471264e-01 -1.60674020e-04 6.63547194e-01] [ 3.85825397e-03 -5.26651122e-05 9.99992556e-01 -2.92000642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.220281693 meters Centerline goodness : 0.997964 Centerline is valid? [True, True] Translation: X:59.79, Y:0.67, Z:-0.29 [[ 9.98466658e-01 -5.52796041e-02 -2.91508338e-03 5.97876658e+01] [ 5.52794834e-02 9.98470913e-01 -1.22012653e-04 6.65006310e-01] [ 2.91737077e-03 -3.93187373e-05 9.99995744e-01 -2.91795055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.250281693 meters Centerline goodness : 0.998189 Centerline is valid? [True, True] Translation: X:59.82, Y:0.67, Z:-0.29 [[ 9.98514793e-01 -5.44778131e-02 -6.13566218e-04 5.98161525e+01] [ 5.44778076e-02 9.98514981e-01 -2.57030878e-05 6.66536372e-01] [ 6.14055309e-04 -7.76082900e-06 9.99999811e-01 -2.91229812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.280281693 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:59.85, Y:0.67, Z:-0.29 [[ 9.98537647e-01 -5.40600851e-02 -2.74915499e-04 5.98456649e+01] [ 5.40600840e-02 9.98537684e-01 -1.15302683e-05 6.67771728e-01] [ 2.75136813e-04 -3.34854795e-06 9.99999962e-01 -2.90963149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.31028169300001 meters Centerline goodness : 0.998113 Centerline is valid? [True, True] Translation: X:59.88, Y:0.67, Z:-0.29 [[ 9.98596007e-01 -5.29452446e-02 -1.67776588e-03 5.98752087e+01] [ 5.29452012e-02 9.98597417e-01 -7.02877356e-05 6.68052867e-01] [ 1.67913407e-03 -1.86405997e-05 9.99998590e-01 -2.91712265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.34028169300001 meters Centerline goodness : 0.997954 Centerline is valid? [True, True] Translation: X:59.90, Y:0.67, Z:-0.29 [[ 9.98679190e-01 -5.13083045e-02 -2.70793656e-03 5.99038593e+01] [ 5.13081852e-02 9.98682861e-01 -1.13575066e-04 6.68817437e-01] [ 2.71019718e-03 -2.55142550e-05 9.99996327e-01 -2.91667929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.37028169300001 meters Centerline goodness : 0.998120 Centerline is valid? [True, True] Translation: X:59.93, Y:0.67, Z:-0.29 [[ 9.98781991e-01 -4.92631513e-02 -2.77047293e-03 5.99325782e+01] [ 4.92630171e-02 9.98785834e-01 -1.16704231e-04 6.70480908e-01] [ 2.77285833e-03 -1.99197707e-05 9.99996155e-01 -2.91703130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.400281693 meters Centerline goodness : 0.998265 Centerline is valid? [True, True] Translation: X:59.96, Y:0.67, Z:-0.29 [[ 9.99078022e-01 -4.28998264e-02 -1.64665127e-03 5.99614102e+01] [ 4.28997703e-02 9.99079379e-01 -6.93658241e-05 6.74161973e-01] [ 1.64811111e-03 -1.33909110e-06 9.99998642e-01 -2.90229834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.430281693 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:59.99, Y:0.68, Z:-0.29 [[ 9.99236188e-01 -3.90671911e-02 -8.91884193e-04 5.99914722e+01] [ 3.90671731e-02 9.99236586e-01 -3.75958883e-05 6.76505493e-01] [ 8.92672082e-04 2.72377798e-06 9.99999602e-01 -2.89215774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.460281693 meters Centerline goodness : 0.998163 Centerline is valid? [True, True] Translation: X:60.02, Y:0.68, Z:-0.29 [[ 9.99235742e-01 -3.90785830e-02 -8.91884248e-04 6.00214435e+01] [ 3.90785651e-02 9.99236140e-01 -3.75945756e-05 6.77774216e-01] [ 8.92672117e-04 2.71228704e-06 9.99999602e-01 -2.89246116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.490281693 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:60.05, Y:0.68, Z:-0.29 [[ 9.99458538e-01 -3.28968109e-02 -6.55875134e-04 6.00505136e+01] [ 3.28967998e-02 9.99458753e-01 -2.76567994e-05 6.80476575e-01] [ 6.56429964e-04 6.06563126e-06 9.99999785e-01 -2.88182940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.520281693 meters Centerline goodness : 0.998293 Centerline is valid? [True, True] Translation: X:60.08, Y:0.68, Z:-0.29 [[ 9.99537926e-01 -3.03863052e-02 -7.78758438e-04 6.00797817e+01] [ 3.03862888e-02 9.99538230e-01 -3.28451840e-05 6.83235025e-01] [ 7.79396874e-04 9.16642832e-06 9.99999696e-01 -2.87586436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.550281693 meters Centerline goodness : 0.998247 Centerline is valid? [True, True] Translation: X:60.11, Y:0.69, Z:-0.29 [[ 9.99619863e-01 -2.75704224e-02 4.07805243e-05 6.01100617e+01] [ 2.75704224e-02 9.99619864e-01 1.75423728e-06 6.87623634e-01] [-4.08133872e-05 -6.29234151e-07 9.99999999e-01 -2.87788326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.580281693 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:60.14, Y:0.69, Z:-0.29 [[ 9.99633693e-01 -2.70606630e-02 4.46500784e-04 6.01403221e+01] [ 2.70606573e-02 9.99633793e-01 1.88091448e-05 6.89826213e-01] [-4.46846261e-04 -6.71965017e-06 9.99999900e-01 -2.88413752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.610281693 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:60.17, Y:0.69, Z:-0.29 [[ 9.99635732e-01 -2.69837290e-02 5.29988984e-04 6.01714793e+01] [ 2.69837210e-02 9.99635873e-01 2.23368505e-05 6.92095780e-01] [-5.30398733e-04 -8.02763904e-06 9.99999859e-01 -2.88034526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.640281693 meters Centerline goodness : 0.998405 Centerline is valid? [True, True] Translation: X:60.20, Y:0.70, Z:-0.29 [[ 9.99607037e-01 -2.80269642e-02 -5.09985227e-04 6.02025620e+01] [ 2.80269569e-02 9.99607167e-01 -2.14366611e-05 6.96261248e-01] [ 5.10385693e-04 7.13490332e-06 9.99999870e-01 -2.88770232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.670281693 meters Centerline goodness : 0.998155 Centerline is valid? [True, True] Translation: X:60.23, Y:0.70, Z:-0.29 [[ 9.99587100e-01 -2.87163386e-02 -1.00091489e-03 6.02329545e+01] [ 2.87163108e-02 9.99587601e-01 -4.21185733e-05 6.98839352e-01] [ 1.00171161e-03 1.33585994e-05 9.99999498e-01 -2.89137498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.70028169300001 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:60.26, Y:0.70, Z:-0.29 [[ 9.99578674e-01 -2.89814408e-02 -1.59730120e-03 6.02637018e+01] [ 2.89813704e-02 9.99579950e-01 -6.72145535e-05 7.03250872e-01] [ 1.59857823e-03 2.08942565e-05 9.99998722e-01 -2.89210945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.73028169300001 meters Centerline goodness : 0.998423 Centerline is valid? [True, True] Translation: X:60.29, Y:0.71, Z:-0.29 [[ 9.99596405e-01 -2.83462576e-02 -1.87532869e-03 6.02934725e+01] [ 2.83461594e-02 9.99598164e-01 -7.89473072e-05 7.06396235e-01] [ 1.87681297e-03 2.57570787e-05 9.99998238e-01 -2.89031773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.760281693 meters Centerline goodness : 0.998465 Centerline is valid? [True, True] Translation: X:60.32, Y:0.71, Z:-0.29 [[ 9.99630998e-01 -2.70435770e-02 -2.55195151e-03 6.03233212e+01] [ 2.70433909e-02 9.99634255e-01 -1.07415789e-04 7.09613092e-01] [ 2.55392305e-03 3.83627301e-05 9.99996738e-01 -2.89444450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.790281693 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:60.35, Y:0.71, Z:-0.29 [[ 9.99725672e-01 -2.32066242e-02 -3.16765136e-03 6.03536474e+01] [ 2.32063182e-02 9.99730688e-01 -1.33331597e-04 7.14302030e-01] [ 3.16989245e-03 5.97854949e-05 9.99994974e-01 -2.89225884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.820281693 meters Centerline goodness : 0.998161 Centerline is valid? [True, True] Translation: X:60.38, Y:0.72, Z:-0.29 [[ 9.99771935e-01 -2.12239523e-02 -2.37103883e-03 6.03834102e+01] [ 2.12237751e-02 9.99774745e-01 -9.98389695e-05 7.17996176e-01] [ 2.37262372e-03 4.94938048e-05 9.99997184e-01 -2.89196172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.850281693 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:60.41, Y:0.73, Z:-0.29 [[ 9.99851361e-01 -1.72388965e-02 -2.77141726e-04 6.04131605e+01] [ 1.72388939e-02 9.99851399e-01 -1.16684676e-05 7.26072593e-01] [ 2.77301694e-04 6.88911641e-06 9.99999962e-01 -2.88899918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.880281693 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:60.44, Y:0.73, Z:-0.29 [[ 9.99873478e-01 -1.58606468e-02 1.21120756e-03 6.04435373e+01] [ 1.58533583e-02 9.99857464e-01 5.80709586e-03 7.27077390e-01] [-1.30313922e-03 -5.78715943e-03 9.99982405e-01 -2.90696408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.910281693 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:60.47, Y:0.74, Z:-0.29 [[ 9.99895454e-01 -1.44581111e-02 2.11641148e-04 6.04748631e+01] [ 1.44590863e-02 9.99879059e-01 -5.72734248e-03 7.36323609e-01] [-1.28808998e-04 5.72980384e-03 9.99983576e-01 -2.89048631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.940281693 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:60.50, Y:0.74, Z:-0.29 [[ 9.99882993e-01 -1.52969495e-02 -5.16990712e-05 6.05049329e+01] [ 1.52969494e-02 9.99882995e-01 -2.16255259e-06 7.37833855e-01] [ 5.17261026e-05 1.37146148e-06 9.99999999e-01 -2.88867111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.970281693 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:60.54, Y:0.74, Z:-0.29 [[ 9.99858747e-01 -1.68058331e-02 2.21700434e-04 6.05363782e+01] [ 1.68058315e-02 9.99858772e-01 9.34289113e-06 7.40502441e-01] [-2.21826139e-04 -5.61571129e-06 9.99999975e-01 -2.89207937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.000281693 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:60.57, Y:0.74, Z:-0.29 [[ 9.99790977e-01 -2.04322576e-02 -7.24245683e-04 6.05675233e+01] [ 2.04322410e-02 9.99791240e-01 -3.04034696e-05 7.42699093e-01] [ 7.24715700e-04 1.55991523e-05 9.99999737e-01 -2.90940520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.030281693 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:60.60, Y:0.75, Z:-0.29 [[ 9.99753452e-01 -2.21760882e-02 -1.12122020e-03 6.05983511e+01] [ 2.21760493e-02 9.99754080e-01 -4.71051242e-05 7.45268267e-01] [ 1.12198907e-03 2.22292761e-05 9.99999370e-01 -2.91710823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.06028169300001 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:60.63, Y:0.75, Z:-0.29 [[ 9.99725337e-01 -2.33890570e-02 -1.48434826e-03 6.06290345e+01] [ 2.33889902e-02 9.99726438e-01 -6.23609970e-05 7.48616512e-01] [ 1.48540077e-03 2.76264617e-05 9.99998896e-01 -2.91258356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.09028169300001 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:60.66, Y:0.75, Z:-0.29 [[ 9.99665821e-01 -2.57441045e-02 -2.34255843e-03 6.06592178e+01] [ 2.57439447e-02 9.99668565e-01 -9.83783334e-05 7.53131095e-01] [ 2.34431469e-03 3.80387628e-05 9.99997251e-01 -2.89758144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.12028169300001 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:60.69, Y:0.76, Z:-0.29 [[ 9.99600611e-01 -2.81482540e-02 -2.50887848e-03 6.06897356e+01] [ 2.81480782e-02 9.99603759e-01 -1.05375728e-04 7.55726980e-01] [ 2.51085050e-03 3.47135347e-05 9.99996847e-01 -2.88322126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.150281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:60.72, Y:0.76, Z:-0.29 [[ 9.99569885e-01 -2.92143499e-02 -2.56275689e-03 6.07200668e+01] [ 2.92141699e-02 9.99573169e-01 -1.07638682e-04 7.58600090e-01] [ 2.56480763e-03 3.27235701e-05 9.99996710e-01 -2.88156793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.180281693 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:60.75, Y:0.76, Z:-0.29 [[ 9.99546678e-01 -3.00319560e-02 -2.12615014e-03 6.07501867e+01] [ 3.00318340e-02 9.99548939e-01 -8.93007061e-05 7.61152659e-01] [ 2.12787299e-03 2.54080360e-05 9.99997736e-01 -2.88753727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.210281693 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:60.78, Y:0.76, Z:-0.29 [[ 9.99478976e-01 -3.22740462e-02 -4.02679961e-04 6.07803027e+01] [ 3.22761025e-02 9.99453376e-01 7.15560696e-03 7.59222242e-01] [ 1.71519456e-04 -7.16487566e-03 9.99974317e-01 -2.91146402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.240281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:60.81, Y:0.77, Z:-0.29 [[ 9.99430983e-01 -3.37084697e-02 -1.20353772e-03 6.08114327e+01] [ 3.36991104e-02 9.99406835e-01 -7.09565479e-03 7.68210091e-01] [ 1.44200749e-03 7.05105909e-03 9.99974101e-01 -2.88666516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.270281693 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:60.84, Y:0.77, Z:-0.29 [[ 9.99360122e-01 -3.57618476e-02 -6.60603885e-04 6.08428201e+01] [ 3.57618371e-02 9.99360341e-01 -2.77655298e-05 7.66881625e-01] [ 6.61174270e-04 4.12335470e-06 9.99999781e-01 -2.88869466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.300281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:60.87, Y:0.77, Z:-0.29 [[ 9.99338449e-01 -3.63683282e-02 -9.06426173e-05 6.08734627e+01] [ 3.63683280e-02 9.99338454e-01 -3.79920199e-06 7.67911198e-01] [ 9.07208237e-05 5.00168182e-07 9.99999996e-01 -2.88413290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.330281693 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:60.90, Y:0.77, Z:-0.29 [[ 9.99283107e-01 -3.78568563e-02 -3.60534687e-04 6.09033813e+01] [ 3.78568533e-02 9.99283172e-01 -1.51472083e-05 7.66989349e-01] [ 3.60849671e-04 1.48764065e-06 9.99999935e-01 -2.89953749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.360281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:60.93, Y:0.77, Z:-0.29 [[ 9.99246113e-01 -3.88046030e-02 -1.18713762e-03 6.09347810e+01] [ 3.88045712e-02 9.99246818e-01 -4.98667045e-05 7.67072185e-01] [ 1.18817854e-03 3.76274442e-06 9.99999294e-01 -2.89517737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.390281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:60.97, Y:0.77, Z:-0.29 [[ 9.99236362e-01 -3.90055535e-02 -2.29338574e-03 6.09656245e+01] [ 3.90054352e-02 9.99238994e-01 -9.63089642e-05 7.67686273e-01] [ 2.29539704e-03 6.78091019e-06 9.99997366e-01 -2.89479081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.420281693 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:61.00, Y:0.77, Z:-0.29 [[ 9.99300942e-01 -3.72514009e-02 -3.15600978e-03 6.09960550e+01] [ 3.72511680e-02 9.99305926e-01 -1.32570301e-04 7.67796316e-01] [ 3.15875771e-03 1.49125761e-05 9.99995011e-01 -2.88752055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.45028169300001 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:61.03, Y:0.77, Z:-0.29 [[ 9.99351978e-01 -3.59009201e-02 -2.59772338e-03 6.10259798e+01] [ 3.59007579e-02 9.99355354e-01 -1.09074589e-04 7.68470235e-01] [ 2.59996464e-03 1.57436679e-05 9.99996620e-01 -2.88622869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.48028169300001 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:61.06, Y:0.77, Z:-0.29 [[ 9.99435610e-01 -3.35916400e-02 -2.52310667e-04 6.10567882e+01] [ 3.35916384e-02 9.99435642e-01 -1.05955213e-05 7.70038600e-01] [ 2.52524194e-04 2.11401265e-06 9.99999968e-01 -2.87695790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.510281693 meters Centerline goodness : 0.999161 Centerline is valid? [True, True] Translation: X:61.09, Y:0.77, Z:-0.29 [[ 9.99479413e-01 -3.22484676e-02 9.69410012e-04 6.10876096e+01] [ 3.22484433e-02 9.99479883e-01 4.07147405e-05 7.71907776e-01] [-9.70218793e-04 -9.43158112e-06 9.99999529e-01 -2.87697383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.540281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:61.12, Y:0.77, Z:-0.29 [[ 9.99537707e-01 -3.03904136e-02 8.92209694e-04 6.11190798e+01] [ 3.03903922e-02 9.99538105e-01 3.74574154e-05 7.73819016e-01] [-8.92935933e-04 -1.03254965e-05 9.99999601e-01 -2.87803264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.570281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:61.15, Y:0.78, Z:-0.29 [[ 9.99636363e-01 -2.69484866e-02 9.59355507e-04 6.11515867e+01] [ 2.69484604e-02 9.99636823e-01 4.02425985e-05 7.78381531e-01] [-9.60091569e-04 -1.43748109e-05 9.99999539e-01 -2.87764079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.600281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:61.18, Y:0.78, Z:-0.29 [[ 9.99679843e-01 -2.52783717e-02 1.10256099e-03 6.11827584e+01] [ 2.52783361e-02 9.99680451e-01 4.61880823e-05 7.80647886e-01] [-1.10337623e-03 -1.83023875e-05 9.99999391e-01 -2.88050039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.630281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:61.21, Y:0.78, Z:-0.29 [[ 9.99714318e-01 -2.39000989e-02 -2.60258833e-04 6.12139248e+01] [ 2.39000969e-02 9.99714352e-01 -1.08453924e-05 7.83427164e-01] [ 2.60443697e-04 4.62208277e-06 9.99999966e-01 -2.88776117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.660281693 meters Centerline goodness : 0.998735 Centerline is valid? [True, True] Translation: X:61.24, Y:0.79, Z:-0.29 [[ 9.99712272e-01 -2.38746786e-02 -2.31787821e-03 6.12439594e+01] [ 2.38745180e-02 9.99714958e-01 -9.69203328e-05 7.85322984e-01] [ 2.31953146e-03 4.15542210e-05 9.99997309e-01 -2.89682811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.690281693 meters Centerline goodness : 0.998491 Centerline is valid? [True, True] Translation: X:61.27, Y:0.79, Z:-0.29 [[ 9.99698821e-01 -2.42427348e-02 -3.81539618e-03 6.12747837e+01] [ 2.42423023e-02 9.99706099e-01 -1.59560581e-04 7.87675156e-01] [ 3.81814302e-03 6.70185374e-05 9.99992709e-01 -2.90522446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.720281693 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:61.30, Y:0.79, Z:-0.29 [[ 9.99663157e-01 -2.56035440e-02 -4.24625201e-03 6.13047944e+01] [ 2.56030206e-02 9.99672173e-01 -1.77579053e-04 7.90370932e-01] [ 4.24940663e-03 6.88023590e-05 9.99990969e-01 -2.90363143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.750281693 meters Centerline goodness : 0.998722 Centerline is valid? [True, True] Translation: X:61.33, Y:0.79, Z:-0.29 [[ 9.99587679e-01 -2.86893075e-02 -1.18171988e-03 6.13342109e+01] [ 2.86892691e-02 9.99588377e-01 -4.94136154e-05 7.90931309e-01] [ 1.18265110e-03 1.54905615e-05 9.99999301e-01 -2.89603081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.780281693 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:61.36, Y:0.79, Z:-0.29 [[ 9.99541890e-01 -3.02606670e-02 -5.49295759e-04 6.13640939e+01] [ 3.02606590e-02 9.99542041e-01 -2.29501280e-05 7.91360869e-01] [ 5.49738690e-04 6.31756270e-06 9.99999849e-01 -2.89316622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.81028169300001 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:61.40, Y:0.79, Z:-0.29 [[ 9.99495794e-01 -3.17512497e-02 1.24615516e-04 6.13952364e+01] [ 3.17512493e-02 9.99495802e-01 5.23440186e-06 7.91351943e-01] [-1.24718884e-04 -1.27506431e-06 9.99999992e-01 -2.89656711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.84028169300001 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:61.43, Y:0.79, Z:-0.29 [[ 9.99452674e-01 -3.30809947e-02 -3.29646263e-05 6.14269545e+01] [ 3.30809946e-02 9.99452674e-01 -1.34892413e-06 7.90990716e-01] [ 3.29912076e-05 2.57683205e-07 9.99999999e-01 -2.89566794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.87028169300001 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:61.46, Y:0.79, Z:-0.29 [[ 9.99362079e-01 -3.56902071e-02 -1.28236776e-03 6.14574627e+01] [ 3.56901679e-02 9.99362902e-01 -5.34574811e-05 7.88862342e-01] [ 1.28345867e-03 7.65545889e-06 9.99999176e-01 -2.89196844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.900281693 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:61.49, Y:0.79, Z:-0.29 [[ 9.99319941e-01 -3.67772267e-02 -2.66301966e-03 6.14879423e+01] [ 3.67770613e-02 9.99323489e-01 -1.11063339e-04 7.85786172e-01] [ 2.66530270e-03 1.30497715e-05 9.99996448e-01 -2.88284255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.930281693 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:61.52, Y:0.78, Z:-0.29 [[ 9.99349891e-01 -3.60081579e-02 -1.79098341e-03 6.15181926e+01] [ 3.60080818e-02 9.99351496e-01 -7.47034721e-05 7.84354432e-01] [ 1.79251188e-03 1.01650297e-05 9.99998393e-01 -2.88242851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.960281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:61.55, Y:0.78, Z:-0.29 [[ 9.99403308e-01 -3.45400978e-02 -9.79970627e-05 6.15489822e+01] [ 3.45400976e-02 9.99403313e-01 -4.07256366e-06 7.83286375e-01] [ 9.80792559e-05 6.85305486e-07 9.99999995e-01 -2.88366863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.990281693 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:61.58, Y:0.78, Z:-0.29 [[ 9.99565673e-01 -2.94654311e-02 5.03945158e-04 6.15789784e+01] [ 2.94654242e-02 9.99565800e-01 2.10222209e-05 7.81506960e-01] [-5.04345773e-04 -6.16413255e-06 9.99999873e-01 -2.87579749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.020281693 meters Centerline goodness : 0.998455 Centerline is valid? [True, True] Translation: X:61.61, Y:0.78, Z:-0.29 [[ 9.99653055e-01 -2.63353521e-02 -4.67871744e-04 6.16099868e+01] [ 2.63353459e-02 9.99653164e-01 -1.94660435e-05 7.81832495e-01] [ 4.68222114e-04 7.13772570e-06 9.99999890e-01 -2.88230144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.050281693 meters Centerline goodness : 0.997897 Centerline is valid? [True, True] Translation: X:61.64, Y:0.78, Z:-0.29 [[ 9.99777046e-01 -2.08228148e-02 -3.50264963e-03 6.16404890e+01] [ 2.08224315e-02 9.99783179e-01 -1.45882961e-04 7.81214195e-01] [ 3.50492788e-03 7.29167537e-05 9.99993855e-01 -2.89051989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.080281693 meters Centerline goodness : 0.998051 Centerline is valid? [True, True] Translation: X:61.67, Y:0.78, Z:-0.29 [[ 9.99820298e-01 -1.87087000e-02 -3.05885864e-03 6.16701210e+01] [ 1.87083975e-02 9.99824974e-01 -1.27505483e-04 7.82850402e-01] [ 3.06070872e-03 7.02562264e-05 9.99995314e-01 -2.89393915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.110281693 meters Centerline goodness : 0.998227 Centerline is valid? [True, True] Translation: X:61.70, Y:0.79, Z:-0.29 [[ 9.99851857e-01 -1.70471727e-02 -2.37846114e-03 6.17005027e+01] [ 1.70469851e-02 9.99854685e-01 -9.91231657e-05 7.85789229e-01] [ 2.37980528e-03 5.85628899e-05 9.99997167e-01 -2.89182582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.140281693 meters Centerline goodness : 0.998304 Centerline is valid? [True, True] Translation: X:61.73, Y:0.79, Z:-0.29 [[ 9.99912640e-01 -1.31726195e-02 -1.09304463e-03 6.17294460e+01] [ 1.31725775e-02 9.99913237e-01 -4.56037914e-05 7.93078968e-01] [ 1.09355052e-03 3.12015923e-05 9.99999402e-01 -2.88543248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.170281693 meters Centerline goodness : 0.998079 Centerline is valid? [True, True] Translation: X:61.76, Y:0.80, Z:-0.29 [[ 9.99936778e-01 -1.12040836e-02 -9.53227625e-04 6.17596236e+01] [ 1.12040508e-02 9.99937232e-01 -3.97471850e-05 7.98053435e-01] [ 9.53613123e-04 2.90646614e-05 9.99999545e-01 -2.88220958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.20028169300001 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:61.79, Y:0.81, Z:-0.29 [[ 9.99961448e-01 -8.71956043e-03 -1.03571366e-03 6.17903812e+01] [ 8.71952042e-03 9.99961983e-01 -4.31360076e-05 8.08579396e-01] [ 1.03605042e-03 3.41034181e-05 9.99999463e-01 -2.88401011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.23028169300001 meters Centerline goodness : 0.998564 Centerline is valid? [True, True] Translation: X:61.82, Y:0.82, Z:-0.29 [[ 9.99963256e-01 -8.49108238e-03 -1.17799841e-03 6.18210227e+01] [ 8.49103050e-03 9.99963949e-01 -4.90388638e-05 8.15185212e-01] [ 1.17837233e-03 3.90346415e-05 9.99999305e-01 -2.89365713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.260281693 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:61.85, Y:0.83, Z:-0.29 [[ 9.99947257e-01 -1.01820479e-02 -1.34488401e-03 6.18508902e+01] [ 1.01819818e-02 9.99948161e-01 -5.59885074e-05 8.25733045e-01] [ 1.34538437e-03 4.22919699e-05 9.99999094e-01 -2.89557503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.290281693 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:61.88, Y:0.83, Z:-0.29 [[ 9.99925577e-01 -1.21128400e-02 -1.45596594e-03 6.18812257e+01] [ 1.21127646e-02 9.99926636e-01 -6.05978946e-05 8.31141212e-01] [ 1.45659314e-03 4.29576120e-05 9.99998938e-01 -2.89013258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.320281693 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:61.91, Y:0.84, Z:-0.29 [[ 9.99895885e-01 -1.43237749e-02 -1.74628218e-03 6.19127626e+01] [ 1.43236699e-02 9.99897408e-01 -7.26289762e-05 8.36842835e-01] [ 1.74714335e-03 4.76082449e-05 9.99998473e-01 -2.88095207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.350281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:61.94, Y:0.85, Z:-0.29 [[ 9.99766195e-01 -2.13636301e-02 -3.33913575e-03 6.19427063e+01] [ 2.13632857e-02 9.99771769e-01 -1.38756776e-04 8.45978458e-01] [ 3.34133800e-03 6.73894226e-05 9.99994415e-01 -2.88362755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.380281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:61.97, Y:0.85, Z:-0.29 [[ 9.99766429e-01 -2.13526899e-02 -3.33913591e-03 6.19735175e+01] [ 2.13523455e-02 9.99772003e-01 -1.38752795e-04 8.47219262e-01] [ 3.34133735e-03 6.74220031e-05 9.99994415e-01 -2.88399815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.410281693 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:62.00, Y:0.85, Z:-0.29 [[ 9.99673690e-01 -2.52923381e-02 -3.57914570e-03 6.20042464e+01] [ 2.52919680e-02 9.99680096e-01 -1.48630871e-04 8.50791579e-01] [ 3.58175994e-03 5.80587331e-05 9.99993584e-01 -2.88424621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.440281693 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:62.03, Y:0.85, Z:-0.29 [[ 9.99574162e-01 -2.90561933e-02 -2.68946154e-03 6.20342177e+01] [ 2.90559980e-02 9.99577779e-01 -1.11661458e-04 8.52839478e-01] [ 2.69157045e-03 3.34689189e-05 9.99996377e-01 -2.88488796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.470281693 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:62.06, Y:0.86, Z:-0.29 [[ 9.99317511e-01 -3.69278525e-02 -9.19197343e-04 6.20649787e+01] [ 3.69278330e-02 9.99317934e-01 -3.81222751e-05 8.55580902e-01] [ 9.19978164e-04 4.15229109e-06 9.99999577e-01 -2.87944598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.500281693 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:62.10, Y:0.86, Z:-0.29 [[ 9.99195858e-01 -4.00838231e-02 -9.61724951e-04 6.20972798e+01] [ 4.00838033e-02 9.99196321e-01 -3.98203073e-05 8.56141372e-01] [ 9.62548183e-04 1.23869226e-06 9.99999537e-01 -2.88902536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.530281693 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:62.13, Y:0.85, Z:-0.29 [[ 9.98904354e-01 -4.67634235e-02 -1.80920174e-03 6.21300945e+01] [ 4.67633646e-02 9.98905993e-01 -7.48739301e-05 8.52700385e-01] [ 1.81072382e-03 -9.81246576e-06 9.99998361e-01 -2.89739694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.56028169300001 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:62.16, Y:0.85, Z:-0.29 [[ 9.98769917e-01 -4.95646949e-02 -1.41198260e-03 6.21619430e+01] [ 4.95646618e-02 9.98770915e-01 -5.84186364e-05 8.51251203e-01] [ 1.41314266e-03 -1.16376634e-05 9.99999001e-01 -2.89187945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.59028169300001 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:62.19, Y:0.85, Z:-0.29 [[ 9.98610289e-01 -5.26927963e-02 -9.79429100e-04 6.21938206e+01] [ 5.26927819e-02 9.98610770e-01 -4.04658570e-05 8.47163691e-01] [ 9.80200706e-04 -1.11992228e-05 9.99999520e-01 -2.86853834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.62028169300001 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:62.22, Y:0.85, Z:-0.29 [[ 9.98602243e-01 -5.28475363e-02 -8.35787434e-04 6.22244639e+01] [ 5.28475259e-02 9.98602593e-01 -3.45430740e-05 8.45354607e-01] [ 8.36445015e-04 -9.67450693e-06 9.99999650e-01 -2.86585062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.650281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:62.26, Y:0.84, Z:-0.29 [[ 9.98679321e-01 -5.13717698e-02 -7.45325772e-04 6.22550544e+01] [ 5.13717611e-02 9.98679599e-01 -3.07440596e-05 8.40186136e-01] [ 7.45921020e-04 -7.58524093e-06 9.99999722e-01 -2.86982911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.680281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:62.29, Y:0.84, Z:-0.29 [[ 9.98771497e-01 -4.95447567e-02 -9.01866401e-04 6.22863959e+01] [ 4.95447433e-02 9.98771904e-01 -3.72053701e-05 8.38591604e-01] [ 9.02602154e-04 -7.52307614e-06 9.99999593e-01 -2.87112121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.710281693 meters Centerline goodness : 0.998827 Centerline is valid? [True, True] Translation: X:62.32, Y:0.84, Z:-0.29 [[ 9.98893705e-01 -4.70180648e-02 -8.16988813e-04 6.23169685e+01] [ 4.70180529e-02 9.98894039e-01 -3.36818359e-05 8.37224866e-01] [ 8.17668910e-04 -4.76864934e-06 9.99999666e-01 -2.87438021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.740281693 meters Centerline goodness : 0.998702 Centerline is valid? [True, True] Translation: X:62.35, Y:0.83, Z:-0.29 [[ 9.99213697e-01 -3.96469933e-02 -3.21518220e-04 6.23471634e+01] [ 3.96469911e-02 9.99213749e-01 -1.32092854e-05 8.33083254e-01] [ 3.21789134e-04 4.51668942e-07 9.99999948e-01 -2.86222856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.770281693 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:62.38, Y:0.83, Z:-0.29 [[ 9.99369393e-01 -3.55041219e-02 -5.23615860e-04 6.23781176e+01] [ 3.55041154e-02 9.99369530e-01 -2.15664484e-05 8.32533126e-01] [ 5.24051434e-04 2.96233049e-06 9.99999863e-01 -2.86271272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.800281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:62.41, Y:0.83, Z:-0.29 [[ 9.99603434e-01 -2.81231963e-02 -1.43543725e-03 6.24092787e+01] [ 2.81231404e-02 9.99604465e-01 -5.90957761e-05 8.32610520e-01] [ 1.43653144e-03 1.87033374e-05 9.99998968e-01 -2.86664292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.830281693 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:62.44, Y:0.83, Z:-0.29 [[ 9.99676911e-01 -2.53923336e-02 -1.14183217e-03 6.24399096e+01] [ 2.53922965e-02 9.99677563e-01 -4.70031464e-05 8.32918575e-01] [ 1.14265752e-03 1.79942193e-05 9.99999347e-01 -2.86222522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.860281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:62.47, Y:0.83, Z:-0.29 [[ 9.99720335e-01 -2.36484395e-02 -5.67767743e-05 6.24716622e+01] [ 2.36484394e-02 9.99720337e-01 -2.30847197e-06 8.32543507e-01] [ 5.68154877e-05 9.65144267e-07 9.99999998e-01 -2.85830787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.890281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:62.50, Y:0.83, Z:-0.29 [[ 9.99749090e-01 -2.23433807e-02 1.59100642e-03 6.25025605e+01] [ 2.23433047e-02 9.99750355e-01 6.54714701e-05 8.30641129e-01] [-1.59207208e-03 -2.99067014e-05 9.99998732e-01 -2.85251684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.920281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:62.53, Y:0.83, Z:-0.29 [[ 9.99752546e-01 -2.21779236e-02 1.72823618e-03 6.25337107e+01] [ 2.21778339e-02 9.99754039e-01 7.10910909e-05 8.31624650e-01] [-1.72938775e-03 -3.27449642e-05 9.99998504e-01 -2.85793736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.95028169300001 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:62.56, Y:0.83, Z:-0.29 [[ 9.99800200e-01 -1.99882456e-02 1.73605242e-04 6.25646181e+01] [ 1.99882447e-02 9.99800215e-01 7.21957690e-06 8.34261246e-01] [-1.73714865e-04 -3.74807037e-06 9.99999985e-01 -2.86419874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.98028169300001 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:62.60, Y:0.84, Z:-0.29 [[ 9.99844474e-01 -1.75973100e-02 -1.16695984e-03 6.25962250e+01] [ 1.75972662e-02 9.99845155e-01 -4.78370949e-05 8.36503100e-01] [ 1.16762095e-03 2.72943521e-05 9.99999318e-01 -2.86182142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.010281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:62.63, Y:0.84, Z:-0.29 [[ 9.99886924e-01 -1.49330457e-02 -1.77289743e-03 6.26264486e+01] [ 1.49329403e-02 9.99888495e-01 -7.26841630e-05 8.39378027e-01] [ 1.77378514e-03 4.62013727e-05 9.99998426e-01 -2.86007228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.040281693 meters Centerline goodness : 0.998529 Centerline is valid? [True, True] Translation: X:62.66, Y:0.85, Z:-0.28 [[ 9.99932136e-01 -1.16389264e-02 5.07775506e-04 6.26569493e+01] [ 1.16389173e-02 9.99932265e-01 2.08214284e-05 8.47035666e-01] [-5.07983451e-04 -1.49100582e-05 9.99999871e-01 -2.82731091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.070281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:62.69, Y:0.85, Z:-0.29 [[ 9.99936697e-01 -1.09386496e-02 2.63603962e-03 6.26867991e+01] [ 1.09384027e-02 9.99940168e-01 1.08034965e-04 8.50756722e-01] [-2.63706366e-03 -7.91940629e-05 9.99996520e-01 -2.85320535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.100281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:62.72, Y:0.85, Z:-0.29 [[ 9.99930589e-01 -1.13197198e-02 3.26807837e-03 6.27190828e+01] [ 1.13193429e-02 9.99935925e-01 1.33782732e-04 8.54141082e-01] [-3.26938335e-03 -9.67809463e-05 9.99994651e-01 -2.85343270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.130281693 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:62.75, Y:0.86, Z:-0.29 [[ 9.99905556e-01 -1.37232361e-02 -7.43315438e-04 6.27499659e+01] [ 1.37232174e-02 9.99905832e-01 -3.03476293e-05 8.58436250e-01] [ 7.43661909e-04 2.01440839e-05 9.99999723e-01 -2.87114621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.160281693 meters Centerline goodness : 0.998697 Centerline is valid? [True, True] Translation: X:62.78, Y:0.86, Z:-0.29 [[ 9.99879209e-01 -1.51477095e-02 -3.48070304e-03 6.27807346e+01] [ 1.51473062e-02 9.99885263e-01 -1.42199356e-04 8.62341374e-01] [ 3.48245766e-03 8.94589043e-05 9.99993932e-01 -2.87665965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.190281693 meters Centerline goodness : 0.998719 Centerline is valid? [True, True] Translation: X:62.81, Y:0.87, Z:-0.29 [[ 9.99834969e-01 -1.77356025e-02 -3.93477034e-03 6.28110882e+01] [ 1.77351070e-02 9.99842708e-01 -1.60780247e-04 8.70306450e-01] [ 3.93700297e-03 9.09701400e-05 9.99992246e-01 -2.86795722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.220281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:62.84, Y:0.87, Z:-0.29 [[ 9.99810415e-01 -1.93511994e-02 -2.15973184e-03 6.28408791e+01] [ 1.93510540e-02 9.99812747e-01 -8.82113015e-05 8.74257730e-01] [ 2.16103442e-03 4.64014904e-05 9.99997664e-01 -2.86623992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.250281693 meters Centerline goodness : 0.998755 Centerline is valid? [True, True] Translation: X:62.87, Y:0.88, Z:-0.29 [[ 9.99769624e-01 -2.14278806e-02 -1.24294720e-03 6.28721975e+01] [ 2.14278341e-02 9.99770396e-01 -5.07200852e-05 8.77813767e-01] [ 1.24374864e-03 2.40747341e-05 9.99999226e-01 -2.85859660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.280281693 meters Centerline goodness : 0.998683 Centerline is valid? [True, True] Translation: X:62.90, Y:0.88, Z:-0.29 [[ 9.99677136e-01 -2.53791718e-02 -1.23311430e-03 6.29029154e+01] [ 2.53791291e-02 9.99677897e-01 -5.02915843e-05 8.83175831e-01] [ 1.23399347e-03 1.89799801e-05 9.99999238e-01 -2.86479906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.31028169300001 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:62.93, Y:0.89, Z:-0.29 [[ 9.99610346e-01 -2.78877964e-02 -1.19452173e-03 6.29333031e+01] [ 2.78877581e-02 9.99611060e-01 -4.86546139e-05 8.86872734e-01] [ 1.19541400e-03 1.53231225e-05 9.99999285e-01 -2.86882272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.34028169300001 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:62.97, Y:0.89, Z:-0.29 [[ 9.99426418e-01 -3.38646331e-02 1.49656327e-04 6.29653764e+01] [ 3.38646326e-02 9.99426429e-01 6.14987388e-06 8.91811930e-01] [-1.49778752e-04 -1.07828989e-06 9.99999989e-01 -2.86841625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.37028169300001 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:63.00, Y:0.89, Z:-0.29 [[ 9.99311045e-01 -3.71086234e-02 6.20616074e-04 6.29973045e+01] [ 3.71086149e-02 9.99311238e-01 2.52998057e-05 8.93604485e-01] [-6.21127458e-04 -2.25217237e-06 9.99999807e-01 -2.86796861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.400281693 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:63.03, Y:0.90, Z:-0.29 [[ 9.99179084e-01 -4.05103695e-02 -2.62047308e-04 6.30289429e+01] [ 4.05103681e-02 9.99179118e-01 -1.06089743e-05 8.95046158e-01] [ 2.62261972e-04 -1.53676392e-08 9.99999966e-01 -2.86361869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.430281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:63.06, Y:0.90, Z:-0.29 [[ 9.98942207e-01 -4.59247943e-02 -2.31951695e-03 6.30609035e+01] [ 4.59246996e-02 9.98944900e-01 -9.41018351e-05 8.95387201e-01] [ 2.32139124e-03 -1.25208244e-05 9.99997305e-01 -2.87006805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.460281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:63.09, Y:0.90, Z:-0.29 [[ 9.98870489e-01 -4.74436101e-02 -2.61721845e-03 6.30923320e+01] [ 4.74434949e-02 9.98873918e-01 -1.06107958e-04 8.95796245e-01] [ 2.61930539e-03 -1.81818825e-05 9.99996569e-01 -2.86918653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.490281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:63.12, Y:0.90, Z:-0.29 [[ 9.98816464e-01 -4.86376232e-02 -2.27891125e-04 6.31240779e+01] [ 4.86376224e-02 9.98816490e-01 -9.21043714e-06 8.95556471e-01] [ 2.28069388e-04 -1.88454624e-06 9.99999974e-01 -2.86510295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.520281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:63.16, Y:0.90, Z:-0.29 [[ 9.98798315e-01 -4.89707373e-02 1.94777650e-03 6.31553898e+01] [ 4.89706765e-02 9.98800214e-01 7.89294987e-05 8.95971032e-01] [-1.94930482e-03 1.65492827e-05 9.99998100e-01 -2.85571219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.550281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:63.19, Y:0.90, Z:-0.29 [[ 9.98818920e-01 -4.84666299e-02 3.42794883e-03 6.31876213e+01] [ 4.84664391e-02 9.98824802e-01 1.38745505e-04 8.95640209e-01] [-3.43064484e-03 2.75588378e-05 9.99994115e-01 -2.85172804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.580281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:63.22, Y:0.89, Z:-0.28 [[ 9.98932685e-01 -4.61310937e-02 2.32668041e-03 6.32196849e+01] [ 4.61309997e-02 9.98935394e-01 9.40854639e-05 8.93186090e-01] [-2.32854368e-03 1.33470482e-05 9.99997289e-01 -2.84693280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.610281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:63.25, Y:0.89, Z:-0.29 [[ 9.99012104e-01 -4.44296623e-02 9.06522914e-04 6.32517343e+01] [ 4.44296473e-02 9.99012515e-01 3.66496226e-05 8.92619464e-01] [-9.07256067e-04 3.66307681e-06 9.99999588e-01 -2.85037738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.640281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:63.28, Y:0.89, Z:-0.29 [[ 9.99094172e-01 -4.25538714e-02 5.07582708e-05 6.32837983e+01] [ 4.25538713e-02 9.99094174e-01 2.10247271e-06 8.92259494e-01] [-5.08017610e-05 5.93926914e-08 9.99999999e-01 -2.85363098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.670281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:63.32, Y:0.89, Z:-0.29 [[ 9.99218721e-01 -3.94947140e-02 1.45451503e-03 6.33151832e+01] [ 3.94946705e-02 9.99219779e-01 5.86378938e-05 8.89812613e-01] [-1.45569608e-03 -1.14648924e-06 9.99998940e-01 -2.85593214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.70028169300001 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:63.35, Y:0.89, Z:-0.28 [[ 9.99246703e-01 -3.87400037e-02 2.28901777e-03 6.33475402e+01] [ 3.87398942e-02 9.99249324e-01 9.21641666e-05 8.89072997e-01] [-2.29086990e-03 -3.41843333e-06 9.99997376e-01 -2.84913957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.73028169300001 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:63.38, Y:0.89, Z:-0.29 [[ 9.99237838e-01 -3.89680063e-02 2.28870889e-03 6.33783914e+01] [ 3.89678976e-02 9.99240459e-01 9.20586711e-05 8.85751464e-01] [-2.29055787e-03 -2.80233350e-06 9.99997377e-01 -2.85605514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.760281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:63.41, Y:0.88, Z:-0.29 [[ 9.99209378e-01 -3.97385925e-02 1.20939438e-03 6.34106399e+01] [ 3.97385627e-02 9.99210110e-01 4.86231835e-05 8.83956955e-01] [-1.21037131e-03 -5.25146504e-07 9.99999268e-01 -2.86268760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.790281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:63.44, Y:0.88, Z:-0.29 [[ 9.99116968e-01 -4.20086575e-02 7.45958841e-04 6.34428629e+01] [ 4.20086468e-02 9.99117247e-01 2.99778649e-05 8.78159588e-01] [-7.46559673e-04 1.38532798e-06 9.99999721e-01 -2.86857554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.820281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:63.47, Y:0.88, Z:-0.29 [[ 9.99086822e-01 -4.27019180e-02 1.43789240e-03 6.34746931e+01] [ 4.27018792e-02 9.99087857e-01 5.76683040e-05 8.75236816e-01] [-1.43904339e-03 3.78506520e-06 9.99998965e-01 -2.86340117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.850281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:63.51, Y:0.87, Z:-0.29 [[ 9.99080246e-01 -4.28429016e-02 1.77403373e-03 6.35058724e+01] [ 4.28428430e-02 9.99081821e-01 7.10588540e-05 8.72819184e-01] [-1.77544922e-03 5.01115132e-06 9.99998424e-01 -2.85633446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.880281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:63.54, Y:0.87, Z:-0.29 [[ 9.99157310e-01 -4.10413329e-02 -5.27894861e-04 6.35378833e+01] [ 4.10413275e-02 9.99157450e-01 -2.10510971e-05 8.68982075e-01] [ 5.28314048e-04 -6.32148307e-07 9.99999860e-01 -2.85204378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.910281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:63.57, Y:0.87, Z:-0.29 [[ 9.99229579e-01 -3.92068157e-02 -1.75324587e-03 6.35687283e+01] [ 3.92067532e-02 9.99231117e-01 -6.99830555e-05 8.68530349e-01] [ 1.75464165e-03 1.19006074e-06 9.99998461e-01 -2.85389301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.940281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:63.60, Y:0.87, Z:-0.29 [[ 9.99422149e-01 -3.39500318e-02 -1.66208447e-03 6.35984976e+01] [ 3.39499683e-02 9.99423531e-01 -6.64233452e-05 8.65550283e-01] [ 1.66338141e-03 9.95724721e-06 9.99998617e-01 -2.86234683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.970281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:63.63, Y:0.86, Z:-0.29 [[ 9.99508144e-01 -3.13557417e-02 -5.36892663e-04 6.36286173e+01] [ 3.13557347e-02 9.99508288e-01 -2.14517958e-05 8.64567882e-01] [ 5.37301304e-04 4.60658063e-06 9.99999856e-01 -2.86699309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.000281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:63.66, Y:0.86, Z:-0.29 [[ 9.99567248e-01 -2.94161677e-02 7.28924723e-05 6.36597018e+01] [ 2.94161676e-02 9.99567251e-01 2.93873763e-06 8.64108879e-01] [-7.29473745e-05 -7.93248705e-07 9.99999997e-01 -2.87202894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.030281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:63.69, Y:0.86, Z:-0.29 [[ 9.99606241e-01 -2.80544510e-02 -5.56561612e-04 6.36896727e+01] [ 2.80544430e-02 9.99606396e-01 -2.22043467e-05 8.62895276e-01] [ 5.56965478e-04 6.58157759e-06 9.99999845e-01 -2.88088029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.06028169300001 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:63.72, Y:0.86, Z:-0.29 [[ 9.99540906e-01 -3.02543958e-02 -1.62762915e-03 6.37209357e+01] [ 3.02543302e-02 9.99542231e-01 -6.49108644e-05 8.58159698e-01] [ 1.62884791e-03 1.56382345e-05 9.99998673e-01 -2.89248503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.09028169300001 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:63.75, Y:0.86, Z:-0.29 [[ 9.99453406e-01 -3.30041404e-02 -1.90140973e-03 6.37511253e+01] [ 3.30040559e-02 9.99455215e-01 -7.58260867e-05 8.55127840e-01] [ 1.90287644e-03 1.30304077e-05 9.99998189e-01 -2.89483032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.12028169300001 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:63.78, Y:0.85, Z:-0.29 [[ 9.99357820e-01 -3.58120707e-02 -1.20166677e-03 6.37816673e+01] [ 3.58120390e-02 9.99358542e-01 -4.79298274e-05 8.52088640e-01] [ 1.20261242e-03 4.86491056e-06 9.99999277e-01 -2.89414442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.150281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:63.81, Y:0.85, Z:-0.29 [[ 9.99270087e-01 -3.82003891e-02 -1.50268051e-04 6.38119883e+01] [ 3.82003887e-02 9.99270099e-01 -5.97833493e-06 8.49367749e-01] [ 1.50386745e-04 2.33673337e-07 9.99999989e-01 -2.88779110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.180281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:63.84, Y:0.84, Z:-0.29 [[ 9.99175494e-01 -4.05937818e-02 6.91162333e-04 6.38428713e+01] [ 4.05937725e-02 9.99175733e-01 2.75656730e-05 8.42364883e-01] [-6.91711625e-04 5.13941553e-07 9.99999761e-01 -2.88037367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.210281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:63.87, Y:0.84, Z:-0.29 [[ 9.99181454e-01 -4.04519345e-02 -2.51405708e-04 6.38735136e+01] [ 4.04519333e-02 9.99181486e-01 -1.00219469e-05 8.37809859e-01] [ 2.51605336e-04 -1.56103454e-07 9.99999968e-01 -2.88034175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.240281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:63.90, Y:0.83, Z:-0.29 [[ 9.99228714e-01 -3.92280460e-02 -1.77124491e-03 6.39032499e+01] [ 3.92279825e-02 9.99230284e-01 -7.06082713e-05 8.27388586e-01] [ 1.77265138e-03 1.07144780e-06 9.99998429e-01 -2.88170464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.270281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:63.93, Y:0.83, Z:-0.29 [[ 9.99228811e-01 -3.92255713e-02 -1.77124521e-03 6.39332265e+01] [ 3.92255078e-02 9.99230381e-01 -7.06009100e-05 8.28582055e-01] [ 1.77265138e-03 1.06847075e-06 9.99998429e-01 -2.88206527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.300281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:63.96, Y:0.83, Z:-0.29 [[ 9.99273309e-01 -3.80716453e-02 -1.84483438e-03 6.39625616e+01] [ 3.80715743e-02 9.99275012e-01 -7.36049112e-05 8.25822426e-01] [ 1.84629915e-03 3.31567417e-06 9.99998296e-01 -2.88007842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.330281693 meters Centerline goodness : 0.999327 Centerline is valid? [True, True] Translation: X:63.99, Y:0.82, Z:-0.29 [[ 9.99405632e-01 -3.44389093e-02 -1.53127510e-03 6.39922994e+01] [ 3.44388561e-02 9.99406805e-01 -6.11332676e-05 8.19651173e-01] [ 1.53247212e-03 8.36156900e-06 9.99998826e-01 -2.88111025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.360281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:64.02, Y:0.82, Z:-0.29 [[ 9.99451123e-01 -3.31183328e-02 -7.93050132e-04 6.40208923e+01] [ 3.31183180e-02 9.99451438e-01 -3.17135858e-05 8.16638258e-01] [ 7.93665396e-04 5.43169244e-06 9.99999685e-01 -2.88044225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.390281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:64.05, Y:0.81, Z:-0.29 [[ 9.99479103e-01 -3.22724095e-02 -1.21371554e-04 6.40511094e+01] [ 3.22724092e-02 9.99479110e-01 -4.87850154e-06 8.13901222e-01] [ 1.21465774e-04 9.59007875e-07 9.99999993e-01 -2.88039309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.420281693 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:64.08, Y:0.81, Z:-0.29 [[ 9.99513352e-01 -3.11842713e-02 7.75210114e-04 6.40810743e+01] [ 3.11842566e-02 9.99513652e-01 3.09743044e-05 8.09235753e-01] [-7.75799003e-04 -6.78487970e-06 9.99999699e-01 -2.87619216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.45028169300001 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:64.11, Y:0.81, Z:-0.29 [[ 9.99538007e-01 -3.03803186e-02 8.98944079e-04 6.41114239e+01] [ 3.03802986e-02 9.99538412e-01 3.59344788e-05 8.08236248e-01] [-8.99620838e-04 -8.60768775e-06 9.99999595e-01 -2.86965778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.48028169300001 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:64.14, Y:0.81, Z:-0.29 [[ 9.99593066e-01 -2.85236793e-02 3.19093327e-04 6.41419347e+01] [ 2.85236767e-02 9.99593117e-01 1.27554679e-05 8.07453017e-01] [-3.19327326e-04 -3.64856240e-06 9.99999949e-01 -2.87752861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.510281693 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:64.17, Y:0.81, Z:-0.29 [[ 9.99625479e-01 -2.73660200e-02 -5.00798780e-05 6.41710625e+01] [ 2.73660199e-02 9.99625480e-01 -2.01651621e-06 8.09438338e-01] [ 5.01163062e-05 6.45274041e-07 9.99999999e-01 -2.87835861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.540281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:64.20, Y:0.81, Z:-0.29 [[ 9.99660054e-01 -2.60712024e-02 2.63878355e-04 6.42003815e+01] [ 2.60712005e-02 9.99660088e-01 1.05297017e-05 8.11785034e-01] [-2.64063182e-04 -3.64649668e-06 9.99999965e-01 -2.87039153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.570281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:64.23, Y:0.81, Z:-0.29 [[ 9.99735887e-01 -2.29270671e-02 1.58277596e-03 6.42307173e+01] [ 2.29269955e-02 9.99737140e-01 6.33251472e-05 8.14050152e-01] [-1.58381177e-03 -2.70201249e-05 9.99998745e-01 -2.86265793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.600281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:64.26, Y:0.82, Z:-0.29 [[ 9.99771806e-01 -2.12955678e-02 1.68349207e-03 6.42612533e+01] [ 2.12954846e-02 9.99773223e-01 6.73490923e-05 8.15775891e-01] [-1.68454453e-03 -3.14829442e-05 9.99998581e-01 -2.86531111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.630281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:64.29, Y:0.82, Z:-0.29 [[ 9.99829422e-01 -1.84688861e-02 -1.67676811e-04 6.42917361e+01] [ 1.84688852e-02 9.99829436e-01 -6.69105585e-06 8.21101655e-01] [ 1.67771788e-04 3.59311071e-06 9.99999986e-01 -2.86971265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.660281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:64.32, Y:0.83, Z:-0.29 [[ 9.99846087e-01 -1.75370529e-02 -5.03939498e-04 6.43220877e+01] [ 1.75370450e-02 9.99846214e-01 -2.01504939e-05 8.25703590e-01] [ 5.04215380e-04 1.13097828e-05 9.99999873e-01 -2.87243702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.690281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:64.35, Y:0.83, Z:-0.29 [[ 9.99851173e-01 -1.72349930e-02 -7.66377922e-04 6.43510234e+01] [ 1.72349746e-02 9.99851466e-01 -3.06668403e-05 8.28926197e-01] [ 7.66792631e-04 1.74537723e-05 9.99999706e-01 -2.87244011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.720281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:64.38, Y:0.83, Z:-0.29 [[ 9.99800160e-01 -1.99909982e-02 -2.82230286e-05 6.43815351e+01] [ 1.99909982e-02 9.99800160e-01 -1.12884704e-06 8.32446547e-01] [ 2.82399553e-05 5.64414942e-07 1.00000000e+00 -2.87137868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.750281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:64.41, Y:0.83, Z:-0.29 [[ 9.99756326e-01 -2.20745910e-02 4.25317290e-05 6.44116801e+01] [ 2.20745910e-02 9.99756327e-01 1.71482233e-06 8.34283346e-01] [-4.25592192e-05 -7.75533953e-07 9.99999999e-01 -2.87655407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.780281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:64.44, Y:0.84, Z:-0.29 [[ 9.99691137e-01 -2.48338229e-02 -9.54404747e-04 6.44420738e+01] [ 2.48337978e-02 9.99691593e-01 -3.81624274e-05 8.38459285e-01] [ 9.55058121e-04 1.44491459e-05 9.99999544e-01 -2.88477209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.81028169300001 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:64.47, Y:0.84, Z:-0.29 [[ 9.99670356e-01 -2.56263987e-02 -1.57078926e-03 6.44718182e+01] [ 2.56263316e-02 9.99671590e-01 -6.28405080e-05 8.41354055e-01] [ 1.57188377e-03 2.25662267e-05 9.99998764e-01 -2.88854296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.84028169300001 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:64.50, Y:0.84, Z:-0.29 [[ 9.99651807e-01 -2.62780587e-02 -2.39327000e-03 6.45017884e+01] [ 2.62779046e-02 9.99654672e-01 -9.58046621e-05 8.43935815e-01] [ 2.39496110e-03 3.28811829e-05 9.99997132e-01 -2.88807448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.870281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:64.53, Y:0.85, Z:-0.29 [[ 9.99613599e-01 -2.77427580e-02 -1.72974765e-03 6.45312916e+01] [ 2.77426796e-02 9.99615095e-01 -6.92921281e-05 8.48969740e-01] [ 1.73100422e-03 2.12775188e-05 9.99998502e-01 -2.88734573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.900281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:64.56, Y:0.85, Z:-0.29 [[ 9.99587860e-01 -2.86975166e-02 -7.49560683e-04 6.45609321e+01] [ 2.86975022e-02 9.99588141e-01 -3.00371756e-05 8.51583231e-01] [ 7.50113963e-04 8.51427678e-06 9.99999719e-01 -2.88280750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.930281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:64.59, Y:0.85, Z:-0.29 [[ 9.99488789e-01 -3.19587287e-02 8.94860393e-04 6.45899396e+01] [ 3.19587095e-02 9.99489189e-01 3.58396519e-05 8.54538581e-01] [-8.95548678e-04 -7.22274697e-06 9.99999599e-01 -2.88969289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.960281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:64.62, Y:0.86, Z:-0.29 [[ 9.99429722e-01 -3.37669541e-02 1.52509135e-04 6.46198387e+01] [ 3.37669535e-02 9.99429734e-01 6.12223557e-06 8.55897365e-01] [-1.52628893e-04 -9.68975322e-07 9.99999988e-01 -2.90119438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.990281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:64.65, Y:0.86, Z:-0.29 [[ 9.99357713e-01 -3.58170097e-02 -1.14153049e-03 6.46505460e+01] [ 3.58169808e-02 9.99358365e-01 -4.57236203e-05 8.56749085e-01] [ 1.14243573e-03 4.80807702e-06 9.99999347e-01 -2.90555880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.020281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:64.68, Y:0.86, Z:-0.29 [[ 9.99157054e-01 -4.09528411e-02 -2.83676301e-03 6.46804282e+01] [ 4.09526833e-02 9.99161081e-01 -1.13716593e-04 8.57024596e-01] [ 2.83904021e-03 -2.55232090e-06 9.99995970e-01 -2.91167677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.050281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:64.71, Y:0.86, Z:-0.29 [[ 9.98915429e-01 -4.65428649e-02 -1.31446034e-03 6.47090110e+01] [ 4.65428357e-02 9.98916294e-01 -5.27642366e-05 8.56637586e-01] [ 1.31549165e-03 -8.47170190e-06 9.99999135e-01 -2.90373191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.080281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:64.74, Y:0.86, Z:-0.29 [[ 9.98820527e-01 -4.85539851e-02 -2.56218332e-04 6.47379634e+01] [ 4.85539841e-02 9.98820560e-01 -1.03384898e-05 8.57038719e-01] [ 2.56418113e-04 -2.11412497e-06 9.99999967e-01 -2.90030413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.110281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:64.77, Y:0.86, Z:-0.29 [[ 9.98759994e-01 -4.97830837e-02 -3.46344247e-04 6.47672910e+01] [ 4.97830818e-02 9.98760054e-01 -1.39408983e-05 8.57430118e-01] [ 3.46608820e-04 -3.31847246e-06 9.99999940e-01 -2.90102568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.140281693 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:64.80, Y:0.86, Z:-0.29 [[ 9.98773724e-01 -4.94296203e-02 -2.78579751e-03 6.47956697e+01] [ 4.94295000e-02 9.98777609e-01 -1.12050516e-04 8.56087370e-01] [ 2.78793079e-03 -2.57874671e-05 9.99996113e-01 -2.90558403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.170281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:64.82, Y:0.86, Z:-0.29 [[ 9.98810882e-01 -4.86464351e-02 -3.21654777e-03 6.48242174e+01] [ 4.86462687e-02 9.98816061e-01 -1.30009686e-04 8.57075870e-01] [ 3.21906409e-03 -2.66179577e-05 9.99994818e-01 -2.90698104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.20028169300001 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:64.85, Y:0.86, Z:-0.29 [[ 9.98851477e-01 -4.77996587e-02 -3.30452404e-03 6.48528443e+01] [ 4.77994768e-02 9.98856943e-01 -1.34066950e-04 8.58775943e-01] [ 3.30715513e-03 -2.40415491e-05 9.99994531e-01 -2.90078036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.23028169300001 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:64.88, Y:0.86, Z:-0.29 [[ 9.98889258e-01 -4.70492727e-02 -2.57204177e-03 6.48809172e+01] [ 4.70491598e-02 9.98892570e-01 -1.04411881e-04 8.60692314e-01] [ 2.57410592e-03 -1.67164983e-05 9.99996687e-01 -2.89726345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.260281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:64.91, Y:0.86, Z:-0.29 [[ 9.98915499e-01 -4.65354287e-02 -1.50975078e-03 6.49100162e+01] [ 4.65353887e-02 9.98916640e-01 -6.16609043e-05 8.60793219e-01] [ 1.51098459e-03 -8.66280649e-06 9.99998858e-01 -2.88704707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.290281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:64.94, Y:0.86, Z:-0.29 [[ 9.98928156e-01 -4.62797021e-02 -8.52982381e-04 6.49382169e+01] [ 4.62796893e-02 9.98928521e-01 -3.48003936e-05 8.61962940e-01] [ 8.53678980e-04 -4.71266651e-06 9.99999636e-01 -2.88783160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.320281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:64.97, Y:0.86, Z:-0.28 [[ 9.98964619e-01 -4.54886515e-02 -6.86967359e-04 6.49678871e+01] [ 4.54886430e-02 9.98964856e-01 -2.80368014e-05 8.63916708e-01] [ 6.87531605e-04 -3.24144023e-06 9.99999764e-01 -2.80357176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.350281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:65.00, Y:0.87, Z:-0.29 [[ 9.99001798e-01 -4.45308224e-02 3.52313790e-03 6.49964300e+01] [ 4.45305923e-02 9.99008011e-01 1.43752422e-04 8.65890765e-01] [-3.52604440e-03 1.32784893e-05 9.99993783e-01 -2.86443609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.380281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:65.03, Y:0.87, Z:-0.29 [[ 9.99028486e-01 -4.38428547e-02 4.45951233e-03 6.50272119e+01] [ 4.38424790e-02 9.99038440e-01 1.82022390e-04 8.67100788e-01] [-4.46320462e-03 1.36705229e-05 9.99990040e-01 -2.86314505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.410281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:65.06, Y:0.87, Z:-0.29 [[ 9.99085651e-01 -4.26501838e-02 2.97055691e-03 6.50577809e+01] [ 4.26500120e-02 9.99090067e-01 1.21181998e-04 8.69886231e-01] [-2.97302234e-03 5.62309311e-06 9.99995581e-01 -2.88048626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.440281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:65.09, Y:0.87, Z:-0.29 [[ 9.99099190e-01 -4.24067642e-02 1.57290639e-03 6.50884948e+01] [ 4.24067158e-02 9.99100429e-01 6.41419296e-05 8.72868846e-01] [-1.57421150e-03 2.61764439e-06 9.99998761e-01 -2.88789852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.470281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:65.12, Y:0.88, Z:-0.29 [[ 9.99103575e-01 -4.23264558e-02 7.19653522e-04 6.51187217e+01] [ 4.23264456e-02 9.99103834e-01 2.93521915e-05 8.75745911e-01] [-7.20250967e-04 1.13449619e-06 9.99999741e-01 -2.88738701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.500281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:65.15, Y:0.88, Z:-0.29 [[ 9.99065323e-01 -4.32202779e-02 6.98712274e-04 6.51487792e+01] [ 4.32202685e-02 9.99065567e-01 2.84853125e-05 8.77283792e-01] [-6.99290518e-04 1.73984414e-06 9.99999755e-01 -2.87967576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.530281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:65.18, Y:0.88, Z:-0.29 [[ 9.99020659e-01 -4.42452818e-02 2.77885981e-04 6.51786191e+01] [ 4.42452804e-02 9.99020698e-01 1.13181969e-05 8.77255170e-01] [-2.78114623e-04 9.88030623e-07 9.99999961e-01 -2.88157047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.56028169300001 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:65.21, Y:0.88, Z:-0.29 [[ 9.98903741e-01 -4.68112089e-02 -1.62316912e-04 6.52093989e+01] [ 4.68112085e-02 9.98903754e-01 -6.61927356e-06 8.75731073e-01] [ 1.62448829e-04 -9.86233692e-07 9.99999987e-01 -2.89134861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.59028169300001 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:65.24, Y:0.88, Z:-0.29 [[ 9.98841130e-01 -4.81289027e-02 7.80696912e-05 6.52387819e+01] [ 4.81289026e-02 9.98841133e-01 3.15881469e-06 8.75360535e-01] [-7.81312491e-05 6.02254531e-07 9.99999997e-01 -2.89264378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.620281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:65.27, Y:0.87, Z:-0.29 [[ 9.98774058e-01 -4.95002390e-02 3.26786681e-04 6.52694973e+01] [ 4.95002372e-02 9.98774112e-01 1.33335753e-05 8.74249209e-01] [-3.27046092e-04 2.85878913e-06 9.99999947e-01 -2.89507767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.650281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:65.30, Y:0.87, Z:-0.29 [[ 9.98670277e-01 -5.15473496e-02 -7.41208838e-04 6.52996633e+01] [ 5.15473413e-02 9.98670552e-01 -3.02876226e-05 8.69581797e-01] [ 7.41784685e-04 -7.95999650e-06 9.99999725e-01 -2.89475637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.680281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:65.33, Y:0.87, Z:-0.29 [[ 9.98644973e-01 -5.20046402e-02 -1.93247368e-03 6.53284687e+01] [ 5.20045847e-02 9.98646843e-01 -7.90292688e-05 8.68973320e-01] [ 1.93396863e-03 -2.15753090e-05 9.99998130e-01 -2.89154621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.710281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:65.36, Y:0.87, Z:-0.29 [[ 9.98732286e-01 -5.02499960e-02 -2.95956367e-03 6.53571784e+01] [ 5.02498563e-02 9.98736671e-01 -1.21590646e-04 8.67056844e-01] [ 2.96193470e-03 -2.72811453e-05 9.99995613e-01 -2.89079173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.740281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:65.39, Y:0.87, Z:-0.29 [[ 9.98819989e-01 -4.84831949e-02 -2.83015348e-03 6.53852000e+01] [ 4.84830598e-02 9.98823998e-01 -1.16335454e-04 8.65996422e-01] [ 2.83246553e-03 -2.10163237e-05 9.99995988e-01 -2.89123520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.770281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:65.41, Y:0.86, Z:-0.29 [[ 9.99013404e-01 -4.43777893e-02 -1.68228214e-03 6.54128727e+01] [ 4.43777350e-02 9.99014821e-01 -6.95926059e-05 8.63586316e-01] [ 1.68371316e-03 -5.13192491e-06 9.99998583e-01 -2.89653092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.800281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:65.44, Y:0.86, Z:-0.29 [[ 9.99102306e-01 -4.23499430e-02 -1.03200196e-03 6.54418275e+01] [ 4.23499213e-02 9.99102839e-01 -4.29204703e-05 8.64819795e-01] [ 1.03289376e-03 -8.23260692e-07 9.99999467e-01 -2.89371658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.830281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:65.47, Y:0.87, Z:-0.29 [[ 9.99185955e-01 -4.03391826e-02 -4.22290160e-04 6.54718578e+01] [ 4.03391788e-02 9.99186044e-01 -1.75232839e-05 8.66252435e-01] [ 4.22653309e-04 4.74180880e-07 9.99999911e-01 -2.88891851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.860281693 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:65.50, Y:0.87, Z:-0.29 [[ 9.99305597e-01 -3.72163057e-02 -1.80819079e-03 6.55013304e+01] [ 3.72162309e-02 9.99307233e-01 -7.49836146e-05 8.66242599e-01] [ 1.80972875e-03 7.63749966e-06 9.99998362e-01 -2.89970330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.890281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:65.53, Y:0.87, Z:-0.29 [[ 9.99340891e-01 -3.61967780e-02 -2.75243008e-03 6.55296752e+01] [ 3.61965993e-02 9.99344682e-01 -1.14704976e-04 8.66243678e-01] [ 2.75477831e-03 1.50007640e-05 9.99996205e-01 -2.90507291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.920281693 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:65.56, Y:0.87, Z:-0.29 [[ 9.99384639e-01 -3.50201708e-02 -1.98282275e-03 6.55582186e+01] [ 3.50200749e-02 9.99386606e-01 -8.30365961e-05 8.65270606e-01] [ 1.98451445e-03 1.35468974e-05 9.99998031e-01 -2.90467466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.95028169300001 meters Centerline goodness : 0.999309 Centerline is valid? [True, True] Translation: X:65.59, Y:0.86, Z:-0.29 [[ 9.99394974e-01 -3.47715729e-02 -7.89734733e-04 6.55874881e+01] [ 3.47715574e-02 9.99395286e-01 -3.33262339e-05 8.64835814e-01] [ 7.90415975e-04 5.84576407e-06 9.99999688e-01 -2.90251992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.98028169300001 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:65.62, Y:0.86, Z:-0.29 [[ 9.99390840e-01 -3.48968207e-02 4.00364545e-04 6.56161675e+01] [ 3.48968167e-02 9.99390920e-01 1.67640583e-05 8.60973639e-01] [-4.00705703e-04 -2.78239820e-06 9.99999920e-01 -2.90677321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.010281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:65.64, Y:0.86, Z:-0.29 [[ 9.99391488e-01 -3.48789107e-02 3.40210887e-04 6.56447020e+01] [ 3.48789079e-02 9.99391546e-01 1.42520474e-05 8.59985059e-01] [-3.40500980e-04 -2.37719071e-06 9.99999942e-01 -2.89686711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.040281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:65.67, Y:0.86, Z:-0.29 [[ 9.99410870e-01 -3.43206422e-02 -7.84957692e-05 6.56739669e+01] [ 3.43206421e-02 9.99410873e-01 -3.32803837e-06 8.59620049e-01] [ 7.85637456e-05 6.32052528e-07 9.99999997e-01 -2.89372696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.070281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:65.70, Y:0.86, Z:-0.29 [[ 9.99497471e-01 -3.16463324e-02 -1.82081247e-03 6.57029009e+01] [ 3.16462453e-02 9.99499129e-01 -7.66492064e-05 8.57757492e-01] [ 1.82232615e-03 1.89888098e-05 9.99998339e-01 -2.89772355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.100281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:65.73, Y:0.86, Z:-0.29 [[ 9.99521296e-01 -3.08622950e-02 -2.16723430e-03 6.57318165e+01] [ 3.08621686e-02 9.99523646e-01 -9.17334221e-05 8.57721640e-01] [ 2.16903303e-03 2.48039587e-05 9.99997647e-01 -2.89628444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.130281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:65.76, Y:0.86, Z:-0.29 [[ 9.99542869e-01 -3.02269216e-02 -6.21926741e-04 6.57598358e+01] [ 3.02269110e-02 9.99543062e-01 -2.63738956e-05 8.56229966e-01] [ 6.22439760e-04 7.56291500e-06 9.99999806e-01 -2.89234311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.160281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:65.79, Y:0.86, Z:-0.29 [[ 9.99552073e-01 -2.99233106e-02 4.97851936e-04 6.57891721e+01] [ 2.99233039e-02 9.99552197e-01 2.09420258e-05 8.56371179e-01] [-4.98255651e-04 -6.03527051e-06 9.99999876e-01 -2.88968321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.190281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:65.82, Y:0.86, Z:-0.29 [[ 9.99550845e-01 -2.99643092e-02 4.97844874e-04 6.58183060e+01] [ 2.99643024e-02 9.99550969e-01 2.11083688e-05 8.57663189e-01] [-4.98253824e-04 -6.18131352e-06 9.99999876e-01 -2.89003378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.220281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:65.85, Y:0.86, Z:-0.29 [[ 9.99621242e-01 -2.75080561e-02 8.24679030e-04 6.58476416e+01] [ 2.75080366e-02 9.99621582e-01 3.50389332e-05 8.58354149e-01] [-8.25330810e-04 -1.23403610e-05 9.99999659e-01 -2.88422741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.250281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:65.88, Y:0.86, Z:-0.29 [[ 9.99662052e-01 -2.59618270e-02 1.32858763e-03 6.58774480e+01] [ 2.59617749e-02 9.99662935e-01 5.64938376e-05 8.60581289e-01] [-1.32960649e-03 -2.19822527e-05 9.99999116e-01 -2.89254074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.280281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:65.91, Y:0.86, Z:-0.29 [[ 9.99708144e-01 -2.41305590e-02 1.15923129e-03 6.59076359e+01] [ 2.41305181e-02 9.99708815e-01 4.92899325e-05 8.62982300e-01] [-1.16008314e-03 -2.13026953e-05 9.99999327e-01 -2.89670598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.31028169300001 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:65.94, Y:0.87, Z:-0.29 [[ 9.99773170e-01 -2.12917759e-02 -5.17974238e-04 6.59369925e+01] [ 2.12917674e-02 9.99773304e-01 -2.20195420e-05 8.67176603e-01] [ 5.18325651e-04 1.09859604e-05 9.99999866e-01 -2.91145653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.34028169300001 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:65.97, Y:0.87, Z:-0.29 [[ 9.99791328e-01 -2.04132250e-02 -7.74916639e-04 6.59670667e+01] [ 2.04132055e-02 9.99791628e-01 -3.29916724e-05 8.69670022e-01] [ 7.75428634e-04 1.71662553e-05 9.99999699e-01 -2.91069544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.370281693 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:66.00, Y:0.87, Z:-0.29 [[ 9.99797599e-01 -2.01142851e-02 -4.19032583e-04 6.59967845e+01] [ 2.01142794e-02 9.99797687e-01 -1.78436056e-05 8.71527718e-01] [ 4.19306719e-04 9.41145563e-06 9.99999912e-01 -2.90599656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.400281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:66.03, Y:0.87, Z:-0.29 [[ 9.99767125e-01 -2.15760014e-02 4.13848487e-04 6.60274109e+01] [ 2.15759960e-02 9.99767211e-01 1.76095439e-05 8.72581120e-01] [-4.14132091e-04 -8.67624978e-06 9.99999914e-01 -2.90016930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.430281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:66.06, Y:0.87, Z:-0.29 [[ 9.99708061e-01 -2.41599052e-02 -3.02833158e-04 6.60568878e+01] [ 2.41599024e-02 9.99708107e-01 -1.29025314e-05 8.73806447e-01] [ 3.03056487e-04 5.58234505e-06 9.99999954e-01 -2.90330737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.460281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:66.09, Y:0.88, Z:-0.29 [[ 9.99680853e-01 -2.52396451e-02 -1.07336174e-03 6.60876131e+01] [ 2.52396106e-02 9.99681429e-01 -4.56842644e-05 8.76114787e-01] [ 1.07417286e-03 1.85784519e-05 9.99999423e-01 -2.90784736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.490281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:66.12, Y:0.88, Z:-0.29 [[ 9.99657379e-01 -2.61109101e-02 -1.82877862e-03 6.61168764e+01] [ 2.61108113e-02 9.99659052e-01 -7.78714571e-05 8.77936312e-01] [ 1.83018840e-03 3.00938833e-05 9.99998325e-01 -2.91454207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.520281693 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:66.15, Y:0.88, Z:-0.29 [[ 9.99622489e-01 -2.74570536e-02 -9.94796267e-04 6.61467428e+01] [ 2.74570250e-02 9.99622984e-01 -4.24052433e-05 8.78883448e-01] [ 9.95585536e-04 1.50750889e-05 9.99999504e-01 -2.91866084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.550281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:66.18, Y:0.88, Z:-0.29 [[ 9.99603887e-01 -2.81405737e-02 -4.20377546e-04 6.61754959e+01] [ 2.81405686e-02 9.99603976e-01 -1.79659255e-05 8.79738048e-01] [ 4.20716638e-04 6.12914581e-06 9.99999911e-01 -2.91908472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.580281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:66.21, Y:0.88, Z:-0.29 [[ 9.99545962e-01 -3.00913292e-02 -1.54321339e-03 6.62064298e+01] [ 3.00912635e-02 9.99547153e-01 -6.57933839e-05 8.80335091e-01] [ 1.54449436e-03 1.93262706e-05 9.99998807e-01 -2.91589963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.610281693 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:66.24, Y:0.88, Z:-0.28 [[ 9.99510103e-01 -3.11642712e-02 -2.88818205e-03 6.62362205e+01] [ 3.11640452e-02 9.99514276e-01 -1.23232338e-04 8.80688575e-01] [ 2.89061964e-03 3.31645309e-05 9.99995822e-01 -2.84053331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.640281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:66.26, Y:0.88, Z:-0.29 [[ 9.99399896e-01 -3.46140483e-02 -1.30949090e-03 6.62636479e+01] [ 3.46140045e-02 9.99400754e-01 -5.60777786e-05 8.80024663e-01] [ 1.31064727e-03 1.07174021e-05 9.99999141e-01 -2.92533190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.670281693 meters Centerline goodness : 0.999186 Centerline is valid? [True, True] Translation: X:66.29, Y:0.88, Z:-0.29 [[ 9.99330537e-01 -3.65850775e-02 1.01318970e-04 6.62920610e+01] [ 3.65850773e-02 9.99330542e-01 4.15040693e-06 8.80794789e-01] [-1.01402984e-04 -4.40866028e-07 9.99999995e-01 -2.92415125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.70028169300001 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:66.32, Y:0.88, Z:-0.29 [[ 9.99227366e-01 -3.92868609e-02 1.10146615e-03 6.63206176e+01] [ 3.92868327e-02 9.99227973e-01 4.72461100e-05 8.80480438e-01] [-1.10247194e-03 -3.93648977e-06 9.99999392e-01 -2.91177122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.73028169300001 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:66.35, Y:0.88, Z:-0.29 [[ 9.99200622e-01 -3.99685319e-02 -7.96458172e-04 6.63506473e+01] [ 3.99685172e-02 9.99200939e-01 -3.43522104e-05 8.81172749e-01] [ 7.97194761e-04 2.49149782e-06 9.99999682e-01 -2.91815941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.760281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:66.38, Y:0.88, Z:-0.29 [[ 9.99183618e-01 -4.03236092e-02 -2.47050588e-03 6.63794123e+01] [ 4.03234677e-02 9.99186672e-01 -1.07071219e-04 8.82505788e-01] [ 2.47281404e-03 7.36444450e-06 9.99996943e-01 -2.93060560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.790281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:66.41, Y:0.88, Z:-0.29 [[ 9.99174612e-01 -4.04734649e-02 -3.46316671e-03 6.64063035e+01] [ 4.04731866e-02 9.99180614e-01 -1.50445555e-04 8.84458069e-01] [ 3.46641809e-03 1.01559863e-05 9.99993992e-01 -2.93699588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.820281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:66.43, Y:0.89, Z:-0.29 [[ 9.99150143e-01 -4.11863936e-02 -1.63513975e-03 6.64338168e+01] [ 4.11863317e-02 9.99151480e-01 -7.14890535e-05 8.86829960e-01] [ 1.63669667e-03 4.08289001e-06 9.99998661e-01 -2.94400037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.850281693 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:66.46, Y:0.89, Z:-0.29 [[ 9.99068113e-01 -4.31540510e-02 -7.96435981e-04 6.64622393e+01] [ 4.31540368e-02 9.99068430e-01 -3.50833501e-05 8.87531774e-01] [ 7.97208033e-04 6.81228755e-07 9.99999682e-01 -2.93279661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.880281693 meters Centerline goodness : 0.999268 Centerline is valid? [True, True] Translation: X:66.49, Y:0.89, Z:-0.29 [[ 9.99006221e-01 -4.45435051e-02 -1.56442593e-03 6.64901263e+01] [ 4.45434517e-02 9.99007445e-01 -6.89919707e-05 8.88500097e-01] [ 1.56594630e-03 -7.61523021e-07 9.99998774e-01 -2.93517953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.910281693 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:66.52, Y:0.89, Z:-0.29 [[ 9.98941081e-01 -4.59558887e-02 -2.18490639e-03 6.65167954e+01] [ 4.59557880e-02 9.98943470e-01 -9.63175740e-05 8.89011489e-01] [ 2.18702433e-03 -4.19351350e-06 9.99997608e-01 -2.87372364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.940281693 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:66.55, Y:0.89, Z:-0.29 [[ 9.98843231e-01 -4.80677359e-02 -1.30095254e-03 6.65450173e+01] [ 4.80677014e-02 9.98844078e-01 -5.77546609e-05 8.89344004e-01] [ 1.30222488e-03 -4.84594606e-06 9.99999152e-01 -2.93896466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.970281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:66.57, Y:0.89, Z:-0.29 [[ 9.98642951e-01 -5.20719411e-02 8.76736809e-04 6.65716872e+01] [ 5.20719272e-02 9.98643336e-01 3.87460678e-05 8.87239718e-01] [-8.77564954e-04 6.95988775e-06 9.99999615e-01 -2.92768650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.000281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:66.60, Y:0.89, Z:-0.29 [[ 9.98533661e-01 -5.40993035e-02 1.94737793e-03 6.65999394e+01] [ 5.40992378e-02 9.98535560e-01 8.64124735e-05 8.87395400e-01] [-1.94920097e-03 1.90658982e-05 9.99998100e-01 -2.92302508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.030281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:66.63, Y:0.89, Z:-0.29 [[ 9.98461567e-01 -5.54201989e-02 1.76064656e-03 6.66281742e+01] [ 5.54201469e-02 9.98463120e-01 7.83557750e-05 8.87033741e-01] [-1.76228315e-03 1.93400613e-05 9.99998447e-01 -2.91745960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.06028169300001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:66.66, Y:0.89, Z:-0.29 [[ 9.98477750e-01 -5.51445121e-02 1.12477760e-03 6.66568215e+01] [ 5.51444907e-02 9.98478384e-01 5.00883633e-05 8.87229485e-01] [-1.12582822e-03 1.20131717e-05 9.99999366e-01 -2.92124728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.09028169300001 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:66.68, Y:0.89, Z:-0.29 [[ 9.98581014e-01 -5.32521897e-02 -4.03215390e-04 6.66833891e+01] [ 5.32521867e-02 9.98581095e-01 -1.81498080e-05 8.86417020e-01] [ 4.03609783e-04 -3.34804758e-06 9.99999919e-01 -2.92590306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.120281693 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:66.71, Y:0.89, Z:-0.29 [[ 9.98645201e-01 -5.20329217e-02 -5.81851377e-04 6.67112141e+01] [ 5.20329152e-02 9.98645370e-01 -2.63733891e-05 8.87652367e-01] [ 5.82435469e-04 -3.93776495e-06 9.99999830e-01 -2.92187377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.150281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:66.74, Y:0.89, Z:-0.29 [[ 9.98697741e-01 -5.10177213e-02 1.19571192e-04 6.67388570e+01] [ 5.10177210e-02 9.98697748e-01 5.18204785e-06 8.89586292e-01] [-1.19679856e-04 9.24950212e-07 9.99999993e-01 -2.91683428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.180281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:66.77, Y:0.89, Z:-0.29 [[ 9.98878560e-01 -4.73432821e-02 4.85934650e-04 6.67654286e+01] [ 4.73432771e-02 9.98878678e-01 2.18062033e-05 8.91645078e-01] [-4.86422139e-04 1.22398987e-06 9.99999882e-01 -2.90854352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.210281693 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:66.79, Y:0.89, Z:-0.29 [[ 9.98992008e-01 -4.48882859e-02 1.02467077e-04 6.67940679e+01] [ 4.48882857e-02 9.98992013e-01 4.46019048e-06 8.92745146e-01] [-1.02564001e-04 1.43876769e-07 9.99999995e-01 -2.91369711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.240281693 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:66.82, Y:0.89, Z:-0.28 [[ 9.99197903e-01 -4.00128413e-02 -1.58818201e-03 6.68222999e+01] [ 4.00127767e-02 9.99199166e-01 -7.23970952e-05 8.94517553e-01] [ 1.58980696e-03 8.79145348e-06 9.99998736e-01 -2.84330674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.270281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:66.85, Y:0.90, Z:-0.29 [[ 9.99269520e-01 -3.81999761e-02 -1.08978903e-03 6.68503330e+01] [ 3.81999442e-02 9.99270115e-01 -5.00604669e-05 8.97136891e-01] [ 1.09090592e-03 8.39401853e-06 9.99999405e-01 -2.92097968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.300281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:66.88, Y:0.90, Z:-0.29 [[ 9.99350471e-01 -3.60350949e-02 -3.29867102e-04 6.68776859e+01] [ 3.60350919e-02 9.99350525e-01 -1.51738541e-05 9.00160907e-01] [ 3.30199652e-04 3.27720689e-06 9.99999945e-01 -2.92419509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.330281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:66.91, Y:0.91, Z:-0.29 [[ 9.99485514e-01 -3.20350360e-02 1.56966985e-03 6.69059894e+01] [ 3.20349626e-02 9.99486746e-01 7.18826962e-05 9.05158986e-01] [-1.57116698e-03 -2.15613986e-05 9.99998765e-01 -2.91516031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.360281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:66.94, Y:0.91, Z:-0.29 [[ 9.99519866e-01 -3.09349485e-02 1.75098282e-03 6.69354853e+01] [ 3.09348553e-02 9.99521400e-01 8.02430060e-05 9.08941843e-01] [-1.75262711e-03 -2.60380785e-05 9.99998464e-01 -2.91622620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.390281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:66.97, Y:0.91, Z:-0.29 [[ 9.99555442e-01 -2.98145422e-02 -1.05018121e-04 6.69655041e+01] [ 2.98145419e-02 9.99555448e-01 -4.81437830e-06 9.14317342e-01] [ 1.05114973e-04 1.68117087e-06 9.99999994e-01 -2.92805628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.420281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:66.99, Y:0.92, Z:-0.29 [[ 9.99560559e-01 -2.96282642e-02 -9.24240202e-04 6.69944856e+01] [ 2.96282376e-02 9.99560987e-01 -4.24583790e-05 9.16821250e-01] [ 9.25092416e-04 1.50561128e-05 9.99999572e-01 -2.93610588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.45028169300001 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:67.02, Y:0.92, Z:-0.29 [[ 9.99553436e-01 -2.98667284e-02 -9.52462919e-04 6.70233596e+01] [ 2.98667000e-02 9.99553890e-01 -4.40447675e-05 9.19243557e-01] [ 9.53353488e-04 1.55781745e-05 9.99999545e-01 -2.93963115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.48028169300001 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:67.05, Y:0.92, Z:-0.29 [[ 9.99581115e-01 -2.89386821e-02 3.82954295e-04 6.70523607e+01] [ 2.89386775e-02 9.99581189e-01 1.75035311e-05 9.22673318e-01] [-3.83300438e-04 -6.41400831e-06 9.99999927e-01 -2.92044398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.510281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:67.08, Y:0.93, Z:-0.29 [[ 9.99600899e-01 -2.82333690e-02 9.59413811e-04 6.70816840e+01] [ 2.82333394e-02 9.99601359e-01 4.43230732e-05 9.25148485e-01] [-9.60282739e-04 -1.72179280e-05 9.99999539e-01 -2.91950108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.540281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:67.11, Y:0.93, Z:-0.29 [[ 9.99635430e-01 -2.70001114e-02 1.87396478e-05 6.71113920e+01] [ 2.70001114e-02 9.99635431e-01 8.39429818e-07 9.29446434e-01] [-1.87554806e-05 -3.33151207e-07 1.00000000e+00 -2.92189675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.570281693 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:67.14, Y:0.93, Z:-0.29 [[ 9.99634340e-01 -2.69943377e-02 -1.57877461e-03 6.71411567e+01] [ 2.69942560e-02 9.99635586e-01 -7.30562058e-05 9.32185219e-01] [ 1.58017139e-03 3.04116461e-05 9.99998751e-01 -2.93101257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.600281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:67.17, Y:0.93, Z:-0.29 [[ 9.99620493e-01 -2.73440176e-02 -3.34280546e-03 6.71711136e+01] [ 2.73436531e-02 9.99626080e-01 -1.54729619e-04 9.34686882e-01] [ 3.34578645e-03 6.32663853e-05 9.99994401e-01 -2.93118472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.630281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:67.20, Y:0.94, Z:-0.29 [[ 9.99586800e-01 -2.85260992e-02 -3.53411338e-03 6.71994800e+01] [ 2.85256963e-02 9.99593046e-01 -1.64363823e-04 9.37309275e-01] [ 3.53736382e-03 6.34828626e-05 9.99993741e-01 -2.93070517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.660281693 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:67.23, Y:0.94, Z:-0.29 [[ 9.99577749e-01 -2.89213233e-02 -2.80741621e-03 6.72281362e+01] [ 2.89210707e-02 9.99581690e-01 -1.30550243e-04 9.38842380e-01] [ 2.81001752e-03 4.93016352e-05 9.99996051e-01 -2.92750651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.690281693 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:67.26, Y:0.94, Z:-0.29 [[ 9.99528106e-01 -3.06838072e-02 -1.43840597e-03 6.72569685e+01] [ 3.06837426e-02 9.99529141e-01 -6.69539927e-05 9.42026441e-01] [ 1.43978309e-03 2.27867189e-05 9.99998963e-01 -2.92695036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.720281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:67.29, Y:0.94, Z:-0.29 [[ 9.99488136e-01 -3.19710745e-02 -1.14771578e-03 6.72858870e+01] [ 3.19710339e-02 9.99488794e-01 -5.37505567e-05 9.44519457e-01] [ 1.14884752e-03 1.70293836e-05 9.99999340e-01 -2.93025594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.750281693 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:67.32, Y:0.95, Z:-0.29 [[ 9.99443631e-01 -3.33224684e-02 -1.42904721e-03 6.73159272e+01] [ 3.33224070e-02 9.99444652e-01 -6.67598207e-05 9.47359215e-01] [ 1.43047820e-03 1.91033847e-05 9.99998977e-01 -2.92153092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.780281693 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:67.34, Y:0.95, Z:-0.29 [[ 9.99421065e-01 -3.40104265e-02 -9.09002819e-04 6.73446548e+01] [ 3.40104018e-02 9.99421478e-01 -4.25221070e-05 9.49394523e-01] [ 9.09923136e-04 1.15819382e-05 9.99999586e-01 -2.92134835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.81028169300001 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:67.37, Y:0.95, Z:-0.29 [[ 9.99391019e-01 -3.48938523e-02 -9.74719262e-05 6.73736473e+01] [ 3.48938520e-02 9.99391024e-01 -4.60027070e-06 9.51520557e-01] [ 9.75730893e-05 1.19629825e-06 9.99999995e-01 -2.91819241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.84028169300001 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:67.40, Y:0.95, Z:-0.29 [[ 9.99363195e-01 -3.56300655e-02 1.92431198e-03 6.74023799e+01] [ 3.56299582e-02 9.99365047e-01 9.00185970e-05 9.53655778e-01] [-1.92629750e-03 -2.13981172e-05 9.99998144e-01 -2.91024473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.870281693 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:67.43, Y:0.96, Z:-0.29 [[ 9.99360401e-01 -3.57093507e-02 1.90570053e-03 6.74326980e+01] [ 3.57092455e-02 9.99362218e-01 8.91887586e-05 9.55112393e-01] [-1.90766998e-03 -2.10805854e-05 9.99998180e-01 -2.91339642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.900281693 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:67.46, Y:0.96, Z:-0.29 [[ 9.99348450e-01 -3.60925882e-02 2.18781931e-05 6.74623710e+01] [ 3.60925882e-02 9.99348450e-01 1.01142481e-06 9.57102625e-01] [-2.19004433e-05 -2.21125207e-07 1.00000000e+00 -2.92538003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.930281693 meters Centerline goodness : 0.998951 Centerline is valid? [True, True] Translation: X:67.49, Y:0.96, Z:-0.29 [[ 9.99321548e-01 -3.68296296e-02 -1.46284818e-04 6.74918900e+01] [ 3.68296290e-02 9.99321559e-01 -6.87915732e-06 9.58404395e-01] [ 1.46438930e-04 1.48687456e-06 9.99999989e-01 -2.92745702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.960281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:67.52, Y:0.96, Z:-0.29 [[ 9.99228444e-01 -3.92590057e-02 1.11707722e-03 6.75209616e+01] [ 3.92589718e-02 9.99229068e-01 5.23152870e-05 9.57032310e-01] [-1.11826988e-03 -8.41961974e-06 9.99999375e-01 -2.92743840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.990281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:67.55, Y:0.96, Z:-0.29 [[ 9.99153072e-01 -4.11358499e-02 9.89801469e-04 6.75505773e+01] [ 4.11358241e-02 9.99153563e-01 4.63865683e-05 9.56667214e-01] [-9.90871815e-04 -5.63098303e-06 9.99999509e-01 -2.92821895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.020281693 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:67.58, Y:0.96, Z:-0.29 [[ 9.99089279e-01 -4.26685026e-02 1.07683452e-04 6.75804015e+01] [ 4.26685023e-02 9.99089285e-01 5.03668143e-06 9.57087898e-01] [-1.07800291e-04 -4.37402796e-07 9.99999994e-01 -2.92941722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.050281693 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:67.61, Y:0.96, Z:-0.29 [[ 9.99112698e-01 -4.20860377e-02 -1.60665831e-03 6.76099676e+01] [ 4.20859708e-02 9.99113990e-01 -7.54279273e-05 9.58940653e-01] [ 1.60840926e-03 7.74322496e-06 9.99998706e-01 -2.93355870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.080281693 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:67.64, Y:0.96, Z:-0.29 [[ 9.99174190e-01 -4.05520979e-02 -2.54282083e-03 6.76392198e+01] [ 4.05519239e-02 9.99177425e-01 -1.19958779e-04 9.60865146e-01] [ 2.54559375e-03 1.67434385e-05 9.99996760e-01 -2.92935894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.110281693 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:67.67, Y:0.96, Z:-0.29 [[ 9.99171764e-01 -4.06118122e-02 -2.54281973e-03 6.76675108e+01] [ 4.06116383e-02 9.99175000e-01 -1.19982091e-04 9.62293451e-01] [ 2.54559459e-03 1.66146422e-05 9.99996760e-01 -2.92969950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.140281693 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:67.70, Y:0.97, Z:-0.29 [[ 9.99345162e-01 -3.59668173e-02 -3.95417778e-03 6.76962375e+01] [ 3.59663576e-02 9.99352984e-01 -1.87336567e-04 9.67265982e-01] [ 3.95835726e-03 4.49965196e-05 9.99992165e-01 -2.85762225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.170281693 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:67.72, Y:0.97, Z:-0.29 [[ 9.99437886e-01 -3.33432152e-02 -3.48451734e-03 6.77241772e+01] [ 3.33428414e-02 9.99443959e-01 -1.65331034e-04 9.72357061e-01] [ 3.48809247e-03 4.90543896e-05 9.99993915e-01 -2.93107060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.20028169300001 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:67.75, Y:0.98, Z:-0.29 [[ 9.99540789e-01 -3.01357555e-02 -3.16977709e-03 6.77521029e+01] [ 3.01354291e-02 9.99545813e-01 -1.50688465e-04 9.77433982e-01] [ 3.17287853e-03 5.50966746e-05 9.99994965e-01 -2.93398116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.23028169300001 meters Centerline goodness : 0.998889 Centerline is valid? [True, True] Translation: X:67.78, Y:0.99, Z:-0.29 [[ 9.99654633e-01 -2.61091711e-02 -2.98779077e-03 6.77804107e+01] [ 2.61088614e-02 9.99659095e-01 -1.42630372e-04 9.85387225e-01] [ 2.99049618e-03 6.45732968e-05 9.99995526e-01 -2.93732699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.260281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:67.81, Y:0.99, Z:-0.29 [[ 9.99651408e-01 -2.62551260e-02 -2.78027726e-03 6.78090209e+01] [ 2.62548584e-02 9.99655273e-01 -1.32679134e-04 9.91042251e-01] [ 2.78280233e-03 5.96370973e-05 9.99996126e-01 -2.94194121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.290281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:67.84, Y:1.00, Z:-0.29 [[ 9.99542710e-01 -3.01688036e-02 -2.05275436e-03 6.78381236e+01] [ 3.01686660e-02 9.99544817e-01 -9.80051708e-05 1.00273545e+00] [ 2.05477668e-03 3.60314934e-05 9.99997888e-01 -2.94681103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.320281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:67.87, Y:1.01, Z:-0.30 [[ 9.99421308e-01 -3.39975891e-02 -1.10118761e-03 6.78672471e+01] [ 3.39975518e-02 9.99421915e-01 -5.25859745e-05 1.00833851e+00] [ 1.10233883e-03 1.51178605e-05 9.99999392e-01 -2.95077887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.350281693 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:67.90, Y:1.01, Z:-0.30 [[ 9.99263509e-01 -3.83723854e-02 -9.52559206e-06 6.78966284e+01] [ 3.83723854e-02 9.99263509e-01 -4.82902198e-07 1.01187830e+00] [ 9.53710666e-06 1.17026855e-07 1.00000000e+00 -2.95368840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.380281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:67.93, Y:1.01, Z:-0.29 [[ 9.98855218e-01 -4.78354495e-02 -1.52399991e-04 6.79261033e+01] [ 4.78354490e-02 9.98855230e-01 -7.29488544e-06 1.01459093e+00] [ 1.52574482e-04 -3.58761352e-09 9.99999988e-01 -2.94095423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.410281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:67.96, Y:1.02, Z:-0.29 [[ 9.98658628e-01 -5.17740328e-02 -6.28553580e-04 6.79561146e+01] [ 5.17740241e-02 9.98658825e-01 -3.00297708e-05 1.01649887e+00] [ 6.29265342e-04 -2.55325847e-06 9.99999802e-01 -2.93819263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.440281693 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:67.99, Y:1.02, Z:-0.29 [[ 9.98384410e-01 -5.68164853e-02 -6.76496877e-04 6.79852432e+01] [ 5.68164764e-02 9.98384639e-01 -3.23413093e-05 1.01808487e+00] [ 6.77241610e-04 -6.14710992e-06 9.99999771e-01 -2.93655048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.470281693 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:68.01, Y:1.02, Z:-0.29 [[ 9.98314468e-01 -5.80306018e-02 -8.20146545e-04 6.80145326e+01] [ 5.80305892e-02 9.98314805e-01 -3.92388317e-05 1.01845785e+00] [ 8.21041491e-04 -8.42089385e-06 9.99999663e-01 -2.93826876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.500281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:68.04, Y:1.02, Z:-0.29 [[ 9.98282175e-01 -5.85756934e-02 -1.26000162e-03 6.80432856e+01] [ 5.85756639e-02 9.98282970e-01 -6.03251756e-05 1.01784223e+00] [ 1.26137175e-03 -1.35838839e-05 9.99999204e-01 -2.94213245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.530281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:68.07, Y:1.02, Z:-0.29 [[ 9.98209319e-01 -5.98073584e-02 -1.11126936e-03 6.80726790e+01] [ 5.98073359e-02 9.98209938e-01 -5.35354314e-05 1.01558528e+00] [ 1.11248193e-03 -1.30224931e-05 9.99999381e-01 -2.93328715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.56028169300001 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:68.10, Y:1.02, Z:-0.29 [[ 9.98174371e-01 -6.03976821e-02 -2.13058395e-04 6.81000891e+01] [ 6.03976813e-02 9.98174394e-01 -1.03072907e-05 1.01535609e+00] [ 2.13291971e-04 -2.57975959e-06 9.99999977e-01 -2.92648280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.59028169300001 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:68.13, Y:1.01, Z:-0.29 [[ 9.98154663e-01 -6.07126093e-02 1.11667838e-03 6.81286624e+01] [ 6.07125872e-02 9.98155288e-01 5.36644570e-05 1.01141744e+00] [-1.11787654e-03 1.42310054e-05 9.99999375e-01 -2.91707988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.620281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:68.16, Y:1.01, Z:-0.29 [[ 9.98173252e-01 -6.04073063e-02 1.05679418e-03 6.81587795e+01] [ 6.04072863e-02 9.98173811e-01 5.08215770e-05 1.01057974e+00] [-1.05793427e-03 1.31093298e-05 9.99999440e-01 -2.91557472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.650281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:68.19, Y:1.01, Z:-0.29 [[ 9.98225400e-01 -5.95409948e-02 9.59253122e-04 6.81886976e+01] [ 5.95409779e-02 9.98225861e-01 4.61497032e-05 1.01116781e+00] [-9.60299073e-04 1.10470630e-05 9.99999539e-01 -2.91571818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.680281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:68.22, Y:1.01, Z:-0.29 [[ 9.98439135e-01 -5.58454348e-02 7.61965347e-04 6.82163517e+01] [ 5.58454231e-02 9.98439426e-01 3.66550695e-05 1.01287284e+00] [-7.62823262e-04 5.95442135e-06 9.99999709e-01 -2.91790155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.710281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:68.24, Y:1.01, Z:-0.29 [[ 9.98680326e-01 -5.13498668e-02 8.93016969e-04 6.82438269e+01] [ 5.13498489e-02 9.98680725e-01 4.30222101e-05 1.01212662e+00] [-8.94048020e-04 2.89085159e-06 9.99999600e-01 -2.91917852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.740281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:68.27, Y:1.01, Z:-0.29 [[ 9.98792017e-01 -4.91292397e-02 9.08294099e-04 6.82739702e+01] [ 4.91292202e-02 9.98792430e-01 4.38185191e-05 1.01318924e+00] [-9.09350040e-04 8.58193704e-07 9.99999587e-01 -2.91875898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.770281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:68.30, Y:1.02, Z:-0.29 [[ 9.98908500e-01 -4.67040145e-02 7.37025462e-04 6.83034330e+01] [ 4.67040009e-02 9.98908772e-01 3.55681535e-05 1.01548150e+00] [-7.37882375e-04 -1.10729302e-06 9.99999728e-01 -2.91843631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.800281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:68.33, Y:1.02, Z:-0.29 [[ 9.99110691e-01 -4.21637221e-02 -2.18988153e-04 6.83315857e+01] [ 4.21637208e-02 9.99110715e-01 -1.06264620e-05 1.01998105e+00] [ 2.19241461e-04 1.38365648e-06 9.99999976e-01 -2.92860156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.830281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:68.36, Y:1.02, Z:-0.29 [[ 9.99172138e-01 -4.06666369e-02 -1.12355346e-03 6.83620858e+01] [ 4.06666015e-02 9.99172770e-01 -5.43042726e-05 1.02257954e+00] [ 1.12483240e-03 8.56821521e-06 9.99999367e-01 -2.93615389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.860281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:68.39, Y:1.03, Z:-0.29 [[ 9.99249777e-01 -3.86533813e-02 -2.40804254e-03 6.83910944e+01] [ 3.86532129e-02 9.99252679e-01 -1.16429142e-04 1.02599000e+00] [ 2.41074334e-03 2.32632133e-05 9.99997094e-01 -2.94181605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.890281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:68.42, Y:1.03, Z:-0.29 [[ 9.99269829e-01 -3.80878341e-02 -3.02075662e-03 6.84203944e+01] [ 3.80875663e-02 9.99274395e-01 -1.46134649e-04 1.02926850e+00] [ 3.02413070e-03 3.09746777e-05 9.99995427e-01 -2.93423007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.920281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:68.45, Y:1.03, Z:-0.29 [[ 9.99293887e-01 -3.74580023e-02 -2.93706966e-03 6.84485278e+01] [ 3.74577462e-02 9.99298202e-01 -1.42203062e-04 1.03276924e+00] [ 2.94033508e-03 3.20866411e-05 9.99995677e-01 -2.93487077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.95028169300001 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:68.48, Y:1.04, Z:-0.29 [[ 9.99371886e-01 -3.53145031e-02 -2.95282796e-03 6.84779271e+01] [ 3.53142346e-02 9.99376248e-01 -1.43021080e-04 1.03781795e+00] [ 2.95603684e-03 3.86543867e-05 9.99995630e-01 -2.94141788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.98028169300001 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:68.51, Y:1.04, Z:-0.29 [[ 9.99400687e-01 -3.44590610e-02 -3.29230746e-03 6.85065756e+01] [ 3.44587222e-02 9.99406109e-01 -1.59589621e-04 1.04098063e+00] [ 3.29585149e-03 4.60452694e-05 9.99994568e-01 -2.94241666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.010281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:68.53, Y:1.05, Z:-0.29 [[ 9.99389625e-01 -3.47458603e-02 -3.61988892e-03 6.85346650e+01] [ 3.47454522e-02 9.99396179e-01 -1.75587465e-04 1.04701575e+00] [ 3.62380410e-03 4.97056134e-05 9.99993433e-01 -2.94227171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.040281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:68.56, Y:1.05, Z:-0.29 [[ 9.99340666e-01 -3.61265761e-02 -3.61990741e-03 6.85635803e+01] [ 3.61261743e-02 9.99347221e-01 -1.76350119e-04 1.04993833e+00] [ 3.62391534e-03 4.54604392e-05 9.99993433e-01 -2.94566379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.070281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:68.59, Y:1.05, Z:-0.29 [[ 9.99288505e-01 -3.74990196e-02 -4.03828749e-03 6.85923116e+01] [ 3.74985307e-02 9.99296663e-01 -1.96735901e-04 1.05113352e+00] [ 4.04282461e-03 4.51660769e-05 9.99991827e-01 -2.94538025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.100281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:68.62, Y:1.05, Z:-0.29 [[ 9.99171749e-01 -4.05101136e-02 -3.84011515e-03 6.86202037e+01] [ 4.05096930e-02 9.99179128e-01 -1.87296391e-04 1.04959811e+00] [ 3.84455030e-03 3.15793767e-05 9.99992609e-01 -2.94843780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.130281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:68.65, Y:1.05, Z:-0.29 [[ 9.99107500e-01 -4.21218912e-02 -3.15434343e-03 6.86493028e+01] [ 4.21216132e-02 9.99112479e-01 -1.54519783e-04 1.05035458e+00] [ 3.15805255e-03 2.15158399e-05 9.99995013e-01 -2.94772366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.160281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:68.68, Y:1.05, Z:-0.29 [[ 9.99030441e-01 -4.40149469e-02 -9.28814185e-04 6.86778096e+01] [ 4.40149236e-02 9.99030873e-01 -4.55354626e-05 1.05154181e+00] [ 9.29918287e-04 4.60962784e-06 9.99999568e-01 -2.93263411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.190281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:68.71, Y:1.05, Z:-0.29 [[ 9.99036539e-01 -4.38834442e-02 4.87114593e-04 6.87086996e+01] [ 4.38834377e-02 9.99036658e-01 2.38529102e-05 1.05220543e+00] [-4.87692083e-04 -2.45366595e-06 9.99999881e-01 -2.93042670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.220281693 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:68.74, Y:1.05, Z:-0.29 [[ 9.99120122e-01 -4.18975815e-02 1.89047444e-03 6.87380124e+01] [ 4.18974813e-02 9.99121911e-01 9.25802765e-05 1.05242447e+00] [-1.89269333e-03 -1.32926996e-05 9.99998209e-01 -2.92480783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.250281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:68.77, Y:1.05, Z:-0.29 [[ 9.99180002e-01 -4.04367006e-02 2.04847738e-03 6.87688590e+01] [ 4.04365799e-02 9.99182102e-01 1.00333040e-04 1.05407645e+00] [-2.05085908e-03 -1.74173482e-05 9.99997897e-01 -2.92844046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.280281693 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:68.80, Y:1.06, Z:-0.29 [[ 9.99233570e-01 -3.91173730e-02 1.45075876e-03 6.87981611e+01] [ 3.91173111e-02 9.99234623e-01 7.10600243e-05 1.05546386e+00] [-1.45242807e-03 -1.42557798e-05 9.99998945e-01 -2.92957087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.31028169300001 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:68.83, Y:1.05, Z:-0.29 [[ 9.99262835e-01 -3.83741811e-02 1.09977501e-03 6.88284361e+01] [ 3.83741451e-02 9.99263440e-01 5.38787192e-05 1.05481575e+00] [-1.10103251e-03 -1.16360760e-05 9.99999394e-01 -2.93678574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.34028169300001 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:68.86, Y:1.06, Z:-0.29 [[ 9.99238514e-01 -3.89968371e-02 1.28053252e-03 6.88582822e+01] [ 3.89967887e-02 9.99239334e-01 6.27350559e-05 1.05516275e+00] [-1.28200493e-03 -1.27506281e-05 9.99999178e-01 -2.93408924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.370281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:68.89, Y:1.06, Z:-0.29 [[ 9.99173098e-01 -4.06476757e-02 9.41760398e-04 6.88894946e+01] [ 4.06476502e-02 9.99173542e-01 4.61540032e-05 1.05610803e+00] [-9.42858125e-04 -7.83549113e-06 9.99999555e-01 -2.92979338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.400281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:68.92, Y:1.06, Z:-0.29 [[ 9.99169193e-01 -4.07438970e-02 9.27095013e-04 6.89197610e+01] [ 4.07438724e-02 9.99169623e-01 4.54084964e-05 1.05694202e+00] [-9.28175293e-04 -7.59732977e-06 9.99999569e-01 -2.93236627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.430281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:68.95, Y:1.06, Z:-0.29 [[ 9.99185467e-01 -4.03468746e-02 7.29064044e-04 6.89493538e+01] [ 4.03468593e-02 9.99185733e-01 3.57036729e-05 1.05700987e+00] [-7.29910923e-04 -6.25914675e-06 9.99999734e-01 -2.93198760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.460281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:68.98, Y:1.06, Z:-0.29 [[ 9.99246078e-01 -3.88181459e-02 -6.54045071e-04 6.89798845e+01] [ 3.88181333e-02 9.99246292e-01 -3.20421796e-05 1.05616938e+00] [ 6.54795930e-04 6.62921351e-06 9.99999786e-01 -2.94066193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.490281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:69.01, Y:1.06, Z:-0.29 [[ 9.99272903e-01 -3.81036161e-02 -1.33424739e-03 6.90095764e+01] [ 3.81035627e-02 9.99273793e-01 -6.54228815e-05 1.05660918e+00] [ 1.33577130e-03 1.45357337e-05 9.99999108e-01 -2.94403927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.520281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:69.04, Y:1.06, Z:-0.29 [[ 9.99354277e-01 -3.58958933e-02 -1.58555966e-03 6.90388827e+01] [ 3.58958151e-02 9.99355535e-01 -7.77063678e-05 1.05600123e+00] [ 1.58732716e-03 2.07412345e-05 9.99998740e-01 -2.93776324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.550281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:69.07, Y:1.06, Z:-0.29 [[ 9.99402868e-01 -3.45256401e-02 -1.37424395e-03 6.90671458e+01] [ 3.45255800e-02 9.99403812e-01 -6.74389793e-05 1.05644875e+00] [ 1.37575301e-03 1.99521400e-05 9.99999053e-01 -2.93230549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.580281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:69.10, Y:1.06, Z:-0.29 [[ 9.99456294e-01 -3.29474077e-02 -1.25917449e-03 6.90972623e+01] [ 3.29473560e-02 9.99457087e-01 -6.18098145e-05 1.05654461e+00] [ 1.26052734e-03 2.02897378e-05 9.99999205e-01 -2.92905928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.610281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:69.13, Y:1.06, Z:-0.29 [[ 9.99451618e-01 -3.30462027e-02 -2.10043682e-03 6.91268202e+01] [ 3.30460589e-02 9.99453825e-01 -1.03134110e-04 1.05774217e+00] [ 2.10269781e-03 3.36663938e-05 9.99997789e-01 -2.93378412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.640281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:69.16, Y:1.06, Z:-0.29 [[ 9.99443405e-01 -3.32409280e-02 -2.81436537e-03 6.91561314e+01] [ 3.32406705e-02 9.99447367e-01 -1.38243196e-04 1.05855173e+00] [ 2.81740539e-03 4.46148590e-05 9.99996030e-01 -2.94671479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.670281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:69.18, Y:1.06, Z:-0.29 [[ 9.99414093e-01 -3.41162678e-02 -2.74803107e-03 6.91844991e+01] [ 3.41160253e-02 9.99417870e-01 -1.35090524e-04 1.05915528e+00] [ 2.75104014e-03 4.12594763e-05 9.99996215e-01 -2.94675569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.70028169300001 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:69.21, Y:1.06, Z:-0.29 [[ 9.99396937e-01 -3.46968949e-02 -1.37375904e-03 6.92128611e+01] [ 3.46968343e-02 9.99397881e-01 -6.79124302e-05 1.05983492e+00] [ 1.37528822e-03 2.02063849e-05 9.99999054e-01 -2.94658696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.73028169300001 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:69.24, Y:1.06, Z:-0.29 [[ 9.99321917e-01 -3.68177190e-02 4.01123746e-04 6.92416744e+01] [ 3.68177141e-02 9.99321998e-01 1.97425265e-05 1.05977873e+00] [-4.01578658e-04 -4.96068004e-06 9.99999919e-01 -2.94474858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.760281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:69.27, Y:1.06, Z:-0.29 [[ 9.99264772e-01 -3.83394613e-02 2.25512546e-05 6.92712942e+01] [ 3.83394613e-02 9.99264773e-01 1.11302393e-06 1.06008158e+00] [-2.25773470e-05 -2.47602655e-07 1.00000000e+00 -2.94644230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.790281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:69.30, Y:1.06, Z:-0.30 [[ 9.99200395e-01 -3.99707768e-02 -9.53027008e-04 6.93008171e+01] [ 3.99707500e-02 9.99200849e-01 -4.70709765e-05 1.05994055e+00] [ 9.54146859e-04 8.94013404e-06 9.99999545e-01 -2.95647819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.820281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:69.33, Y:1.06, Z:-0.30 [[ 9.99130210e-01 -4.16533441e-02 -1.95485933e-03 6.93302846e+01] [ 4.16532348e-02 9.99132123e-01 -9.65729243e-05 1.05950904e+00] [ 1.95718534e-03 1.50627115e-05 9.99998085e-01 -2.96183128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.850281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:69.36, Y:1.06, Z:-0.30 [[ 9.98972883e-01 -4.52372493e-02 -2.60214841e-03 6.93582442e+01] [ 4.52370674e-02 9.98976272e-01 -1.28738083e-04 1.05641229e+00] [ 2.60530828e-03 1.08922903e-05 9.99996606e-01 -2.96346655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.880281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:69.39, Y:1.06, Z:-0.29 [[ 9.98962309e-01 -4.55118908e-02 -1.72414856e-03 6.93866041e+01] [ 4.55072611e-02 9.98960531e-01 -2.63551144e-03 1.05708948e+00] [ 1.84230347e-03 2.55431531e-03 9.99995041e-01 -2.94610539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.910281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:69.42, Y:1.06, Z:-0.29 [[ 9.99006113e-01 -4.45675979e-02 -7.17372072e-04 6.94153643e+01] [ 4.45691930e-02 9.99003448e-01 2.38688463e-03 1.05572740e+00] [ 6.10279460e-04 -2.41648503e-03 9.99996894e-01 -2.94517123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.940281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:69.44, Y:1.06, Z:-0.29 [[ 9.99076739e-01 -4.29514108e-02 -9.20268885e-04 6.94446117e+01] [ 4.29513870e-02 9.99077162e-01 -4.56843212e-05 1.05842563e+00] [ 9.21381832e-04 6.11531763e-06 9.99999576e-01 -2.94820960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.970281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:69.47, Y:1.06, Z:-0.29 [[ 9.99229812e-01 -3.91705250e-02 -2.33512089e-03 6.94737852e+01] [ 3.91703610e-02 9.99232540e-01 -1.15936742e-04 1.06020045e+00] [ 2.33787008e-03 2.43799212e-05 9.99997267e-01 -2.94792729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.000281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:69.50, Y:1.06, Z:-0.30 [[ 9.99295923e-01 -3.74669219e-02 -1.97198952e-03 6.95010867e+01] [ 3.74668013e-02 9.99297868e-01 -9.80639730e-05 1.06214863e+00] [ 1.97427908e-03 2.41107888e-05 9.99998051e-01 -2.95131597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.030281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:69.53, Y:1.06, Z:-0.30 [[ 9.99294626e-01 -3.75014935e-02 -1.97198739e-03 6.95302105e+01] [ 3.75013729e-02 9.99296571e-01 -9.81068529e-05 1.06364882e+00] [ 1.97427939e-03 2.40854165e-05 9.99998051e-01 -2.95163148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.06028169300001 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:69.56, Y:1.07, Z:-0.30 [[ 9.99374349e-01 -3.53674773e-02 -2.26504375e-04 6.95593338e+01] [ 3.53674756e-02 9.99374375e-01 -1.14919532e-05 1.06720322e+00] [ 2.26769110e-04 3.47387527e-06 9.99999974e-01 -2.95157005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.09028169300001 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:69.59, Y:1.07, Z:-0.30 [[ 9.99426296e-01 -3.38683200e-02 -1.23575384e-04 6.95882225e+01] [ 3.38683195e-02 9.99426304e-01 -6.18190679e-06 1.07020336e+00] [ 1.23713860e-04 1.99306962e-06 9.99999992e-01 -2.95153892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.120281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:69.62, Y:1.08, Z:-0.30 [[ 9.99548094e-01 -3.00320786e-02 -1.29727972e-03 6.96177726e+01] [ 3.00320198e-02 9.99548935e-01 -6.47573794e-05 1.07677569e+00] [ 1.29863936e-03 2.57681848e-05 9.99999156e-01 -2.95254727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.150281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:69.65, Y:1.08, Z:-0.30 [[ 9.99597120e-01 -2.83325771e-02 -1.69224799e-03 6.96471146e+01] [ 2.83324745e-02 9.99598551e-01 -8.45360222e-05 1.08231269e+00] [ 1.69396377e-03 3.65563910e-05 9.99998565e-01 -2.95310367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.180281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:69.68, Y:1.09, Z:-0.30 [[ 9.99687944e-01 -2.49026860e-02 -1.96720407e-03 6.96760872e+01] [ 2.49025408e-02 9.99689879e-01 -9.82772925e-05 1.09207028e+00] [ 1.96904137e-03 4.92582449e-05 9.99998060e-01 -2.95051819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.210281693 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:69.71, Y:1.10, Z:-0.30 [[ 9.99710183e-01 -2.39729716e-02 -2.20169534e-03 6.97054421e+01] [ 2.39727874e-02 9.99712605e-01 -1.10055790e-04 1.09678886e+00] [ 2.20370095e-03 5.72431196e-05 9.99997570e-01 -2.95942455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.240281693 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:69.73, Y:1.10, Z:-0.30 [[ 9.99724173e-01 -2.32852225e-02 -3.06204932e-03 6.97336956e+01] [ 2.32848625e-02 9.99728859e-01 -1.53172481e-04 1.10131953e+00] [ 3.06478573e-03 8.18308346e-05 9.99995300e-01 -2.96387594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.270281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:69.76, Y:1.11, Z:-0.30 [[ 9.99726940e-01 -2.30677969e-02 -3.73118918e-03 6.97632382e+01] [ 2.30672607e-02 9.99733898e-01 -1.86707731e-04 1.10634727e+00] [ 3.73450324e-03 1.00588435e-04 9.99993022e-01 -2.96734467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.300281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:69.79, Y:1.12, Z:-0.30 [[ 9.99720298e-01 -2.35248926e-02 -2.42999944e-03 6.97922702e+01] [ 2.35246663e-02 9.99723249e-01 -1.21660382e-04 1.11698553e+00] [ 2.43218898e-03 6.44614271e-05 9.99997040e-01 -2.95432882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.330281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:69.82, Y:1.13, Z:-0.29 [[ 9.99714517e-01 -2.38900538e-02 3.88145598e-04 6.98224662e+01] [ 2.38900481e-02 9.99714592e-01 1.94289777e-05 1.12713965e+00] [-3.88498977e-04 -1.01506141e-05 9.99999924e-01 -2.94231103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.360281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:69.85, Y:1.13, Z:-0.29 [[ 9.99727451e-01 -2.33267215e-02 9.41787984e-04 6.98538719e+01] [ 2.33266874e-02 9.99727895e-01 4.71453283e-05 1.13237548e+00] [-9.42631464e-04 -2.51636850e-05 9.99999555e-01 -2.94544076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.390281693 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:69.89, Y:1.14, Z:-0.29 [[ 9.99747045e-01 -2.24720299e-02 9.23706241e-04 6.98850873e+01] [ 2.24719968e-02 9.99747472e-01 4.62187826e-05 1.13758438e+00] [-9.24511609e-04 -2.54495676e-05 9.99999572e-01 -2.94689921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.420281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:69.91, Y:1.14, Z:-0.30 [[ 9.99757261e-01 -2.20167184e-02 8.26505229e-04 6.99147458e+01] [ 2.20166917e-02 9.99757602e-01 4.13354175e-05 1.14259894e+00] [-8.27214956e-04 -2.31284729e-05 9.99999658e-01 -2.95095879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.45028169300001 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:69.95, Y:1.15, Z:-0.30 [[ 9.99755345e-01 -2.21189813e-02 -2.93980381e-05 6.99456750e+01] [ 2.21189812e-02 9.99755345e-01 -1.44376077e-06 1.15029533e+00] [ 2.94227803e-05 7.93152898e-07 1.00000000e+00 -2.95215745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.48028169300001 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:69.98, Y:1.16, Z:-0.30 [[ 9.99711202e-01 -2.40313343e-02 -9.20373060e-05 6.99771058e+01] [ 2.40313340e-02 9.99711206e-01 -4.57196042e-06 1.15582066e+00] [ 9.21205965e-05 2.35886080e-06 9.99999996e-01 -2.95363177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.510281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:70.01, Y:1.16, Z:-0.30 [[ 9.99657769e-01 -2.61515033e-02 6.66756236e-04 7.00082014e+01] [ 2.61514869e-02 9.99657991e-01 3.33142392e-05 1.15978734e+00] [-6.67399417e-04 -1.58661710e-05 9.99999777e-01 -2.95170041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.540281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:70.04, Y:1.16, Z:-0.30 [[ 9.99582186e-01 -2.88625947e-02 1.55079011e-03 7.00394256e+01] [ 2.88625093e-02 9.99583388e-01 7.74091703e-05 1.16371155e+00] [-1.55237826e-03 -3.26171336e-05 9.99998795e-01 -2.95304562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.570281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:70.07, Y:1.17, Z:-0.30 [[ 9.99379176e-01 -3.51573122e-02 2.28611307e-03 7.00702133e+01] [ 3.51571434e-02 9.99381790e-01 1.14015922e-04 1.16690242e+00] [-2.28870826e-03 -3.35719333e-05 9.99997380e-01 -2.95429798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.600281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:70.10, Y:1.17, Z:-0.30 [[ 9.99277492e-01 -3.79532646e-02 2.01074469e-03 7.01025373e+01] [ 3.79531398e-02 9.99279515e-01 1.00206842e-04 1.16814611e+00] [-2.01309915e-03 -2.38203676e-05 9.99997973e-01 -2.95470713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.630281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:70.13, Y:1.17, Z:-0.30 [[ 9.99135707e-01 -4.15310477e-02 1.73523183e-03 7.01345981e+01] [ 4.15309602e-02 9.99137214e-01 8.64037725e-05 1.17129961e+00] [-1.73732314e-03 -1.42632501e-05 9.99998491e-01 -2.95454413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.660281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:70.17, Y:1.17, Z:-0.30 [[ 9.99121494e-01 -4.18861246e-02 1.33871532e-03 7.01659500e+01] [ 4.18860729e-02 9.99122391e-01 6.66127595e-05 1.17414638e+00] [-1.34033060e-03 -1.04807125e-05 9.99999102e-01 -2.95300537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.690281693 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:70.20, Y:1.18, Z:-0.30 [[ 9.99127501e-01 -4.17569165e-02 7.72582535e-04 7.01967171e+01] [ 4.17568992e-02 9.99127800e-01 3.84283650e-05 1.17689428e+00] [-7.73513339e-04 -6.13418523e-06 9.99999701e-01 -2.95994949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.720281693 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:70.23, Y:1.18, Z:-0.30 [[ 9.99145262e-01 -4.13094205e-02 -1.50914102e-03 7.02276414e+01] [ 4.13093544e-02 9.99146401e-01 -7.49591640e-05 1.18059505e+00] [ 1.51094934e-03 1.25534523e-05 9.99998858e-01 -2.96663561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.750281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:70.26, Y:1.18, Z:-0.30 [[ 9.99126811e-01 -4.17285048e-02 -2.08503594e-03 7.02576544e+01] [ 4.17283795e-02 9.99128986e-01 -1.03562060e-04 1.18243017e+00] [ 2.08754133e-03 1.64664599e-05 9.99997821e-01 -2.97073723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.780281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:70.29, Y:1.18, Z:-0.30 [[ 9.99026089e-01 -4.40852559e-02 -1.83384099e-03 7.02884607e+01] [ 4.40851630e-02 9.99027772e-01 -9.10960318e-05 1.18214422e+00] [ 1.83607408e-03 1.01621334e-05 9.99998314e-01 -2.96793108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.81028169300001 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:70.32, Y:1.18, Z:-0.30 [[ 9.98928083e-01 -4.62720395e-02 -1.25816308e-03 7.03187787e+01] [ 4.62719976e-02 9.98928876e-01 -6.24733537e-05 1.18215951e+00] [ 1.25970620e-03 4.18866839e-06 9.99999207e-01 -2.96668304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.84028169300001 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:70.35, Y:1.18, Z:-0.30 [[ 9.98733605e-01 -5.03104707e-02 -2.06364672e-04 7.03495696e+01] [ 5.03104697e-02 9.98733626e-01 -1.02347515e-05 1.18187700e+00] [ 2.06618252e-04 -1.60513312e-07 9.99999979e-01 -2.96166816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.870281693 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:70.38, Y:1.18, Z:-0.30 [[ 9.98665242e-01 -5.16497692e-02 -1.87815389e-04 7.03805211e+01] [ 5.16497684e-02 9.98665260e-01 -9.32558687e-06 1.18319753e+00] [ 1.88046369e-04 -3.87481867e-07 9.99999982e-01 -2.96125014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.900281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:70.41, Y:1.18, Z:-0.30 [[ 9.98626227e-01 -5.23921221e-02 -8.50649725e-04 7.04106583e+01] [ 5.23921051e-02 9.98626590e-01 -4.22163131e-05 1.18431060e+00] [ 8.51693236e-04 -2.40901241e-06 9.99999637e-01 -2.96754523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.930281693 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:70.44, Y:1.18, Z:-0.30 [[ 9.98583064e-01 -5.31846561e-02 -1.80473218e-03 7.04410769e+01] [ 5.31845810e-02 9.98584695e-01 -8.95906868e-05 1.18482137e+00] [ 1.80694279e-03 -6.52018259e-06 9.99998367e-01 -2.96897666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.960281693 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:70.47, Y:1.19, Z:-0.30 [[ 9.98608421e-01 -5.27113606e-02 -1.65329781e-03 7.04705942e+01] [ 5.27112969e-02 9.98609790e-01 -8.21317610e-05 1.18640991e+00] [ 1.65532865e-03 -5.13000350e-06 9.99998630e-01 -2.96357829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.990281693 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:70.50, Y:1.19, Z:-0.30 [[ 9.98663341e-01 -5.16797802e-02 -8.54919849e-04 7.05006445e+01] [ 5.16797627e-02 9.98663707e-01 -4.24583361e-05 1.18794846e+00] [ 8.55971664e-04 -1.78047118e-06 9.99999634e-01 -2.95685798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.020281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:70.53, Y:1.19, Z:-0.30 [[ 9.98795629e-01 -4.90633944e-02 2.74794035e-04 7.05308230e+01] [ 4.90633925e-02 9.98795666e-01 1.36558629e-05 1.18828101e+00] [-2.75133094e-04 -1.57088539e-07 9.99999962e-01 -2.95594558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.050281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:70.56, Y:1.19, Z:-0.30 [[ 9.98848555e-01 -4.79738879e-02 -2.64995391e-04 7.05612617e+01] [ 4.79738861e-02 9.98848590e-01 -1.31434546e-05 1.18952722e+00] [ 2.65320815e-04 4.15461953e-07 9.99999965e-01 -2.96078092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.080281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:70.59, Y:1.19, Z:-0.30 [[ 9.98933543e-01 -4.61462792e-02 -1.51573554e-03 7.05912344e+01] [ 4.61462181e-02 9.98934693e-01 -7.52444282e-05 1.19320187e+00] [ 1.51759306e-03 5.21872066e-06 9.99998848e-01 -2.96867007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.110281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:70.62, Y:1.20, Z:-0.30 [[ 9.98971191e-01 -4.53160165e-02 -1.73728809e-03 7.06205838e+01] [ 4.53159350e-02 9.98972702e-01 -8.62361898e-05 1.19635540e+00] [ 1.73941125e-03 7.42063515e-06 9.99998487e-01 -2.96626154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.140281693 meters Centerline goodness : 0.998887 Centerline is valid? [True, True] Translation: X:70.65, Y:1.20, Z:-0.30 [[ 9.99027104e-01 -4.40485139e-02 -2.13858532e-03 7.06495263e+01] [ 4.40483875e-02 9.99029393e-01 -1.06192788e-04 1.19980832e+00] [ 2.14118723e-03 1.18882382e-05 9.99997708e-01 -2.96526410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.170281693 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:70.68, Y:1.20, Z:-0.30 [[ 9.99042153e-01 -4.36962675e-02 -2.32665660e-03 7.06800500e+01] [ 4.36961169e-02 9.99044862e-01 -1.15519265e-04 1.20250996e+00] [ 2.32948208e-03 1.37427561e-05 9.99997287e-01 -2.96956377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.20028169300001 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:70.71, Y:1.21, Z:-0.30 [[ 9.99065035e-01 -4.32251743e-02 -8.00668056e-04 7.07107495e+01] [ 4.32251564e-02 9.99065355e-01 -3.97534321e-05 1.20739070e+00] [ 8.01638065e-04 5.10726209e-06 9.99999679e-01 -2.96435076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.23028169300001 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:70.74, Y:1.21, Z:-0.30 [[ 9.99075896e-01 -4.29713203e-02 9.05165266e-04 7.07414883e+01] [ 4.29712972e-02 9.99076306e-01 4.49417529e-05 1.20989685e+00] [-9.06260377e-04 -6.00409642e-06 9.99999589e-01 -2.96105202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.260281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:70.77, Y:1.21, Z:-0.30 [[ 9.99047814e-01 -4.36070609e-02 1.37439051e-03 7.07726041e+01] [ 4.36070083e-02 9.99048760e-01 6.82328666e-05 1.21314698e+00] [-1.37605857e-03 -8.23483776e-06 9.99999053e-01 -2.95710056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.290281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:70.80, Y:1.22, Z:-0.30 [[ 9.99019328e-01 -4.42747543e-02 3.59578152e-04 7.08041714e+01] [ 4.42747507e-02 9.99019392e-01 1.78606308e-05 1.21692323e+00] [-3.60016322e-04 -1.92288234e-06 9.99999935e-01 -2.96041462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.320281693 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:70.84, Y:1.22, Z:-0.30 [[ 9.99018803e-01 -4.42833072e-02 -6.47689649e-04 7.08358438e+01] [ 4.42832957e-02 9.99019013e-01 -3.20912846e-05 1.22099596e+00] [ 6.48475382e-04 3.37796447e-06 9.99999790e-01 -2.96661025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.350281693 meters Centerline goodness : 0.998374 Centerline is valid? [True, True] Translation: X:70.87, Y:1.23, Z:-0.30 [[ 9.99087887e-01 -4.26767265e-02 -1.44581111e-03 7.08669376e+01] [ 4.26766677e-02 9.99088933e-01 -7.15073253e-05 1.22833290e+00] [ 1.44754558e-03 9.73970230e-06 9.99998952e-01 -2.96008932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.380281693 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:70.90, Y:1.23, Z:-0.30 [[ 9.99127589e-01 -4.17313550e-02 -1.59863829e-03 7.08982068e+01] [ 4.17312819e-02 9.99128867e-01 -7.90902842e-05 1.23318132e+00] [ 1.60054621e-03 1.23080600e-05 9.99998719e-01 -2.95888760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.410281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:70.93, Y:1.24, Z:-0.30 [[ 9.99177331e-01 -4.05208141e-02 -1.65075531e-03 7.09277360e+01] [ 4.05207345e-02 9.99178694e-01 -8.16629118e-05 1.24099341e+00] [ 1.65270858e-03 1.47059128e-05 9.99998634e-01 -2.95289101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.440281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:70.96, Y:1.25, Z:-0.30 [[ 9.99172526e-01 -4.06628869e-02 -8.90146121e-04 7.09591291e+01] [ 4.06628639e-02 9.99172923e-01 -4.39971422e-05 1.24567659e+00] [ 8.91198953e-04 7.76484520e-06 9.99999603e-01 -2.95459637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.470281693 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:70.99, Y:1.25, Z:-0.30 [[ 9.99113407e-01 -4.20995749e-02 1.62159904e-04 7.09906591e+01] [ 4.20995742e-02 9.99113420e-01 8.06382736e-06 1.25235730e+00] [-1.62355620e-04 -1.22981512e-06 9.99999987e-01 -2.96262619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.500281693 meters Centerline goodness : 0.998786 Centerline is valid? [True, True] Translation: X:71.02, Y:1.26, Z:-0.30 [[ 9.99066871e-01 -4.31887053e-02 3.49566247e-04 7.10214015e+01] [ 4.31887019e-02 9.99066933e-01 1.72971334e-05 1.25543538e+00] [-3.49987119e-04 -2.18368055e-06 9.99999939e-01 -2.96547985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.530281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:71.05, Y:1.26, Z:-0.30 [[ 9.98999785e-01 -4.47120254e-02 5.13380329e-04 7.10521316e+01] [ 4.47120182e-02 9.98999917e-01 2.53655304e-05 1.25836822e+00] [-5.14001050e-04 -2.38588886e-06 9.99999868e-01 -2.96885981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.56028169300001 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:71.08, Y:1.26, Z:-0.30 [[ 9.98783530e-01 -4.93070882e-02 5.20509471e-04 7.10832459e+01] [ 4.93070815e-02 9.98783666e-01 2.57226643e-05 1.26191510e+00] [-5.21144667e-04 -2.65705884e-08 9.99999864e-01 -2.96902244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.59028169300001 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:71.11, Y:1.26, Z:-0.30 [[ 9.98491253e-01 -5.49109741e-02 -5.26542413e-05 7.11142161e+01] [ 5.49109740e-02 9.98491254e-01 -2.55562766e-06 1.26388862e+00] [ 5.27151314e-05 -3.39523812e-07 9.99999999e-01 -2.96876636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.620281693 meters Centerline goodness : 0.998677 Centerline is valid? [True, True] Translation: X:71.15, Y:1.26, Z:-0.30 [[ 9.98396786e-01 -5.66024680e-02 -1.33906988e-04 7.11461852e+01] [ 5.66024676e-02 9.98396795e-01 -6.53658786e-06 1.26446412e+00] [ 1.34062294e-04 -1.05335761e-06 9.99999991e-01 -2.96902628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.650281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:71.18, Y:1.26, Z:-0.30 [[ 9.98345909e-01 -5.74904912e-02 5.38746755e-04 7.11779118e+01] [ 5.74904852e-02 9.98346054e-01 2.65205896e-05 1.26499807e+00] [-5.39380379e-04 4.49609028e-06 9.99999855e-01 -2.96807453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.680281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:71.21, Y:1.27, Z:-0.30 [[ 9.98324622e-01 -5.78428147e-02 1.46896678e-03 7.12097119e+01] [ 5.78427711e-02 9.98325703e-01 7.21597104e-05 1.26663801e+00] [-1.47068122e-03 1.29302939e-05 9.99998918e-01 -2.95276232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.710281693 meters Centerline goodness : 0.998940 Centerline is valid? [True, True] Translation: X:71.24, Y:1.27, Z:-0.29 [[ 9.98331690e-01 -5.77244980e-02 1.31150147e-03 7.12409603e+01] [ 5.77244632e-02 9.98332551e-01 6.43723233e-05 1.26910316e+00] [-1.31303047e-03 1.14407883e-05 9.99999138e-01 -2.94753897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.740281693 meters Centerline goodness : 0.998834 Centerline is valid? [True, True] Translation: X:71.27, Y:1.27, Z:-0.29 [[ 9.98247133e-01 -5.91660216e-02 1.42971036e-03 7.12736171e+01] [ 5.91659819e-02 9.98248156e-01 7.01180023e-05 1.26976092e+00] [-1.43135434e-03 1.45951227e-05 9.99998976e-01 -2.94869900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.770281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:71.31, Y:1.27, Z:-0.30 [[ 9.98158021e-01 -6.06439257e-02 1.69664079e-03 7.13055000e+01] [ 6.06438720e-02 9.98159463e-01 8.31226442e-05 1.26967559e+00] [-1.69855894e-03 1.99213329e-05 9.99998557e-01 -2.95289444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.800281693 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:71.34, Y:1.27, Z:-0.30 [[ 9.98083350e-01 -6.18514453e-02 2.00614509e-03 7.13363953e+01] [ 6.18513729e-02 9.98085366e-01 9.81960291e-05 1.26949004e+00] [-2.00837762e-03 2.60750061e-05 9.99997983e-01 -2.95564930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.830281693 meters Centerline goodness : 0.998379 Centerline is valid? [True, True] Translation: X:71.37, Y:1.27, Z:-0.29 [[ 9.98056121e-01 -6.22666386e-02 2.61628160e-03 7.13685808e+01] [ 6.22665171e-02 9.98059550e-01 1.27942984e-04 1.26990159e+00] [-2.61917142e-03 3.52124647e-05 9.99996569e-01 -2.94553598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.860281693 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:71.40, Y:1.27, Z:-0.29 [[ 9.98110280e-01 -6.14091025e-02 2.18863269e-03 7.13996594e+01] [ 6.14090156e-02 9.98112680e-01 1.06951243e-04 1.27045108e+00] [-2.19106982e-03 2.76526433e-05 9.99997599e-01 -2.94105049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.890281693 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:71.43, Y:1.27, Z:-0.30 [[ 9.98269402e-01 -5.88051449e-02 -3.94231861e-04 7.14321052e+01] [ 5.88051419e-02 9.98269480e-01 -1.91901247e-05 1.27112036e+00] [ 3.94678113e-04 -4.02594624e-06 9.99999922e-01 -2.95031182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.920281693 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:71.46, Y:1.27, Z:-0.30 [[ 9.98271439e-01 -5.87705631e-02 -3.94231925e-04 7.14637467e+01] [ 5.87705601e-02 9.98271517e-01 -1.91887941e-05 1.27258278e+00] [ 3.94678238e-04 -4.01360591e-06 9.99999922e-01 -2.95065443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.95028169300001 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:71.50, Y:1.27, Z:-0.30 [[ 9.98376557e-01 -5.69201842e-02 -2.08403101e-03 7.14952677e+01] [ 5.69200962e-02 9.98378732e-01 -1.01562632e-04 1.27449251e+00] [ 2.08643320e-03 -1.72254943e-05 9.99997823e-01 -2.95205011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.98028169300001 meters Centerline goodness : 0.998272 Centerline is valid? [True, True] Translation: X:71.53, Y:1.28, Z:-0.30 [[ 9.98518520e-01 -5.43290942e-02 -3.01903107e-03 7.15255982e+01] [ 5.43288977e-02 9.98523084e-01 -1.47117473e-04 1.27687865e+00] [ 3.02256498e-03 -1.71211093e-05 9.99995432e-01 -2.95159152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.010281693 meters Centerline goodness : 0.998442 Centerline is valid? [True, True] Translation: X:71.56, Y:1.28, Z:-0.30 [[ 9.98833064e-01 -4.82744156e-02 -1.44622193e-03 7.15566459e+01] [ 4.82743643e-02 9.98834111e-01 -7.03915337e-05 1.27976886e+00] [ 1.44793391e-03 4.93946676e-07 9.99998952e-01 -2.95990339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.040281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:71.59, Y:1.28, Z:-0.30 [[ 9.98979614e-01 -4.51223641e-02 1.92410514e-03 7.15876373e+01] [ 4.51222674e-02 9.98981467e-01 9.36721988e-05 1.28167211e+00] [-1.92637208e-03 -6.75663052e-06 9.99998145e-01 -2.95385296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.070281693 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:71.62, Y:1.28, Z:-0.29 [[ 9.98964343e-01 -4.54172506e-02 2.74139300e-03 7.16201562e+01] [ 4.54170557e-02 9.98968104e-01 1.33329566e-04 1.28389629e+00] [-2.74461963e-03 -8.68548366e-06 9.99996233e-01 -2.94726290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.100281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:71.65, Y:1.29, Z:-0.30 [[ 9.98922286e-01 -4.63549651e-02 2.34186650e-03 7.16511341e+01] [ 4.63548256e-02 9.98925031e-01 1.13812168e-04 1.28554969e+00] [-2.34462482e-03 -5.13269811e-06 9.99997251e-01 -2.95256984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.130281693 meters Centerline goodness : 0.998508 Centerline is valid? [True, True] Translation: X:71.68, Y:1.29, Z:-0.30 [[ 9.98798758e-01 -4.89981330e-02 -4.74122274e-04 7.16835156e+01] [ 4.89981276e-02 9.98798870e-01 -2.29623691e-05 1.28510708e+00] [ 4.74677905e-04 -2.96317980e-07 9.99999887e-01 -2.97189329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.160281693 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:71.72, Y:1.28, Z:-0.30 [[ 9.98714001e-01 -5.06915788e-02 -8.41159914e-04 7.17160902e+01] [ 5.06915625e-02 9.98714355e-01 -4.07383991e-05 1.28497242e+00] [ 8.42143575e-04 -1.95370085e-06 9.99999645e-01 -2.97288454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.190281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:71.75, Y:1.28, Z:-0.30 [[ 9.98555888e-01 -5.36974828e-02 1.64874048e-03 7.17483658e+01] [ 5.36974240e-02 9.98557249e-01 7.99223239e-05 1.28325569e+00] [-1.65065338e-03 8.72620936e-06 9.99998638e-01 -2.95735303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.220281693 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:71.78, Y:1.28, Z:-0.30 [[ 9.98528991e-01 -5.41614508e-02 2.52807657e-03 7.17799674e+01] [ 5.41613145e-02 9.98532191e-01 1.22406294e-04 1.28231560e+00] [-2.53099554e-03 1.46977168e-05 9.99996797e-01 -2.95537088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.250281693 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:71.81, Y:1.28, Z:-0.30 [[ 9.98531559e-01 -5.41213671e-02 2.36705042e-03 7.18126897e+01] [ 5.41212477e-02 9.98534365e-01 1.14505820e-04 1.28102084e+00] [-2.36977840e-03 1.37700475e-05 9.99997192e-01 -2.96012033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.280281693 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:71.84, Y:1.28, Z:-0.30 [[ 9.98686878e-01 -5.12282075e-02 -4.36210396e-04 7.18449095e+01] [ 5.12282032e-02 9.98686973e-01 -2.10225477e-05 1.27636354e+00] [ 4.36714587e-04 -1.35133228e-06 9.99999905e-01 -2.96671540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.31028169300001 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:71.88, Y:1.27, Z:-0.30 [[ 9.98969407e-01 -4.53685160e-02 -1.34940340e-03 7.18756285e+01] [ 4.53684695e-02 9.98970319e-01 -6.51313129e-05 1.27480118e+00] [ 1.35096885e-03 3.84382230e-06 9.99999087e-01 -2.96297296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.34028169300001 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:71.91, Y:1.27, Z:-0.30 [[ 9.99098393e-01 -4.24463758e-02 -8.40243849e-04 7.19074091e+01] [ 4.24463567e-02 9.99098746e-01 -4.05280700e-05 1.27462393e+00] [ 8.41206846e-04 4.82623952e-06 9.99999646e-01 -2.96381264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.370281693 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:71.94, Y:1.27, Z:-0.30 [[ 9.99197093e-01 -4.00641788e-02 -1.75545503e-04 7.19389945e+01] [ 4.00641780e-02 9.99197108e-01 -8.44420059e-06 1.27391934e+00] [ 1.75742869e-04 1.40433441e-06 9.99999985e-01 -2.96796395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.400281693 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:71.97, Y:1.27, Z:-0.30 [[ 9.99309379e-01 -3.71579532e-02 -2.27329514e-04 7.19695354e+01] [ 3.71579517e-02 9.99309405e-01 -1.09164503e-05 1.27146326e+00] [ 2.27578154e-04 2.46181213e-06 9.99999974e-01 -2.96587381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.430281693 meters Centerline goodness : 0.998397 Centerline is valid? [True, True] Translation: X:72.00, Y:1.27, Z:-0.30 [[ 9.99338975e-01 -3.63531205e-02 2.52317987e-04 7.20002340e+01] [ 3.63531185e-02 9.99339007e-01 1.21714312e-05 1.27209411e+00] [-2.52593676e-04 -2.99083989e-06 9.99999968e-01 -2.96185400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.460281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:72.03, Y:1.27, Z:-0.30 [[ 9.99374661e-01 -3.53379923e-02 1.23020143e-03 7.20315581e+01] [ 3.53379461e-02 9.99375418e-01 5.92813288e-05 1.27142007e+00] [-1.23152795e-03 -1.57714661e-05 9.99999242e-01 -2.96191192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.490281693 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:72.06, Y:1.27, Z:-0.30 [[ 9.99381894e-01 -3.51398257e-02 1.01129079e-03 7.20627365e+01] [ 3.51397944e-02 9.99382406e-01 4.87144723e-05 1.27220635e+00] [-1.01237804e-03 -1.31478110e-05 9.99999487e-01 -2.96633135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.520281693 meters Centerline goodness : 0.998425 Centerline is valid? [True, True] Translation: X:72.09, Y:1.27, Z:-0.30 [[ 9.99372649e-01 -3.54120128e-02 -5.45718229e-04 7.20943831e+01] [ 3.54120038e-02 9.99372798e-01 -2.61545142e-05 1.27233304e+00] [ 5.46302137e-04 6.81313016e-06 9.99999851e-01 -2.97284439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.550281693 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:72.13, Y:1.27, Z:-0.30 [[ 9.99341704e-01 -3.62651393e-02 -9.99282034e-04 7.21254439e+01] [ 3.62651094e-02 9.99342203e-01 -4.79927028e-05 1.27305409e+00] [ 1.00036517e-03 1.17220371e-05 9.99999500e-01 -2.97409810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.580281693 meters Centerline goodness : 0.998541 Centerline is valid? [True, True] Translation: X:72.16, Y:1.27, Z:-0.30 [[ 9.99302419e-01 -3.73338395e-02 -9.27023422e-04 7.21554791e+01] [ 3.73338142e-02 9.99302849e-01 -4.45223401e-05 1.27306795e+00] [ 9.28039337e-04 9.88196191e-06 9.99999569e-01 -2.97667697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.610281693 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:72.19, Y:1.27, Z:-0.30 [[ 9.99195398e-01 -4.01056737e-02 -3.02018474e-04 7.21864775e+01] [ 4.01056712e-02 9.99195444e-01 -1.44775428e-05 1.27199379e+00] [ 3.02356115e-04 2.35324052e-06 9.99999954e-01 -2.97420481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.640281693 meters Centerline goodness : 0.998312 Centerline is valid? [True, True] Translation: X:72.22, Y:1.27, Z:-0.30 [[ 9.99146471e-01 -4.13076543e-02 -8.41874802e-05 7.22168856e+01] [ 4.13076541e-02 9.99146475e-01 -4.00134700e-06 1.27281141e+00] [ 8.42809104e-05 5.20344417e-07 9.99999996e-01 -2.97403291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.670281693 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:72.25, Y:1.27, Z:-0.30 [[ 9.99061467e-01 -4.33146224e-02 -1.70172406e-04 7.22483374e+01] [ 4.33146216e-02 9.99061481e-01 -8.13643105e-06 1.27227568e+00] [ 1.70365123e-04 7.57841346e-07 9.99999985e-01 -2.97944427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.70028169300001 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:72.28, Y:1.27, Z:-0.30 [[ 9.99034964e-01 -4.39169603e-02 -6.64015243e-04 7.22782700e+01] [ 4.39169488e-02 9.99035185e-01 -3.18255114e-05 1.27225766e+00] [ 6.64772271e-04 2.63327522e-06 9.99999779e-01 -2.97748178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.73028169300001 meters Centerline goodness : 0.998439 Centerline is valid? [True, True] Translation: X:72.31, Y:1.27, Z:-0.30 [[ 9.99013337e-01 -4.43974414e-02 -1.10457056e-03 7.23075103e+01] [ 4.43974100e-02 9.99013947e-01 -5.29847928e-05 1.27256274e+00] [ 1.10583379e-03 3.89244265e-06 9.99999389e-01 -2.97651931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.760281693 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:72.34, Y:1.27, Z:-0.30 [[ 9.98996736e-01 -4.47764650e-02 -7.67811441e-04 7.23375036e+01] [ 4.47764499e-02 9.98997031e-01 -3.68424404e-05 1.27322010e+00] [ 7.68691024e-04 2.42560718e-06 9.99999705e-01 -2.97309709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.790281693 meters Centerline goodness : 0.998270 Centerline is valid? [True, True] Translation: X:72.37, Y:1.27, Z:-0.30 [[ 9.98979236e-01 -4.51712844e-02 2.01556037e-04 7.23688831e+01] [ 4.51712834e-02 9.98979257e-01 9.68869958e-06 1.27492691e+00] [-2.01787951e-04 -5.74264849e-07 9.99999980e-01 -2.97590666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.820281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:72.40, Y:1.28, Z:-0.30 [[ 9.98986345e-01 -4.50079430e-02 7.53184114e-04 7.23993401e+01] [ 4.50079285e-02 9.98986629e-01 3.61157229e-05 1.27661762e+00] [-7.54046354e-04 -2.17985728e-06 9.99999716e-01 -2.97216462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.850281693 meters Centerline goodness : 0.998339 Centerline is valid? [True, True] Translation: X:72.43, Y:1.28, Z:-0.30 [[ 9.98987906e-01 -4.49784175e-02 3.25474783e-04 7.24304151e+01] [ 4.49784148e-02 9.98987959e-01 1.56187585e-05 1.27842019e+00] [-3.25847896e-04 -9.63611039e-07 9.99999947e-01 -2.98188558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.880281693 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:72.46, Y:1.28, Z:-0.30 [[ 9.98986993e-01 -4.49945625e-02 -6.90612252e-04 7.24607883e+01] [ 4.49945504e-02 9.98987232e-01 -3.30677902e-05 1.28023613e+00] [ 6.91400692e-04 1.96050455e-06 9.99999761e-01 -2.98396966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.910281693 meters Centerline goodness : 0.998013 Centerline is valid? [True, True] Translation: X:72.49, Y:1.28, Z:-0.30 [[ 9.98987245e-01 -4.49620386e-02 -1.70287307e-03 7.24906356e+01] [ 4.49619648e-02 9.98988696e-01 -8.15981250e-05 1.28255557e+00] [ 1.70481977e-03 4.95096697e-06 9.99998547e-01 -2.98673585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.940281693 meters Centerline goodness : 0.998448 Centerline is valid? [True, True] Translation: X:72.52, Y:1.28, Z:-0.30 [[ 9.98949282e-01 -4.58227517e-02 -7.79444434e-04 7.25207166e+01] [ 4.58227365e-02 9.98949586e-01 -3.73438523e-05 1.28357944e+00] [ 7.80336893e-04 1.58833750e-06 9.99999696e-01 -2.97848695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.970281693 meters Centerline goodness : 0.998579 Centerline is valid? [True, True] Translation: X:72.55, Y:1.28, Z:-0.30 [[ 9.98915929e-01 -4.65503421e-02 -1.77760072e-04 7.25515152e+01] [ 4.65503413e-02 9.98915945e-01 -8.51663771e-06 1.28409349e+00] [ 1.77963822e-04 2.32613057e-07 9.99999984e-01 -2.97657190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.000281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:72.58, Y:1.29, Z:-0.30 [[ 9.98862640e-01 -4.76800067e-02 2.06482865e-04 7.25817567e+01] [ 4.76800057e-02 9.98862662e-01 9.89277142e-06 1.28503199e+00] [-2.06719712e-04 -3.64155785e-08 9.99999979e-01 -2.97513818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.030281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:72.61, Y:1.29, Z:-0.30 [[ 9.98812363e-01 -4.87196766e-02 5.05832818e-04 7.26117381e+01] [ 4.87196706e-02 9.98812491e-01 2.42348847e-05 1.28627746e+00] [-5.06412853e-04 4.37905746e-07 9.99999872e-01 -2.96959995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.06028169300001 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:72.64, Y:1.29, Z:-0.30 [[ 9.98747633e-01 -5.00287162e-02 5.42182753e-04 7.26426246e+01] [ 5.00287095e-02 9.98747780e-01 2.59886049e-05 1.28743467e+00] [-5.42803998e-04 1.16864586e-06 9.99999853e-01 -2.96867003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.09028169300001 meters Centerline goodness : 0.998699 Centerline is valid? [True, True] Translation: X:72.67, Y:1.29, Z:-0.30 [[ 9.98794522e-01 -4.90833098e-02 -5.76431178e-04 7.26745235e+01] [ 4.90833020e-02 9.98794688e-01 -2.75666692e-05 1.28638482e+00] [ 5.77089462e-04 -7.59707423e-07 9.99999833e-01 -2.96952948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.120281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:72.70, Y:1.29, Z:-0.30 [[ 9.98887319e-01 -4.71506026e-02 -9.72258048e-04 7.27047026e+01] [ 4.71505797e-02 9.98887792e-01 -4.65143991e-05 1.28667059e+00] [ 9.73369876e-04 6.20112882e-07 9.99999526e-01 -2.97133635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.150281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:72.73, Y:1.29, Z:-0.30 [[ 9.98995520e-01 -4.48007482e-02 -9.18992100e-04 7.27347030e+01] [ 4.48007267e-02 9.98995942e-01 -4.39550136e-05 1.28752683e+00] [ 9.20038596e-04 2.73934777e-06 9.99999577e-01 -2.97356800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.180281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:72.76, Y:1.29, Z:-0.30 [[ 9.99235046e-01 -3.91051779e-02 -3.29220971e-04 7.27641119e+01] [ 3.91051748e-02 9.99235100e-01 -1.57668579e-05 1.28795658e+00] [ 3.29585716e-04 2.88055338e-06 9.99999946e-01 -2.97035611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.210281693 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:72.79, Y:1.29, Z:-0.30 [[ 9.99328763e-01 -3.66336087e-02 -3.88299546e-05 7.27945531e+01] [ 3.66336086e-02 9.99328764e-01 -1.85817757e-06 1.28915545e+00] [ 3.88719623e-05 4.34448937e-07 9.99999999e-01 -2.97340760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.240281693 meters Centerline goodness : 0.998724 Centerline is valid? [True, True] Translation: X:72.83, Y:1.29, Z:-0.30 [[ 9.99479972e-01 -3.22420386e-02 -4.86433268e-04 7.28262436e+01] [ 3.22420311e-02 9.99480090e-01 -2.32412457e-05 1.28897479e+00] [ 4.86929712e-04 7.54556298e-06 9.99999881e-01 -2.97296725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.270281693 meters Centerline goodness : 0.998854 Centerline is valid? [True, True] Translation: X:72.86, Y:1.29, Z:-0.30 [[ 9.99537838e-01 -3.03991969e-02 -7.57764622e-06 7.28566443e+01] [ 3.03991969e-02 9.99537838e-01 -3.49753881e-07 1.28977531e+00] [ 7.58477636e-06 1.19237879e-07 1.00000000e+00 -2.97578701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.300281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:72.89, Y:1.29, Z:-0.30 [[ 9.99588536e-01 -2.86792914e-02 5.06832901e-04 7.28875455e+01] [ 2.86792828e-02 9.99588664e-01 2.42492059e-05 1.29083935e+00] [-5.07319872e-04 -9.70362419e-06 9.99999871e-01 -2.97142465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.330281693 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:72.92, Y:1.29, Z:-0.30 [[ 9.99670072e-01 -2.56847977e-02 1.96852416e-04 7.29181893e+01] [ 2.56847963e-02 9.99670091e-01 9.41874593e-06 1.29294916e+00] [-1.97029391e-04 -4.35952421e-06 9.99999981e-01 -2.97066539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.360281693 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:72.95, Y:1.30, Z:-0.30 [[ 9.99711048e-01 -2.40339897e-02 -4.32357422e-04 7.29481944e+01] [ 2.40339831e-02 9.99711142e-01 -2.06436910e-05 1.29563802e+00] [ 4.32728682e-04 1.02464550e-05 9.99999906e-01 -2.97252694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.390281693 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:72.98, Y:1.30, Z:-0.30 [[ 9.99774736e-01 -2.12240269e-02 1.34621175e-04 7.29793966e+01] [ 2.12240262e-02 9.99774745e-01 6.45377678e-06 1.30083577e+00] [-1.34727826e-04 -3.59511962e-06 9.99999991e-01 -2.97787280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.420281693 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:73.01, Y:1.30, Z:-0.30 [[ 9.99789979e-01 -2.04832100e-02 6.59987332e-04 7.30104376e+01] [ 2.04831937e-02 9.99790197e-01 3.15250604e-05 1.30424875e+00] [-6.60494599e-04 -1.79997912e-05 9.99999782e-01 -2.97468507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.45028169300001 meters Centerline goodness : 0.998167 Centerline is valid? [True, True] Translation: X:73.04, Y:1.31, Z:-0.30 [[ 9.99795137e-01 -2.02320704e-02 5.88544479e-04 7.30414565e+01] [ 2.02320573e-02 9.99795311e-01 2.81012453e-05 1.30779583e+00] [-5.88992557e-04 -1.61880228e-05 9.99999826e-01 -2.97158136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.48028169300001 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:73.07, Y:1.31, Z:-0.30 [[ 9.99796151e-01 -2.01210762e-02 -1.67304309e-03 7.30723636e+01] [ 2.01209711e-02 9.99797550e-01 -7.95983344e-05 1.31320250e+00] [ 1.67430598e-03 4.59188567e-05 9.99998597e-01 -2.98532765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.510281693 meters Centerline goodness : 0.998003 Centerline is valid? [True, True] Translation: X:73.10, Y:1.32, Z:-0.30 [[ 9.99794281e-01 -2.00583303e-02 -3.00980382e-03 7.31023395e+01] [ 2.00579895e-02 9.99798808e-01 -1.43346440e-04 1.31594232e+00] [ 3.01207356e-03 8.29463371e-05 9.99995460e-01 -2.99206488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.540281693 meters Centerline goodness : 0.997829 Centerline is valid? [True, True] Translation: X:73.13, Y:1.32, Z:-0.30 [[ 9.99791320e-01 -2.00369045e-02 -3.97993771e-03 7.31312771e+01] [ 2.00363086e-02 9.99799235e-01 -1.89537570e-04 1.31841976e+00] [ 3.98293643e-03 1.09754757e-04 9.99992062e-01 -2.99914046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.570281693 meters Centerline goodness : 0.997859 Centerline is valid? [True, True] Translation: X:73.16, Y:1.32, Z:-0.30 [[ 9.99788129e-01 -2.03485793e-02 -3.10346466e-03 7.31615518e+01] [ 2.03482185e-02 9.99792943e-01 -1.47799232e-04 1.32289297e+00] [ 3.10582957e-03 8.46179405e-05 9.99995173e-01 -2.98895414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.600281693 meters Centerline goodness : 0.997951 Centerline is valid? [True, True] Translation: X:73.19, Y:1.33, Z:-0.30 [[ 9.99787930e-01 -2.05549025e-02 -1.26097016e-03 7.31908461e+01] [ 2.05548430e-02 9.99788725e-01 -6.00792492e-05 1.32696404e+00] [ 1.26193868e-03 3.41474645e-05 9.99999203e-01 -2.97819755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.630281693 meters Centerline goodness : 0.997703 Centerline is valid? [True, True] Translation: X:73.22, Y:1.33, Z:-0.30 [[ 9.99784050e-01 -2.07709654e-02 6.49021419e-04 7.32215673e+01] [ 2.07709497e-02 9.99784260e-01 3.09263278e-05 1.33160043e+00] [-6.49523769e-04 -1.74388580e-05 9.99999789e-01 -2.98129508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.660281693 meters Centerline goodness : 0.997822 Centerline is valid? [True, True] Translation: X:73.25, Y:1.33, Z:-0.30 [[ 9.99781056e-01 -2.09235684e-02 2.10345392e-04 7.32535544e+01] [ 2.09235668e-02 9.99781078e-01 1.00557522e-05 1.33390098e+00] [-2.10509745e-04 -5.65237470e-06 9.99999978e-01 -2.98732469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.690281693 meters Centerline goodness : 0.997766 Centerline is valid? [True, True] Translation: X:73.28, Y:1.34, Z:-0.30 [[ 9.99777788e-01 -2.10702063e-02 -6.48392401e-04 7.32846223e+01] [ 2.10701907e-02 9.99777998e-01 -3.07997993e-05 1.33643486e+00] [ 6.48897415e-04 1.71312036e-05 9.99999789e-01 -2.99303162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.720281693 meters Centerline goodness : 0.997578 Centerline is valid? [True, True] Translation: X:73.32, Y:1.34, Z:-0.30 [[ 9.99777254e-01 -2.09938647e-02 -2.16797980e-03 7.33160657e+01] [ 2.09936908e-02 9.99779603e-01 -1.02952821e-04 1.34164792e+00] [ 2.16966336e-03 5.74159913e-05 9.99997645e-01 -2.99116928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.750281693 meters Centerline goodness : 0.997695 Centerline is valid? [True, True] Translation: X:73.35, Y:1.35, Z:-0.30 [[ 9.99772094e-01 -2.13272623e-02 -9.53324511e-04 7.33462801e+01] [ 2.13272288e-02 9.99772548e-01 -4.52642933e-05 1.34893363e+00] [ 9.54073039e-04 2.49222073e-05 9.99999545e-01 -2.97342160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.780281693 meters Centerline goodness : 0.997920 Centerline is valid? [True, True] Translation: X:73.38, Y:1.35, Z:-0.30 [[ 9.99759890e-01 -2.19122092e-02 -1.32244483e-04 7.33773072e+01] [ 2.19122085e-02 9.99759899e-01 -6.23821144e-06 1.35387904e+00] [ 1.32349424e-04 3.33894489e-06 9.99999991e-01 -2.97207828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.81028169300001 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:73.41, Y:1.36, Z:-0.30 [[ 9.99739222e-01 -2.28339479e-02 3.12863363e-04 7.34088265e+01] [ 2.28339444e-02 9.99739271e-01 1.48837684e-05 1.35918061e+00] [-3.13121646e-04 -7.73598242e-06 9.99999951e-01 -2.97257741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.84028169300001 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:73.44, Y:1.36, Z:-0.30 [[ 9.99740015e-01 -2.27992139e-02 3.12864472e-04 7.34404701e+01] [ 2.27992103e-02 9.99740064e-01 1.48603829e-05 1.36059592e+00] [-3.13121953e-04 -7.72345649e-06 9.99999951e-01 -2.97292001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.870281693 meters Centerline goodness : 0.997721 Centerline is valid? [True, True] Translation: X:73.47, Y:1.37, Z:-0.30 [[ 9.99680677e-01 -2.52681559e-02 2.52333214e-04 7.34725797e+01] [ 2.52681537e-02 9.99680709e-01 1.19932158e-05 1.36847732e+00] [-2.52555693e-04 -5.61339169e-06 9.99999968e-01 -2.97665018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.900281693 meters Centerline goodness : 0.997776 Centerline is valid? [True, True] Translation: X:73.50, Y:1.37, Z:-0.30 [[ 9.99645435e-01 -2.66241059e-02 4.00753471e-04 7.35037100e+01] [ 2.66241004e-02 9.99645516e-01 1.89916902e-05 1.37254214e+00] [-4.01117047e-04 -8.31525581e-06 9.99999920e-01 -2.97824876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.930281693 meters Centerline goodness : 0.997613 Centerline is valid? [True, True] Translation: X:73.54, Y:1.38, Z:-0.30 [[ 9.99542565e-01 -3.02431051e-02 1.27142163e-04 7.35355376e+01] [ 3.02431046e-02 9.99542573e-01 6.05751282e-06 1.37832164e+00] [-1.27267203e-04 -2.20956816e-06 9.99999992e-01 -2.97324006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.960281693 meters Centerline goodness : 0.997791 Centerline is valid? [True, True] Translation: X:73.57, Y:1.38, Z:-0.30 [[ 9.99451460e-01 -3.31124427e-02 -5.88373786e-04 7.35677552e+01] [ 3.31124321e-02 9.99451633e-01 -2.77229331e-05 1.38204285e+00] [ 5.88969115e-04 8.22523889e-06 9.99999827e-01 -2.97749970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.990281693 meters Centerline goodness : 0.997740 Centerline is valid? [True, True] Translation: X:73.60, Y:1.39, Z:-0.30 [[ 9.99177119e-01 -4.04771550e-02 -2.58541342e-03 7.35984960e+01] [ 4.04769750e-02 9.99180464e-01 -1.21913047e-04 1.38674569e+00] [ 2.58822927e-03 1.71630128e-05 9.99996650e-01 -2.98492769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.020281693 meters Centerline goodness : 0.997704 Centerline is valid? [True, True] Translation: X:73.63, Y:1.39, Z:-0.30 [[ 9.99001256e-01 -4.45768751e-02 -3.06469852e-03 7.36309952e+01] [ 4.45766420e-02 9.99005957e-01 -1.44368104e-04 1.38842745e+00] [ 3.06808755e-03 7.60994867e-06 9.99995293e-01 -2.98785175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.050281693 meters Centerline goodness : 0.997706 Centerline is valid? [True, True] Translation: X:73.66, Y:1.39, Z:-0.30 [[ 9.98787813e-01 -4.91340127e-02 -2.95871312e-03 7.36623726e+01] [ 4.91338157e-02 9.98792195e-01 -1.39285812e-04 1.38960340e+00] [ 2.96198324e-03 -6.25589364e-06 9.99995613e-01 -2.98734959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.080281693 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:73.69, Y:1.39, Z:-0.30 [[ 9.98331040e-01 -5.77417640e-02 -1.01144124e-03 7.36945272e+01] [ 5.77417454e-02 9.98331552e-01 -4.75325421e-05 1.38857384e+00] [ 1.01249831e-03 -1.09491703e-05 9.99999487e-01 -2.98081117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.110281693 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:73.73, Y:1.39, Z:-0.30 [[ 9.98080666e-01 -6.19271597e-02 1.06603170e-04 7.37262484e+01] [ 6.19271595e-02 9.98080672e-01 5.04799078e-06 1.38775242e+00] [-1.06711171e-04 1.56332952e-06 9.99999994e-01 -2.97622971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.140281693 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:73.76, Y:1.38, Z:-0.30 [[ 9.97624637e-01 -6.88830871e-02 -4.51709548e-04 7.37587721e+01] [ 6.88830846e-02 9.97624739e-01 -2.11677483e-05 1.38209510e+00] [ 4.52094720e-04 -9.99767980e-06 9.99999898e-01 -2.97365625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.170281693 meters Centerline goodness : 0.997633 Centerline is valid? [True, True] Translation: X:73.79, Y:1.38, Z:-0.30 [[ 9.97401543e-01 -7.20263464e-02 -1.53875308e-03 7.37901969e+01] [ 7.20263207e-02 9.97402729e-01 -7.22116637e-05 1.37908724e+00] [ 1.53995766e-03 -3.88066978e-05 9.99998814e-01 -2.97852704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.20028169300001 meters Centerline goodness : 0.997780 Centerline is valid? [True, True] Translation: X:73.82, Y:1.37, Z:-0.30 [[ 9.97137550e-01 -7.55668808e-02 -2.52047483e-03 7.38215785e+01] [ 7.55668231e-02 9.97140733e-01 -1.18241328e-04 1.37235855e+00] [ 2.52220324e-03 -7.25614069e-05 9.99996817e-01 -2.97288406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.23028169300001 meters Centerline goodness : 0.997883 Centerline is valid? [True, True] Translation: X:73.85, Y:1.37, Z:-0.30 [[ 9.97137263e-01 -7.56030403e-02 -1.20781262e-03 7.38535177e+01] [ 7.56030271e-02 9.97137994e-01 -5.66216502e-05 1.37037585e+00] [ 1.20863662e-03 -3.48547332e-05 9.99999269e-01 -2.96804804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.260281693 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:73.88, Y:1.37, Z:-0.30 [[ 9.97224362e-01 -7.44543919e-02 -3.38991301e-04 7.38846811e+01] [ 7.44543908e-02 9.97224420e-01 -1.58669758e-05 1.36810988e+00] [ 3.39231769e-04 -9.41645598e-06 9.99999942e-01 -2.96248498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.290281693 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:73.92, Y:1.36, Z:-0.30 [[ 9.97493982e-01 -7.07325955e-02 -1.62955936e-03 7.39150856e+01] [ 7.07325651e-02 9.97495312e-01 -7.63293982e-05 1.36319206e+00] [ 1.63087680e-03 -3.91247985e-05 9.99998669e-01 -2.96296047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.320281693 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:73.95, Y:1.36, Z:-0.30 [[ 9.97630279e-01 -6.87501202e-02 -2.69217736e-03 7.39452922e+01] [ 6.87500300e-02 9.97633910e-01 -1.26142430e-04 1.36299575e+00] [ 2.69447973e-03 -5.92437667e-05 9.99996368e-01 -2.96334764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.350281693 meters Centerline goodness : 0.997899 Centerline is valid? [True, True] Translation: X:73.98, Y:1.36, Z:-0.30 [[ 9.97840603e-01 -6.56385041e-02 -2.39103816e-03 7.39752967e+01] [ 6.56384240e-02 9.97843467e-01 -1.12070800e-04 1.36206052e+00] [ 2.39323796e-03 -4.51151817e-05 9.99997135e-01 -2.96094532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.380281693 meters Centerline goodness : 0.998377 Centerline is valid? [True, True] Translation: X:74.01, Y:1.36, Z:-0.30 [[ 9.97885141e-01 -6.49916868e-02 -1.15155974e-03 7.40060187e+01] [ 6.49916678e-02 9.97885805e-01 -5.39692318e-05 1.36162678e+00] [ 1.15263267e-03 -2.09866934e-05 9.99999335e-01 -2.95556958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.410281693 meters Centerline goodness : 0.998432 Centerline is valid? [True, True] Translation: X:74.04, Y:1.36, Z:-0.29 [[ 9.97890387e-01 -6.49091935e-02 1.25399575e-03 7.40366393e+01] [ 6.49091709e-02 9.97891174e-01 5.87681021e-05 1.35853553e+00] [-1.25516588e-03 2.27517000e-05 9.99999212e-01 -2.94611608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.440281693 meters Centerline goodness : 0.998402 Centerline is valid? [True, True] Translation: X:74.07, Y:1.36, Z:-0.29 [[ 9.97879712e-01 -6.50725012e-02 1.28437232e-03 7.40676680e+01] [ 6.50724777e-02 9.97880538e-01 6.01750317e-05 1.35873595e+00] [-1.28556588e-03 2.35298457e-05 9.99999173e-01 -2.94306852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.470281693 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:74.10, Y:1.36, Z:-0.29 [[ 9.97907281e-01 -6.46556397e-02 8.40905095e-04 7.40991420e+01] [ 6.46556295e-02 9.97907635e-01 3.93877145e-05 1.35913625e+00] [-8.41692252e-04 1.50639612e-05 9.99999646e-01 -2.94669258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.500281693 meters Centerline goodness : 0.998401 Centerline is valid? [True, True] Translation: X:74.13, Y:1.36, Z:-0.29 [[ 9.98098405e-01 -6.16400056e-02 2.87558604e-04 7.41292751e+01] [ 6.16400043e-02 9.98098447e-01 1.34696874e-05 1.35847449e+00] [-2.87842067e-04 4.28104006e-06 9.99999959e-01 -2.94958878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.530281693 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:74.16, Y:1.36, Z:-0.29 [[ 9.98213225e-01 -5.97520066e-02 2.33398811e-04 7.41594417e+01] [ 5.97520057e-02 9.98213253e-01 1.09232389e-05 1.35920850e+00] [-2.33634471e-04 3.04232551e-06 9.99999973e-01 -2.94735401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.56028169300001 meters Centerline goodness : 0.998350 Centerline is valid? [True, True] Translation: X:74.19, Y:1.36, Z:-0.29 [[ 9.98347411e-01 -5.74582184e-02 1.00012660e-03 7.41887166e+01] [ 5.74582003e-02 9.98347912e-01 4.68068400e-05 1.36056775e+00] [-1.00116374e-03 1.07359869e-05 9.99999499e-01 -2.94288950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.59028169300001 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:74.22, Y:1.36, Z:-0.29 [[ 9.98352625e-01 -5.73631750e-02 1.22573599e-03 7.42198534e+01] [ 5.73631479e-02 9.98353377e-01 5.73596818e-05 1.36177789e+00] [-1.22700800e-03 1.30468861e-05 9.99999247e-01 -2.93822724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.620281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:74.25, Y:1.36, Z:-0.29 [[ 9.98325627e-01 -5.78212661e-02 1.62619441e-03 7.42500894e+01] [ 5.78212189e-02 9.98326951e-01 7.60627181e-05 1.36226957e+00] [-1.62787175e-03 1.80931825e-05 9.99998675e-01 -2.94025712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.650281693 meters Centerline goodness : 0.998614 Centerline is valid? [True, True] Translation: X:74.28, Y:1.36, Z:-0.29 [[ 9.98167123e-01 -6.04806321e-02 2.11857427e-03 7.42820285e+01] [ 6.04805580e-02 9.98169371e-01 9.90536784e-05 1.35879621e+00] [-2.12068677e-03 2.92604288e-05 9.99997751e-01 -2.94036679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.680281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:74.31, Y:1.36, Z:-0.29 [[ 9.98035643e-01 -6.26015827e-02 2.42839381e-03 7.43121864e+01] [ 6.26014919e-02 9.98038597e-01 1.13458237e-04 1.35592861e+00] [-2.43073341e-03 3.87857101e-05 9.99997045e-01 -2.94874388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.710281693 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:74.34, Y:1.35, Z:-0.30 [[ 9.97679808e-01 -6.80129048e-02 3.04065528e-03 7.43436039e+01] [ 6.80127877e-02 9.97684439e-01 1.42011674e-04 1.34763011e+00] [-3.04327309e-03 6.51212628e-05 9.99995367e-01 -2.95138681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.740281693 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:74.38, Y:1.34, Z:-0.30 [[ 9.97512591e-01 -7.04095820e-02 3.33502887e-03 7.43750799e+01] [ 7.04094547e-02 9.97518162e-01 1.55708998e-04 1.34418686e+00] [-3.33771527e-03 7.94958785e-05 9.99994427e-01 -2.95460423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.770281693 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:74.41, Y:1.34, Z:-0.29 [[ 9.97334749e-01 -7.29089307e-02 2.77238666e-03 7.44062493e+01] [ 7.29088524e-02 9.97338600e-01 1.29400249e-04 1.33776438e+00] [-2.77444267e-03 7.30761648e-05 9.99996149e-01 -2.94736243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.800281693 meters Centerline goodness : 0.998473 Centerline is valid? [True, True] Translation: X:74.44, Y:1.33, Z:-0.29 [[ 9.97361237e-01 -7.25661901e-02 2.17027565e-03 7.44366013e+01] [ 7.25661414e-02 9.97363597e-01 1.01287324e-04 1.33486230e+00] [-2.17190397e-03 5.64684793e-05 9.99997640e-01 -2.94997313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.830281693 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:74.47, Y:1.33, Z:-0.30 [[ 9.97488077e-01 -7.08310288e-02 7.08578370e-04 7.44669864e+01] [ 7.08310232e-02 9.97488328e-01 3.30695351e-05 1.33155936e+00] [-7.09141003e-04 1.72028640e-05 9.99999748e-01 -2.95129485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.860281693 meters Centerline goodness : 0.998392 Centerline is valid? [True, True] Translation: X:74.50, Y:1.32, Z:-0.30 [[ 9.97854227e-01 -6.54562006e-02 -1.55781596e-03 7.44954981e+01] [ 6.54561667e-02 9.97855443e-01 -7.27966255e-05 1.32494192e+00] [ 1.55924012e-03 -2.93282406e-05 9.99998784e-01 -2.95256050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.890281693 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:74.52, Y:1.32, Z:-0.30 [[ 9.98026112e-01 -6.27858279e-02 -1.34902422e-03 7.45241788e+01] [ 6.27857995e-02 9.98027023e-01 -6.33880301e-05 1.32359988e+00] [ 1.35034249e-03 -2.14366547e-05 9.99999088e-01 -2.95318160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.920281693 meters Centerline goodness : 0.998415 Centerline is valid? [True, True] Translation: X:74.55, Y:1.32, Z:-0.29 [[ 9.98316389e-01 -5.80033050e-02 -6.17964658e-05 7.45533416e+01] [ 5.80033049e-02 9.98316391e-01 -3.08250429e-06 1.31923333e+00] [ 6.18712201e-05 -5.07084693e-07 9.99999998e-01 -2.94772733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.95028169300001 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:74.58, Y:1.32, Z:-0.30 [[ 9.98412038e-01 -5.63289880e-02 6.68739600e-04 7.45820635e+01] [ 5.63289795e-02 9.98412262e-01 3.14335765e-05 1.31707253e+00] [-6.69448438e-04 6.28575803e-06 9.99999776e-01 -2.95208075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.98028169300001 meters Centerline goodness : 0.998675 Centerline is valid? [True, True] Translation: X:74.61, Y:1.32, Z:-0.30 [[ 9.98458669e-01 -5.54941204e-02 8.30488631e-04 7.46111547e+01] [ 5.54941071e-02 9.98459014e-01 3.90746386e-05 1.31546323e+00] [-8.31377272e-04 7.07281339e-06 9.99999654e-01 -2.95330219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.010281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:74.64, Y:1.31, Z:-0.30 [[ 9.98454791e-01 -5.55603672e-02 1.03692985e-03 7.46402604e+01] [ 5.55603465e-02 9.98455330e-01 4.88272680e-05 1.31129377e+00] [-1.03804099e-03 8.86036196e-06 9.99999461e-01 -2.95388113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.040281693 meters Centerline goodness : 0.998696 Centerline is valid? [True, True] Translation: X:74.67, Y:1.31, Z:-0.30 [[ 9.98431781e-01 -5.59712822e-02 1.09237485e-03 7.46686096e+01] [ 5.59712593e-02 9.98432379e-01 5.16210751e-05 1.30586162e+00] [-1.09355172e-03 9.60147418e-06 9.99999402e-01 -2.95671765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.070281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:74.70, Y:1.30, Z:-0.30 [[ 9.98443268e-01 -5.57623857e-02 1.26395545e-03 7.46978633e+01] [ 5.57623546e-02 9.98444068e-01 5.98302102e-05 1.30427204e+00] [-1.26532510e-03 1.07440617e-05 9.99999199e-01 -2.95937077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.100281693 meters Centerline goodness : 0.998783 Centerline is valid? [True, True] Translation: X:74.73, Y:1.30, Z:-0.30 [[ 9.98499648e-01 -5.47485210e-02 1.02551872e-03 7.47257832e+01] [ 5.47484998e-02 9.98500175e-01 4.86773751e-05 1.30273390e+00] [-1.02664563e-03 7.54126935e-06 9.99999473e-01 -2.96242520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.130281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:74.75, Y:1.30, Z:-0.30 [[ 9.98718814e-01 -5.05951793e-02 9.26117190e-04 7.47544314e+01] [ 5.05951602e-02 9.98719244e-01 4.40919616e-05 1.29958889e+00] [-9.27161900e-04 2.82157597e-06 9.99999570e-01 -2.95905501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.160281693 meters Centerline goodness : 0.998600 Centerline is valid? [True, True] Translation: X:74.78, Y:1.30, Z:-0.30 [[ 9.98822730e-01 -4.84928647e-02 1.26331316e-03 7.47822934e+01] [ 4.84928271e-02 9.98823529e-01 6.03960074e-05 1.29940305e+00] [-1.26475569e-03 9.36721782e-07 9.99999200e-01 -2.95500898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.190281693 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:74.81, Y:1.30, Z:-0.30 [[ 9.98986580e-01 -4.49479231e-02 2.34451453e-03 7.48103093e+01] [ 4.49477830e-02 9.98989331e-01 1.12449597e-04 1.29726353e+00] [-2.34719937e-03 -6.95490780e-06 9.99997245e-01 -2.95473808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.220281693 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:74.84, Y:1.30, Z:-0.30 [[ 9.99038489e-01 -4.37220064e-02 3.23774415e-03 7.48401770e+01] [ 4.37217318e-02 9.99043736e-01 1.55576846e-04 1.29628397e+00] [-3.24145014e-03 -1.38674763e-05 9.99994746e-01 -2.95482539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.250281693 meters Centerline goodness : 0.998798 Centerline is valid? [True, True] Translation: X:74.87, Y:1.30, Z:-0.30 [[ 9.99081161e-01 -4.26979628e-02 3.70367959e-03 7.48702319e+01] [ 4.26975962e-02 9.99088026e-01 1.78025678e-04 1.29513591e+00] [-3.70790327e-03 -1.97238850e-05 9.99993126e-01 -2.95857525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.280281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:74.90, Y:1.29, Z:-0.30 [[ 9.99144449e-01 -4.12671637e-02 2.71850189e-03 7.49006946e+01] [ 4.12669609e-02 9.99148148e-01 1.30680228e-04 1.29119168e+00] [-2.72157893e-03 -1.83841131e-05 9.99996296e-01 -2.95407048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.31028169300001 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:74.93, Y:1.29, Z:-0.30 [[ 9.99163304e-01 -4.08519105e-02 1.95256382e-03 7.49304068e+01] [ 4.08518051e-02 9.99165212e-01 9.38714025e-05 1.29092184e+00] [-1.95476867e-03 -1.40271041e-05 9.99998089e-01 -2.95697935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.34028169300001 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:74.96, Y:1.29, Z:-0.30 [[ 9.99224704e-01 -3.93651691e-02 6.12630625e-04 7.49604010e+01] [ 3.93651585e-02 9.99224891e-01 2.94458035e-05 1.28958641e+00] [-6.13314909e-04 -5.30667267e-06 9.99999812e-01 -2.96251298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.370281693 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:74.99, Y:1.29, Z:-0.30 [[ 9.99278949e-01 -3.79649745e-02 4.91787319e-04 7.49888637e+01] [ 3.79649675e-02 9.99279070e-01 2.35607187e-05 1.29023069e+00] [-4.92327257e-04 -4.87304070e-06 9.99999879e-01 -2.95969480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.400281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:75.02, Y:1.29, Z:-0.30 [[ 9.99433019e-01 -3.36218766e-02 1.79158369e-03 7.50177371e+01] [ 3.36217753e-02 9.99434625e-01 8.65993082e-05 1.29232388e+00] [-1.79348240e-03 -2.63139839e-05 9.99998391e-01 -2.95554483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.430281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:75.05, Y:1.30, Z:-0.29 [[ 9.99522192e-01 -3.07836833e-02 2.78436940e-03 7.50469277e+01] [ 3.07834269e-02 9.99526069e-01 1.34904316e-04 1.29521671e+00] [-2.78720266e-03 -4.91274259e-05 9.99996115e-01 -2.94639094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.460281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:75.08, Y:1.30, Z:-0.29 [[ 9.99604756e-01 -2.79438553e-02 3.07773108e-03 7.50766044e+01] [ 2.79435285e-02 9.99609492e-01 1.49169162e-04 1.29838007e+00] [-3.08069757e-03 -6.31075374e-05 9.99995253e-01 -2.93986080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.490281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:75.11, Y:1.30, Z:-0.29 [[ 9.99728455e-01 -2.32075355e-02 2.10416861e-03 7.51064171e+01] [ 2.32073722e-02 9.99730667e-01 1.01991886e-04 1.30387101e+00] [-2.10596887e-03 -5.31319663e-05 9.99997781e-01 -2.94637614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.520281693 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:75.14, Y:1.31, Z:-0.30 [[ 9.99760870e-01 -2.17588032e-02 2.18108294e-03 7.51362781e+01] [ 2.17586243e-02 9.99763248e-01 1.05720027e-04 1.30809736e+00] [-2.18286690e-03 -5.82373818e-05 9.99997616e-01 -2.95353575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.550281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:75.17, Y:1.32, Z:-0.30 [[ 9.99777265e-01 -2.09960383e-02 2.14176448e-03 7.51667369e+01] [ 2.09958640e-02 9.99779557e-01 1.03801947e-04 1.31583169e+00] [-2.14347177e-03 -5.88106313e-05 9.99997701e-01 -2.95640852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.580281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:75.20, Y:1.32, Z:-0.30 [[ 9.99762990e-01 -2.17113497e-02 1.60677717e-03 7.51968862e+01] [ 2.17112526e-02 9.99764280e-01 7.78580499e-05 1.32103180e+00] [-1.60808883e-03 -4.29544516e-05 9.99998706e-01 -2.95534261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.610281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:75.23, Y:1.33, Z:-0.30 [[ 9.99724063e-01 -2.32752723e-02 3.17162874e-03 7.52270934e+01] [ 2.32749019e-02 9.99729091e-01 1.53660073e-04 1.33074829e+00] [-3.17434599e-03 -7.97983250e-05 9.99994959e-01 -2.95107496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.640281693 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:75.26, Y:1.34, Z:-0.29 [[ 9.99687585e-01 -2.46073242e-02 4.38318924e-03 7.52572071e+01] [ 2.46066297e-02 9.99697189e-01 2.12320512e-04 1.33616360e+00] [-4.38708660e-03 -1.04398666e-04 9.99990371e-01 -2.94277335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.670281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:75.29, Y:1.34, Z:-0.29 [[ 9.99635752e-01 -2.64665800e-02 5.28045828e-03 7.52890797e+01] [ 2.64655990e-02 9.99649692e-01 2.55576704e-04 1.34075485e+00] [-5.28537273e-03 -1.15733119e-04 9.99986026e-01 -2.94352603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.70028169300001 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:75.32, Y:1.35, Z:-0.29 [[ 9.99448666e-01 -3.29655839e-02 3.95410655e-03 7.53213945e+01] [ 3.29650854e-02 9.99456486e-01 1.91203276e-04 1.34692144e+00] [-3.95826056e-03 -6.07503994e-05 9.99992164e-01 -2.94983756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.73028169300001 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:75.35, Y:1.35, Z:-0.30 [[ 9.99449068e-01 -3.29533831e-02 3.95411079e-03 7.53521953e+01] [ 3.29528848e-02 9.99456888e-01 1.91115565e-04 1.34837161e+00] [-3.95826117e-03 -6.07109158e-05 9.99992164e-01 -2.95017113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.760281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:75.38, Y:1.35, Z:-0.30 [[ 9.99292794e-01 -3.75176299e-02 2.51776186e-03 7.53820146e+01] [ 3.75174425e-02 9.99295966e-01 1.21666051e-04 1.35194826e+00] [-2.52055389e-03 -2.71200221e-05 9.99996823e-01 -2.95401978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.790281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:75.41, Y:1.35, Z:-0.30 [[ 9.98820749e-01 -4.85281656e-02 1.45869595e-03 7.54127281e+01] [ 4.85281144e-02 9.98821815e-01 7.04810886e-05 1.35457271e+00] [-1.46039766e-03 3.89790375e-07 9.99998934e-01 -2.96317403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.820281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:75.44, Y:1.35, Z:-0.30 [[ 9.98509679e-01 -5.45631579e-02 1.13228057e-03 7.54428596e+01] [ 5.45631310e-02 9.98510321e-01 5.47105462e-05 1.35459228e+00] [-1.13357901e-03 7.15176283e-06 9.99999357e-01 -2.95865414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.850281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:75.47, Y:1.35, Z:-0.30 [[ 9.98181760e-01 -6.02546948e-02 1.59525226e-03 7.54721406e+01] [ 6.02546484e-02 9.98183035e-01 7.71262630e-05 1.35360280e+00] [-1.59700097e-03 1.91353354e-05 9.99998725e-01 -2.95824044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.880281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:75.50, Y:1.35, Z:-0.30 [[ 9.97858323e-01 -6.53795057e-02 2.07045981e-03 7.55012057e+01] [ 6.53794386e-02 9.97860471e-01 1.00165252e-04 1.35204730e+00] [-2.07257875e-03 3.54147691e-05 9.99997852e-01 -2.96181592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.910281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:75.53, Y:1.35, Z:-0.30 [[ 9.97227936e-01 -7.43668460e-02 2.45259717e-03 7.55307954e+01] [ 7.43667783e-02 9.97230950e-01 1.18904204e-04 1.34627321e+00] [-2.45464834e-03 6.38171567e-05 9.99996985e-01 -2.95682998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.940281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:75.56, Y:1.34, Z:-0.30 [[ 9.96685484e-01 -8.13358000e-02 1.59150493e-03 7.55588928e+01] [ 8.13357801e-02 9.96686754e-01 7.73540748e-05 1.33674664e+00] [-1.59252353e-03 5.23486112e-05 9.99998731e-01 -2.96320909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.970281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:75.59, Y:1.33, Z:-0.30 [[ 9.96514379e-01 -8.34104127e-02 1.34019923e-03 7.55868087e+01] [ 8.34104002e-02 9.96515279e-01 6.53440530e-05 1.33199935e+00] [-1.34097938e-03 4.66702653e-05 9.99999100e-01 -2.96464299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.000281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:75.62, Y:1.33, Z:-0.30 [[ 9.96448849e-01 -8.41870593e-02 1.49377440e-03 7.56154062e+01] [ 8.41870442e-02 9.96449967e-01 7.31166667e-05 1.32738869e+00] [-1.49462692e-03 5.28994328e-05 9.99998882e-01 -2.96511728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.030281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:75.64, Y:1.32, Z:-0.30 [[ 9.96675736e-01 -8.14520497e-02 1.74395554e-03 7.56445189e+01] [ 8.14520243e-02 9.96677260e-01 8.57163644e-05 1.31507483e+00] [-1.74514260e-03 5.66172884e-05 9.99998476e-01 -2.95629696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.06028169300001 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:75.67, Y:1.31, Z:-0.30 [[ 9.96885667e-01 -7.88522068e-02 1.13882893e-03 7.56714845e+01] [ 7.88521941e-02 9.96886317e-01 5.61120052e-05 1.30938146e+00] [-1.13970753e-03 3.38619062e-05 9.99999350e-01 -2.95334901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.09028169300001 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:75.70, Y:1.30, Z:-0.29 [[ 9.97401188e-01 -7.20422923e-02 8.82709963e-04 7.57003647e+01] [ 7.20422819e-02 9.97401578e-01 4.35245625e-05 1.30144615e+00] [-8.83551919e-04 2.01809897e-05 9.99999609e-01 -2.94795924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.120281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:75.73, Y:1.30, Z:-0.30 [[ 9.97678683e-01 -6.80864824e-02 1.21542969e-03 7.57281382e+01] [ 6.80864596e-02 9.97679423e-01 6.02332535e-05 1.29880399e+00] [-1.21671026e-03 2.26608711e-05 9.99999260e-01 -2.95173843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.150281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:75.76, Y:1.30, Z:-0.30 [[ 9.97920634e-01 -6.44480438e-02 9.26616049e-04 7.57554680e+01] [ 6.44480288e-02 9.97921064e-01 4.60568008e-05 1.29591238e+00] [-9.27657944e-04 1.37575459e-05 9.99999570e-01 -2.95797947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.180281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:75.78, Y:1.29, Z:-0.30 [[ 9.98323621e-01 -5.78786660e-02 -9.28389785e-05 7.57826473e+01] [ 5.78786658e-02 9.98323625e-01 -4.84891728e-06 1.28940492e+00] [ 9.29639944e-05 -5.32607551e-07 9.99999996e-01 -2.96142161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.210281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:75.81, Y:1.29, Z:-0.30 [[ 9.98473108e-01 -5.52397467e-02 -1.54610938e-04 7.58111342e+01] [ 5.52397462e-02 9.98473120e-01 -7.97218585e-06 1.28812418e+00] [ 1.54815247e-04 -5.80655799e-07 9.99999988e-01 -2.96128974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.240281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:75.84, Y:1.29, Z:-0.30 [[ 9.98770698e-01 -4.95672926e-02 -4.20357548e-04 7.58383778e+01] [ 4.95672880e-02 9.98770786e-01 -2.12398931e-05 1.28562998e+00] [ 4.20893643e-04 3.77799168e-07 9.99999911e-01 -2.96084226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.270281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:75.87, Y:1.29, Z:-0.30 [[ 9.98897071e-01 -4.69453518e-02 -8.80798535e-04 7.58668774e+01] [ 4.69453307e-02 9.98897459e-01 -4.46869083e-05 1.28548367e+00] [ 8.81925262e-04 3.28824334e-06 9.99999611e-01 -2.96546138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.300281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:75.89, Y:1.28, Z:-0.30 [[ 9.99115762e-01 -4.20036224e-02 -1.84117532e-03 7.58946617e+01] [ 4.20035213e-02 9.99117458e-01 -9.35331736e-05 1.28488087e+00] [ 1.84347914e-03 1.61146213e-05 9.99998301e-01 -2.97222761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.330281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:75.92, Y:1.29, Z:-0.30 [[ 9.99219875e-01 -3.94733985e-02 -1.22134028e-03 7.59222013e+01] [ 3.94733518e-02 9.99220622e-01 -6.23497567e-05 1.28573571e+00] [ 1.22284955e-03 1.40907215e-05 9.99999252e-01 -2.97286896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.360281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:75.95, Y:1.29, Z:-0.30 [[ 9.99444929e-01 -3.33070069e-02 6.90772485e-04 7.59491358e+01] [ 3.33069906e-02 9.99445168e-01 3.51155286e-05 1.28509904e+00] [-6.91558815e-04 -1.20884844e-05 9.99999761e-01 -2.96383445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.390281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:75.98, Y:1.29, Z:-0.30 [[ 9.99525682e-01 -3.07870098e-02 7.56071721e-04 7.59775468e+01] [ 3.07869895e-02 9.99525968e-01 3.84731167e-05 1.28534123e+00] [-7.56897791e-04 -1.51776960e-05 9.99999713e-01 -2.96393399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.420281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:76.01, Y:1.29, Z:-0.30 [[ 9.99648505e-01 -2.64909839e-02 -1.04601106e-03 7.60058491e+01] [ 2.64909423e-02 9.99649052e-01 -5.36218651e-05 1.28622326e+00] [ 1.04706446e-03 2.58931986e-05 9.99999451e-01 -2.97262882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.45028169300001 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:76.03, Y:1.29, Z:-0.30 [[ 9.99686192e-01 -2.50009961e-02 -1.57089208e-03 7.60338815e+01] [ 2.50008998e-02 9.99687425e-01 -8.09169776e-05 1.28792095e+00] [ 1.57242406e-03 4.16178698e-05 9.99998763e-01 -2.97561328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.48028169300001 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:76.06, Y:1.29, Z:-0.30 [[ 9.99717528e-01 -2.37100353e-02 -1.64248692e-03 7.60620644e+01] [ 2.37099278e-02 9.99718877e-01 -8.49035676e-05 1.28925207e+00] [ 1.64403825e-03 4.59363384e-05 9.99998648e-01 -2.97343497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.510281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:76.09, Y:1.29, Z:-0.30 [[ 9.99738536e-01 -2.28313103e-02 -1.26143427e-03 7.60895534e+01] [ 2.28312462e-02 9.99739331e-01 -6.51870998e-05 1.28929428e+00] [ 1.26259376e-03 3.63699393e-05 9.99999202e-01 -2.96571957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.540281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:76.12, Y:1.29, Z:-0.30 [[ 9.99721344e-01 -2.35958527e-02 -6.85341490e-04 7.61186728e+01] [ 2.35958338e-02 9.99721579e-01 -3.56589623e-05 1.29042109e+00] [ 6.85992080e-04 1.94778218e-05 9.99999765e-01 -2.96806257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.570281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:76.15, Y:1.29, Z:-0.30 [[ 9.99668900e-01 -2.57199063e-02 7.59583356e-04 7.61480741e+01] [ 2.57198838e-02 9.99669188e-01 3.92822845e-05 1.28888382e+00] [-7.60342414e-04 -1.97328824e-05 9.99999711e-01 -2.97801303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.600281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:76.18, Y:1.29, Z:-0.30 [[ 9.99644471e-01 -2.66450907e-02 9.84843273e-04 7.61772503e+01] [ 2.66450533e-02 9.99644956e-01 5.11440180e-05 1.28804319e+00] [-9.85856347e-04 -2.48846334e-05 9.99999514e-01 -2.97878985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.630281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:76.21, Y:1.29, Z:-0.30 [[ 9.99632758e-01 -2.70911344e-02 6.47439302e-04 7.62064198e+01] [ 2.70911183e-02 9.99632968e-01 3.37191035e-05 1.28750391e+00] [-6.48115160e-04 -1.61668657e-05 9.99999790e-01 -2.98177495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.660281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:76.24, Y:1.29, Z:-0.30 [[ 9.99624080e-01 -2.73998490e-02 -9.73539520e-04 7.62352291e+01] [ 2.73998122e-02 9.99624553e-01 -5.11158617e-05 1.28805858e+00] [ 9.74574575e-04 2.44218462e-05 9.99999525e-01 -2.98660822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.690281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:76.26, Y:1.29, Z:-0.30 [[ 9.99618666e-01 -2.75810997e-02 -1.34348886e-03 7.62634311e+01] [ 2.75810300e-02 9.99619569e-01 -7.04360327e-05 1.28915236e+00] [ 1.34492046e-03 3.33543665e-05 9.99999095e-01 -2.99004504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.720281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:76.29, Y:1.29, Z:-0.30 [[ 9.99582970e-01 -2.88342478e-02 -1.57203453e-03 7.62917909e+01] [ 2.88341531e-02 9.99584206e-01 -8.28437441e-05 1.28801387e+00] [ 1.57376963e-03 3.74809113e-05 9.99998761e-01 -2.98890513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.750281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:76.32, Y:1.29, Z:-0.30 [[ 9.99551750e-01 -2.99179688e-02 -1.10199205e-03 7.63192424e+01] [ 2.99179229e-02 9.99552357e-01 -5.81094616e-05 1.28799851e+00] [ 1.10323727e-03 2.51141009e-05 9.99999391e-01 -2.98318844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.780281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:76.35, Y:1.29, Z:-0.30 [[ 9.99510079e-01 -3.12979594e-02 -2.01104349e-04 7.63472481e+01] [ 3.12979578e-02 9.99510099e-01 -1.08173003e-05 1.28893201e+00] [ 2.01344387e-04 4.51784520e-06 9.99999980e-01 -2.97856510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.81028169300001 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:76.38, Y:1.29, Z:-0.30 [[ 9.99399863e-01 -3.45952880e-02 1.75486631e-03 7.63752781e+01] [ 3.45951783e-02 9.99401403e-01 9.28285808e-05 1.28974186e+00] [-1.75702729e-03 -3.20629581e-05 9.99998456e-01 -2.96895590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.84028169300001 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:76.40, Y:1.29, Z:-0.30 [[ 9.99336527e-01 -3.63821815e-02 1.68578829e-03 7.64030081e+01] [ 3.63820823e-02 9.99337949e-01 8.94692855e-05 1.29079818e+00] [-1.68792730e-03 -2.80774367e-05 9.99998575e-01 -2.96837623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.870281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:76.43, Y:1.29, Z:-0.30 [[ 9.99282039e-01 -3.78764737e-02 8.83276158e-04 7.64307895e+01] [ 3.78764470e-02 9.99282429e-01 4.69439192e-05 1.29218248e+00] [-8.84420415e-04 -1.34548527e-05 9.99999609e-01 -2.96079274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.900281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:76.46, Y:1.29, Z:-0.30 [[ 9.99326217e-01 -3.67022333e-02 2.42146653e-04 7.64578146e+01] [ 3.67022313e-02 9.99326246e-01 1.28114195e-05 1.29476167e+00] [-2.42453713e-04 -3.91546490e-06 9.99999971e-01 -2.95617251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.930281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:76.49, Y:1.30, Z:-0.30 [[ 9.99407061e-01 -3.44311079e-02 1.57659317e-04 7.64853112e+01] [ 3.44311070e-02 9.99407074e-01 8.26358327e-06 1.29771092e+00] [-1.57850361e-04 -2.83029865e-06 9.99999988e-01 -2.95040519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.960281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:76.51, Y:1.30, Z:-0.30 [[ 9.99622460e-01 -2.74744302e-02 -3.04354667e-04 7.65125748e+01] [ 2.74744265e-02 9.99622507e-01 -1.64582596e-05 1.30231073e+00] [ 3.04691956e-04 8.09007601e-06 9.99999954e-01 -2.95071514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.990281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:76.54, Y:1.31, Z:-0.30 [[ 9.99714797e-01 -2.38812922e-02 -9.48578640e-05 7.65410344e+01] [ 2.38812918e-02 9.99714801e-01 -5.28981186e-06 1.30631974e+00] [ 9.49571382e-05 3.02297486e-06 9.99999995e-01 -2.95740394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.020281693 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:76.57, Y:1.31, Z:-0.29 [[ 9.99858698e-01 -1.67707303e-02 1.15210308e-03 7.65698845e+01] [ 1.67706698e-02 9.99859360e-01 6.21620920e-05 1.31476239e+00] [-1.15298355e-03 -4.28317680e-05 9.99999334e-01 -2.94911277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.050281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:76.60, Y:1.32, Z:-0.29 [[ 9.99906984e-01 -1.35277027e-02 1.73923744e-03 7.65989308e+01] [ 1.35275594e-02 9.99908494e-01 9.41118240e-05 1.32027597e+00] [-1.74035140e-03 -7.05754323e-05 9.99998483e-01 -2.94773488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.080281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:76.63, Y:1.33, Z:-0.30 [[ 9.99966613e-01 -8.07199031e-03 1.27138447e-03 7.66284512e+01] [ 8.07190933e-03 9.99967419e-01 6.88091399e-05 1.32854978e+00] [-1.27189848e-03 -5.85443423e-05 9.99999189e-01 -2.95055780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.110281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:76.66, Y:1.33, Z:-0.30 [[ 9.99979257e-01 -6.41462726e-03 5.81210419e-04 7.66586305e+01] [ 6.41461004e-03 9.99979426e-01 3.14853011e-05 1.33331887e+00] [-5.81400428e-04 -2.77564098e-05 9.99999831e-01 -2.95798410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.140281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:76.69, Y:1.34, Z:-0.30 [[ 9.99984198e-01 -5.62166154e-03 1.08126093e-05 7.66892966e+01] [ 5.62166153e-03 9.99984198e-01 5.84999896e-07 1.33865340e+00] [-1.08157271e-05 -5.24205821e-07 1.00000000e+00 -2.95902615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.170281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:76.72, Y:1.35, Z:-0.30 [[ 9.99987309e-01 -5.02187222e-03 -4.02862391e-04 7.67189733e+01] [ 5.02186385e-03 9.99987390e-01 -2.17962611e-05 1.34940686e+00] [ 4.02966769e-04 1.97728644e-05 9.99999919e-01 -2.96363004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.20028169300001 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:76.75, Y:1.36, Z:-0.30 [[ 9.99987909e-01 -4.88504197e-03 -5.64455502e-04 7.67493509e+01] [ 4.88502551e-03 9.99988068e-01 -3.05390123e-05 1.35549893e+00] [ 5.64597951e-04 2.77812635e-05 9.99999840e-01 -2.96373352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.23028169300001 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:76.78, Y:1.37, Z:-0.30 [[ 9.99977580e-01 -6.68967166e-03 -2.96934617e-04 7.67782727e+01] [ 6.68966718e-03 9.99977624e-01 -1.60804670e-05 1.36653757e+00] [ 2.97035545e-04 1.40937127e-05 9.99999956e-01 -2.96725650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.260281693 meters Centerline goodness : 0.999355 Centerline is valid? [True, True] Translation: X:76.81, Y:1.37, Z:-0.30 [[ 9.99963587e-01 -8.53138833e-03 -1.99670736e-04 7.68082446e+01] [ 8.53138634e-03 9.99963607e-01 -1.08050972e-05 1.37272144e+00] [ 1.99755652e-04 9.10123553e-06 9.99999980e-01 -2.97096003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.290281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:76.84, Y:1.38, Z:-0.30 [[ 9.99945424e-01 -1.04336252e-02 -5.38021084e-04 7.68377886e+01] [ 1.04336110e-02 9.99945568e-01 -2.91333671e-05 1.37866086e+00] [ 5.38295765e-04 2.35182744e-05 9.99999855e-01 -2.97274839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.320281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:76.87, Y:1.39, Z:-0.30 [[ 9.99912926e-01 -1.31034480e-02 -1.56235529e-03 7.68666493e+01] [ 1.31033318e-02 9.99914144e-01 -8.45575948e-05 1.38783087e+00] [ 1.56332915e-03 6.40781723e-05 9.99998776e-01 -2.97443523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.350281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:76.90, Y:1.39, Z:-0.30 [[ 9.99893590e-01 -1.45129404e-02 -1.47729655e-03 7.68963079e+01] [ 1.45128380e-02 9.99894680e-01 -8.00151226e-05 1.39330819e+00] [ 1.47830221e-03 5.85668427e-05 9.99998906e-01 -2.97019524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.380281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:76.93, Y:1.40, Z:-0.30 [[ 9.99844117e-01 -1.76554436e-02 -1.66243318e-04 7.69258744e+01] [ 1.76554423e-02 9.99844130e-01 -9.03076753e-06 1.40424426e+00] [ 1.66376847e-04 6.09426048e-06 9.99999986e-01 -2.96026553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.410281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:76.95, Y:1.41, Z:-0.30 [[ 9.99817664e-01 -1.90943731e-02 -2.09342958e-04 7.69545805e+01] [ 1.90943711e-02 9.99817686e-01 -1.13373776e-05 1.41046690e+00] [ 2.09521272e-04 7.33803829e-06 9.99999978e-01 -2.95846485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.440281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:76.98, Y:1.42, Z:-0.30 [[ 9.99741232e-01 -2.27136682e-02 -1.24851080e-03 7.69844362e+01] [ 2.27136014e-02 9.99742011e-01 -6.76291461e-05 1.42095573e+00] [ 1.24972480e-03 3.92534692e-05 9.99999218e-01 -2.96140581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.470281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:77.01, Y:1.43, Z:-0.30 [[ 9.99698369e-01 -2.45204061e-02 -1.38575333e-03 7.70131754e+01] [ 2.45203255e-02 9.99699329e-01 -7.50919088e-05 1.42671756e+00] [ 1.38717795e-03 4.10901361e-05 9.99999037e-01 -2.96654859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.500281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:77.04, Y:1.44, Z:-0.30 [[ 9.99546324e-01 -3.00937410e-02 -1.23015047e-03 7.70424494e+01] [ 3.00936816e-02 9.99547080e-01 -6.67021270e-05 1.43599502e+00] [ 1.23160063e-03 2.96521091e-05 9.99999241e-01 -2.97733411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.530281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:77.07, Y:1.44, Z:-0.30 [[ 9.99442305e-01 -3.33636676e-02 -1.39424466e-03 7.70718657e+01] [ 3.33635946e-02 9.99443277e-01 -7.56287826e-05 1.44010662e+00] [ 1.39599170e-03 2.90695915e-05 9.99999025e-01 -2.97690275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.56028169300001 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:77.10, Y:1.44, Z:-0.30 [[ 9.99313523e-01 -3.70183176e-02 -1.45825713e-03 7.71016891e+01] [ 3.70182415e-02 9.99314587e-01 -7.91345040e-05 1.44319505e+00] [ 1.46018705e-03 2.50980652e-05 9.99998934e-01 -2.97240052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.59028169300001 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:77.13, Y:1.45, Z:-0.30 [[ 9.99023345e-01 -4.41843549e-02 3.15237281e-04 7.71309058e+01] [ 4.41843517e-02 9.99023395e-01 1.70923932e-05 1.44610857e+00] [-3.15684635e-04 -3.14714497e-06 9.99999950e-01 -2.96482628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.620281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:77.16, Y:1.45, Z:-0.30 [[ 9.99022843e-01 -4.41957086e-02 3.15237069e-04 7.71608598e+01] [ 4.41957054e-02 9.99022892e-01 1.70962964e-05 1.44774040e+00] [-3.15684631e-04 -3.14746601e-06 9.99999950e-01 -2.96515082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.650281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:77.19, Y:1.45, Z:-0.30 [[ 9.98880527e-01 -4.72878482e-02 1.24609946e-03 7.71906516e+01] [ 4.72878006e-02 9.98881304e-01 6.76323517e-05 1.45058200e+00] [-1.24790364e-03 -8.63133622e-06 9.99999221e-01 -2.96090128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.680281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:77.22, Y:1.45, Z:-0.30 [[ 9.98671238e-01 -5.15220748e-02 1.11111182e-03 7.72198257e+01] [ 5.15220396e-02 9.98671856e-01 6.03282369e-05 1.45476761e+00] [-1.11274434e-03 -3.00132804e-06 9.99999381e-01 -2.95737841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.710281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:77.25, Y:1.46, Z:-0.30 [[ 9.98615820e-01 -5.25923276e-02 7.00090850e-04 7.72483923e+01] [ 5.25923139e-02 9.98616066e-01 3.80066307e-05 1.45672326e+00] [-7.01120828e-04 -1.13462493e-06 9.99999754e-01 -2.96449783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.740281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:77.28, Y:1.46, Z:-0.30 [[ 9.98567315e-01 -5.34991402e-02 -1.07707437e-03 7.72772204e+01] [ 5.34991081e-02 9.98567896e-01 -5.86008224e-05 1.45873353e+00] [ 1.07866699e-03 8.94347450e-07 9.99999418e-01 -2.96905423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.770281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:77.31, Y:1.46, Z:-0.30 [[ 9.98557686e-01 -5.36696027e-02 -1.45652358e-03 7.73054786e+01] [ 5.36695437e-02 9.98558748e-01 -7.95925783e-05 1.46072441e+00] [ 1.45869607e-03 1.30682477e-06 9.99998936e-01 -2.96635509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.800281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:77.33, Y:1.46, Z:-0.30 [[ 9.98554608e-01 -5.37188740e-02 -1.72550243e-03 7.73339849e+01] [ 5.37187908e-02 9.98556099e-01 -9.45273901e-05 1.46293003e+00] [ 1.72808888e-03 1.69885658e-06 9.99998507e-01 -2.97265941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.830281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:77.36, Y:1.46, Z:-0.30 [[ 9.98594629e-01 -5.29718368e-02 -1.65893589e-03 7.73631446e+01] [ 5.29717585e-02 9.98596007e-01 -9.11527839e-05 1.46477801e+00] [ 1.66143528e-03 3.14792921e-06 9.99998620e-01 -2.97131611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.860281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:77.39, Y:1.47, Z:-0.30 [[ 9.98648265e-01 -5.19575128e-02 -1.43535225e-03 7.73913734e+01] [ 5.19574530e-02 9.98649296e-01 -7.89264363e-05 1.46676419e+00] [ 1.43751434e-03 4.24250142e-06 9.99998967e-01 -2.96408796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.890281693 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:77.42, Y:1.47, Z:-0.30 [[ 9.98737160e-01 -5.02377089e-02 5.07307079e-04 7.74202396e+01] [ 5.02377013e-02 9.98737289e-01 2.77702186e-05 1.47169421e+00] [-5.08061609e-04 -2.24920778e-06 9.99999871e-01 -2.95250169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.920281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:77.45, Y:1.47, Z:-0.30 [[ 9.98760699e-01 -4.97477262e-02 1.49308871e-03 7.74486186e+01] [ 4.97476588e-02 9.98761815e-01 8.22681631e-05 1.47414505e+00] [-1.49533264e-03 -7.88854059e-06 9.99998882e-01 -2.95817077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.95028169300001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:77.48, Y:1.48, Z:-0.30 [[ 9.98747966e-01 -5.00106640e-02 1.19742334e-03 7.74773841e+01] [ 5.00106208e-02 9.98748684e-01 6.60112719e-05 1.47542946e+00] [-1.19922626e-03 -6.04473872e-06 9.99999281e-01 -2.96940381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.98028169300001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:77.51, Y:1.48, Z:-0.30 [[ 9.98755781e-01 -4.98669970e-02 4.16198625e-04 7.75078019e+01] [ 4.98669918e-02 9.98755867e-01 2.29564187e-05 1.47671736e+00] [-4.16825586e-04 -2.17328243e-06 9.99999913e-01 -2.96952121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.010281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:77.54, Y:1.48, Z:-0.30 [[ 9.98774985e-01 -4.94822895e-02 -1.81144942e-04 7.75367505e+01] [ 4.94822885e-02 9.98775001e-01 -1.00065812e-05 1.47893615e+00] [ 1.81418189e-04 1.03085671e-06 9.99999984e-01 -2.96644906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.040281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:77.57, Y:1.48, Z:-0.30 [[ 9.98959186e-01 -4.56124162e-02 2.28205170e-04 7.75656106e+01] [ 4.56124146e-02 9.98959212e-01 1.25509298e-05 1.48317935e+00] [-2.28540135e-04 -2.12887781e-06 9.99999974e-01 -2.95532317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.070281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:77.60, Y:1.49, Z:-0.30 [[ 9.99228050e-01 -3.92828345e-02 -4.04735246e-04 7.75954500e+01] [ 3.92828287e-02 9.99228132e-01 -2.23834682e-05 1.48890874e+00] [ 4.05302130e-04 6.46704392e-06 9.99999918e-01 -2.95967126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.100281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:77.63, Y:1.49, Z:-0.30 [[ 9.99345834e-01 -3.61456246e-02 -1.18273821e-03 7.76250191e+01] [ 3.61455726e-02 9.99346533e-01 -6.53610664e-05 1.49319882e+00] [ 1.18432785e-03 2.25675595e-05 9.99999298e-01 -2.96462083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.130281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:77.65, Y:1.50, Z:-0.30 [[ 9.99437830e-01 -3.34914245e-02 -1.53244929e-03 7.76539528e+01] [ 3.34913340e-02 9.99439004e-01 -8.47007365e-05 1.49805830e+00] [ 1.53442634e-03 3.33293494e-05 9.99998822e-01 -2.96649787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.160281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:77.68, Y:1.51, Z:-0.30 [[ 9.99546763e-01 -3.01042810e-02 -3.62756234e-05 7.76845911e+01] [ 3.01042810e-02 9.99546763e-01 -2.00470677e-06 1.50516573e+00] [ 3.63195322e-05 9.11746601e-07 9.99999999e-01 -2.96912375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.190281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:77.71, Y:1.51, Z:-0.30 [[ 9.99548341e-01 -2.99961843e-02 1.82853302e-03 7.77148496e+01] [ 2.99960497e-02 9.99550012e-01 1.01041823e-04 1.50865206e+00] [-1.83074107e-03 -4.61474189e-05 9.99998323e-01 -2.96626082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.220281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:77.75, Y:1.51, Z:-0.30 [[ 9.99513553e-01 -3.09818828e-02 3.57507004e-03 7.77462779e+01] [ 3.09813745e-02 9.99519942e-01 1.97469215e-04 1.51339639e+00] [-3.57947177e-03 -8.66125725e-05 9.99993590e-01 -2.96186422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.250281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:77.78, Y:1.52, Z:-0.30 [[ 9.99413005e-01 -3.41158410e-02 3.12335278e-03 7.77774893e+01] [ 3.41154686e-02 9.99417883e-01 1.72448524e-04 1.52149254e+00] [-3.12741785e-03 -6.57926541e-05 9.99995107e-01 -2.95572033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.280281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:77.81, Y:1.53, Z:-0.30 [[ 9.99351665e-01 -3.59792433e-02 1.32064795e-03 7.78088916e+01] [ 3.59791784e-02 9.99352537e-01 7.28973282e-05 1.52563166e+00] [-1.32241567e-03 -2.53342382e-05 9.99999125e-01 -2.96433953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.31028169300001 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:77.84, Y:1.53, Z:-0.30 [[ 9.99184337e-01 -4.03234320e-02 -2.16384110e-03 7.78396707e+01] [ 4.03232682e-02 9.99186679e-01 -1.19302292e-04 1.53065450e+00] [ 2.16689188e-03 3.19518363e-05 9.99997652e-01 -2.97704413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.34028169300001 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:77.87, Y:1.53, Z:-0.30 [[ 9.99084151e-01 -4.26856248e-02 -2.96594877e-03 7.78699040e+01] [ 4.26853273e-02 9.99088553e-01 -1.63560651e-04 1.53354161e+00] [ 2.97022715e-03 3.68083605e-05 9.99995588e-01 -2.97846776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.370281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:77.90, Y:1.54, Z:-0.30 [[ 9.98865599e-01 -4.76150054e-02 -5.71194376e-04 7.78989771e+01] [ 4.76149951e-02 9.98865762e-01 -3.15182716e-05 1.53688898e+00] [ 5.72047249e-04 4.28509978e-06 9.99999836e-01 -2.96653014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.400281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:77.93, Y:1.54, Z:-0.30 [[ 9.98749168e-01 -4.99827507e-02 1.35065133e-03 7.79290935e+01] [ 4.99826957e-02 9.98750081e-01 7.44988420e-05 1.53914060e+00] [-1.35268678e-03 -6.89646198e-06 9.99999085e-01 -2.95463842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.430281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:77.96, Y:1.54, Z:-0.30 [[ 9.98663721e-01 -5.16292086e-02 2.27973223e-03 7.79593154e+01] [ 5.16290562e-02 9.98666323e-01 1.25698312e-04 1.54140714e+00] [-2.28318151e-03 -7.82992077e-06 9.99997394e-01 -2.95387193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.460281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:77.99, Y:1.54, Z:-0.30 [[ 9.98556034e-01 -5.37101686e-02 1.03221227e-03 7.79894022e+01] [ 5.37101385e-02 9.98556567e-01 5.68949912e-05 1.54452534e+00] [-1.03377818e-03 -1.37257260e-06 9.99999466e-01 -2.96528679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.490281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:78.02, Y:1.55, Z:-0.30 [[ 9.98508467e-01 -5.45876060e-02 1.01759808e-03 7.80195546e+01] [ 5.45875772e-02 9.98508985e-01 5.60767391e-05 1.54644690e+00] [-1.01914192e-03 -4.44885012e-07 9.99999481e-01 -2.97529336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.520281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:78.05, Y:1.55, Z:-0.30 [[ 9.98487005e-01 -5.49789941e-02 1.00558241e-03 7.80486702e+01] [ 5.49789661e-02 9.98487511e-01 5.54266542e-05 1.54746307e+00] [-1.00710878e-03 -5.69123924e-08 9.99999493e-01 -2.96801817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:78.08, Y:1.55, Z:-0.30 [[ 9.98487197e-01 -5.49754539e-02 1.00833203e-03 7.80783039e+01] [ 5.49754258e-02 9.98487706e-01 5.55754365e-05 1.54858346e+00] [-1.00986242e-03 -5.78791423e-08 9.99999490e-01 -2.96155604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.580281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:78.11, Y:1.55, Z:-0.30 [[ 9.98477908e-01 -5.51396498e-02 1.21902540e-03 7.81085123e+01] [ 5.51396089e-02 9.98478652e-01 6.71880557e-05 1.54979380e+00] [-1.22087556e-03 1.30794311e-07 9.99999255e-01 -2.95550295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.610281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.14, Y:1.55, Z:-0.30 [[ 9.98420638e-01 -5.61315757e-02 2.33997363e-03 7.81388309e+01] [ 5.61314276e-02 9.98423380e-01 1.28955487e-04 1.54918998e+00] [-2.34352285e-03 2.59424108e-06 9.99997254e-01 -2.95410760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.640281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:78.17, Y:1.55, Z:-0.30 [[ 9.98366452e-01 -5.70783346e-02 2.54776054e-03 7.81699830e+01] [ 5.70781623e-02 9.98369703e-01 1.40357930e-04 1.55006163e+00] [-2.55161833e-03 5.29284111e-06 9.99996745e-01 -2.95773816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.670281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:78.20, Y:1.55, Z:-0.30 [[ 9.98313429e-01 -5.79893046e-02 2.74540846e-03 7.82014998e+01] [ 5.79891081e-02 9.98317204e-01 1.51179585e-04 1.55033088e+00] [-2.74955530e-03 8.27917755e-06 9.99996220e-01 -2.96577416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.70028169300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:78.23, Y:1.55, Z:-0.30 [[ 9.98269220e-01 -5.87984593e-02 1.14237396e-03 7.82325061e+01] [ 5.87984258e-02 9.98269874e-01 6.28949754e-05 1.54723171e+00] [-1.14409564e-03 4.38367254e-06 9.99999346e-01 -2.97445671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.73028169300001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:78.26, Y:1.55, Z:-0.30 [[ 9.98269048e-01 -5.88116415e-02 -3.13914406e-04 7.82625776e+01] [ 5.88116390e-02 9.98269097e-01 -1.72956425e-05 1.54594677e+00] [ 3.14388236e-04 -1.19611614e-06 9.99999951e-01 -2.96919976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:78.29, Y:1.54, Z:-0.30 [[ 9.98338055e-01 -5.76036662e-02 -1.71629662e-03 7.82927832e+01] [ 5.76035887e-02 9.98339530e-01 -9.45583531e-05 1.54243501e+00] [ 1.71889367e-03 -4.46364226e-06 9.99998523e-01 -2.96083564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.790281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:78.32, Y:1.54, Z:-0.30 [[ 9.98424713e-01 -5.60964474e-02 -1.13186171e-03 7.83214380e+01] [ 5.60964126e-02 9.98425355e-01 -6.24191213e-05 1.54263995e+00] [ 1.13358092e-03 -1.17258804e-06 9.99999357e-01 -2.95695736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.820281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:78.35, Y:1.54, Z:-0.30 [[ 9.98552954e-01 -5.37749010e-02 -5.07512207e-04 7.83510219e+01] [ 5.37748937e-02 9.98553083e-01 -2.80075966e-05 1.54338735e+00] [ 5.08283984e-04 6.75653309e-07 9.99999871e-01 -2.95220413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.850281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:78.38, Y:1.54, Z:-0.30 [[ 9.98862607e-01 -4.76799729e-02 3.36572554e-04 7.83807513e+01] [ 4.76799693e-02 9.98862663e-01 1.85406220e-05 1.54350133e+00] [-3.37073774e-04 -2.47176503e-06 9.99999943e-01 -2.95133102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.880281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:78.41, Y:1.54, Z:-0.30 [[ 9.98982316e-01 -4.51024155e-02 3.21968815e-04 7.84092073e+01] [ 4.51024121e-02 9.98982368e-01 1.77338934e-05 1.54462979e+00] [-3.22441011e-04 -3.19427570e-06 9.99999948e-01 -2.95676101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.910281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:78.44, Y:1.55, Z:-0.30 [[ 9.99048107e-01 -4.36171207e-02 6.52483381e-04 7.84392779e+01] [ 4.36171065e-02 9.99048321e-01 3.60135152e-05 1.54617136e+00] [-6.53433232e-04 -7.51979707e-06 9.99999786e-01 -2.96134236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.940281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:78.47, Y:1.55, Z:-0.30 [[ 9.99021676e-01 -4.41771325e-02 2.01765458e-03 7.84701933e+01] [ 4.41769976e-02 9.99023714e-01 1.11363501e-04 1.54805252e+00] [-2.02060449e-03 -2.21206302e-05 9.99997958e-01 -2.97646819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.970281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:78.50, Y:1.55, Z:-0.30 [[ 9.98951231e-01 -4.57572208e-02 1.64793968e-03 7.85002761e+01] [ 4.57571330e-02 9.98952590e-01 9.09508504e-05 1.54943740e+00] [-1.65037527e-03 -1.54504686e-05 9.99998638e-01 -2.97870733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.000281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:78.53, Y:1.55, Z:-0.30 [[ 9.98657263e-01 -5.18039738e-02 1.36961508e-04 7.85318176e+01] [ 5.18039732e-02 9.98657273e-01 7.57905772e-06 1.55038006e+00] [-1.37170231e-04 -4.73730767e-07 9.99999991e-01 -2.98301839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.030281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:78.56, Y:1.55, Z:-0.30 [[ 9.98502660e-01 -5.47018207e-02 -3.84597405e-04 7.85613271e+01] [ 5.47018166e-02 9.98502735e-01 -2.12310060e-05 1.55099801e+00] [ 3.85182935e-04 1.61039289e-07 9.99999926e-01 -2.98395021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.06028169300001 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:78.59, Y:1.55, Z:-0.30 [[ 9.98332892e-01 -5.77178453e-02 -2.94642172e-04 7.85915036e+01] [ 5.77178430e-02 9.98332936e-01 -1.62865121e-05 1.55154329e+00] [ 2.95091007e-04 -7.46749913e-07 9.99999956e-01 -2.98746155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.09028169300001 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:78.62, Y:1.55, Z:-0.30 [[ 9.98189238e-01 -6.01474279e-02 -7.29948565e-04 7.86198762e+01] [ 6.01474145e-02 9.98189505e-01 -4.03488165e-05 1.55142485e+00] [ 7.31053874e-04 -3.62876458e-06 9.99999733e-01 -2.99258146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.120281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:78.65, Y:1.55, Z:-0.30 [[ 9.97943740e-01 -6.40877875e-02 -1.02324290e-03 7.86487137e+01] [ 6.40877629e-02 9.97944265e-01 -5.68314117e-05 1.55088715e+00] [ 1.02478159e-03 -8.86279703e-06 9.99999475e-01 -2.99277646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.150281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:78.68, Y:1.55, Z:-0.30 [[ 9.97840882e-01 -6.56743372e-02 -6.75037276e-04 7.86772474e+01] [ 6.56743267e-02 9.97841110e-01 -3.76518743e-05 1.55133109e+00] [ 6.76052707e-04 -6.76203920e-06 9.99999771e-01 -2.98365931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.180281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:78.71, Y:1.55, Z:-0.30 [[ 9.97749138e-01 -6.70464249e-02 1.19768878e-03 7.87053869e+01] [ 6.70463933e-02 9.97749857e-01 6.65204610e-05 1.54811629e+00] [-1.19945377e-03 1.39299803e-05 9.99999281e-01 -2.97040355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.210281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:78.73, Y:1.55, Z:-0.30 [[ 9.97706122e-01 -6.76579003e-02 2.21430690e-03 7.87331717e+01] [ 6.76577935e-02 9.97708579e-01 1.23208519e-04 1.54722006e+00] [-2.21756902e-03 2.68892250e-05 9.99997541e-01 -2.96828356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.240281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:78.76, Y:1.55, Z:-0.30 [[ 9.97672854e-01 -6.81415830e-02 2.36668274e-03 7.87616111e+01] [ 6.81414617e-02 9.97675661e-01 1.31953575e-04 1.54626393e+00] [-2.37017329e-03 2.96227220e-05 9.99997191e-01 -2.96841332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.270281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:78.79, Y:1.54, Z:-0.30 [[ 9.97593438e-01 -6.93314016e-02 6.99483126e-04 7.87895030e+01] [ 6.93313913e-02 9.97593683e-01 3.89899658e-05 1.54197598e+00] [-7.00503177e-04 9.60000425e-06 9.99999755e-01 -2.98008053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.300281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:78.82, Y:1.54, Z:-0.30 [[ 9.97522270e-01 -7.03513133e-02 -1.18096577e-04 7.88180632e+01] [ 7.03513130e-02 9.97522277e-01 -6.81575105e-06 1.53980462e+00] [ 1.18283463e-04 -1.50938579e-06 9.99999993e-01 -2.98137817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.330281693 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:78.85, Y:1.54, Z:-0.30 [[ 9.97447218e-01 -7.14076007e-02 -4.59126697e-05 7.88459055e+01] [ 7.14076006e-02 9.97447219e-01 -2.78902230e-06 1.53762820e+00] [ 4.59946221e-05 -4.96611042e-07 9.99999999e-01 -2.98300641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.360281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:78.87, Y:1.53, Z:-0.30 [[ 9.97486291e-01 -7.08463504e-02 1.37632125e-03 7.88736284e+01] [ 7.08463108e-02 9.97487240e-01 7.75702733e-05 1.53154479e+00] [-1.37835845e-03 2.01319986e-05 9.99999050e-01 -2.97903759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.390281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:78.90, Y:1.53, Z:-0.30 [[ 9.97565853e-01 -6.97105381e-02 1.67648848e-03 7.89013579e+01] [ 6.97104773e-02 9.97567261e-01 9.47042297e-05 1.52979654e+00] [-1.67901190e-03 2.23951066e-05 9.99998590e-01 -2.97654530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.420281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:78.93, Y:1.53, Z:-0.30 [[ 9.97726496e-01 -6.73787135e-02 1.39590720e-03 7.89284331e+01] [ 6.73786688e-02 9.97727472e-01 7.90446779e-05 1.52773971e+00] [-1.39806089e-03 1.51893998e-05 9.99999023e-01 -2.98511120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.45028169300001 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:78.96, Y:1.52, Z:-0.30 [[ 9.98059984e-01 -6.22523607e-02 -9.55302847e-04 7.89561804e+01] [ 6.22523372e-02 9.98060441e-01 -5.43125491e-05 1.52294371e+00] [ 9.56831065e-04 -5.26265316e-06 9.99999542e-01 -2.98755176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.480281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:78.98, Y:1.52, Z:-0.30 [[ 9.98183644e-01 -6.02211249e-02 -1.68209586e-03 7.89845034e+01] [ 6.02210487e-02 9.98185061e-01 -9.59907493e-05 1.52170847e+00] [ 1.68482363e-03 -5.48118062e-06 9.99998581e-01 -2.98483549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.510281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:79.01, Y:1.52, Z:-0.30 [[ 9.98178834e-01 -6.03007933e-02 -1.68209451e-03 7.90119430e+01] [ 6.03007171e-02 9.98180251e-01 -9.60142573e-05 1.52341588e+00] [ 1.68482326e-03 -5.59210569e-06 9.99998581e-01 -2.98513292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.540281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:79.04, Y:1.52, Z:-0.30 [[ 9.98370542e-01 -5.70632776e-02 -2.06138501e-04 7.90398023e+01] [ 5.70632764e-02 9.98370564e-01 -1.18582801e-05 1.51740040e+00] [ 2.06479283e-04 7.60193578e-08 9.99999979e-01 -2.97979455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.570281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:79.07, Y:1.51, Z:-0.30 [[ 9.98424173e-01 -5.61152056e-02 5.05175367e-04 7.90675792e+01] [ 5.61151983e-02 9.98424300e-01 2.87450733e-05 1.51451227e+00] [-5.05992398e-04 -3.51760149e-07 9.99999872e-01 -2.97833618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.600281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:79.10, Y:1.51, Z:-0.30 [[ 9.98480739e-01 -5.50960212e-02 8.01479583e-04 7.90959138e+01] [ 5.50960022e-02 9.98481061e-01 4.58660833e-05 1.51205061e+00] [-8.02789223e-04 -1.63807990e-06 9.99999678e-01 -2.97234914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.630281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:79.12, Y:1.51, Z:-0.30 [[ 9.98626117e-01 -5.24008121e-02 1.84882790e-04 7.91246474e+01] [ 5.24008110e-02 9.98626134e-01 1.04557795e-05 1.50595932e+00] [-1.85176677e-04 -7.53406382e-07 9.99999983e-01 -2.97603603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.660281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:79.15, Y:1.50, Z:-0.30 [[ 9.98687405e-01 -5.12194907e-02 -1.74077900e-04 7.91519499e+01] [ 5.12194897e-02 9.98687420e-01 -1.02028399e-05 1.50325893e+00] [ 1.74371994e-04 1.27326651e-06 9.99999985e-01 -2.97758606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.690281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:79.18, Y:1.50, Z:-0.30 [[ 9.98740216e-01 -5.01794022e-02 -8.72267149e-05 7.91795406e+01] [ 5.01794019e-02 9.98740220e-01 -5.13451070e-06 1.50014359e+00] [ 8.73744751e-05 7.51057949e-07 9.99999996e-01 -2.98189239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.720281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:79.21, Y:1.49, Z:-0.30 [[ 9.98852812e-01 -4.78856539e-02 -1.54075640e-04 7.92075425e+01] [ 4.78856530e-02 9.98852824e-01 -9.13959284e-06 1.49472595e+00] [ 1.54336543e-04 1.75109540e-06 9.99999988e-01 -2.98090230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.750281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:79.24, Y:1.49, Z:-0.30 [[ 9.98926794e-01 -4.63087919e-02 -8.69960088e-04 7.92360056e+01] [ 4.63087651e-02 9.98927172e-01 -5.08720995e-05 1.49330986e+00] [ 8.71382597e-04 1.05307258e-05 9.99999620e-01 -2.97995000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.780281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:79.26, Y:1.49, Z:-0.30 [[ 9.99123748e-01 -4.17679803e-02 -2.67795129e-03 7.92636983e+01] [ 4.17677114e-02 9.99127336e-01 -1.56278895e-04 1.48677866e+00] [ 2.68214179e-03 4.42900588e-05 9.99996402e-01 -2.97982453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.81028169300001 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:79.29, Y:1.48, Z:-0.30 [[ 9.99226972e-01 -3.92452205e-02 -2.29573673e-03 7.92917336e+01] [ 3.92450150e-02 9.99229609e-01 -1.34503107e-04 1.48493840e+00] [ 2.29924672e-03 4.43029096e-05 9.99997356e-01 -2.97581449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.84028169300001 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:79.32, Y:1.48, Z:-0.30 [[ 9.99315657e-01 -3.69646717e-02 -1.35284838e-03 7.93202485e+01] [ 3.69645978e-02 9.99316573e-01 -7.95930823e-05 1.48404898e+00] [ 1.35486594e-03 2.95311171e-05 9.99999082e-01 -2.96841132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.870281693 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:79.35, Y:1.48, Z:-0.30 [[ 9.99446150e-01 -3.32767328e-02 2.29711665e-04 7.93484997e+01] [ 3.32767306e-02 9.99446176e-01 1.33195674e-05 1.48191015e+00] [-2.30027677e-04 -5.66813715e-06 9.99999974e-01 -2.96921447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.900281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:79.38, Y:1.48, Z:-0.30 [[ 9.99491290e-01 -3.18921196e-02 2.33647159e-04 7.93765163e+01] [ 3.18921172e-02 9.99491317e-01 1.37067701e-05 1.48132423e+00] [-2.33965445e-04 -6.24829469e-06 9.99999973e-01 -2.97087805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.930281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:79.40, Y:1.48, Z:-0.30 [[ 9.99571141e-01 -2.92691585e-02 -9.21765809e-04 7.94046541e+01] [ 2.92691207e-02 9.99571566e-01 -5.44407088e-05 1.47931253e+00] [ 9.22964327e-04 2.74380867e-05 9.99999574e-01 -2.97509305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.960281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:79.43, Y:1.48, Z:-0.30 [[ 9.99600841e-01 -2.82328540e-02 -1.03185636e-03 7.94324809e+01] [ 2.82328060e-02 9.99601373e-01 -6.10506233e-05 1.48046103e+00] [ 1.03316867e-03 3.18940539e-05 9.99999466e-01 -2.97791882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.990281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:79.46, Y:1.48, Z:-0.30 [[ 9.99625263e-01 -2.73685455e-02 -5.44378992e-04 7.94605657e+01] [ 2.73685319e-02 9.99625411e-01 -3.24516359e-05 1.48150690e+00] [ 5.45063228e-04 1.75406213e-05 9.99999851e-01 -2.98032069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.020281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:79.49, Y:1.48, Z:-0.30 [[ 9.99667847e-01 -2.57697936e-02 3.36949396e-04 7.94894876e+01] [ 2.57697884e-02 9.99667904e-01 1.98444556e-05 1.48088712e+00] [-3.37348884e-04 -1.11547496e-05 9.99999943e-01 -2.98557161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.050281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:79.52, Y:1.48, Z:-0.30 [[ 9.99676960e-01 -2.54160333e-02 -4.23716713e-05 7.95183859e+01] [ 2.54160333e-02 9.99676960e-01 -2.55700773e-06 1.48166524e+00] [ 4.24229726e-05 1.47926191e-06 9.99999999e-01 -2.99371965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.080281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:79.55, Y:1.48, Z:-0.30 [[ 9.99684763e-01 -2.50287556e-02 -1.98370529e-03 7.95475710e+01] [ 2.50285698e-02 9.99686729e-01 -1.18423992e-04 1.48437094e+00] [ 1.98604786e-03 6.87373536e-05 9.99998025e-01 -2.99588370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.110281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:79.58, Y:1.49, Z:-0.30 [[ 9.99693764e-01 -2.45660299e-02 -2.98139541e-03 7.95753727e+01] [ 2.45656067e-02 9.99698204e-01 -1.78481451e-04 1.48720801e+00] [ 2.98488021e-03 1.05187006e-04 9.99995540e-01 -2.99261162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.140281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:79.60, Y:1.49, Z:-0.30 [[ 9.99708956e-01 -2.39333036e-02 -3.03306771e-03 7.96024039e+01] [ 2.39328624e-02 9.99713552e-01 -1.81702725e-04 1.49007723e+00] [ 3.03654764e-03 1.09059850e-04 9.99995384e-01 -2.98760299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.170281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:79.63, Y:1.50, Z:-0.30 [[ 9.99730238e-01 -2.32126818e-02 -7.89435975e-04 7.96297148e+01] [ 2.32126514e-02 9.99730549e-01 -4.76134574e-05 1.49547906e+00] [ 7.90328496e-04 2.92757110e-05 9.99999687e-01 -2.98567501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.20028169300001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:79.66, Y:1.50, Z:-0.30 [[ 9.99746649e-01 -2.25085859e-02 3.91844599e-05 7.96573092e+01] [ 2.25085858e-02 9.99746650e-01 2.26749921e-06 1.49976834e+00] [-3.92255707e-05 -1.38493795e-06 9.99999999e-01 -2.98397542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.230281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:79.69, Y:1.51, Z:-0.30 [[ 9.99774303e-01 -2.12433700e-02 -2.51304594e-04 7.96868067e+01] [ 2.12433669e-02 9.99774334e-01 -1.51455188e-05 1.50682062e+00] [ 2.51569625e-04 9.80354482e-06 9.99999968e-01 -2.98572130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.260281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:79.72, Y:1.51, Z:-0.30 [[ 9.99774393e-01 -2.11772316e-02 -1.63963986e-03 7.97155023e+01] [ 2.11770980e-02 9.99775735e-01 -9.87478070e-05 1.51115341e+00] [ 1.64136335e-03 6.40027148e-05 9.99998651e-01 -2.99214079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.290281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:79.74, Y:1.52, Z:-0.30 [[ 9.99756642e-01 -2.19380456e-02 -2.31944985e-03 7.97441964e+01] [ 2.19377793e-02 9.99759328e-01 -1.40185948e-04 1.51539231e+00] [ 2.32196703e-03 8.92682540e-05 9.99997300e-01 -2.99508187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.320281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:79.77, Y:1.52, Z:-0.30 [[ 9.99687608e-01 -2.49047629e-02 -2.10682091e-03 7.97719125e+01] [ 2.49045497e-02 9.99689825e-01 -1.27359943e-04 1.52256712e+00] [ 2.10933930e-03 7.48507302e-05 9.99997773e-01 -2.99011046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.350281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:79.80, Y:1.53, Z:-0.30 [[ 9.99636622e-01 -2.69334174e-02 -1.10265277e-03 7.97998605e+01] [ 2.69333598e-02 9.99637229e-01 -6.70235091e-05 1.52694726e+00] [ 1.10405793e-03 3.73010103e-05 9.99999390e-01 -2.98458539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.380281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:79.83, Y:1.53, Z:-0.30 [[ 9.99574013e-01 -2.91836275e-02 -3.30172386e-04 7.98288832e+01] [ 2.91836224e-02 9.99574067e-01 -2.02358203e-05 1.53067140e+00] [ 3.30622309e-04 1.05915739e-05 9.99999945e-01 -2.97121624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.410281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:79.86, Y:1.53, Z:-0.30 [[ 9.99396349e-01 -3.47193328e-02 1.22676715e-03 7.98573611e+01] [ 3.47192674e-02 9.99397102e-01 7.45682971e-05 1.53444726e+00] [-1.22861650e-03 -3.19308271e-05 9.99999245e-01 -2.97657515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.440281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:79.89, Y:1.54, Z:-0.30 [[ 9.99292621e-01 -3.75900323e-02 1.11664281e-03 7.98859690e+01] [ 3.75899798e-02 9.99293245e-01 6.80365863e-05 1.53595372e+00] [-1.11841112e-03 -2.60138780e-05 9.99999374e-01 -2.98114984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.470281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:79.91, Y:1.54, Z:-0.30 [[ 9.99102345e-01 -4.23583865e-02 5.19988977e-04 7.99136508e+01] [ 4.23583757e-02 9.99102481e-01 3.16583946e-05 1.53544947e+00] [-5.20863275e-04 -9.60408786e-06 9.99999864e-01 -2.98919107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.500281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:79.94, Y:1.54, Z:-0.30 [[ 9.99007861e-01 -4.45318312e-02 4.57767266e-04 7.99403955e+01] [ 4.45318231e-02 9.99007966e-01 2.79017717e-05 1.53595676e+00] [-4.58555662e-04 -7.48887839e-06 9.99999895e-01 -2.98817645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.530281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:79.97, Y:1.54, Z:-0.30 [[ 9.98894058e-01 -4.70124383e-02 7.00506543e-04 7.99683518e+01] [ 4.70124199e-02 9.98894304e-01 4.27585523e-05 1.53619739e+00] [-7.01742180e-04 -9.77875615e-06 9.99999754e-01 -2.98881871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.56028169300001 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:80.00, Y:1.54, Z:-0.30 [[ 9.98769015e-01 -4.95975404e-02 7.33876601e-04 7.99963863e+01] [ 4.95975208e-02 9.98769285e-01 4.49360345e-05 1.53611272e+00] [-7.35202124e-04 -8.48225898e-06 9.99999730e-01 -2.98723022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.59028169300001 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:80.02, Y:1.53, Z:-0.30 [[ 9.98516723e-01 -5.44431468e-02 -5.45995854e-04 8.00234643e+01] [ 5.44431365e-02 9.98516872e-01 -3.37011706e-05 1.53276716e+00] [ 5.47020871e-04 3.92545553e-06 9.99999850e-01 -2.99266814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.620281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:80.05, Y:1.53, Z:-0.30 [[ 9.98414484e-01 -5.62803667e-02 -1.01864775e-03 8.00513252e+01] [ 5.62803316e-02 9.98415004e-01 -6.30970555e-05 1.53130309e+00] [ 1.02058432e-03 5.66718092e-06 9.99999479e-01 -2.99760519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.650281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:80.08, Y:1.53, Z:-0.30 [[ 9.98266011e-01 -5.88604875e-02 -6.43030520e-04 8.00796409e+01] [ 5.88604739e-02 9.98266219e-01 -4.00328147e-05 1.52674991e+00] [ 6.44271997e-04 2.11431711e-06 9.99999792e-01 -2.99405638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.680281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:80.11, Y:1.53, Z:-0.30 [[ 9.98215475e-01 -5.97148489e-02 4.48097411e-05 8.01066153e+01] [ 5.97148488e-02 9.98215476e-01 2.69055986e-06 1.52533493e+00] [-4.48904434e-05 -9.95157534e-09 9.99999999e-01 -2.99258589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.710281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:80.13, Y:1.52, Z:-0.30 [[ 9.98178184e-01 -6.03348598e-02 1.33724819e-04 8.01338501e+01] [ 6.03348592e-02 9.98178193e-01 8.21909705e-06 1.52424970e+00] [-1.33977096e-04 -1.35855267e-07 9.99999991e-01 -2.98863788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.740281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:80.16, Y:1.52, Z:-0.30 [[ 9.98062418e-01 -6.22206550e-02 -9.00390574e-06 8.01622547e+01] [ 6.22206550e-02 9.98062418e-01 -7.51964190e-07 1.52026738e+00] [ 9.03324765e-06 1.90278285e-07 1.00000000e+00 -2.98577634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.770281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:80.19, Y:1.52, Z:-0.30 [[ 9.97985721e-01 -6.34382068e-02 -3.06048229e-04 8.01896887e+01] [ 6.34382039e-02 9.97985768e-01 -1.91666341e-05 1.51801200e+00] [ 3.06647674e-04 -2.87122859e-07 9.99999953e-01 -2.98371392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.800281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:80.22, Y:1.51, Z:-0.30 [[ 9.97803209e-01 -6.62472034e-02 -2.52050300e-04 8.02168041e+01] [ 6.62472015e-02 9.97803241e-01 -1.58171122e-05 1.51027731e+00] [ 2.52544446e-04 -9.15261771e-07 9.99999968e-01 -2.99513958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.830281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:80.24, Y:1.51, Z:-0.30 [[ 9.97732613e-01 -6.72985379e-02 -7.34964723e-04 8.02449864e+01] [ 6.72985221e-02 9.97732883e-01 -4.62176447e-05 1.50752813e+00] [ 7.36408853e-04 -3.34918832e-06 9.99999729e-01 -2.99949204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.860281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:80.27, Y:1.51, Z:-0.30 [[ 9.97690546e-01 -6.79106891e-02 -1.30849141e-03 8.02729187e+01] [ 6.79106394e-02 9.97691404e-01 -8.23833138e-05 1.50564785e+00] [ 1.31106534e-03 -6.66743503e-06 9.99999141e-01 -3.00492035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.890281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:80.30, Y:1.50, Z:-0.30 [[ 9.97705816e-01 -6.76829952e-02 -1.45463210e-03 8.02999388e+01] [ 6.76829336e-02 9.97706877e-01 -9.15651166e-05 1.50409835e+00] [ 1.45749385e-03 -7.09871838e-06 9.99998938e-01 -3.00576813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.920281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:80.33, Y:1.50, Z:-0.30 [[ 9.97917641e-01 -6.44923976e-02 -1.05502379e-03 8.03285201e+01] [ 6.44923631e-02 9.97918198e-01 -6.67294202e-05 1.49952794e+00] [ 1.05713098e-03 -1.45051186e-06 9.99999441e-01 -2.99671135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.95028169300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:80.36, Y:1.50, Z:-0.30 [[ 9.98096269e-01 -6.16652108e-02 -1.11359613e-03 8.03562792e+01] [ 6.16651704e-02 9.98096890e-01 -7.06258195e-05 1.49855366e+00] [ 1.11583199e-03 1.82127214e-06 9.99999377e-01 -2.99463151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.980281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:80.38, Y:1.50, Z:-0.30 [[ 9.98533566e-01 -5.40929376e-02 -2.16129637e-03 8.03841647e+01] [ 5.40927671e-02 9.98535905e-01 -1.37298691e-04 1.49862329e+00] [ 2.16555891e-03 2.01868508e-05 9.99997655e-01 -2.99660604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.010281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:80.41, Y:1.50, Z:-0.30 [[ 9.98779664e-01 -4.93604931e-02 -1.65035676e-03 8.04125506e+01] [ 4.93603866e-02 9.98781028e-01 -1.05199790e-04 1.50011500e+00] [ 1.65353773e-03 2.36091629e-05 9.99998633e-01 -2.99783183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.040281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:80.44, Y:1.50, Z:-0.30 [[ 9.98990933e-01 -4.49070993e-02 -6.84638548e-04 8.04395812e+01] [ 4.49070799e-02 9.98991167e-01 -4.37012365e-05 1.50210383e+00] [ 6.85910358e-04 1.29120210e-05 9.99999765e-01 -2.99385820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.070281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:80.47, Y:1.51, Z:-0.30 [[ 9.99278498e-01 -3.79569105e-02 1.32536693e-03 8.04668107e+01] [ 3.79568319e-02 9.99279376e-01 8.44487067e-05 1.50614426e+00] [-1.32761725e-03 -3.40810472e-05 9.99999118e-01 -2.98693385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.100281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:80.49, Y:1.51, Z:-0.30 [[ 9.99383706e-01 -3.50887915e-02 9.92178539e-04 8.04946083e+01] [ 3.50887460e-02 9.99384198e-01 6.32672798e-05 1.51101216e+00] [-9.93787526e-04 -2.84139878e-05 9.99999506e-01 -2.99255864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.130281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:80.52, Y:1.52, Z:-0.30 [[ 9.99478453e-01 -3.22876407e-02 -5.74156348e-04 8.05217058e+01] [ 3.22876248e-02 9.99478618e-01 -3.68619164e-05 1.51578605e+00] [ 5.75047178e-04 1.83045464e-05 9.99999834e-01 -3.00108998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.160281693 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:80.55, Y:1.52, Z:-0.30 [[ 9.99570793e-01 -2.90531960e-02 -3.76041332e-03 8.05492346e+01] [ 2.90524919e-02 9.99577858e-01 -2.41754592e-04 1.52265457e+00] [ 3.76584963e-03 1.32401452e-04 9.99992900e-01 -3.00660027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.190281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:80.58, Y:1.53, Z:-0.30 [[ 9.99579519e-01 -2.87285703e-02 -3.93123561e-03 8.05755082e+01] [ 2.87277974e-02 9.99587240e-01 -2.52931502e-04 1.52714830e+00] [ 3.93687931e-03 1.39889409e-04 9.99992241e-01 -3.00268374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.220281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:80.60, Y:1.54, Z:-0.30 [[ 9.99567522e-01 -2.93957235e-02 -8.12245439e-04 8.06030068e+01] [ 2.93956905e-02 9.99567852e-01 -5.25818570e-05 1.53556807e+00] [ 8.13440111e-04 2.86826011e-05 9.99999669e-01 -2.99829322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.250281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:80.63, Y:1.54, Z:-0.30 [[ 9.99550332e-01 -2.99852464e-02 1.34299120e-04 8.06311960e+01] [ 2.99852455e-02 9.99550341e-01 8.48675081e-06 1.53993888e+00] [-1.34493209e-04 -4.45594250e-06 9.99999991e-01 -2.99893996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.280281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:80.66, Y:1.54, Z:-0.30 [[ 9.99527186e-01 -3.07469024e-02 1.80532203e-04 8.06581537e+01] [ 3.07469008e-02 9.99527202e-01 1.16048468e-05 1.54337222e+00] [-1.80803661e-04 -6.04855407e-06 9.99999984e-01 -3.00274342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.31028169300001 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:80.68, Y:1.55, Z:-0.30 [[ 9.99501770e-01 -3.15596611e-02 -4.46270216e-04 8.06849533e+01] [ 3.15596512e-02 9.99501870e-01 -2.90226798e-05 1.54694234e+00] [ 4.46963861e-04 1.49240874e-05 9.99999900e-01 -3.00346724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.34028169300001 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:80.71, Y:1.55, Z:-0.30 [[ 9.99502658e-01 -3.15341368e-02 1.87481292e-04 8.07127683e+01] [ 3.15341351e-02 9.99502675e-01 1.19812397e-05 1.55429661e+00] [-1.87765871e-04 -6.06322057e-06 9.99999982e-01 -2.99734346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.370281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:80.74, Y:1.56, Z:-0.30 [[ 9.99589125e-01 -2.85577454e-02 2.45687246e-03 8.07397424e+01] [ 2.85574385e-02 9.99592140e-01 1.59875857e-04 1.56141735e+00] [-2.46043609e-03 -8.96481842e-05 9.99996969e-01 -2.99161901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.400281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:80.77, Y:1.57, Z:-0.30 [[ 9.99648350e-01 -2.64079080e-02 2.40812084e-03 8.07672111e+01] [ 2.64076067e-02 9.99651246e-01 1.56840833e-04 1.56626147e+00] [-2.41142283e-03 -9.31929724e-05 9.99997088e-01 -2.98657135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.430281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:80.80, Y:1.57, Z:-0.30 [[ 9.99646990e-01 -2.64593407e-02 2.40811255e-03 8.07954760e+01] [ 2.64590392e-02 9.99649886e-01 1.56968013e-04 1.56820500e+00] [-2.41142271e-03 -9.31962568e-05 9.99997088e-01 -2.98687781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.460281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:80.83, Y:1.57, Z:-0.30 [[ 9.99704575e-01 -2.42549811e-02 1.56781580e-03 8.08253338e+01] [ 2.42548505e-02 9.99705803e-01 1.02242769e-04 1.57377653e+00] [-1.56983445e-03 -6.41854261e-05 9.99998766e-01 -2.98594922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.490281693 meters Centerline goodness : 0.999184 Centerline is valid? [True, True] Translation: X:80.85, Y:1.58, Z:-0.30 [[ 9.99794873e-01 -2.02511801e-02 3.19066473e-04 8.08545395e+01] [ 2.02511745e-02 9.99794924e-01 2.07943773e-05 1.58436752e+00] [-3.19422150e-04 -1.43286410e-05 9.99999949e-01 -2.99409686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.520281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:80.88, Y:1.59, Z:-0.30 [[ 9.99814742e-01 -1.92411533e-02 5.10131005e-04 8.08842046e+01] [ 1.92411388e-02 9.99814872e-01 3.32743058e-05 1.59074211e+00] [-5.10676801e-04 -2.34526400e-05 9.99999869e-01 -2.99852889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.550281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:80.91, Y:1.60, Z:-0.30 [[ 9.99797368e-01 -2.01049920e-02 1.00604313e-03 8.09127496e+01] [ 2.01049360e-02 9.99797873e-01 6.56713004e-05 1.60069893e+00] [-1.00716010e-03 -4.54315605e-05 9.99999492e-01 -3.00453073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.580281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:80.94, Y:1.61, Z:-0.30 [[ 9.99757743e-01 -2.19932218e-02 8.68336724e-04 8.09419744e+01] [ 2.19931808e-02 9.99758119e-01 5.66908832e-05 1.60706810e+00] [-8.69373505e-04 -3.75796628e-05 9.99999621e-01 -3.00408343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.610281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:80.97, Y:1.61, Z:-0.30 [[ 9.99693228e-01 -2.47667903e-02 2.38287894e-04 8.09715615e+01] [ 2.47667873e-02 9.99693256e-01 1.55420314e-05 1.61391402e+00] [-2.38599727e-04 -9.63563797e-06 9.99999971e-01 -3.00675831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.640281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:81.00, Y:1.62, Z:-0.30 [[ 9.99498000e-01 -3.16409622e-02 -1.61165141e-03 8.10002273e+01] [ 3.16408335e-02 9.99499298e-01 -1.05337622e-04 1.62381850e+00] [ 1.61417744e-03 5.42907488e-05 9.99998696e-01 -3.00918695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.670281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:81.03, Y:1.63, Z:-0.30 [[ 9.99368007e-01 -3.54567971e-02 -2.53030099e-03 8.10287174e+01] [ 3.54564905e-02 9.99371207e-01 -1.65920954e-04 1.62856840e+00] [ 2.53459298e-03 7.61004997e-05 9.99996785e-01 -3.00696219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.70028169300001 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:81.06, Y:1.63, Z:-0.30 [[ 9.99208766e-01 -3.96813247e-02 -2.68984149e-03 8.10555841e+01] [ 3.96809933e-02 9.99212384e-01 -1.76498952e-04 1.63244656e+00] [ 2.69472664e-03 6.96237182e-05 9.99996367e-01 -3.01058315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.730281693 meters Centerline goodness : 0.999483 Centerline is valid? [True, True] Translation: X:81.08, Y:1.64, Z:-0.30 [[ 9.98845264e-01 -4.80311297e-02 -1.07211150e-03 8.10829958e+01] [ 4.80310815e-02 9.98845839e-01 -7.06854356e-05 1.63724658e+00] [ 1.07426922e-03 1.91091376e-05 9.99999423e-01 -3.00117931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.760281693 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:81.11, Y:1.64, Z:-0.30 [[ 9.98663165e-01 -5.16880246e-02 -4.80292955e-04 8.11109859e+01] [ 5.16880153e-02 9.98663281e-01 -3.18790925e-05 1.63997211e+00] [ 4.81298705e-04 7.01108578e-06 9.99999884e-01 -3.00147565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.790281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:81.14, Y:1.64, Z:-0.30 [[ 9.98445206e-01 -5.57396829e-02 -5.08281029e-04 8.11375394e+01] [ 5.57396730e-02 9.98445335e-01 -3.36509327e-05 1.64249940e+00] [ 5.09366515e-04 5.26719405e-06 9.99999870e-01 -2.99635843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.820281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:81.17, Y:1.64, Z:-0.30 [[ 9.98412407e-01 -5.63244722e-02 -4.68594623e-04 8.11654904e+01] [ 5.63244638e-02 9.98412517e-01 -3.12319296e-05 1.64411951e+00] [ 4.69609859e-04 4.78900516e-06 9.99999890e-01 -2.99246332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.850281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:81.19, Y:1.65, Z:-0.30 [[ 9.98402425e-01 -5.65030610e-02 -5.09065867e-05 8.11928930e+01] [ 5.65030609e-02 9.98402426e-01 -3.46308188e-06 1.64629893e+00] [ 5.10209344e-05 5.81171379e-07 9.99999999e-01 -2.98775177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.880281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:81.22, Y:1.65, Z:-0.30 [[ 9.98458450e-01 -5.54920691e-02 1.16371161e-03 8.12210264e+01] [ 5.54920169e-02 9.98459128e-01 7.71688764e-05 1.64919903e+00] [-1.16620074e-03 -1.24732123e-05 9.99999320e-01 -2.98204395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.910281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:81.25, Y:1.65, Z:-0.30 [[ 9.98514953e-01 -5.44461241e-02 1.87289056e-03 8.12488735e+01] [ 5.44459860e-02 9.98516709e-01 1.24668261e-04 1.65176959e+00] [-1.87690022e-03 -2.25117495e-05 9.99998238e-01 -2.98193739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.940281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:81.28, Y:1.65, Z:-0.30 [[ 9.98582058e-01 -5.31920449e-02 2.11660214e-03 8.12768786e+01] [ 5.31918648e-02 9.98584301e-01 1.41311254e-04 1.65491978e+00] [-2.12112230e-03 -2.85248678e-05 9.99997750e-01 -2.97937103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.970281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:81.30, Y:1.66, Z:-0.30 [[ 9.98731517e-01 -5.03142742e-02 1.95729178e-03 8.13033924e+01] [ 5.03141141e-02 9.98733434e-01 1.30972708e-04 1.65928684e+00] [-1.96140254e-03 -3.23271697e-05 9.99998076e-01 -2.98108586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.000281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.33, Y:1.66, Z:-0.30 [[ 9.98766958e-01 -4.96001578e-02 2.09481714e-03 8.13320337e+01] [ 4.95999722e-02 9.98769154e-01 1.40490549e-04 1.66204467e+00] [-2.09920709e-03 -3.64144463e-05 9.99997796e-01 -2.98040533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.030281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:81.36, Y:1.66, Z:-0.30 [[ 9.98771755e-01 -4.95293161e-02 1.35238831e-03 8.13611863e+01] [ 4.95292384e-02 9.98772670e-01 9.08589520e-05 1.66240507e+00] [-1.35522866e-03 -2.37645920e-05 9.99999081e-01 -2.98009085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.06028169300001 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:81.39, Y:1.66, Z:-0.30 [[ 9.98711508e-01 -5.07448822e-02 5.29801194e-04 8.13891843e+01] [ 5.07448705e-02 9.98711649e-01 3.56315446e-05 1.66343051e+00] [-5.30926742e-04 -8.70094069e-06 9.99999859e-01 -2.98477519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.09028169300001 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:81.42, Y:1.67, Z:-0.30 [[ 9.98629088e-01 -5.23355442e-02 9.67275128e-04 8.14173661e+01] [ 5.23355057e-02 9.98629556e-01 6.51482717e-05 1.66524732e+00] [-9.69359102e-04 -1.44361262e-05 9.99999530e-01 -2.99249339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.120281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:81.44, Y:1.67, Z:-0.30 [[ 9.98548895e-01 -5.38022695e-02 2.32791954e-03 8.14438784e+01] [ 5.38020488e-02 9.98551608e-01 1.57359895e-04 1.66799172e+00] [-2.33301413e-03 -3.18847087e-05 9.99997278e-01 -2.98843027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.150281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:81.47, Y:1.67, Z:-0.30 [[ 9.98543394e-01 -5.38973918e-02 2.48220053e-03 8.14720386e+01] [ 5.38971408e-02 9.98546479e-01 1.67958084e-04 1.67073080e+00] [-2.48764510e-03 -3.39299234e-05 9.99996905e-01 -2.98741667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.180281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:81.50, Y:1.67, Z:-0.30 [[ 9.98574091e-01 -5.33710089e-02 1.14905013e-03 8.15003327e+01] [ 5.33709547e-02 9.98574752e-01 7.77899084e-05 1.67416237e+00] [-1.15156417e-03 -1.63530849e-05 9.99999337e-01 -2.98839028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.210281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:81.53, Y:1.68, Z:-0.30 [[ 9.98587602e-01 -5.31270450e-02 5.64797917e-04 8.15279293e+01] [ 5.31270319e-02 9.98587761e-01 3.82272270e-05 1.67681286e+00] [-5.66031187e-04 -8.16719795e-06 9.99999840e-01 -2.99278620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.240281693 meters Centerline goodness : 0.999697 Centerline is valid? [True, True] Translation: X:81.56, Y:1.68, Z:-0.30 [[ 9.98580770e-01 -5.32582931e-02 -1.22619460e-05 8.15554889e+01] [ 5.32582931e-02 9.98580770e-01 -1.04271128e-06 1.67914766e+00] [ 1.23000765e-05 3.88181120e-07 1.00000000e+00 -2.99915667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.270281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:81.58, Y:1.68, Z:-0.30 [[ 9.98531968e-01 -5.41637228e-02 -4.46668670e-04 8.15825759e+01] [ 5.41637145e-02 9.98532068e-01 -3.06039278e-05 1.68057910e+00] [ 4.47670614e-04 6.36576595e-06 9.99999900e-01 -3.00404313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.300281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:81.61, Y:1.68, Z:-0.30 [[ 9.98304386e-01 -5.82025494e-02 -9.03947606e-04 8.16093628e+01] [ 5.82025172e-02 9.98304795e-01 -6.19147699e-05 1.67931774e+00] [ 9.06018827e-04 9.19776022e-06 9.99999590e-01 -3.00984027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.330281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:81.64, Y:1.68, Z:-0.30 [[ 9.98129928e-01 -6.11174714e-02 -1.14047730e-03 8.16376367e+01] [ 6.11174217e-02 9.98130580e-01 -7.84142377e-05 1.68002515e+00] [ 1.14313774e-03 8.56456567e-06 9.99999347e-01 -3.01318376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.360281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:81.67, Y:1.68, Z:-0.30 [[ 9.97906664e-01 -6.46603463e-02 -1.15336112e-03 8.16661060e+01] [ 6.46602976e-02 9.97907330e-01 -7.95133363e-05 1.68025879e+00] [ 1.15608888e-03 4.77021485e-06 9.99999332e-01 -3.00122428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.390281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:81.69, Y:1.68, Z:-0.30 [[ 9.97883594e-01 -6.50229759e-02 -5.88010692e-04 8.16933499e+01] [ 6.50229633e-02 9.97883767e-01 -4.06490093e-05 1.68196849e+00] [ 5.89409444e-04 2.32878188e-06 9.99999826e-01 -2.99524141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.420281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:81.72, Y:1.68, Z:-0.30 [[ 9.97947793e-01 -6.40328124e-02 -2.33505914e-05 8.17209272e+01] [ 6.40328124e-02 9.97947794e-01 -1.80893103e-06 1.68415878e+00] [ 2.34185021e-05 3.10014694e-07 1.00000000e+00 -2.99343227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.45028169300001 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:81.75, Y:1.69, Z:-0.30 [[ 9.98268591e-01 -5.88101004e-02 -1.09149499e-03 8.17489132e+01] [ 5.88100527e-02 9.98269188e-01 -7.57882045e-05 1.68825790e+00] [ 1.09406293e-03 1.14661065e-05 9.99999401e-01 -2.99693150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.480281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:81.78, Y:1.69, Z:-0.30 [[ 9.98427609e-01 -5.60111053e-02 -2.25060075e-03 8.17766020e+01] [ 5.60108948e-02 9.98430145e-01 -1.56478460e-04 1.69155058e+00] [ 2.25583216e-03 3.01742534e-05 9.99997455e-01 -3.00459089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.510281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:81.80, Y:1.69, Z:-0.30 [[ 9.98529886e-01 -5.41282344e-02 -2.86381784e-03 8.18047699e+01] [ 5.41278846e-02 9.98533992e-01 -1.99580782e-04 1.69492286e+00] [ 2.87042241e-03 4.42749741e-05 9.99995879e-01 -3.00692771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.540281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:81.83, Y:1.70, Z:-0.30 [[ 9.98654612e-01 -5.17881709e-02 -2.63669362e-03 8.18321089e+01] [ 5.17878649e-02 9.98658091e-01 -1.84248510e-04 1.69839338e+00] [ 2.64269731e-03 4.74518910e-05 9.99996507e-01 -3.00368648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.570281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:81.86, Y:1.70, Z:-0.30 [[ 9.98649017e-01 -5.19578856e-02 -7.20726195e-04 8.18591041e+01] [ 5.19578628e-02 9.98649277e-01 -5.04520969e-05 1.69970288e+00] [ 7.22374077e-04 1.29365443e-05 9.99999739e-01 -2.99709321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.600281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:81.89, Y:1.70, Z:-0.30 [[ 9.98613598e-01 -5.26386348e-02 2.36807024e-04 8.18871341e+01] [ 5.26386324e-02 9.98613626e-01 1.64008225e-05 1.70151499e+00] [-2.37342037e-04 -3.91288650e-06 9.99999972e-01 -2.99695744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.630281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:81.92, Y:1.70, Z:-0.30 [[ 9.98604850e-01 -5.28032914e-02 4.06177471e-04 8.19150236e+01] [ 5.28032843e-02 9.98604933e-01 2.83385896e-05 1.70309235e+00] [-4.07107197e-04 -6.85154857e-06 9.99999917e-01 -2.98612999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.660281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:81.94, Y:1.71, Z:-0.30 [[ 9.98635308e-01 -5.22235729e-02 4.69599192e-04 8.19429785e+01] [ 5.22235632e-02 9.98635418e-01 3.28757300e-05 1.70512361e+00] [-4.70675274e-04 -8.30672166e-06 9.99999889e-01 -2.98585497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.690281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:81.97, Y:1.71, Z:-0.30 [[ 9.98778866e-01 -4.94029348e-02 3.56088818e-04 8.19695281e+01] [ 4.94029290e-02 9.98778929e-01 2.49847428e-05 1.70744376e+00] [-3.56888328e-04 -7.36240247e-06 9.99999936e-01 -2.98949190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.720281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:82.00, Y:1.71, Z:-0.30 [[ 9.98856396e-01 -4.78092655e-02 4.17637298e-04 8.19972939e+01] [ 4.78092574e-02 9.98856483e-01 2.93339932e-05 1.71123913e+00] [-4.18562159e-04 -9.33351762e-06 9.99999912e-01 -2.98502729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.750281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:82.03, Y:1.72, Z:-0.30 [[ 9.99010796e-01 -4.44673804e-02 2.84474523e-04 8.20251604e+01] [ 4.44673765e-02 9.99010837e-01 2.00702060e-05 1.71556913e+00] [-2.85085601e-04 -7.40051676e-06 9.99999959e-01 -2.99268501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.780281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:82.05, Y:1.72, Z:-0.30 [[ 9.99045170e-01 -4.36880157e-02 3.25611320e-04 8.20525497e+01] [ 4.36880105e-02 9.99045223e-01 2.30024570e-05 1.71742601e+00] [-3.26305365e-04 -8.75518283e-06 9.99999947e-01 -3.00299632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.81028169300001 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:82.08, Y:1.72, Z:-0.30 [[ 9.99029644e-01 -4.40413728e-02 3.56326307e-04 8.20807034e+01] [ 4.40413666e-02 9.99029708e-01 2.51130950e-05 1.71932787e+00] [-3.57086581e-04 -9.39562888e-06 9.99999936e-01 -3.00825235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.84028169300001 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:82.11, Y:1.72, Z:-0.30 [[ 9.98939220e-01 -4.60274933e-02 -1.37980007e-03 8.21086841e+01] [ 4.60274013e-02 9.98940173e-01 -9.83921802e-05 1.72197078e+00] [ 1.38286646e-03 3.47791964e-05 9.99999043e-01 -3.00789751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.870281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:82.14, Y:1.73, Z:-0.30 [[ 9.98869975e-01 -4.74433547e-02 -2.81100083e-03 8.21361392e+01] [ 4.74429774e-02 9.98873928e-01 -2.00802432e-04 1.72512419e+00] [ 2.81736218e-03 6.72132714e-05 9.99996029e-01 -3.00888429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.900281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:82.16, Y:1.73, Z:-0.30 [[ 9.98682892e-01 -5.11877451e-02 -3.50668115e-03 8.21628229e+01] [ 5.11871788e-02 9.98689046e-01 -2.51117461e-04 1.72910097e+00] [ 3.51493819e-03 7.12895966e-05 9.99993820e-01 -3.00942129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.930281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:82.19, Y:1.73, Z:-0.30 [[ 9.98571811e-01 -5.33371569e-02 -3.07982161e-03 8.21910320e+01] [ 5.33367284e-02 9.98576559e-01 -2.21158802e-04 1.73183607e+00] [ 3.08723365e-03 5.65753371e-05 9.99995233e-01 -3.00704217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.960281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:82.22, Y:1.73, Z:-0.30 [[ 9.98459229e-01 -5.54400189e-02 -2.36036764e-03 8.22190561e+01] [ 5.54397719e-02 9.98462019e-01 -1.69988414e-04 1.73477830e+00] [ 2.36616160e-03 3.88682573e-05 9.99997200e-01 -3.00484853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.990281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:82.25, Y:1.74, Z:-0.30 [[ 9.98266885e-01 -5.88445471e-02 -7.38115539e-04 8.22463569e+01] [ 5.88445238e-02 9.98267158e-01 -5.32433552e-05 1.73761024e+00] [ 7.39969582e-04 9.71702103e-06 9.99999726e-01 -3.00522772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.020281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:82.27, Y:1.74, Z:-0.30 [[ 9.98157244e-01 -6.06787026e-02 -4.58970655e-04 8.22742683e+01] [ 6.06786937e-02 9.98157350e-01 -3.33364250e-05 1.73985256e+00] [ 4.60147744e-04 5.42525424e-06 9.99999894e-01 -3.00154304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.050281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:82.30, Y:1.74, Z:-0.30 [[ 9.98042700e-01 -6.25340197e-02 -5.14978382e-04 8.23018952e+01] [ 6.25340086e-02 9.98042833e-01 -3.74792561e-05 1.74161315e+00] [ 5.16314212e-04 5.20223537e-06 9.99999867e-01 -2.99987300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.080281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:82.33, Y:1.74, Z:-0.30 [[ 9.97778395e-01 -6.66198259e-02 -2.72314168e-04 8.23296275e+01] [ 6.66198229e-02 9.97778432e-01 -1.99644612e-05 1.74238974e+00] [ 2.73039233e-04 1.77858636e-06 9.99999963e-01 -2.99639834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.110281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:82.36, Y:1.74, Z:-0.30 [[ 9.97656559e-01 -6.84205958e-02 -1.12815115e-04 8.23561552e+01] [ 6.84205953e-02 9.97656565e-01 -8.28443484e-06 1.74339588e+00] [ 1.13117566e-04 5.46143424e-07 9.99999994e-01 -2.99842090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.140281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:82.38, Y:1.74, Z:-0.30 [[ 9.97532876e-01 -7.01965885e-02 -7.74350646e-04 8.23844056e+01] [ 7.01965657e-02 9.97533177e-01 -5.66031666e-05 1.74321224e+00] [ 7.76413809e-04 2.10676355e-06 9.99999699e-01 -2.99135240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.170281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:82.41, Y:1.74, Z:-0.30 [[ 9.97538085e-01 -7.01258407e-02 -3.66922948e-04 8.24126720e+01] [ 7.01258355e-02 9.97538153e-01 -2.69938952e-05 1.74362374e+00] [ 3.67912610e-04 1.19666024e-06 9.99999932e-01 -2.98798688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.20028169300001 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:82.44, Y:1.74, Z:-0.30 [[ 9.97579565e-01 -6.95342343e-02 -3.19571925e-05 8.24398339e+01] [ 6.95342343e-02 9.97579566e-01 -2.42331385e-06 1.74358960e+00] [ 3.20483455e-05 1.95329471e-07 9.99999999e-01 -2.98083062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.230281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:82.47, Y:1.74, Z:-0.30 [[ 9.97712240e-01 -6.75963228e-02 1.01192893e-03 8.24668268e+01] [ 6.75962826e-02 9.97712753e-01 7.39719428e-05 1.74121546e+00] [-1.01461463e-03 -5.40007900e-06 9.99999485e-01 -2.97299325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.260281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:82.49, Y:1.74, Z:-0.30 [[ 9.97800475e-01 -6.62672971e-02 1.69053117e-03 8.24946979e+01] [ 6.62671824e-02 9.97801907e-01 1.23831945e-04 1.74178341e+00] [-1.69502123e-03 -1.15328358e-05 9.99998563e-01 -2.97532133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.290281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:82.52, Y:1.74, Z:-0.30 [[ 9.98067075e-01 -6.21092847e-02 2.13317988e-03 8.25222843e+01] [ 6.21090916e-02 9.98069354e-01 1.56695937e-04 1.74150559e+00] [-2.13879373e-03 -2.39031914e-05 9.99997712e-01 -2.96191205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.320281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:82.55, Y:1.74, Z:-0.30 [[ 9.98062156e-01 -6.21882769e-02 2.13315932e-03 8.25496942e+01] [ 6.21880834e-02 9.98064436e-01 1.56975355e-04 1.74366772e+00] [-2.13879248e-03 -2.40140714e-05 9.99997712e-01 -2.96220946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.350281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:82.58, Y:1.75, Z:-0.30 [[ 9.98233228e-01 -5.93714631e-02 2.33508633e-03 8.25766931e+01] [ 5.93712231e-02 9.98235958e-01 1.72028225e-04 1.74579885e+00] [-2.34118071e-03 -3.30873586e-05 9.99997259e-01 -2.96021044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.380281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:82.60, Y:1.75, Z:-0.30 [[ 9.98418069e-01 -5.61824483e-02 2.21187348e-03 8.26048708e+01] [ 5.61822245e-02 9.98420518e-01 1.63236172e-04 1.74926524e+00] [-2.21755087e-03 -3.87099711e-05 9.99997540e-01 -2.95533434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.410281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:82.63, Y:1.76, Z:-0.30 [[ 9.98794485e-01 -4.90573408e-02 1.71895392e-03 8.26311440e+01] [ 4.90571947e-02 9.98795963e-01 1.27089074e-04 1.75592641e+00] [-1.72311889e-03 -4.26088089e-05 9.99998515e-01 -2.96285745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.440281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:82.66, Y:1.76, Z:-0.30 [[ 9.98937011e-01 -4.60888626e-02 8.15305451e-04 8.26596010e+01] [ 4.60888287e-02 9.98937343e-01 6.03008167e-05 1.76132752e+00] [-8.17218257e-04 -2.26602443e-05 9.99999666e-01 -2.96599705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.470281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:82.69, Y:1.77, Z:-0.30 [[ 9.99038180e-01 -4.38482620e-02 -2.10905024e-04 8.26880578e+01] [ 4.38482597e-02 9.99038202e-01 -1.58476427e-05 1.76703795e+00] [ 2.11397067e-04 6.58458190e-06 9.99999978e-01 -2.96752217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.500281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:82.72, Y:1.78, Z:-0.30 [[ 9.99135129e-01 -4.15524472e-02 -1.54519135e-03 8.27167740e+01] [ 4.15523186e-02 9.99136323e-01 -1.15273262e-04 1.77581046e+00] [ 1.54864669e-03 5.09672824e-05 9.99998800e-01 -2.97304380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.530281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:82.74, Y:1.78, Z:-0.30 [[ 9.99138865e-01 -4.14631382e-02 -1.52855271e-03 8.27432408e+01] [ 4.14630121e-02 9.99140033e-01 -1.14067915e-04 1.78136546e+00] [ 1.53196782e-03 5.05912871e-05 9.99998825e-01 -2.97359611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.56028169300001 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:82.77, Y:1.79, Z:-0.30 [[ 9.99056486e-01 -4.34230594e-02 -7.58597755e-04 8.27711206e+01] [ 4.34230287e-02 9.99056774e-01 -5.68882207e-05 1.79015228e+00] [ 7.60352486e-04 2.38939338e-05 9.99999711e-01 -2.96580091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.59028169300001 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:82.80, Y:1.80, Z:-0.30 [[ 9.98949686e-01 -4.58198424e-02 -2.60015884e-04 8.27987882e+01] [ 4.58198388e-02 9.98949719e-01 -1.95067703e-05 1.79583787e+00] [ 2.60636591e-04 7.57239616e-06 9.99999966e-01 -2.96874233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.620281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:82.83, Y:1.80, Z:-0.30 [[ 9.98802165e-01 -4.89292848e-02 3.99620276e-04 8.28259816e+01] [ 4.89292768e-02 9.98802245e-01 2.98345490e-05 1.80204193e+00] [-4.00601412e-04 -1.02456811e-05 9.99999920e-01 -2.96118442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.650281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:82.85, Y:1.81, Z:-0.30 [[ 9.98469462e-01 -5.52840623e-02 1.55110114e-03 8.28541136e+01] [ 5.52839484e-02 9.98470666e-01 1.16219869e-04 1.81180089e+00] [-1.55515409e-03 -3.02909951e-05 9.99998790e-01 -2.96455334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.680281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:82.88, Y:1.82, Z:-0.30 [[ 9.98264335e-01 -5.88674502e-02 1.71510711e-03 8.28826533e+01] [ 5.88673159e-02 9.98265808e-01 1.28717702e-04 1.81684798e+00] [-1.71971006e-03 -2.75305395e-05 9.99998521e-01 -2.97036213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.710281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:82.91, Y:1.82, Z:-0.30 [[ 9.98037715e-01 -6.26073767e-02 1.01763689e-03 8.29101998e+01] [ 6.26073314e-02 9.98038234e-01 7.63896672e-05 1.82069917e+00] [-1.02042308e-03 -1.25282393e-05 9.99999479e-01 -2.97454664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.740281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:82.94, Y:1.82, Z:-0.30 [[ 9.97441798e-01 -7.14713083e-02 -1.30841815e-03 8.29378808e+01] [ 7.14712402e-02 9.97442656e-01 -9.87624733e-05 1.82379411e+00] [ 1.31213076e-03 4.99555104e-06 9.99999139e-01 -2.98109941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.770281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:82.96, Y:1.83, Z:-0.30 [[ 9.97061646e-01 -7.65713542e-02 -2.21380264e-03 8.29645501e+01] [ 7.65711721e-02 9.97064104e-01 -1.67030597e-04 1.82560882e+00] [ 2.22009291e-03 -2.97366141e-06 9.99997536e-01 -2.98167446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.800281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:82.99, Y:1.83, Z:-0.30 [[ 9.96204639e-01 -8.70309132e-02 -1.39205976e-03 8.29917040e+01] [ 8.70308512e-02 9.96205611e-01 -1.05168809e-04 1.82678269e+00] [ 1.39593068e-03 -1.63824906e-05 9.99999026e-01 -2.97545283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.830281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:83.02, Y:1.83, Z:-0.30 [[ 9.95794887e-01 -9.16107966e-02 -6.31076785e-05 8.30201035e+01] [ 9.16107965e-02 9.95794889e-01 -4.96485713e-06 1.82811832e+00] [ 6.32971383e-05 -8.37365344e-07 9.99999998e-01 -2.97475724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.860281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:83.05, Y:1.83, Z:-0.30 [[ 9.95398723e-01 -9.58153155e-02 8.98858608e-04 8.30480801e+01] [ 9.58152932e-02 9.95399128e-01 6.79781962e-05 1.82859603e+00] [-9.01236427e-04 1.84589913e-05 9.99999594e-01 -2.97425655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.890281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:83.08, Y:1.83, Z:-0.30 [[ 9.94774526e-01 -1.02095483e-01 3.92961621e-04 8.30751347e+01] [ 1.02095480e-01 9.94774604e-01 2.97512474e-05 1.82557199e+00] [-3.93945709e-04 1.05238221e-05 9.99999922e-01 -2.97606670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.920281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:83.10, Y:1.83, Z:-0.30 [[ 9.94541917e-01 -1.04334428e-01 -8.37666781e-04 8.31028190e+01] [ 1.04334411e-01 9.94542270e-01 -6.39368663e-05 1.82541289e+00] [ 8.39765838e-04 -2.38095764e-05 9.99999647e-01 -2.98432342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.95028169300001 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:83.13, Y:1.82, Z:-0.30 [[ 9.94209046e-01 -1.07403547e-01 -3.58486549e-03 8.31299641e+01] [ 1.07403259e-01 9.94215502e-01 -2.73382354e-04 1.82193948e+00] [ 3.59349108e-03 -1.13227026e-04 9.99993537e-01 -2.99409512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.980281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:83.16, Y:1.82, Z:-0.30 [[ 9.94098912e-01 -1.08423017e-01 -3.43542673e-03 8.31581498e+01] [ 1.08422756e-01 9.94104842e-01 -2.62640184e-04 1.82086129e+00] [ 3.44365059e-03 -1.11388112e-04 9.99994064e-01 -2.98658498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.010281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:83.19, Y:1.82, Z:-0.30 [[ 9.94056526e-01 -1.08865137e-01 -6.81802809e-05 8.31854155e+01] [ 1.08865137e-01 9.94056529e-01 -5.29478079e-06 1.81931532e+00] [ 6.83514704e-05 -2.15914423e-06 9.99999998e-01 -2.95646431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.040281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:83.21, Y:1.82, Z:-0.30 [[ 9.94137084e-01 -1.08119619e-01 1.26736383e-03 8.32133422e+01] [ 1.08119583e-01 9.94137891e-01 9.69511241e-05 1.82135146e+00] [-1.27041673e-03 4.06441420e-05 9.99999192e-01 -2.95238366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.070281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:83.24, Y:1.82, Z:-0.30 [[ 9.94304019e-01 -1.06558687e-01 2.18286097e-03 8.32412370e+01] [ 1.06558576e-01 9.94306412e-01 1.67505299e-04 1.82268819e+00] [-2.18828181e-03 6.60513638e-05 9.99997604e-01 -2.95463260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.100281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:83.27, Y:1.82, Z:-0.30 [[ 9.94558349e-01 -1.04139327e-01 2.94807702e-03 8.32680526e+01] [ 1.04139112e-01 9.94562715e-01 2.26619258e-04 1.81994736e+00] [-2.95564746e-03 8.16240477e-05 9.99995629e-01 -2.95858203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:83.29, Y:1.82, Z:-0.30 [[ 9.94528750e-01 -1.04436400e-01 2.36739648e-03 8.32946558e+01] [ 1.04436262e-01 9.94531565e-01 1.82211255e-04 1.82004656e+00] [-2.37348002e-03 6.60277071e-05 9.99997181e-01 -2.96485095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.160281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:83.32, Y:1.82, Z:-0.30 [[ 9.94416098e-01 -1.05529891e-01 -2.57478170e-04 8.33230038e+01] [ 1.05529889e-01 9.94416131e-01 -2.00733925e-05 1.81942898e+00] [ 2.58158789e-04 -7.21033822e-06 9.99999967e-01 -2.97629997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.190281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:83.35, Y:1.82, Z:-0.30 [[ 9.94358978e-01 -1.06066623e-01 -3.05811885e-04 8.33500100e+01] [ 1.06066621e-01 9.94359025e-01 -2.37191965e-05 1.81967601e+00] [ 3.06602623e-04 -8.85103719e-06 9.99999953e-01 -2.98449652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.220281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:83.38, Y:1.82, Z:-0.30 [[ 9.94274160e-01 -1.06857708e-01 5.69959928e-04 8.33780764e+01] [ 1.06857700e-01 9.94274323e-01 4.39543163e-05 1.81823878e+00] [-5.71393379e-04 1.72019660e-05 9.99999837e-01 -2.96689091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.250281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:83.41, Y:1.82, Z:-0.30 [[ 9.94268423e-01 -1.06911751e-01 4.25999284e-04 8.34059355e+01] [ 1.06911746e-01 9.94268514e-01 3.28795261e-05 1.81950861e+00] [-4.27072882e-04 1.28532528e-05 9.99999909e-01 -2.96057457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.280281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:83.43, Y:1.82, Z:-0.30 [[ 9.94361778e-01 -1.06039870e-01 -4.47561529e-04 8.34337224e+01] [ 1.06039865e-01 9.94361879e-01 -3.50419630e-05 1.81943791e+00] [ 4.48753968e-04 -1.26149757e-05 9.99999899e-01 -2.97108047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.31028169300001 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:83.46, Y:1.82, Z:-0.30 [[ 9.94462061e-01 -1.05094015e-01 -6.76526128e-04 8.34605780e+01] [ 1.05094004e-01 9.94462291e-01 -5.28869268e-05 1.81960678e+00] [ 6.78337822e-04 -1.85047971e-05 9.99999770e-01 -2.97610097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.34028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:83.49, Y:1.82, Z:-0.30 [[ 9.94572875e-01 -1.04041106e-01 -4.93737482e-04 8.34889339e+01] [ 1.04041099e-01 9.94572998e-01 -3.87674020e-05 1.82019305e+00] [ 4.95091371e-04 -1.28119838e-05 9.99999877e-01 -2.97982304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:83.52, Y:1.82, Z:-0.30 [[ 9.94923993e-01 -1.00629071e-01 1.94723233e-04 8.35162709e+01] [ 1.00629070e-01 9.94924012e-01 1.51499305e-05 1.81912151e+00] [-1.95259344e-04 4.52178848e-06 9.99999981e-01 -2.97424268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.400281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:83.54, Y:1.82, Z:-0.30 [[ 9.95139416e-01 -9.84760607e-02 -9.13906867e-05 8.35439433e+01] [ 9.84760604e-02 9.95139420e-01 -7.35189332e-06 1.81984808e+00] [ 9.16704605e-05 -1.68363595e-06 9.99999996e-01 -2.97792668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.430281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:83.57, Y:1.82, Z:-0.30 [[ 9.95372942e-01 -9.60839890e-02 -7.56970435e-04 8.35719425e+01] [ 9.60839714e-02 9.95373230e-01 -5.96588988e-05 1.82042661e+00] [ 7.59200372e-04 -1.33498720e-05 9.99999712e-01 -2.97481558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.460281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:83.60, Y:1.82, Z:-0.30 [[ 9.95842194e-01 -9.10804046e-02 -1.63850174e-03 8.36005648e+01] [ 9.10803156e-02 9.95843542e-01 -1.29022606e-04 1.81931947e+00] [ 1.64344281e-03 -2.07491004e-05 9.99998649e-01 -2.97642273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.490281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:83.63, Y:1.82, Z:-0.30 [[ 9.96036428e-01 -8.89232621e-02 -2.02167457e-03 8.36285025e+01] [ 8.89231212e-02 9.96038480e-01 -1.59640918e-04 1.82019503e+00] [ 2.02786146e-03 -2.07654434e-05 9.99997944e-01 -2.98044645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.520281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:83.66, Y:1.82, Z:-0.30 [[ 9.96411216e-01 -8.46238271e-02 -1.86965903e-03 8.36556740e+01] [ 8.46236989e-02 9.96412970e-01 -1.47690637e-04 1.82119276e+00] [ 1.87545065e-03 -1.10568558e-05 9.99998241e-01 -2.98578158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.550281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:83.68, Y:1.82, Z:-0.30 [[ 9.96585441e-01 -8.25618576e-02 -9.99174533e-04 8.36826025e+01] [ 8.25618199e-02 9.96585942e-01 -7.90515294e-05 1.82335668e+00] [ 1.00228993e-03 -3.71206459e-06 9.99999498e-01 -2.98057187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.580281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:83.71, Y:1.83, Z:-0.30 [[ 9.96748820e-01 -8.05705242e-02 -4.25013556e-04 8.37102525e+01] [ 8.05705171e-02 9.96748911e-01 -3.38726272e-05 1.82585093e+00] [ 4.26360934e-04 -4.81060845e-07 9.99999909e-01 -2.97831833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.610281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:83.74, Y:1.83, Z:-0.30 [[ 9.97155943e-01 -7.53657023e-02 1.91863057e-04 8.37371479e+01] [ 7.53657008e-02 9.97155961e-01 1.51257928e-05 1.82994819e+00] [-1.92457357e-04 -6.22880467e-07 9.99999981e-01 -2.97585148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.640281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:83.77, Y:1.83, Z:-0.30 [[ 9.97374547e-01 -7.24153495e-02 1.73873198e-04 8.37652582e+01] [ 7.24153482e-02 9.97374562e-01 1.36135560e-05 1.83408732e+00] [-1.74402535e-04 -9.86726113e-07 9.99999985e-01 -2.97118813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.670281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:83.79, Y:1.84, Z:-0.30 [[ 9.97784416e-01 -6.65285731e-02 -4.56079302e-04 8.37919864e+01] [ 6.65285634e-02 9.97784520e-01 -3.63835087e-05 1.84253918e+00] [ 4.57489411e-04 5.96059721e-06 9.99999895e-01 -2.97244150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.70028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:83.82, Y:1.85, Z:-0.30 [[ 9.97917701e-01 -6.44980376e-02 -5.15856398e-04 8.38187984e+01] [ 6.44980249e-02 9.97917834e-01 -4.11801433e-05 1.84820217e+00] [ 5.17438337e-04 7.82267513e-06 9.99999866e-01 -2.97497831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.730281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:83.85, Y:1.85, Z:-0.30 [[ 9.98005858e-01 -6.31194055e-02 -4.98882551e-04 8.38452963e+01] [ 6.31193935e-02 9.98005982e-01 -3.98667217e-05 1.85309256e+00] [ 5.00404134e-04 8.29805777e-06 9.99999875e-01 -2.97817531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.760281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:83.87, Y:1.86, Z:-0.30 [[ 9.98031731e-01 -6.27109500e-02 -3.78110168e-05 8.38733127e+01] [ 6.27109499e-02 9.98031731e-01 -3.21753599e-06 1.85886042e+00] [ 3.79383693e-05 8.40038232e-07 9.99999999e-01 -2.98280049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.790281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:83.90, Y:1.86, Z:-0.30 [[ 9.97981000e-01 -6.35123329e-02 -3.27486472e-04 8.39014497e+01] [ 6.35123277e-02 9.97981054e-01 -2.64422688e-05 1.86237319e+00] [ 3.28504705e-04 5.58945374e-06 9.99999946e-01 -2.98755723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.820281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:83.93, Y:1.87, Z:-0.30 [[ 9.97919091e-01 -6.44737388e-02 -7.90187212e-04 8.39280180e+01] [ 6.44737088e-02 9.97919404e-01 -6.34591280e-05 1.86604984e+00] [ 7.92634599e-04 1.23807752e-05 9.99999686e-01 -2.99090716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.850281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:83.96, Y:1.87, Z:-0.30 [[ 9.97761985e-01 -6.68653710e-02 -2.09455418e-04 8.39556043e+01] [ 6.68653688e-02 9.97762007e-01 -1.70434036e-05 1.87033871e+00] [ 2.10126272e-04 2.99994641e-06 9.99999978e-01 -2.99243364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.880281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:83.98, Y:1.87, Z:-0.30 [[ 9.97683645e-01 -6.80243917e-02 -1.63821414e-04 8.39820778e+01] [ 6.80243905e-02 9.97683658e-01 -1.32723012e-05 1.87287962e+00] [ 1.64344788e-04 2.09770605e-06 9.99999986e-01 -2.98877171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.910281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:84.01, Y:1.88, Z:-0.30 [[ 9.97651240e-01 -6.84950463e-02 -6.57883668e-04 8.40096679e+01] [ 6.84950260e-02 9.97651456e-01 -5.32703437e-05 1.87705547e+00] [ 6.59987354e-04 8.08346542e-06 9.99999782e-01 -2.98125628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.940281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:84.04, Y:1.88, Z:-0.30 [[ 9.97732316e-01 -6.73057795e-02 -3.98185850e-04 8.40366418e+01] [ 6.73057720e-02 9.97732395e-01 -3.23114806e-05 1.88066524e+00] [ 3.99457671e-04 5.43800240e-06 9.99999920e-01 -2.98119938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.970281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:84.06, Y:1.88, Z:-0.30 [[ 9.97850169e-01 -6.55358931e-02 2.93351745e-04 8.40632433e+01] [ 6.55358890e-02 9.97850213e-01 2.36368347e-05 1.88420296e+00] [-2.94270162e-04 -4.36095216e-06 9.99999957e-01 -2.98194229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.000281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:84.09, Y:1.89, Z:-0.30 [[ 9.98117145e-01 -6.12977189e-02 2.18046493e-03 8.40899560e+01] [ 6.12974797e-02 9.98119526e-01 1.76427161e-04 1.88928898e+00] [-2.18717920e-03 -4.24379698e-05 9.99997607e-01 -2.96865238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.030281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.12, Y:1.89, Z:-0.30 [[ 9.98206964e-01 -5.97623946e-02 3.36341424e-03 8.41177092e+01] [ 5.97618148e-02 9.98212628e-01 2.72706178e-04 1.89430763e+00] [-3.37370014e-03 -7.12134671e-05 9.99994307e-01 -2.96430711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.06028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:84.14, Y:1.90, Z:-0.30 [[ 9.98417201e-01 -5.61255296e-02 3.60809874e-03 8.41444203e+01] [ 5.61248373e-02 9.98423716e-01 2.92910295e-04 1.90304100e+00] [-3.61885110e-03 -8.99427219e-05 9.99993448e-01 -2.96017216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.09028169300001 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:84.17, Y:1.91, Z:-0.30 [[ 9.98516981e-01 -5.43838387e-02 2.49727432e-03 8.41724508e+01] [ 5.43835009e-02 9.98520102e-01 2.03011927e-04 1.90865194e+00] [-2.50461917e-03 -6.69003369e-05 9.99996861e-01 -2.96393413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.120281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:84.20, Y:1.91, Z:-0.30 [[ 9.98619144e-01 -5.25156542e-02 1.38220233e-03 8.42010607e+01] [ 5.25155488e-02 9.98620100e-01 1.12513745e-04 1.91425164e+00] [-1.38620377e-03 -3.97712654e-05 9.99999038e-01 -2.97109827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.150281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:84.23, Y:1.92, Z:-0.30 [[ 9.98817758e-01 -4.86086823e-02 -5.31097244e-04 8.42286221e+01] [ 4.86086661e-02 9.98817899e-01 -4.33576033e-05 1.92375069e+00] [ 5.32576990e-04 1.74904155e-05 9.99999858e-01 -2.96572629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:84.26, Y:1.93, Z:-0.30 [[ 9.98893845e-01 -4.70214257e-02 -2.69735292e-04 8.42566993e+01] [ 4.70214214e-02 9.98893881e-01 -2.22214721e-05 1.93078108e+00] [ 2.70481818e-04 9.51355491e-06 9.99999963e-01 -2.96482734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.210281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.29, Y:1.94, Z:-0.30 [[ 9.99023090e-01 -4.41825505e-02 8.76283508e-04 8.42851844e+01] [ 4.41825047e-02 9.99023474e-01 7.16137025e-05 1.94204496e+00] [-8.78591870e-04 -3.28273422e-05 9.99999614e-01 -2.96225546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.32, Y:1.94, Z:-0.30 [[ 9.99022582e-01 -4.41940409e-02 8.76281673e-04 8.43150827e+01] [ 4.41939950e-02 9.99022966e-01 7.16361510e-05 1.94449498e+00] [-8.78591407e-04 -3.28397446e-05 9.99999614e-01 -2.96258000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.270281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:84.34, Y:1.95, Z:-0.30 [[ 9.99040502e-01 -4.37852753e-02 9.61655673e-04 8.43444908e+01] [ 4.37852199e-02 9.99040964e-01 7.86278455e-05 1.95047736e+00] [-9.64176153e-04 -3.64460972e-05 9.99999535e-01 -2.97062571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.300281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:84.37, Y:1.96, Z:-0.30 [[ 9.98968355e-01 -4.54106781e-02 3.08757155e-04 8.43741185e+01] [ 4.54106725e-02 9.98968403e-01 2.52488962e-05 1.95839605e+00] [-3.09585212e-04 -1.12019783e-05 9.99999952e-01 -2.97776857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.330281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:84.40, Y:1.96, Z:-0.30 [[ 9.98900241e-01 -4.68838934e-02 4.57890749e-04 8.44040906e+01] [ 4.68838811e-02 9.98900346e-01 3.74444310e-05 1.96391867e+00] [-4.59142768e-04 -1.59355558e-05 9.99999894e-01 -2.97174788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.43, Y:1.97, Z:-0.30 [[ 9.98751585e-01 -4.98906375e-02 2.48925037e-03 8.44343942e+01] [ 4.98902850e-02 9.98754684e-01 2.03560706e-04 1.97077447e+00] [-2.49630624e-03 -7.91171669e-05 9.99996881e-01 -2.95453590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.390281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:84.46, Y:1.98, Z:-0.30 [[ 9.98682867e-01 -5.11588771e-02 3.91166315e-03 8.44631773e+01] [ 5.11580163e-02 9.98690520e-01 3.19872208e-04 1.97531688e+00] [-3.92290521e-03 -1.19337966e-04 9.99992298e-01 -2.95201651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.49, Y:1.98, Z:-0.29 [[ 9.98648653e-01 -5.17805007e-02 4.43259106e-03 8.44930845e+01] [ 5.17794014e-02 9.98658481e-01 3.62467275e-04 1.98001120e+00] [-4.44541339e-03 -1.32460544e-04 9.99990110e-01 -2.94752441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.45028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:84.52, Y:1.99, Z:-0.30 [[ 9.98584992e-01 -5.31031339e-02 2.84100654e-03 8.45231437e+01] [ 5.31026877e-02 9.98589030e-01 2.32297629e-04 1.98760961e+00] [-2.84933370e-03 -8.11038428e-05 9.99995937e-01 -2.95989539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.480281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:84.55, Y:1.99, Z:-0.30 [[ 9.98520121e-01 -5.43579960e-02 1.66646302e-03 8.45536909e+01] [ 5.43578442e-02 9.98521510e-01 1.36252543e-04 1.99242559e+00] [-1.67140559e-03 -4.54655684e-05 9.99998602e-01 -2.96354344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.510281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.58, Y:2.00, Z:-0.30 [[ 9.98337818e-01 -5.76171885e-02 1.36445193e-03 8.45832754e+01] [ 5.76170899e-02 9.98338749e-01 1.11558881e-04 1.99865036e+00] [-1.36861295e-03 -3.27577001e-05 9.99999063e-01 -2.96484686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.540281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:84.61, Y:2.00, Z:-0.30 [[ 9.98227125e-01 -5.94750282e-02 2.30825173e-03 8.46129126e+01] [ 5.94747507e-02 9.98229792e-01 1.88748873e-04 2.00234329e+00] [-2.31539149e-03 -5.11315481e-05 9.99997318e-01 -2.95964319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.570281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:84.64, Y:2.01, Z:-0.30 [[ 9.98061418e-01 -6.21406292e-02 3.45665225e-03 8.46419238e+01] [ 6.21400227e-02 9.98067401e-01 2.82686927e-04 2.00579311e+00] [-3.46753828e-03 -6.73424655e-05 9.99993986e-01 -2.96074293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.600281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:84.67, Y:2.01, Z:-0.30 [[ 9.97647887e-01 -6.84840065e-02 2.93834180e-03 8.46721659e+01] [ 6.84835957e-02 9.97652214e-01 2.40296799e-04 2.01020256e+00] [-2.94789968e-03 -3.85033828e-05 9.99995654e-01 -2.97152257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.630281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:84.70, Y:2.01, Z:-0.30 [[ 9.97451704e-01 -7.13213084e-02 1.83534117e-03 8.47021009e+01] [ 7.13211530e-02 9.97453393e-01 1.50093705e-04 2.01395236e+00] [-1.84137215e-03 -1.88125743e-05 9.99998304e-01 -2.97739463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.660281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.73, Y:2.02, Z:-0.30 [[ 9.97183600e-01 -7.49969526e-02 5.69916817e-04 8.47303541e+01] [ 7.49969382e-02 9.97183763e-01 4.65899102e-05 2.01701677e+00] [-5.71805898e-04 -3.71667805e-06 9.99999837e-01 -2.98354284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.690281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:84.76, Y:2.02, Z:-0.30 [[ 9.97082197e-01 -7.63353428e-02 9.05137290e-05 8.47594731e+01] [ 7.63353425e-02 9.97082201e-01 7.24556540e-06 2.02007287e+00] [-9.08027209e-05 -3.15027760e-07 9.99999996e-01 -2.98206779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.720281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:84.79, Y:2.02, Z:-0.30 [[ 9.97017309e-01 -7.71777383e-02 -2.86059664e-04 8.47880699e+01] [ 7.71777347e-02 9.97017350e-01 -2.36701957e-05 2.02354486e+00] [ 2.87033260e-04 1.52215802e-06 9.99999959e-01 -2.98568038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.750281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:84.82, Y:2.03, Z:-0.30 [[ 9.97004311e-01 -7.73414089e-02 -8.42574708e-04 8.48153327e+01] [ 7.73413779e-02 9.97004667e-01 -6.93724941e-05 2.02835237e+00] [ 8.45416283e-04 3.99878683e-06 9.99999643e-01 -2.99043070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.780281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:84.84, Y:2.03, Z:-0.30 [[ 9.97031398e-01 -7.69924900e-02 -7.40621724e-04 8.48438083e+01] [ 7.69924658e-02 9.97031673e-01 -6.11848940e-05 2.03245085e+00] [ 7.43134094e-04 3.98096761e-06 9.99999724e-01 -2.99012926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.81028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:84.87, Y:2.04, Z:-0.30 [[ 9.97237320e-01 -7.42757139e-02 -9.19284500e-04 8.48716109e+01] [ 7.42756755e-02 9.97237744e-01 -7.58450531e-05 2.03967651e+00] [ 9.22378647e-04 7.35504028e-06 9.99999575e-01 -2.99049966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.84028169300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:84.90, Y:2.05, Z:-0.30 [[ 9.97400088e-01 -7.20447477e-02 -1.61829503e-03 8.49005019e+01] [ 7.20446254e-02 9.97401401e-01 -1.33836835e-04 2.04554093e+00] [ 1.62373197e-03 1.68994119e-05 9.99998682e-01 -2.99089686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:84.93, Y:2.05, Z:-0.30 [[ 9.97595974e-01 -6.92746318e-02 -1.81626520e-03 8.49278126e+01] [ 6.92744731e-02 9.97597627e-01 -1.50180696e-04 2.05209369e+00] [ 1.82230556e-03 2.39988433e-05 9.99998339e-01 -2.99490339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.900281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:84.96, Y:2.07, Z:-0.30 [[ 9.97999030e-01 -6.32088808e-02 -1.60452600e-03 8.49564610e+01] [ 6.32087492e-02 9.98000319e-01 -1.32679119e-04 2.06506682e+00] [ 1.60970396e-03 3.09935506e-05 9.99998704e-01 -2.99065547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.930281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:84.99, Y:2.07, Z:-0.30 [[ 9.98156124e-01 -6.06740359e-02 -1.73579658e-03 8.49866361e+01] [ 6.06738781e-02 9.98157633e-01 -1.43507861e-04 2.07303169e+00] [ 1.74130580e-03 3.79257403e-05 9.99998483e-01 -2.99201385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.960281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:85.02, Y:2.09, Z:-0.30 [[ 9.98323628e-01 -5.78536656e-02 -1.69907527e-03 8.50155071e+01] [ 5.78535102e-02 9.98325073e-01 -1.40503909e-04 2.08548407e+00] [ 1.70435811e-03 4.19709036e-05 9.99998547e-01 -3.00217829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.990281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.05, Y:2.09, Z:-0.30 [[ 9.98268751e-01 -5.88006196e-02 -1.40976794e-03 8.50453628e+01] [ 5.88005137e-02 9.98269746e-01 -1.16474833e-04 2.09261315e+00] [ 1.41417748e-03 3.33781072e-05 9.99998999e-01 -3.00970133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.020281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:85.08, Y:2.10, Z:-0.30 [[ 9.98108376e-01 -6.14716195e-02 -9.53481657e-04 8.50755588e+01] [ 6.14715723e-02 9.98108832e-01 -7.87818554e-05 2.09946765e+00] [ 9.56521310e-04 2.00208132e-05 9.99999542e-01 -3.00705593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:85.11, Y:2.11, Z:-0.30 [[ 9.97496311e-01 -7.07157588e-02 6.25506189e-04 8.51065762e+01] [ 7.07157403e-02 9.97496507e-01 5.17011086e-05 2.10693217e+00] [-6.27596322e-04 -7.33853185e-06 9.99999803e-01 -2.99969384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.080281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.14, Y:2.11, Z:-0.30 [[ 9.97104323e-01 -7.60327344e-02 1.41179862e-03 8.51376169e+01] [ 7.60326455e-02 9.97105322e-01 1.16627275e-04 2.11012196e+00] [-1.41657941e-03 -8.94677543e-06 9.99998997e-01 -3.00308591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.110281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:85.17, Y:2.11, Z:-0.30 [[ 9.96407477e-01 -8.46464437e-02 2.66807240e-03 8.51696551e+01] [ 8.46461573e-02 9.96411049e-01 2.20282089e-04 2.11344458e+00] [-2.67714292e-03 6.35135579e-06 9.99996416e-01 -2.99706254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.140281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:85.20, Y:2.12, Z:-0.30 [[ 9.96204854e-01 -8.70038166e-02 2.49513198e-03 8.52008223e+01] [ 8.70035737e-02 9.96207978e-01 2.05904526e-04 2.11683493e+00] [-2.50358487e-03 1.19623114e-05 9.99996866e-01 -2.99417130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.170281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.23, Y:2.12, Z:-0.30 [[ 9.96111410e-01 -8.80828674e-02 1.86199139e-03 8.52318748e+01] [ 8.80827341e-02 9.96113150e-01 1.53608989e-04 2.12013078e+00] [-1.86828443e-03 1.09976255e-05 9.99998255e-01 -2.99902940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.20028169300001 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:85.26, Y:2.13, Z:-0.30 [[ 9.96141603e-01 -8.77604507e-02 1.00585531e-04 8.52637708e+01] [ 8.77604503e-02 9.96141608e-01 8.34311730e-06 2.12562619e+00] [-1.00929629e-04 5.16505286e-07 9.99999995e-01 -2.99778444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.230281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:85.29, Y:2.13, Z:-0.30 [[ 9.96178018e-01 -8.73461769e-02 -5.15699501e-05 8.52948667e+01] [ 8.73461768e-02 9.96178019e-01 -4.22434068e-06 2.13026093e+00] [ 5.17418307e-05 -2.96242652e-07 9.99999999e-01 -2.99455346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.260281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:85.32, Y:2.13, Z:-0.30 [[ 9.96155558e-01 -8.76019546e-02 4.06291132e-05 8.53247827e+01] [ 8.76019545e-02 9.96155559e-01 3.36061696e-06 2.13448495e+00] [-4.07673136e-05 2.11492466e-07 9.99999999e-01 -2.99534058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.290281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:85.36, Y:2.14, Z:-0.30 [[ 9.96081416e-01 -8.84406868e-02 2.38669047e-04 8.53554932e+01] [ 8.84406846e-02 9.96081445e-01 1.96982669e-05 2.13626574e+00] [-2.39475938e-04 1.48697638e-06 9.99999971e-01 -3.00235608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.320281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.39, Y:2.14, Z:-0.30 [[ 9.95722173e-01 -9.23855320e-02 1.50585384e-03 8.53867834e+01] [ 9.23854501e-02 9.95723312e-01 1.24015759e-04 2.13832975e+00] [-1.51087104e-03 1.56337438e-05 9.99998859e-01 -3.00899572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.350281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:85.42, Y:2.14, Z:-0.30 [[ 9.95505342e-01 -9.46891822e-02 1.75291744e-03 8.54181105e+01] [ 9.46890749e-02 9.95506885e-01 1.44317691e-04 2.14130507e+00] [-1.75870671e-03 2.23130989e-05 9.99998453e-01 -3.00846621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.380281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:85.45, Y:2.14, Z:-0.30 [[ 9.95113759e-01 -9.87304147e-02 9.55244975e-04 8.54489604e+01] [ 9.87303846e-02 9.95114217e-01 7.86358675e-05 2.14388634e+00] [-9.58341607e-04 1.60600701e-05 9.99999541e-01 -3.00827587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.410281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.48, Y:2.14, Z:-0.30 [[ 9.94981452e-01 -1.00059526e-01 -3.90982830e-05 8.54794792e+01] [ 1.00059526e-01 9.94981453e-01 -3.21703935e-06 2.14477371e+00] [ 3.92239619e-05 -7.11261194e-07 9.99999999e-01 -3.00420662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.440281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:85.51, Y:2.15, Z:-0.30 [[ 9.94877666e-01 -1.01085147e-01 -4.72868818e-04 8.55092497e+01] [ 1.01085140e-01 9.94877778e-01 -3.89255793e-05 2.14502745e+00] [ 4.74381477e-04 -9.07382116e-06 9.99999887e-01 -3.00581898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.470281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:85.54, Y:2.14, Z:-0.30 [[ 9.94785017e-01 -1.01990983e-01 -7.80111792e-04 8.55402681e+01] [ 1.01990964e-01 9.94785323e-01 -6.41970701e-05 2.14235417e+00] [ 7.82591284e-04 -1.57020705e-05 9.99999694e-01 -3.00989099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:85.57, Y:2.14, Z:-0.30 [[ 9.94773078e-01 -1.02106194e-01 -9.21363769e-04 8.55696895e+01] [ 1.02106167e-01 9.94773504e-01 -7.58663435e-05 2.14166579e+00] [ 9.24294689e-04 -1.86071272e-05 9.99999573e-01 -3.01916213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.530281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:85.60, Y:2.14, Z:-0.30 [[ 9.94924488e-01 -1.00618473e-01 -1.08912640e-03 8.55983662e+01] [ 1.00618435e-01 9.94925084e-01 -8.97245309e-05 2.13772110e+00] [ 1.09262712e-03 -2.03170608e-05 9.99999403e-01 -3.01639344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.56028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:85.63, Y:2.14, Z:-0.30 [[ 9.95094646e-01 -9.89216703e-02 -1.07151624e-03 8.56275761e+01] [ 9.89216322e-02 9.95095223e-01 -8.85768648e-05 2.13853012e+00] [ 1.07502287e-03 -1.78537718e-05 9.99999422e-01 -3.00691694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.59028169300001 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:85.66, Y:2.14, Z:-0.30 [[ 9.95741353e-01 -9.21808630e-02 -1.35875020e-03 8.56573608e+01] [ 9.21807958e-02 9.95742280e-01 -1.12160209e-04 2.13899232e+00] [ 1.36330405e-03 -1.35681160e-05 9.99999071e-01 -2.99943887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.620281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:85.69, Y:2.14, Z:-0.30 [[ 9.96087294e-01 -8.83626857e-02 -1.46228758e-03 8.56860313e+01] [ 8.83626036e-02 9.96088367e-01 -1.20766354e-04 2.14034949e+00] [ 1.46723889e-03 -8.91770713e-06 9.99998924e-01 -3.00365728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.650281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:85.72, Y:2.14, Z:-0.30 [[ 9.96388214e-01 -8.48993692e-02 -1.61978525e-03 8.57158167e+01] [ 8.48992639e-02 9.96389531e-01 -1.33796978e-04 2.14095129e+00] [ 1.62529635e-03 -4.20484297e-06 9.99998679e-01 -3.00720187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.680281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.74, Y:2.14, Z:-0.30 [[ 9.96710729e-01 -8.10380705e-02 -7.44150010e-04 8.57442267e+01] [ 8.10380472e-02 9.96711007e-01 -6.14991664e-05 2.13913320e+00] [ 7.46686279e-04 9.92415385e-07 9.99999721e-01 -3.00891580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.710281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.77, Y:2.14, Z:-0.30 [[ 9.96705329e-01 -8.11076401e-02 1.94216809e-04 8.57742215e+01] [ 8.11076385e-02 9.96705348e-01 1.60235526e-05 2.13989709e+00] [-1.94876565e-04 -2.18293565e-07 9.99999981e-01 -3.00263538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:85.80, Y:2.14, Z:-0.30 [[ 9.96489142e-01 -8.37071993e-02 1.57917654e-03 8.58038083e+01] [ 8.37070976e-02 9.96490394e-01 1.30497573e-04 2.14020277e+00] [-1.58455784e-03 2.14887014e-06 9.99998745e-01 -2.99796952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.770281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:85.83, Y:2.14, Z:-0.30 [[ 9.96339753e-01 -8.54602680e-02 1.90748365e-03 8.58341245e+01] [ 8.54601228e-02 9.96341579e-01 1.57642829e-04 2.14116373e+00] [-1.91397747e-03 5.94796978e-06 9.99998168e-01 -3.00430271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.86, Y:2.14, Z:-0.30 [[ 9.96099036e-01 -8.82268154e-02 1.65533618e-03 8.58644342e+01] [ 8.82267099e-02 9.96100411e-01 1.36797408e-04 2.13937162e+00] [-1.66095025e-03 9.78109795e-06 9.99998621e-01 -3.00475917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.830281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:85.89, Y:2.14, Z:-0.30 [[ 9.96004918e-01 -8.92865010e-02 1.45711244e-03 8.58938231e+01] [ 8.92864204e-02 9.96005984e-01 1.20413236e-04 2.14003499e+00] [-1.46204399e-03 1.01681791e-05 9.99998931e-01 -3.00168963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:85.92, Y:2.14, Z:-0.30 [[ 9.95964810e-01 -8.97281238e-02 1.72082613e-03 8.59229229e+01] [ 8.97280118e-02 9.95966296e-01 1.42332768e-04 2.14046059e+00] [-1.72665608e-03 1.26478793e-05 9.99998509e-01 -3.00227019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.890281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:85.95, Y:2.14, Z:-0.30 [[ 9.95975910e-01 -8.95911942e-02 2.32485203e-03 8.59509056e+01] [ 8.95909886e-02 9.95978623e-01 1.92620427e-04 2.13789051e+00] [-2.33276002e-03 1.64404866e-05 9.99997279e-01 -2.99953708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.920281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:85.98, Y:2.14, Z:-0.30 [[ 9.96010923e-01 -8.91953621e-02 2.53556826e-03 8.59783756e+01] [ 8.91951158e-02 9.96014150e-01 2.10297867e-04 2.13750861e+00] [-2.54421946e-03 1.67013318e-05 9.99996763e-01 -2.99556247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.95028169300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.01, Y:2.14, Z:-0.30 [[ 9.96037468e-01 -8.88965902e-02 2.59974595e-03 8.60084173e+01] [ 8.88963299e-02 9.96040861e-01 2.15747532e-04 2.13500064e+00] [-2.60863241e-03 1.62152479e-05 9.99996597e-01 -2.99611956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.980281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.04, Y:2.13, Z:-0.30 [[ 9.95968151e-01 -8.96862527e-02 1.95408103e-03 8.60375281e+01] [ 8.96861068e-02 9.95970068e-01 1.62324795e-04 2.13445153e+00] [-1.96076452e-03 1.35835944e-05 9.99998078e-01 -2.99784245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.010281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:86.07, Y:2.13, Z:-0.30 [[ 9.95753987e-01 -9.20530730e-02 4.79460950e-04 8.60659296e+01] [ 9.20530645e-02 9.95754102e-01 3.98369595e-05 2.12873331e+00] [-4.81092322e-04 4.46803857e-06 9.99999884e-01 -3.00524748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.040281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.09, Y:2.13, Z:-0.30 [[ 9.95661902e-01 -9.30440868e-02 4.16925621e-04 8.60926568e+01] [ 9.30440805e-02 9.95661990e-01 3.46423384e-05 2.12710593e+00] [-4.18340259e-04 4.30040447e-06 9.99999912e-01 -3.00665048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.12, Y:2.13, Z:-0.30 [[ 9.95610086e-01 -9.35967640e-02 4.50735468e-04 8.61209506e+01] [ 9.35967566e-02 9.95610188e-01 3.74301552e-05 2.12624803e+00] [-4.52260165e-04 4.92153781e-06 9.99999898e-01 -3.00049374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.100281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.15, Y:2.12, Z:-0.30 [[ 9.95603052e-01 -9.36683524e-02 8.95568842e-04 8.61481319e+01] [ 9.36683230e-02 9.95603455e-01 7.47444147e-05 2.12324725e+00] [-8.98632619e-04 9.47066415e-06 9.99999596e-01 -3.00214216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.130281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.18, Y:2.13, Z:-0.30 [[ 9.95587327e-01 -9.38353472e-02 8.95564337e-04 8.61764914e+01] [ 9.38353179e-02 9.95587730e-01 7.47983672e-05 2.12580988e+00] [-8.98631595e-04 9.56725775e-06 9.99999596e-01 -3.00245025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.160281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.20, Y:2.12, Z:-0.30 [[ 9.95569688e-01 -9.40243340e-02 6.49560967e-04 8.62040002e+01] [ 9.40243186e-02 9.95569899e-01 5.43504488e-05 2.12483651e+00] [-6.51793611e-04 6.96486794e-06 9.99999788e-01 -3.00375156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.190281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:86.23, Y:2.12, Z:-0.30 [[ 9.95514022e-01 -9.46134925e-02 3.44541040e-04 8.62320746e+01] [ 9.46134883e-02 9.95514082e-01 2.87421225e-05 2.12330193e+00] [-3.45714850e-04 3.98504367e-06 9.99999940e-01 -3.00881364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.220281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.26, Y:2.12, Z:-0.30 [[ 9.95361302e-01 -9.62073464e-02 1.58678233e-04 8.62596711e+01] [ 9.62073455e-02 9.95361315e-01 1.32544454e-05 2.11845667e+00] [-1.59217349e-04 2.07304948e-06 9.99999987e-01 -3.01403580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.29, Y:2.12, Z:-0.30 [[ 9.95273608e-01 -9.71094220e-02 4.54073397e-04 8.62865543e+01] [ 9.71094148e-02 9.95273711e-01 3.81207976e-05 2.11796704e+00] [-4.55629203e-04 6.15417808e-06 9.99999896e-01 -3.01239761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.280281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:86.31, Y:2.12, Z:-0.30 [[ 9.95137742e-01 -9.84924418e-02 3.37248358e-04 8.63139497e+01] [ 9.84924379e-02 9.95137799e-01 2.82847602e-05 2.11531393e+00] [-3.38394423e-04 5.06918050e-06 9.99999943e-01 -3.00563804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.31028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.34, Y:2.11, Z:-0.30 [[ 9.95091602e-01 -9.89579829e-02 -1.48176101e-04 8.63417884e+01] [ 9.89579821e-02 9.95091613e-01 -1.27009025e-05 2.11485673e+00] [ 1.48705651e-04 -2.02464659e-06 9.99999989e-01 -3.00323475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.34028169300001 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:86.37, Y:2.11, Z:-0.30 [[ 9.95134444e-01 -9.85243170e-02 -6.30049597e-04 8.63689703e+01] [ 9.85243028e-02 9.95134644e-01 -5.34959624e-05 2.11267277e+00] [ 6.32254835e-04 -8.83952249e-06 9.99999800e-01 -3.00552101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:86.40, Y:2.11, Z:-0.30 [[ 9.95210734e-01 -9.77527253e-02 1.71816206e-05 8.63971105e+01] [ 9.77527253e-02 9.95210734e-01 1.26864308e-06 2.11294586e+00] [-1.72233465e-05 4.16983030e-07 1.00000000e+00 -3.00840657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.400281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:86.43, Y:2.11, Z:-0.30 [[ 9.95296771e-01 -9.68694986e-02 7.98563025e-04 8.64254552e+01] [ 9.68694755e-02 9.95297091e-01 6.76565996e-05 2.11249616e+00] [-8.01361317e-04 1.00179863e-05 9.99999679e-01 -3.01307446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.430281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:86.45, Y:2.11, Z:-0.30 [[ 9.95520034e-01 -9.45501311e-02 -3.66502867e-04 8.64530293e+01] [ 9.45501259e-02 9.95520102e-01 -3.13103497e-05 2.10727189e+00] [ 3.67821369e-04 -3.48281188e-06 9.99999932e-01 -3.01520199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.460281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:86.48, Y:2.11, Z:-0.30 [[ 9.95584451e-01 -9.38607076e-02 -1.32990978e-03 8.64812066e+01] [ 9.38606397e-02 9.95585339e-01 -1.13559209e-04 2.10695735e+00] [ 1.33469743e-03 -1.17683994e-05 9.99999109e-01 -3.01673583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.51, Y:2.10, Z:-0.30 [[ 9.95820602e-01 -9.13176451e-02 -1.55466085e-03 8.65081658e+01] [ 9.13175491e-02 9.95821815e-01 -1.32731096e-04 2.10443617e+00] [ 1.56028588e-03 -9.79145850e-06 9.99998783e-01 -3.01338888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.520281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:86.54, Y:2.10, Z:-0.30 [[ 9.95956377e-01 -8.98323532e-02 -1.02164876e-03 8.65353694e+01] [ 8.98323108e-02 9.95956901e-01 -8.74230799e-05 2.10420031e+00] [ 1.02537155e-03 -4.70749482e-06 9.99999474e-01 -3.01019850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:86.56, Y:2.10, Z:-0.30 [[ 9.96082763e-01 -8.84255147e-02 -2.41982920e-04 8.65638498e+01] [ 8.84255122e-02 9.96082792e-01 -2.09010875e-05 2.10349278e+00] [ 2.42883212e-04 -5.78250672e-07 9.99999971e-01 -3.00180652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.580281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:86.59, Y:2.10, Z:-0.30 [[ 9.96288928e-01 -8.60343734e-02 2.54147578e-03 8.65916327e+01] [ 8.60340980e-02 9.96292169e-01 2.17696041e-04 2.10006041e+00] [-2.55078176e-03 1.76542167e-06 9.99996747e-01 -3.00358604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:86.62, Y:2.10, Z:-0.30 [[ 9.96331493e-01 -8.55175164e-02 3.21104546e-03 8.66198149e+01] [ 8.55170726e-02 9.96336667e-01 2.75511353e-04 2.10049040e+00] [-3.22284338e-03 9.85701255e-08 9.99994807e-01 -3.00463751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.640281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:86.65, Y:2.10, Z:-0.30 [[ 9.96320520e-01 -8.56734289e-02 2.34215055e-03 8.66475088e+01] [ 8.56731923e-02 9.96323273e-01 2.01336306e-04 2.09942614e+00] [-2.35078827e-03 6.40210076e-08 9.99997237e-01 -3.01471727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.670281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:86.67, Y:2.10, Z:-0.30 [[ 9.96300387e-01 -8.59338014e-02 9.59966658e-04 8.66749389e+01] [ 8.59337617e-02 9.96300849e-01 8.25962232e-05 2.09999619e+00] [-9.63513404e-04 2.02896883e-07 9.99999536e-01 -3.01805163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.70028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:86.70, Y:2.10, Z:-0.30 [[ 9.96274394e-01 -8.62392737e-02 3.47020546e-04 8.67029434e+01] [ 8.62392686e-02 9.96274454e-01 2.97507921e-05 2.10059124e+00] [-3.48293392e-04 2.86845732e-07 9.99999939e-01 -3.01840650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.730281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:86.73, Y:2.10, Z:-0.30 [[ 9.96427641e-01 -8.44365675e-02 1.55627304e-03 8.67304696e+01] [ 8.44364606e-02 9.96428856e-01 1.34387140e-04 2.09985583e+00] [-1.56206255e-03 -2.50087361e-06 9.99998780e-01 -3.00859710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.760281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:86.76, Y:2.10, Z:-0.30 [[ 9.96516831e-01 -8.33758126e-02 1.63708065e-03 8.67582560e+01] [ 8.33756925e-02 9.96518175e-01 1.41553843e-04 2.10270478e+00] [-1.64318279e-03 -4.56805346e-06 9.99998650e-01 -3.00698888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.790281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:86.79, Y:2.11, Z:-0.30 [[ 9.96775344e-01 -8.02408647e-02 5.63632890e-04 8.67858205e+01] [ 8.02408500e-02 9.96775503e-01 4.87118766e-05 2.10691483e+00] [-5.65724141e-04 -3.32841539e-06 9.99999840e-01 -3.01979699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.820281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:86.81, Y:2.11, Z:-0.30 [[ 9.96898109e-01 -7.87000978e-02 -6.74739286e-04 8.68136552e+01] [ 7.87000760e-02 9.96898337e-01 -5.88251380e-05 2.11023345e+00] [ 6.77276016e-04 5.54063567e-06 9.99999771e-01 -3.02093919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.850281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:86.84, Y:2.11, Z:-0.30 [[ 9.96974584e-01 -7.77196685e-02 -1.15434116e-03 8.68410506e+01] [ 7.77196040e-02 9.96975252e-01 -1.00702996e-04 2.11380612e+00] [ 1.15867617e-03 1.06833895e-05 9.99999329e-01 -3.02133273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.880281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:86.87, Y:2.12, Z:-0.30 [[ 9.97137541e-01 -7.56067976e-02 5.80038058e-04 8.68690566e+01] [ 7.56067811e-02 9.97137710e-01 5.04189574e-05 2.11963374e+00] [-5.82189836e-04 -6.41982473e-06 9.99999831e-01 -3.00716696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.910281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:86.90, Y:2.12, Z:-0.30 [[ 9.97182738e-01 -7.49782651e-02 2.20132353e-03 8.68963484e+01] [ 7.49780233e-02 9.97185168e-01 1.92307438e-04 2.12441161e+00] [-2.20954605e-03 -2.67147709e-05 9.99997559e-01 -3.00371475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.940281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:86.92, Y:2.13, Z:-0.30 [[ 9.97279189e-01 -7.36250025e-02 3.68480683e-03 8.69228897e+01] [ 7.36243136e-02 9.97285995e-01 3.22443801e-04 2.13133952e+00] [-3.69854617e-03 -5.02751189e-05 9.99993159e-01 -3.00806310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.970281693 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:86.95, Y:2.14, Z:-0.30 [[ 9.97299419e-01 -7.33805945e-02 3.02601040e-03 8.69501187e+01] [ 7.33801274e-02 9.97304009e-01 2.65233907e-04 2.13670245e+00] [-3.03731532e-03 -4.24685926e-05 9.99995386e-01 -3.00837651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.000281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:86.98, Y:2.14, Z:-0.30 [[ 9.97233944e-01 -7.43251546e-02 4.81283030e-04 8.69760372e+01] [ 7.43251429e-02 9.97234060e-01 4.21685292e-05 2.14439803e+00] [-4.83086013e-04 -6.28045868e-06 9.99999883e-01 -3.02420686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.030281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:87.00, Y:2.15, Z:-0.30 [[ 9.97085110e-01 -7.62970688e-02 2.02346509e-04 8.70038713e+01] [ 7.62970668e-02 9.97085130e-01 1.76082668e-05 2.14828824e+00] [-2.03100155e-04 -2.11849549e-06 9.99999979e-01 -3.03082294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.06028169300001 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:87.03, Y:2.15, Z:-0.30 [[ 9.96877424e-01 -7.89640002e-02 2.97810213e-04 8.70313759e+01] [ 7.89639959e-02 9.96877468e-01 2.60566371e-05 2.15152008e+00] [-2.98937827e-04 -2.45898887e-06 9.99999955e-01 -3.03302358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.09028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:87.06, Y:2.15, Z:-0.30 [[ 9.96421324e-01 -8.45251306e-02 -2.18195410e-04 8.70577839e+01] [ 8.45251283e-02 9.96421348e-01 -1.93427144e-05 2.15450744e+00] [ 2.19049510e-04 8.30498039e-07 9.99999976e-01 -3.02717915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.120281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:87.09, Y:2.16, Z:-0.30 [[ 9.96117815e-01 -8.80296089e-02 2.93168568e-04 8.70851455e+01] [ 8.80296051e-02 9.96117858e-01 2.57328206e-05 2.15780287e+00] [-2.94295696e-04 1.74592238e-07 9.99999957e-01 -3.02934598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.150281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:87.11, Y:2.16, Z:-0.30 [[ 9.95464067e-01 -9.51098128e-02 2.32705764e-03 8.71127993e+01] [ 9.51095911e-02 9.95466787e-01 2.05995728e-04 2.16074407e+00] [-2.33610080e-03 1.62641551e-05 9.99997271e-01 -3.02872199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.180281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:87.14, Y:2.16, Z:-0.30 [[ 9.95130663e-01 -9.85219826e-02 2.89518082e-03 8.71408336e+01] [ 9.85216523e-02 9.95134874e-01 2.56854764e-04 2.16275787e+00] [-2.90640124e-03 2.96339459e-05 9.99995776e-01 -3.03092842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.210281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:87.17, Y:2.16, Z:-0.30 [[ 9.94858105e-01 -1.01237841e-01 2.87250950e-03 8.71683832e+01] [ 1.01237525e-01 9.94862251e-01 2.55373281e-04 2.16395550e+00] [-2.88360470e-03 3.67455752e-05 9.99995842e-01 -3.03450451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.240281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:87.20, Y:2.16, Z:-0.30 [[ 9.94647754e-01 -1.03310473e-01 1.67080329e-03 8.71961603e+01] [ 1.03310369e-01 9.94649157e-01 1.48771031e-04 2.16498934e+00] [-1.67723269e-03 2.46365317e-05 9.99998593e-01 -3.03008371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.270281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:87.22, Y:2.17, Z:-0.30 [[ 9.94664992e-01 -1.03147935e-01 1.43437845e-03 8.72230867e+01] [ 1.03147858e-01 9.94666026e-01 1.27927808e-04 2.16700255e+00] [-1.43992300e-03 2.07077526e-05 9.99998963e-01 -3.02629930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.300281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:87.25, Y:2.17, Z:-0.30 [[ 9.94767540e-01 -1.02146122e-01 1.92661648e-03 8.72496130e+01] [ 1.02145980e-01 9.94769405e-01 1.72061905e-04 2.16892917e+00] [-1.93411459e-03 2.56345311e-05 9.99998129e-01 -3.01663058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.330281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:87.28, Y:2.17, Z:-0.30 [[ 9.94774507e-01 -1.02087789e-01 1.32795566e-03 8.72779465e+01] [ 1.02087721e-01 9.94775393e-01 1.18741171e-04 2.17145653e+00] [-1.33313963e-03 1.74472767e-05 9.99999111e-01 -3.01719293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.360281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:87.31, Y:2.17, Z:-0.30 [[ 9.94797189e-01 -1.01874509e-01 3.71379662e-04 8.73055008e+01] [ 1.01874504e-01 9.94797258e-01 3.31320692e-05 2.17385242e+00] [-3.72822783e-04 4.87442943e-06 9.99999930e-01 -3.02533215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.390281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:87.33, Y:2.17, Z:-0.30 [[ 9.94863709e-01 -1.01223477e-01 -8.71909671e-05 8.73329400e+01] [ 1.01223477e-01 9.94863713e-01 -7.92059876e-06 2.17439243e+00] [ 8.75448798e-05 -9.45856595e-07 9.99999996e-01 -3.03531232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.420281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:87.36, Y:2.18, Z:-0.30 [[ 9.94860062e-01 -1.01259189e-01 1.84884532e-04 8.73598130e+01] [ 1.01259188e-01 9.94860079e-01 1.65375429e-05 2.17517254e+00] [-1.85608818e-04 2.26871663e-06 9.99999983e-01 -3.03101737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.45028169300001 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:87.39, Y:2.18, Z:-0.30 [[ 9.94856729e-01 -1.01290583e-01 5.54398412e-04 8.73879782e+01] [ 1.01290571e-01 9.94856883e-01 4.97541889e-05 2.17637165e+00] [-5.56586707e-04 6.65704186e-06 9.99999845e-01 -3.02684161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.480281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:87.42, Y:2.18, Z:-0.30 [[ 9.94990261e-01 -9.99705178e-02 5.24526666e-04 8.74158895e+01] [ 9.99705069e-02 9.94990400e-01 4.71570866e-05 2.17824153e+00] [-5.26613315e-04 5.51635477e-06 9.99999861e-01 -3.02429802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.510281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:87.44, Y:2.18, Z:-0.30 [[ 9.95162403e-01 -9.82432283e-02 2.45452095e-04 8.74424007e+01] [ 9.82432259e-02 9.95162433e-01 2.20938274e-05 2.18097818e+00] [-2.46435273e-04 2.12705924e-06 9.99999970e-01 -3.02316325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.540281693 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:87.47, Y:2.18, Z:-0.30 [[ 9.95623490e-01 -9.34546942e-02 -2.92766460e-04 8.74701358e+01] [ 9.34546904e-02 9.95623533e-01 -2.67180898e-05 2.18333140e+00] [ 2.93982108e-04 -7.59241095e-07 9.99999957e-01 -3.02967524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.570281693 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:87.50, Y:2.19, Z:-0.30 [[ 9.95861512e-01 -9.08794673e-02 -8.78104090e-04 8.74966707e+01] [ 9.08794323e-02 9.95861899e-01 -7.96851717e-05 2.18587048e+00] [ 8.81712153e-04 -4.46205611e-07 9.99999611e-01 -3.03885042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.600281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:87.52, Y:2.19, Z:-0.30 [[ 9.96057175e-01 -8.86945787e-02 -1.83758014e-03 8.75249592e+01] [ 8.86944214e-02 9.96058870e-01 -1.67120269e-04 2.18838885e+00] [ 1.84516066e-03 3.47823537e-06 9.99998298e-01 -3.04713673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.630281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:87.55, Y:2.19, Z:-0.31 [[ 9.96392942e-01 -8.48475481e-02 -1.41399546e-03 8.75534593e+01] [ 8.48474506e-02 9.96393945e-01 -1.28915431e-04 2.18871591e+00] [ 1.41983467e-03 8.47651507e-06 9.99998992e-01 -3.05505306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.660281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:87.58, Y:2.19, Z:-0.31 [[ 9.96472605e-01 -8.39157858e-02 -6.98431361e-04 8.75816167e+01] [ 8.39157616e-02 9.96472850e-01 -6.39242896e-05 2.19049578e+00] [ 7.01332146e-04 5.08940384e-06 9.99999754e-01 -3.05174573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.690281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:87.61, Y:2.19, Z:-0.30 [[ 9.96532175e-01 -8.32060371e-02 -6.16395463e-04 8.76089383e+01] [ 8.32060182e-02 9.96532365e-01 -5.63736204e-05 2.19326102e+00] [ 6.18948655e-04 4.89031446e-06 9.99999808e-01 -3.04853420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.720281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:87.64, Y:2.20, Z:-0.30 [[ 9.96529690e-01 -8.32301687e-02 -1.14730004e-03 8.76354453e+01] [ 8.32301030e-02 9.96530350e-01 -1.04938581e-04 2.19589914e+00] [ 1.15205337e-03 9.08451132e-06 9.99999336e-01 -3.04864024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.750281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:87.66, Y:2.20, Z:-0.30 [[ 9.96464972e-01 -8.40078204e-02 -4.94852079e-04 8.76632899e+01] [ 8.40078082e-02 9.96465095e-01 -4.55248059e-05 2.19726110e+00] [ 4.96927264e-04 3.79243592e-06 9.99999877e-01 -3.04738619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.780281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:87.69, Y:2.20, Z:-0.30 [[ 9.96294358e-01 -8.59893397e-02 1.84025116e-03 8.76920234e+01] [ 8.59891748e-02 9.96296057e-01 1.68676811e-04 2.19546485e+00] [-1.84793938e-03 -9.81007629e-06 9.99998293e-01 -3.03008935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.81028169300001 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:87.72, Y:2.20, Z:-0.30 [[ 9.96184583e-01 -8.72183891e-02 3.03779749e-03 8.77196693e+01] [ 8.72179433e-02 9.96189215e-01 2.79166234e-04 2.19678876e+00] [-3.05056952e-03 -1.31506500e-05 9.99995347e-01 -3.02660207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.84028169300001 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:87.75, Y:2.20, Z:-0.30 [[ 9.96118006e-01 -8.79191678e-02 4.37478090e-03 8.77466977e+01] [ 8.79182475e-02 9.96127612e-01 4.02614226e-04 2.19618117e+00] [-4.39323756e-03 -1.64282101e-05 9.99990350e-01 -3.02485012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.870281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:87.77, Y:2.20, Z:-0.30 [[ 9.96140071e-01 -8.76924388e-02 3.87233152e-03 8.77746953e+01] [ 8.76917137e-02 9.96147597e-01 3.56977294e-04 2.19708516e+00] [-3.88871795e-03 -1.60280000e-05 9.99992439e-01 -3.02851989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.900281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:87.80, Y:2.20, Z:-0.30 [[ 9.96188880e-01 -8.71709166e-02 2.99115849e-03 8.78029478e+01] [ 8.71704800e-02 9.96193370e-01 2.76260522e-04 2.19849293e+00] [-3.00385414e-03 -1.44669385e-05 9.99995488e-01 -3.03265543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.930281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:87.83, Y:2.20, Z:-0.30 [[ 9.96415126e-01 -8.45979807e-02 2.80069509e-04 8.78295802e+01] [ 8.45979767e-02 9.96415165e-01 2.58206347e-05 2.20093343e+00] [-2.81249880e-04 -2.03475715e-06 9.99999960e-01 -3.03478735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.960281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:87.86, Y:2.20, Z:-0.30 [[ 9.96553335e-01 -8.29499373e-02 -8.70720427e-04 8.78569338e+01] [ 8.29498983e-02 9.96553715e-01 -8.09172829e-05 2.20397834e+00] [ 8.74431760e-04 8.41221732e-06 9.99999618e-01 -3.04295019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.990281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:87.88, Y:2.21, Z:-0.30 [[ 9.96944358e-01 -7.81027057e-02 -1.38375699e-03 8.78839516e+01] [ 7.81026026e-02 9.96945318e-01 -1.28473929e-04 2.20572006e+00] [ 1.38956421e-03 2.00063359e-05 9.99999034e-01 -3.03282277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.020281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:87.91, Y:2.21, Z:-0.30 [[ 9.97154191e-01 -7.53890270e-02 -1.21502165e-04 8.79112475e+01] [ 7.53890262e-02 9.97154198e-01 -1.14255247e-05 2.20859629e+00] [ 1.22017753e-04 2.23307994e-06 9.99999993e-01 -3.02579847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.050281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:87.94, Y:2.21, Z:-0.30 [[ 9.97145690e-01 -7.55013820e-02 -1.21502236e-04 8.79396026e+01] [ 7.55013812e-02 9.97145697e-01 -1.14246819e-05 2.21139550e+00] [ 1.22018011e-04 2.21848567e-06 9.99999993e-01 -3.02610668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.080281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:87.97, Y:2.22, Z:-0.30 [[ 9.97327777e-01 -7.30519634e-02 8.45521840e-04 8.79672448e+01] [ 7.30519230e-02 9.97328136e-01 7.86090440e-05 2.21578855e+00] [-8.49005266e-04 -1.66319868e-05 9.99999639e-01 -3.01842607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.110281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:87.99, Y:2.22, Z:-0.30 [[ 9.97640256e-01 -6.86497480e-02 1.06366856e-03 8.79947438e+01] [ 6.86496813e-02 9.97640823e-01 9.91349539e-05 2.22290687e+00] [-1.06796477e-03 -2.58805129e-05 9.99999429e-01 -3.02901654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.140281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:88.02, Y:2.23, Z:-0.30 [[ 9.97769491e-01 -6.67492220e-02 7.63702473e-04 8.80228458e+01] [ 6.67491870e-02 9.97769784e-01 7.12632178e-05 2.22708824e+00] [-7.66756016e-04 -2.01277454e-05 9.99999706e-01 -3.03757640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.170281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:88.05, Y:2.23, Z:-0.30 [[ 9.97966172e-01 -6.37430311e-02 5.88131483e-04 8.80499136e+01] [ 6.37430098e-02 9.97966345e-01 5.49951489e-05 2.23048815e+00] [-5.90440984e-04 -1.73940273e-05 9.99999826e-01 -3.03223896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.20028169300001 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:88.08, Y:2.23, Z:-0.30 [[ 9.98028655e-01 -6.27578760e-02 5.01876229e-04 8.80772951e+01] [ 6.27578604e-02 9.98028782e-01 4.68989361e-05 2.23419026e+00] [-5.03830199e-04 -1.53098038e-05 9.99999873e-01 -3.02744724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.230281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:88.11, Y:2.24, Z:-0.30 [[ 9.98098098e-01 -6.16452728e-02 2.15788652e-04 8.81053338e+01] [ 6.16452699e-02 9.98098122e-01 2.00930672e-05 2.23919610e+00] [-2.16616891e-04 -6.75250249e-06 9.99999977e-01 -3.01966665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.260281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:88.13, Y:2.25, Z:-0.30 [[ 9.98348884e-01 -5.74409846e-02 1.99619975e-04 8.81318035e+01] [ 5.74409820e-02 9.98348904e-01 1.86583139e-05 2.24750427e+00] [-2.00362136e-04 -7.16113946e-06 9.99999980e-01 -3.01591694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.290281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:88.16, Y:2.25, Z:-0.30 [[ 9.98484569e-01 -5.50263530e-02 8.16200904e-04 8.81584801e+01] [ 5.50263085e-02 9.98484902e-01 7.68081204e-05 2.25361447e+00] [-8.19190750e-04 -3.17792002e-05 9.99999664e-01 -3.01672246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.320281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:88.18, Y:2.26, Z:-0.30 [[ 9.98698648e-01 -5.09710726e-02 1.72050064e-03 8.81849274e+01] [ 5.09708685e-02 9.98700127e-01 1.62268015e-04 2.26416365e+00] [-1.72653518e-03 -7.43614359e-05 9.99998507e-01 -3.02021352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.350281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:88.21, Y:2.27, Z:-0.30 [[ 9.98742282e-01 -5.01001233e-02 1.95772034e-03 8.82134873e+01] [ 5.00998569e-02 9.98744197e-01 1.84928170e-04 2.27080835e+00] [-1.96452675e-03 -8.66140735e-05 9.99998067e-01 -3.02016662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.380281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:88.24, Y:2.28, Z:-0.30 [[ 9.98728195e-01 -5.03755376e-02 2.07298599e-03 8.82417323e+01] [ 5.03752391e-02 9.98730342e-01 1.96025052e-04 2.27747566e+00] [-2.08022888e-03 -9.13485819e-05 9.99997832e-01 -3.02475803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.410281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:88.27, Y:2.29, Z:-0.30 [[ 9.98660242e-01 -5.17416317e-02 7.24289842e-04 8.82701831e+01] [ 5.17415956e-02 9.98660504e-01 6.84946769e-05 2.28777397e+00] [-7.26863685e-04 -3.09269985e-05 9.99999735e-01 -3.02786553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.440281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:88.30, Y:2.29, Z:-0.30 [[ 9.98603797e-01 -5.28245882e-02 1.38996172e-04 8.82979001e+01] [ 5.28245869e-02 9.98603807e-01 1.31183331e-05 2.29424267e+00] [-1.39495077e-04 -5.75760189e-06 9.99999990e-01 -3.03083329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.470281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:88.33, Y:2.30, Z:-0.30 [[ 9.98527778e-01 -5.42425703e-02 1.43624084e-04 8.83251853e+01] [ 5.42425689e-02 9.98527788e-01 1.35411008e-05 2.30070560e+00] [-1.44147143e-04 -5.73062603e-06 9.99999990e-01 -3.03751716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.500281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:88.35, Y:2.31, Z:-0.30 [[ 9.98328631e-01 -5.77896886e-02 5.44379289e-04 8.83526606e+01] [ 5.77896691e-02 9.98328779e-01 5.15288542e-05 2.31180672e+00] [-5.46447348e-04 -1.99832315e-05 9.99999850e-01 -3.03251964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.530281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:88.38, Y:2.32, Z:-0.30 [[ 9.98197945e-01 -6.00027805e-02 7.27204822e-04 8.83807958e+01] [ 6.00027463e-02 9.98198210e-01 6.88282363e-05 2.31834076e+00] [-7.30024437e-04 -2.50699176e-05 9.99999733e-01 -3.03280342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.56028169300001 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:88.41, Y:2.33, Z:-0.30 [[ 9.98007674e-01 -6.30862690e-02 8.97662278e-04 8.84096192e+01] [ 6.30862179e-02 9.98008077e-01 8.51573173e-05 2.32769199e+00] [-9.01246461e-04 -2.83575381e-05 9.99999593e-01 -3.02918908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.59028169300001 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:88.44, Y:2.33, Z:-0.30 [[ 9.97929116e-01 -6.43156458e-02 9.88700811e-04 8.84390228e+01] [ 6.43155844e-02 9.97929605e-01 9.38195253e-05 2.33441690e+00] [-9.92687873e-04 -3.00363655e-05 9.99999507e-01 -3.02821768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.620281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:88.47, Y:2.34, Z:-0.30 [[ 9.97860492e-01 -6.53778703e-02 4.16103489e-04 8.84667950e+01] [ 6.53778595e-02 9.97860578e-01 3.94721868e-05 2.34179572e+00] [-4.17793876e-04 -1.21837803e-05 9.99999913e-01 -3.02556269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.650281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:88.49, Y:2.35, Z:-0.30 [[ 9.97687859e-01 -6.79619585e-02 -3.30097064e-04 8.84940564e+01] [ 6.79619518e-02 9.97687913e-01 -3.15539373e-05 2.35427483e+00] [ 3.31478318e-04 9.04693945e-06 9.99999945e-01 -3.03199412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.680281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:88.52, Y:2.36, Z:-0.30 [[ 9.97587642e-01 -6.94163969e-02 -5.10437561e-04 8.85223215e+01] [ 6.94163810e-02 9.97587772e-01 -4.87808852e-05 2.36105556e+00] [ 5.12592462e-04 1.32304800e-05 9.99999869e-01 -3.03340741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.710281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:88.55, Y:2.37, Z:-0.30 [[ 9.97453918e-01 -7.13121092e-02 -5.13955305e-04 8.85509187e+01] [ 7.13120933e-02 9.97454051e-01 -4.92069118e-05 2.36776525e+00] [ 5.16155849e-04 1.24303984e-05 9.99999867e-01 -3.03137048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.740281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:88.58, Y:2.38, Z:-0.30 [[ 9.97141356e-01 -7.55586778e-02 5.39226635e-05 8.85777546e+01] [ 7.55586776e-02 9.97141357e-01 5.08717444e-06 2.37816037e+00] [-5.41528981e-05 -9.98306870e-07 9.99999999e-01 -3.03572658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.770281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:88.61, Y:2.38, Z:-0.30 [[ 9.96966127e-01 -7.78359279e-02 3.30501930e-04 8.86071632e+01] [ 7.78359217e-02 9.96966182e-01 3.15342078e-05 2.38432977e+00] [-3.31953742e-04 -5.71361465e-06 9.99999945e-01 -3.03785410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.800281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:88.64, Y:2.39, Z:-0.30 [[ 9.96604222e-01 -8.23360759e-02 8.91764462e-04 8.86359251e+01] [ 8.23360327e-02 9.96604621e-01 8.51520846e-05 2.39335513e+00] [-8.95747672e-04 -1.14385791e-05 9.99999599e-01 -3.03866486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.830281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:88.67, Y:2.40, Z:-0.30 [[ 9.96426209e-01 -8.44602977e-02 1.12582172e-03 8.86652419e+01] [ 8.44602301e-02 9.96426845e-01 1.07518525e-04 2.39956625e+00] [-1.13088003e-03 -1.20471150e-05 9.99999360e-01 -3.04427724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.860281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:88.69, Y:2.41, Z:-0.30 [[ 9.96272920e-01 -8.62524761e-02 8.83055639e-04 8.86939367e+01] [ 8.62524352e-02 9.96273311e-01 8.43466724e-05 2.40556226e+00] [-8.87039875e-04 -7.86660630e-06 9.99999607e-01 -3.04606428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.890281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:88.72, Y:2.41, Z:-0.31 [[ 9.96026894e-01 -8.90529384e-02 2.62452924e-05 8.87228390e+01] [ 8.90529384e-02 9.96026894e-01 2.49604554e-06 2.41342807e+00] [-2.63632973e-05 -1.48908076e-07 1.00000000e+00 -3.05533267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.920281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:88.75, Y:2.42, Z:-0.31 [[ 9.95951825e-01 -8.98866989e-02 -5.86901064e-04 8.87509229e+01] [ 8.98866813e-02 9.95951998e-01 -5.63683711e-05 2.41862549e+00] [ 5.89592054e-04 3.38559322e-06 9.99999826e-01 -3.05332214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.95028169300001 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:88.78, Y:2.43, Z:-0.30 [[ 9.95816014e-01 -9.13808567e-02 -6.98867280e-05 8.87798071e+01] [ 9.13808565e-02 9.95816017e-01 -6.71676182e-06 2.42603344e+00] [ 7.02081065e-05 3.02349930e-07 9.99999998e-01 -3.04497510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.980281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:88.81, Y:2.43, Z:-0.30 [[ 9.95703377e-01 -9.25975578e-02 6.90774504e-04 8.88080848e+01] [ 9.25975342e-02 9.95703617e-01 6.61355081e-05 2.43034286e+00] [-6.93930658e-04 -1.88733302e-06 9.99999759e-01 -3.04753088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.010281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:88.84, Y:2.43, Z:-0.30 [[ 9.95554336e-01 -9.41821779e-02 1.13210379e-03 8.88376234e+01] [ 9.41821155e-02 9.95554980e-01 1.08449718e-04 2.43415701e+00] [-1.13728559e-03 -1.34365724e-06 9.99999353e-01 -3.04279858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.040281693 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:88.87, Y:2.44, Z:-0.30 [[ 9.95151108e-01 -9.83521282e-02 1.06373103e-03 8.88657111e+01] [ 9.83520755e-02 9.95151676e-01 1.01922429e-04 2.43688830e+00] [-1.06859800e-03 3.19193613e-06 9.99999429e-01 -3.03990876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.070281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:88.90, Y:2.44, Z:-0.30 [[ 9.94955554e-01 -1.00315162e-01 5.59510193e-04 8.88956214e+01] [ 1.00315148e-01 9.94955712e-01 5.36226556e-05 2.43955509e+00] [-5.62067028e-04 2.77518862e-06 9.99999842e-01 -3.04282114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.100281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:88.92, Y:2.44, Z:-0.30 [[ 9.94747554e-01 -1.02358250e-01 3.02664168e-04 8.89237690e+01] [ 1.02358246e-01 9.94747601e-01 2.89939736e-05 2.44180416e+00] [-3.04042227e-04 2.13848887e-06 9.99999954e-01 -3.04051015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.130281693 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:88.95, Y:2.44, Z:-0.30 [[ 9.94707765e-01 -1.02743746e-01 4.31199053e-04 8.89523402e+01] [ 1.02743738e-01 9.94707858e-01 4.12601763e-05 2.44376589e+00] [-4.33156312e-04 3.26118461e-06 9.99999906e-01 -3.03802779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.160281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:88.98, Y:2.44, Z:-0.30 [[ 9.94780417e-01 -1.02029301e-01 1.39384183e-03 8.89822328e+01] [ 1.02029214e-01 9.94781394e-01 1.33911714e-04 2.44364288e+00] [-1.40023084e-03 8.99983558e-06 9.99999020e-01 -3.02924336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.190281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:89.01, Y:2.44, Z:-0.30 [[ 9.94824000e-01 -1.01596172e-01 1.85140762e-03 8.90112643e+01] [ 1.01596017e-01 9.94825722e-01 1.77914665e-04 2.44488766e+00] [-1.85990337e-03 1.11018605e-05 9.99998270e-01 -3.02747086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.220281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:89.04, Y:2.45, Z:-0.30 [[ 9.94869331e-01 -1.01146142e-01 2.11487773e-03 8.90388876e+01] [ 1.01145938e-01 9.94871579e-01 2.03407003e-04 2.44642435e+00] [-2.12460558e-03 1.15479023e-05 9.99997743e-01 -3.03094269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.250281693 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:89.07, Y:2.45, Z:-0.30 [[ 9.95077027e-01 -9.90742896e-02 2.44858275e-03 8.90670422e+01] [ 9.90740090e-02 9.95080040e-01 2.35935071e-04 2.44524008e+00] [-2.45991092e-03 7.81734043e-06 9.99996974e-01 -3.03658254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.280281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:89.10, Y:2.45, Z:-0.30 [[ 9.95210077e-01 -9.77365512e-02 2.11391154e-03 8.90953743e+01] [ 9.77363386e-02 9.95212322e-01 2.03907773e-04 2.44605218e+00] [-2.12372006e-03 3.67490370e-06 9.99997745e-01 -3.03575866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.31028169300001 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:89.12, Y:2.45, Z:-0.30 [[ 9.95295202e-01 -9.68760604e-02 1.57773759e-03 8.91246578e+01] [ 9.68759407e-02 9.95296453e-01 1.52309023e-04 2.44749523e+00] [-1.58507173e-03 1.25237334e-06 9.99998744e-01 -3.03300921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.34028169300001 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:89.15, Y:2.45, Z:-0.30 [[ 9.95499936e-01 -9.47610962e-02 4.60149217e-04 8.91516555e+01] [ 9.47610858e-02 9.95500043e-01 4.43620070e-05 2.44775946e+00] [-4.62282357e-04 -5.58135717e-07 9.99999893e-01 -3.02769792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.370281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:89.18, Y:2.45, Z:-0.30 [[ 9.95611090e-01 -9.35855820e-02 5.44257784e-04 8.91781984e+01] [ 9.35855672e-02 9.95611239e-01 5.26517491e-05 2.44891587e+00] [-5.46796611e-04 -1.48599191e-06 9.99999851e-01 -3.03352522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.400281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:89.21, Y:2.45, Z:-0.30 [[ 9.95866685e-01 -9.08176375e-02 1.30479670e-03 8.92064004e+01] [ 9.08175498e-02 9.95867540e-01 1.26464168e-04 2.44822072e+00] [-1.31088985e-03 -7.44301278e-06 9.99999141e-01 -3.03546386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.430281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:89.23, Y:2.45, Z:-0.30 [[ 9.96080626e-01 -8.84344649e-02 1.65274307e-03 8.92337743e+01] [ 8.84343204e-02 9.96081997e-01 1.60471160e-04 2.44907874e+00] [-1.66045880e-03 -1.36830037e-05 9.99998621e-01 -3.03221615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.460281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:89.26, Y:2.45, Z:-0.30 [[ 9.96302872e-01 -8.58941552e-02 1.66771833e-03 8.92624941e+01] [ 8.58940042e-02 9.96304268e-01 1.62082628e-04 2.45049369e+00] [-1.67547684e-03 -1.82363823e-05 9.99998596e-01 -3.02964298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.490281693 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:89.29, Y:2.45, Z:-0.30 [[ 9.96752493e-01 -8.05248535e-02 4.65325983e-04 8.92899663e+01] [ 8.05248411e-02 9.96752601e-01 4.51744915e-05 2.45210586e+00] [-4.67452553e-04 -7.55748619e-06 9.99999891e-01 -3.02951906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.520281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:89.32, Y:2.46, Z:-0.30 [[ 9.96937423e-01 -7.82011912e-02 -5.89797480e-04 8.93193070e+01] [ 7.82011708e-02 9.96937598e-01 -5.75180730e-05 2.45537774e+00] [ 5.92489265e-04 1.12190660e-05 9.99999824e-01 -3.03379386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.550281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:89.35, Y:2.46, Z:-0.30 [[ 9.97250340e-01 -7.40977874e-02 -1.13051994e-03 8.93481030e+01] [ 7.40977100e-02 9.97250980e-01 -1.10279767e-04 2.45837525e+00] [ 1.13558361e-03 2.62075969e-05 9.99999355e-01 -3.04346302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.580281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:89.38, Y:2.46, Z:-0.30 [[ 9.97352614e-01 -7.27159349e-02 -3.94163107e-04 8.93779580e+01] [ 7.27159254e-02 9.97352692e-01 -3.84708304e-05 2.46118376e+00] [ 3.95917079e-04 9.70704814e-06 9.99999922e-01 -3.03925821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.610281693 meters Centerline goodness : 0.999162 Centerline is valid? [True, True] Translation: X:89.41, Y:2.47, Z:-0.30 [[ 9.97456900e-01 -7.12673090e-02 8.38827990e-04 8.94073255e+01] [ 7.12672654e-02 9.97457252e-01 8.18110011e-05 2.46535426e+00] [-8.42525512e-04 -2.18219706e-05 9.99999645e-01 -3.02081221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.640281693 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:89.44, Y:2.47, Z:-0.30 [[ 9.97523450e-01 -7.03312736e-02 6.91875080e-04 8.94359843e+01] [ 7.03312437e-02 9.97523690e-01 6.75013726e-05 2.47030096e+00] [-6.94909240e-04 -1.86737673e-05 9.99999758e-01 -3.01877931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.670281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:89.47, Y:2.48, Z:-0.30 [[ 9.97656918e-01 -6.84152796e-02 1.52610091e-04 8.94652930e+01] [ 6.84152781e-02 9.97656930e-01 1.48773613e-05 2.47577649e+00] [-1.53270354e-04 -4.40164052e-06 9.99999988e-01 -3.02238170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.70028169300001 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:89.49, Y:2.49, Z:-0.30 [[ 9.97926505e-01 -6.43637041e-02 -7.16193693e-05 8.94935395e+01] [ 6.43637038e-02 9.97926507e-01 -6.98650186e-06 2.48593081e+00] [ 7.19205442e-05 2.36232751e-06 9.99999997e-01 -3.02988214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.730281693 meters Centerline goodness : 0.998625 Centerline is valid? [True, True] Translation: X:89.52, Y:2.50, Z:-0.30 [[ 9.98027247e-01 -6.27683983e-02 -1.32016223e-03 8.95216412e+01] [ 6.27553420e-02 9.97994368e-01 -8.30716819e-03 2.49724614e+00] [ 1.83894211e-03 8.20793296e-03 9.99964623e-01 -3.00477713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.760281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:89.55, Y:2.50, Z:-0.30 [[ 9.98106324e-01 -6.15121084e-02 1.61348809e-04 8.95514183e+01] [ 6.15090115e-02 9.98076412e-01 7.75349061e-03 2.50035039e+00] [-6.37971995e-04 -7.72888361e-03 9.99969928e-01 -3.02732629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.790281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:89.58, Y:2.51, Z:-0.30 [[ 9.98069324e-01 -6.21063459e-02 6.52854644e-04 8.95819536e+01] [ 6.21063174e-02 9.98069537e-01 6.38146720e-05 2.51018012e+00] [-6.55557628e-04 -2.31450689e-05 9.99999785e-01 -3.02230782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.820281693 meters Centerline goodness : 0.998700 Centerline is valid? [True, True] Translation: X:89.61, Y:2.52, Z:-0.30 [[ 9.97937908e-01 -6.41866834e-02 3.62673692e-05 8.96130237e+01] [ 6.41866833e-02 9.97937909e-01 3.55884968e-06 2.51584575e+00] [-3.64210133e-05 -1.22362886e-06 9.99999999e-01 -3.02649098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.850281693 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:89.64, Y:2.52, Z:-0.30 [[ 9.97736081e-01 -6.72504900e-02 -2.90356140e-04 8.96426043e+01] [ 6.72504846e-02 9.97736123e-01 -2.83566825e-05 2.52136707e+00] [ 2.91605811e-04 8.76589417e-06 9.99999957e-01 -3.03345305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.880281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:89.67, Y:2.53, Z:-0.30 [[ 9.97200606e-01 -7.47662074e-02 9.82644668e-04 8.96738382e+01] [ 7.47661491e-02 9.97201090e-01 9.59853282e-05 2.52904148e+00] [-9.87070793e-04 -2.22480697e-05 9.99999513e-01 -3.03209973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.910281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:89.70, Y:2.53, Z:-0.30 [[ 9.96910237e-01 -7.85286835e-02 1.79592724e-03 8.97040153e+01] [ 7.85284949e-02 9.96911854e-01 1.75385678e-04 2.53303979e+00] [-1.80415396e-03 -3.38123151e-05 9.99998372e-01 -3.03085085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.940281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:89.74, Y:2.54, Z:-0.30 [[ 9.96912922e-01 -7.84945912e-02 1.79593178e-03 8.97357100e+01] [ 7.84944027e-02 9.96914539e-01 1.75339139e-04 2.53608274e+00] [-1.80415368e-03 -3.38272614e-05 9.99998372e-01 -3.03106123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.970281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:89.77, Y:2.54, Z:-0.30 [[ 9.96388018e-01 -8.48758779e-02 2.64639190e-03 8.97667485e+01] [ 8.48754912e-02 9.96391532e-01 2.58291518e-04 2.53902688e+00] [-2.65876520e-03 -3.27447610e-05 9.99996465e-01 -3.03149074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.000281693 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:89.80, Y:2.54, Z:-0.30 [[ 9.96138789e-01 -8.77556043e-02 2.54295202e-03 8.97976037e+01] [ 8.77552568e-02 9.96142035e-01 2.48135475e-04 2.54160361e+00] [-2.55491668e-03 -2.40199640e-05 9.99996736e-01 -3.03240593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.030281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:89.83, Y:2.54, Z:-0.30 [[ 9.95881847e-01 -9.06413917e-02 1.86670237e-03 8.98283482e+01] [ 9.06412096e-02 9.95883597e-01 1.82122322e-04 2.54351287e+00] [-1.87552609e-03 -1.21721540e-05 9.99998241e-01 -3.03331695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.06028169300001 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:89.86, Y:2.55, Z:-0.30 [[ 9.95580191e-01 -9.39099021e-02 1.00671524e-03 8.98587710e+01] [ 9.39098508e-02 9.95580700e-01 9.82145560e-05 2.54511400e+00] [-1.01148958e-03 -3.23998835e-06 9.99999488e-01 -3.04446069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.09028169300001 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:89.89, Y:2.54, Z:-0.30 [[ 9.94896780e-01 -1.00897256e-01 -3.74683846e-04 8.98896259e+01] [ 1.00897250e-01 9.94896851e-01 -3.65539391e-05 2.54386593e+00] [ 3.76459971e-04 -1.43717329e-06 9.99999929e-01 -3.04897928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.120281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:89.92, Y:2.54, Z:-0.31 [[ 9.94283028e-01 -1.06775733e-01 4.51030975e-04 8.99193598e+01] [ 1.06775724e-01 9.94283130e-01 4.39974470e-05 2.54188034e+00] [-4.53150349e-04 4.41324424e-06 9.99999897e-01 -3.05102002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.150281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:89.95, Y:2.54, Z:-0.30 [[ 9.94029384e-01 -1.09109153e-01 8.80859309e-04 8.99484491e+01] [ 1.09109120e-01 9.94029775e-01 8.59646969e-05 2.54203022e+00] [-8.84979915e-04 1.06583489e-05 9.99999608e-01 -3.04573435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.180281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:89.98, Y:2.54, Z:-0.30 [[ 9.93766518e-01 -1.11476239e-01 1.07463237e-03 8.99764849e+01] [ 1.11476191e-01 9.93767099e-01 1.04927360e-04 2.54228787e+00] [-1.07963120e-03 1.55226253e-05 9.99999417e-01 -3.04398361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.210281693 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:90.01, Y:2.54, Z:-0.30 [[ 9.93489627e-01 -1.13916597e-01 1.17051337e-03 9.00058977e+01] [ 1.13916542e-01 9.93490316e-01 1.14415649e-04 2.54212251e+00] [-1.17592754e-03 1.96700741e-05 9.99999308e-01 -3.04656551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.240281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:90.03, Y:2.54, Z:-0.30 [[ 9.92981017e-01 -1.18269638e-01 9.96396732e-04 9.00343506e+01] [ 1.18269599e-01 9.92981517e-01 9.75091463e-05 2.53777553e+00] [-1.00093591e-03 2.10187111e-05 9.99999499e-01 -3.04321180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.270281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:90.06, Y:2.54, Z:-0.30 [[ 9.92752396e-01 -1.20174279e-01 9.07208370e-04 9.00621285e+01] [ 1.20174247e-01 9.92752810e-01 8.88583853e-05 2.53697411e+00] [-9.11312152e-04 2.08087083e-05 9.99999585e-01 -3.03891437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.300281693 meters Centerline goodness : 0.999246 Centerline is valid? [True, True] Translation: X:90.09, Y:2.53, Z:-0.30 [[ 9.92419972e-01 -1.22884000e-01 1.45655230e-03 9.00905845e+01] [ 1.22883923e-01 9.92421040e-01 1.42992277e-04 2.53360744e+00] [-1.46308461e-03 3.70784686e-05 9.99998929e-01 -3.03985085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.330281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:90.12, Y:2.53, Z:-0.30 [[ 9.92273073e-01 -1.24065948e-01 1.33758688e-03 9.01189826e+01] [ 1.24065883e-01 9.92273974e-01 1.31552451e-04 2.53255324e+00] [-1.34357383e-03 3.54129424e-05 9.99999097e-01 -3.03781378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.360281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:90.15, Y:2.53, Z:-0.30 [[ 9.92157617e-01 -1.24986900e-01 1.24020398e-03 9.01461976e+01] [ 1.24986845e-01 9.92158391e-01 1.22134868e-04 2.53066975e+00] [-1.24574405e-03 3.38321427e-05 9.99999223e-01 -3.03677424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.390281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:90.17, Y:2.52, Z:-0.30 [[ 9.91958356e-01 -1.26560552e-01 1.02311478e-03 9.01743036e+01] [ 1.26560515e-01 9.91958883e-01 1.00828877e-04 2.52307758e+00] [-1.02764875e-03 2.94678868e-05 9.99999472e-01 -3.03579447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.420281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:90.20, Y:2.52, Z:-0.30 [[ 9.91898197e-01 -1.27033481e-01 6.78578534e-04 9.02028022e+01] [ 1.27033465e-01 9.91898429e-01 6.69129853e-05 2.52077765e+00] [-6.81581172e-04 1.98313131e-05 9.99999768e-01 -3.02829841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.45028169300001 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:90.23, Y:2.51, Z:-0.30 [[ 9.91936230e-01 -1.26733612e-01 1.05198572e-03 9.02313417e+01] [ 1.26733573e-01 9.91936788e-01 1.03987662e-04 2.51408391e+00] [-1.05668207e-03 3.01727800e-05 9.99999441e-01 -3.02461634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.480281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:90.26, Y:2.51, Z:-0.30 [[ 9.92029818e-01 -1.25990508e-01 1.79770170e-03 9.02593955e+01] [ 1.25990392e-01 9.92031446e-01 1.78115675e-04 2.51255353e+00] [-1.80581750e-03 4.97970821e-05 9.99998368e-01 -3.02014927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.510281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:90.29, Y:2.51, Z:-0.30 [[ 9.92485104e-01 -1.22342911e-01 2.35180171e-03 9.02869914e+01] [ 1.22342701e-01 9.92487889e-01 2.33308553e-04 2.50674700e+00] [-2.36267836e-03 5.61705107e-05 9.99997207e-01 -3.02524895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.540281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:90.31, Y:2.51, Z:-0.30 [[ 9.92793967e-01 -1.19824841e-01 1.46485279e-03 9.03146988e+01] [ 1.19824756e-01 9.92795048e-01 1.45497074e-04 2.50626225e+00] [-1.47173276e-03 3.10770110e-05 9.99998917e-01 -3.02652280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.570281693 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:90.34, Y:2.51, Z:-0.30 [[ 9.93138918e-01 -1.16939586e-01 4.72692035e-04 9.03429864e+01] [ 1.16939577e-01 9.93139030e-01 4.69571325e-05 2.50647506e+00] [-4.74940056e-04 8.64145066e-06 9.99999887e-01 -3.02866362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.600281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:90.37, Y:2.50, Z:-0.30 [[ 9.93920468e-01 -1.10097841e-01 -7.54278830e-04 9.03699349e+01] [ 1.10097815e-01 9.93920754e-01 -7.52187860e-05 2.50428429e+00] [ 7.57974810e-04 -8.28296027e-06 9.99999713e-01 -3.03188290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.630281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:90.40, Y:2.51, Z:-0.30 [[ 9.94227231e-01 -1.07291452e-01 -8.70124429e-04 9.03975231e+01] [ 1.07291417e-01 9.94227612e-01 -8.69837227e-05 2.50500836e+00] [ 8.74434343e-04 -6.87529745e-06 9.99999618e-01 -3.02971512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.660281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:90.42, Y:2.51, Z:-0.30 [[ 9.94737598e-01 -1.02454340e-01 4.68256263e-04 9.04247481e+01] [ 1.02454330e-01 9.94737708e-01 4.67134756e-05 2.50555787e+00] [-4.70578160e-04 1.50723109e-06 9.99999889e-01 -3.02855011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.690281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:90.45, Y:2.51, Z:-0.30 [[ 9.94948803e-01 -1.00379612e-01 9.01175857e-04 9.04530620e+01] [ 1.00379571e-01 9.94949212e-01 9.01696938e-05 2.50838880e+00] [-9.05675407e-04 7.45417061e-07 9.99999590e-01 -3.02689468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.720281693 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:90.48, Y:2.51, Z:-0.30 [[ 9.95167042e-01 -9.81901424e-02 1.11975073e-03 9.04804493e+01] [ 9.81900782e-02 9.95167672e-01 1.12271110e-04 2.51093926e+00] [-1.12536364e-03 -1.78009666e-06 9.99999367e-01 -3.03052433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.750281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:90.51, Y:2.51, Z:-0.30 [[ 9.95713540e-01 -9.24901389e-02 3.45696282e-04 9.05074467e+01] [ 9.24901324e-02 9.95713600e-01 3.46736279e-05 2.51306205e+00] [-3.47421459e-04 -2.55150587e-06 9.99999940e-01 -3.02714885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.780281693 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:90.54, Y:2.52, Z:-0.30 [[ 9.96009047e-01 -8.92519434e-02 -2.62394658e-04 9.05352474e+01] [ 8.92519395e-02 9.96009082e-01 -2.65283063e-05 2.51719682e+00] [ 2.63715165e-04 3.00320100e-06 9.99999965e-01 -3.02026447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.81028169300001 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:90.56, Y:2.52, Z:-0.30 [[ 9.96704686e-01 -8.11059414e-02 -1.26262353e-03 9.05616745e+01] [ 8.11058451e-02 9.96705486e-01 -1.27313697e-04 2.52437370e+00] [ 1.26878970e-03 2.44880099e-05 9.99999195e-01 -3.03150848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.84028169300001 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:90.59, Y:2.53, Z:-0.30 [[ 9.97025629e-01 -7.70540204e-02 -1.60430354e-03 9.05891341e+01] [ 7.70538593e-02 9.97026919e-01 -1.62084693e-04 2.52990838e+00] [ 1.61202310e-03 3.79848136e-05 9.99998700e-01 -3.03470537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.870281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:90.62, Y:2.54, Z:-0.30 [[ 9.97346968e-01 -7.27713208e-02 -1.83287360e-03 9.06153089e+01] [ 7.27711032e-02 9.97348651e-01 -1.85239280e-04 2.53569896e+00] [ 1.84149412e-03 5.13676001e-05 9.99998303e-01 -3.03114712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.900281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:90.64, Y:2.55, Z:-0.30 [[ 9.97863363e-01 -6.53278908e-02 -9.87484471e-04 9.06426157e+01] [ 6.53278237e-02 9.97863851e-01 -1.00072020e-04 2.54594735e+00] [ 9.91912551e-04 3.53479912e-05 9.99999507e-01 -3.02174421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.930281693 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:90.67, Y:2.55, Z:-0.30 [[ 9.98047177e-01 -6.24605713e-02 -7.14244675e-04 9.06695780e+01] [ 6.24605354e-02 9.98047432e-01 -7.23724923e-05 2.55301266e+00] [ 7.17370491e-04 2.76190567e-05 9.99999742e-01 -3.01975607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.960281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:90.70, Y:2.56, Z:-0.30 [[ 9.98156651e-01 -6.06901370e-02 8.65328264e-05 9.06976409e+01] [ 6.06901364e-02 9.98156655e-01 8.67363571e-06 2.56485854e+00] [-8.68997207e-05 -3.40595813e-06 9.99999996e-01 -3.03061612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.990281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:90.73, Y:2.57, Z:-0.30 [[ 9.98119870e-01 -6.12920098e-02 1.19055272e-04 9.07259989e+01] [ 6.12920088e-02 9.98119877e-01 1.20580072e-05 2.57166418e+00] [-1.19570493e-04 -4.73819980e-06 9.99999993e-01 -3.03547653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.020281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:90.75, Y:2.58, Z:-0.30 [[ 9.98056604e-01 -6.23135295e-02 -1.96362559e-04 9.07541741e+01] [ 6.23135267e-02 9.98056624e-01 -1.99527989e-05 2.57816627e+00] [ 1.97224282e-04 7.67797910e-06 9.99999981e-01 -3.03422624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.050281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:90.78, Y:2.59, Z:-0.30 [[ 9.97836926e-01 -6.57372087e-02 -2.99078497e-04 9.07827610e+01] [ 6.57372026e-02 9.97836970e-01 -3.03778309e-05 2.58720806e+00] [ 3.00428535e-04 1.06515376e-05 9.99999955e-01 -3.04525154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.080281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:90.81, Y:2.59, Z:-0.31 [[ 9.97674519e-01 -6.81582733e-02 6.71680044e-05 9.08117251e+01] [ 6.81582730e-02 9.97674521e-01 6.80557501e-06 2.59286967e+00] [-6.74756629e-05 -2.21169359e-06 9.99999998e-01 -3.05130095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.110281693 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:90.84, Y:2.60, Z:-0.31 [[ 9.97370497e-01 -7.24703546e-02 -3.74653888e-04 9.08410180e+01] [ 7.24703454e-02 9.97370567e-01 -3.80560543e-05 2.60113015e+00] [ 3.76426696e-04 1.08046891e-05 9.99999929e-01 -3.05244706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.140281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:90.87, Y:2.61, Z:-0.30 [[ 9.97268486e-01 -7.38569360e-02 -8.48436101e-04 9.08697689e+01] [ 7.38568893e-02 9.97268847e-01 -8.62157980e-05 2.60647330e+00] [ 8.52486527e-04 2.33174471e-05 9.99999636e-01 -3.04894614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.170281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:90.90, Y:2.61, Z:-0.30 [[ 9.97210017e-01 -7.46416485e-02 -8.98315750e-04 9.08981947e+01] [ 7.46415963e-02 9.97210421e-01 -9.15080394e-05 2.61151031e+00] [ 9.02640138e-04 2.42010119e-05 9.99999592e-01 -3.04347588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.20028169300001 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:90.93, Y:2.62, Z:-0.30 [[ 9.97208798e-01 -7.46598389e-02 7.22479546e-04 9.09257520e+01] [ 7.46598052e-02 9.97209059e-01 7.35158501e-05 2.61900638e+00] [-7.25951830e-04 -1.93704703e-05 9.99999736e-01 -3.03315683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.230281693 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:90.95, Y:2.62, Z:-0.30 [[ 9.97218605e-01 -7.45215850e-02 1.25996134e-03 9.09536918e+01] [ 7.45214823e-02 9.97219400e-01 1.28292219e-04 2.62468789e+00] [-1.26601843e-03 -3.40412013e-05 9.99999198e-01 -3.03491677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.260281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:90.98, Y:2.63, Z:-0.30 [[ 9.97114966e-01 -7.59059488e-02 -1.79042275e-04 9.09825877e+01] [ 7.59059467e-02 9.97114982e-01 -1.82527003e-05 2.63226587e+00] [ 1.79911224e-04 4.60966725e-06 9.99999984e-01 -3.04475238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.290281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:91.01, Y:2.64, Z:-0.30 [[ 9.97005856e-01 -7.73260418e-02 7.78926806e-05 9.10122330e+01] [ 7.73260415e-02 9.97005859e-01 7.92103971e-06 2.63609557e+00] [-7.82719616e-05 -1.87419033e-06 9.99999997e-01 -3.04981239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.320281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:91.04, Y:2.64, Z:-0.30 [[ 9.96848106e-01 -7.93272842e-02 1.01753997e-03 9.10403909e+01] [ 7.93272196e-02 9.96848625e-01 1.03688070e-04 2.63907096e+00] [-1.02255861e-03 -2.26426396e-05 9.99999477e-01 -3.04891132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.350281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:91.07, Y:2.64, Z:-0.30 [[ 9.96465533e-01 -8.39921096e-02 1.32894890e-03 9.10682492e+01] [ 8.39920035e-02 9.96466419e-01 1.35494295e-04 2.64200142e+00] [-1.33563340e-03 -2.33943138e-05 9.99999108e-01 -3.04161622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.380281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:91.10, Y:2.64, Z:-0.31 [[ 9.96240451e-01 -8.66303138e-02 3.90079820e-04 9.10971165e+01] [ 8.66303049e-02 9.96240528e-01 3.97405594e-05 2.64487476e+00] [-3.92056063e-04 -5.79841903e-06 9.99999923e-01 -3.05110472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.410281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:91.13, Y:2.65, Z:-0.31 [[ 9.95866465e-01 -9.08103586e-02 -1.86103329e-03 9.11252507e+01] [ 9.08101611e-02 9.95868203e-01 -1.90530999e-04 2.64549371e+00] [ 1.87064607e-03 2.07426991e-05 9.99998250e-01 -3.05779135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.440281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:91.15, Y:2.65, Z:-0.31 [[ 9.95772950e-01 -9.18198061e-02 -2.31413430e-03 9.11517660e+01] [ 9.18195032e-02 9.95775639e-01 -2.37004175e-04 2.64728456e+00] [ 2.32612024e-03 2.35196842e-05 9.99997294e-01 -3.05518653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.470281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:91.18, Y:2.65, Z:-0.31 [[ 9.95773009e-01 -9.18318226e-02 -1.74098846e-03 9.11796793e+01] [ 9.18316505e-02 9.95774531e-01 -1.78682337e-04 2.64952604e+00] [ 1.75004069e-03 1.80492051e-05 9.99998469e-01 -3.05082444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.500281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:91.21, Y:2.65, Z:-0.30 [[ 9.96001221e-01 -8.93348211e-02 -9.25506351e-04 9.12073853e+01] [ 8.93347712e-02 9.96001651e-01 -9.52071248e-05 2.65322179e+00] [ 9.30311166e-04 1.21465144e-05 9.99999567e-01 -3.03094396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.530281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:91.24, Y:2.66, Z:-0.30 [[ 9.96128626e-01 -8.79074061e-02 -2.18607029e-04 9.12362097e+01] [ 8.79074033e-02 9.96128650e-01 -2.26075332e-05 2.65635556e+00] [ 2.19748094e-04 3.30283473e-06 9.99999976e-01 -3.03208271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.56028169300001 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:91.26, Y:2.66, Z:-0.30 [[ 9.96359888e-01 -8.52383157e-02 1.18432785e-03 9.12647173e+01] [ 8.52382310e-02 9.96360592e-01 1.21900562e-04 2.65895989e+00] [-1.19040820e-03 -2.05068193e-05 9.99999291e-01 -3.03144005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.59028169300001 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:91.29, Y:2.66, Z:-0.30 [[ 9.96459481e-01 -8.40439840e-02 2.26099089e-03 9.12932203e+01] [ 8.40436720e-02 9.96462045e-01 2.32834745e-04 2.66201315e+00] [-2.27255996e-03 -4.19884129e-05 9.99997417e-01 -3.03108790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.620281693 meters Centerline goodness : 0.999224 Centerline is valid? [True, True] Translation: X:91.32, Y:2.67, Z:-0.30 [[ 9.96547852e-01 -8.29691531e-02 2.91524837e-03 9.13214374e+01] [ 8.29686286e-02 9.96552114e-01 3.00593361e-04 2.66577553e+00] [-2.93013690e-03 -5.76815092e-05 9.99995705e-01 -3.02582019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.650281693 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:91.35, Y:2.67, Z:-0.30 [[ 9.96747355e-01 -8.05776743e-02 1.39621434e-03 9.13500920e+01] [ 8.05775515e-02 9.96748332e-01 1.44037213e-04 2.67161194e+00] [-1.40328050e-03 -3.10651786e-05 9.99999015e-01 -3.03553921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.680281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:91.38, Y:2.68, Z:-0.30 [[ 9.96774314e-01 -8.02553853e-02 2.01023081e-04 9.13782214e+01] [ 8.02553827e-02 9.96774334e-01 2.06719787e-05 2.67623029e+00] [-2.02033685e-04 -4.47211306e-06 9.99999980e-01 -3.03725007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.710281693 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:91.41, Y:2.68, Z:-0.30 [[ 9.96793838e-01 -8.00127086e-02 -1.08185090e-04 9.14059093e+01] [ 8.00127078e-02 9.96793844e-01 -1.12200043e-05 2.68368301e+00] [ 1.08735975e-04 2.52784909e-06 9.99999994e-01 -3.03015376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.740281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:91.43, Y:2.69, Z:-0.30 [[ 9.96831843e-01 -7.95360752e-02 -5.37283012e-04 9.14342016e+01] [ 7.95360567e-02 9.96831988e-01 -5.57251746e-05 2.69003456e+00] [ 5.40013055e-04 1.28152564e-05 9.99999854e-01 -3.02537267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.770281693 meters Centerline goodness : 0.998681 Centerline is valid? [True, True] Translation: X:91.46, Y:2.70, Z:-0.30 [[ 9.96890681e-01 -7.87823461e-02 -1.52054782e-03 9.14620548e+01] [ 7.87821970e-02 9.96891840e-01 -1.57752642e-04 2.69652917e+00] [ 1.52824983e-03 3.74700408e-05 9.99998832e-01 -3.02519001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.800281693 meters Centerline goodness : 0.998469 Centerline is valid? [True, True] Translation: X:91.49, Y:2.71, Z:-0.30 [[ 9.97081793e-01 -7.63063557e-02 -2.28855270e-03 9.14909050e+01] [ 7.63060117e-02 9.97084418e-01 -2.37349346e-04 2.70635001e+00] [ 2.29999150e-03 6.20263821e-05 9.99997353e-01 -3.02841396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.830281693 meters Centerline goodness : 0.998253 Centerline is valid? [True, True] Translation: X:91.52, Y:2.72, Z:-0.30 [[ 9.97176436e-01 -7.50263276e-02 -3.19466757e-03 9.15188663e+01] [ 7.49877189e-02 9.97125399e-01 -1.08526500e-02 2.71758436e+00] [ 3.99971865e-03 1.05824460e-02 9.99936005e-01 -3.00347501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.860281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:91.55, Y:2.71, Z:-0.30 [[ 9.97121279e-01 -7.58193082e-02 -7.66239250e-04 9.15484157e+01] [ 7.58231760e-02 9.97067047e-01 1.03995560e-02 2.71379083e+00] [-2.44952335e-05 -1.04277172e-02 9.99945630e-01 -3.03756914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.890281693 meters Centerline goodness : 0.998540 Centerline is valid? [True, True] Translation: X:91.58, Y:2.72, Z:-0.30 [[ 9.97120835e-01 -7.58283851e-02 3.10177975e-04 9.15778660e+01] [ 7.58283787e-02 9.97120883e-01 3.22002028e-05 2.72223790e+00] [-3.11726626e-04 -8.58720006e-06 9.99999951e-01 -3.02590899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.920281693 meters Centerline goodness : 0.998475 Centerline is valid? [True, True] Translation: X:91.61, Y:2.73, Z:-0.30 [[ 9.96961152e-01 -7.78542821e-02 2.67825340e-03 9.16083483e+01] [ 7.78538159e-02 9.96964747e-01 2.78049040e-04 2.73036002e+00] [-2.69177153e-03 -6.86918444e-05 9.99996375e-01 -3.01815657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.95028169300001 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:91.64, Y:2.74, Z:-0.30 [[ 9.96826057e-01 -7.95760854e-02 2.33635704e-03 9.16390250e+01] [ 7.95757355e-02 9.96828793e-01 2.42501944e-04 2.73510363e+00] [-2.34824532e-03 -5.58149268e-05 9.99997241e-01 -3.01943503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.980281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:91.67, Y:2.74, Z:-0.30 [[ 9.96487695e-01 -8.37379436e-02 4.80498594e-04 9.16693469e+01] [ 8.37379293e-02 9.96487811e-01 4.98722491e-05 2.74156744e+00] [-4.82987192e-04 -9.46112523e-06 9.99999883e-01 -3.03267208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.010281693 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:91.70, Y:2.75, Z:-0.30 [[ 9.96306443e-01 -8.58689118e-02 4.31466864e-05 9.17005349e+01] [ 8.58689117e-02 9.96306444e-01 4.49193018e-06 2.74625203e+00] [-4.33730388e-05 -7.70379973e-07 9.99999999e-01 -3.03541788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.040281693 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:91.73, Y:2.75, Z:-0.30 [[ 9.95846165e-01 -9.10496518e-02 6.13602724e-04 9.17310719e+01] [ 9.10496299e-02 9.95846354e-01 6.36640605e-05 2.75010923e+00] [-6.16850626e-04 -7.53130962e-06 9.99999810e-01 -3.03504766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.070281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:91.76, Y:2.75, Z:-0.30 [[ 9.95544821e-01 -9.42775400e-02 1.50185157e-03 9.17612753e+01] [ 9.42774122e-02 9.95545953e-01 1.55805214e-04 2.75296837e+00] [-1.50985118e-03 -1.35203942e-05 9.99998860e-01 -3.03533804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.100281693 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:91.79, Y:2.76, Z:-0.30 [[ 9.95189754e-01 -9.79512102e-02 1.70710841e-03 9.17914165e+01] [ 9.79510505e-02 9.95191218e-01 1.77098987e-04 2.75568715e+00] [-1.71624636e-03 -9.03403485e-06 9.99998527e-01 -3.03848957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.130281693 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:91.82, Y:2.76, Z:-0.30 [[ 9.94492463e-01 -1.04806633e-01 5.58097597e-04 9.18209307e+01] [ 1.04806617e-01 9.94492619e-01 5.78969999e-05 2.75665099e+00] [-5.61091931e-04 9.14191079e-07 9.99999843e-01 -3.04315202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.160281693 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:91.85, Y:2.76, Z:-0.30 [[ 9.94237987e-01 -1.07194598e-01 -3.79666448e-04 9.18493471e+01] [ 1.07194591e-01 9.94238059e-01 -3.94364399e-05 2.75818476e+00] [ 3.81706206e-04 -1.48898295e-06 9.99999927e-01 -3.04610559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.190281693 meters Centerline goodness : 0.998578 Centerline is valid? [True, True] Translation: X:91.88, Y:2.76, Z:-0.30 [[ 9.93999160e-01 -1.09387603e-01 -1.47794563e-04 9.18782567e+01] [ 1.09387601e-01 9.93999171e-01 -1.54700489e-05 2.75793357e+00] [ 1.48599904e-04 -7.89677153e-07 9.99999989e-01 -3.04482216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.220281693 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:91.91, Y:2.76, Z:-0.30 [[ 9.94036314e-01 -1.09043645e-01 1.13579828e-03 9.19057194e+01] [ 1.09043581e-01 9.94036963e-01 1.18099559e-04 2.75911807e+00] [-1.14190348e-03 6.45626117e-06 9.99999348e-01 -3.04506097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.250281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:91.93, Y:2.76, Z:-0.30 [[ 9.94174542e-01 -1.07761219e-01 2.12103762e-03 9.19338932e+01] [ 1.07760994e-01 9.94176805e-01 2.20694929e-04 2.76077160e+00] [-2.13246876e-03 9.15584131e-06 9.99997726e-01 -3.03286980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.280281693 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:91.96, Y:2.76, Z:-0.30 [[ 9.94620663e-01 -1.03573333e-01 1.51719654e-03 9.19630511e+01] [ 1.03573212e-01 9.94621820e-01 1.58016309e-04 2.76176238e+00] [-1.52540306e-03 -2.53673934e-08 9.99998837e-01 -3.03192096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.31028169300001 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:91.99, Y:2.76, Z:-0.30 [[ 9.94909191e-01 -1.00771882e-01 8.53642616e-04 9.19922206e+01] [ 1.00771843e-01 9.94909558e-01 8.89660188e-05 2.76472878e+00] [-8.58262471e-04 -2.48997040e-06 9.99999632e-01 -3.03757840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.34028169300001 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:92.02, Y:2.77, Z:-0.30 [[ 9.95181179e-01 -9.80514101e-02 5.83955093e-04 9.20203055e+01] [ 9.80513912e-02 9.95181351e-01 6.08669194e-05 2.76820409e+00] [-5.87109305e-04 -3.31600334e-06 9.99999828e-01 -3.03178992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.370281693 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:92.05, Y:2.78, Z:-0.30 [[ 9.95656194e-01 -9.31005633e-02 1.01444823e-03 9.20486610e+01] [ 9.31005038e-02 9.95656710e-01 1.05830946e-04 2.77506121e+00] [-1.01989511e-03 -1.09255959e-05 9.99999480e-01 -3.02894413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.400281693 meters Centerline goodness : 0.998607 Centerline is valid? [True, True] Translation: X:92.08, Y:2.78, Z:-0.30 [[ 9.95887816e-01 -9.05939751e-02 4.35518823e-04 9.20780101e+01] [ 9.05939638e-02 9.95887911e-01 4.54761285e-05 2.78067307e+00] [-4.37847794e-04 -5.83374577e-06 9.99999904e-01 -3.02653003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.430281693 meters Centerline goodness : 0.998552 Centerline is valid? [True, True] Translation: X:92.11, Y:2.79, Z:-0.30 [[ 9.96336190e-01 -8.55153400e-02 -1.15039672e-03 9.21076195e+01] [ 8.55152583e-02 9.96336854e-01 -1.20141579e-04 2.78951076e+00] [ 1.15645660e-03 2.13249305e-05 9.99999331e-01 -3.03312368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.460281693 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:92.14, Y:2.80, Z:-0.30 [[ 9.96509923e-01 -8.34542117e-02 -1.83506621e-03 9.21361067e+01] [ 8.34540002e-02 9.96511612e-01 -1.91672646e-04 2.79613148e+00] [ 1.84466068e-03 3.78600777e-05 9.99998298e-01 -3.03381977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.490281693 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:92.17, Y:2.80, Z:-0.30 [[ 9.96607737e-01 -8.22754564e-02 -1.94119140e-03 9.21660742e+01] [ 8.22752175e-02 9.96609626e-01 -2.02749645e-04 2.80363186e+00] [ 1.95129136e-03 4.23499202e-05 9.99998095e-01 -3.03629118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.520281693 meters Centerline goodness : 0.998715 Centerline is valid? [True, True] Translation: X:92.20, Y:2.81, Z:-0.30 [[ 9.96590734e-01 -8.24980962e-02 9.86458043e-04 9.21960211e+01] [ 8.24980346e-02 9.96591222e-01 1.03024081e-04 2.81418092e+00] [-9.91594717e-04 -2.12919952e-05 9.99999508e-01 -3.03614843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.550281693 meters Centerline goodness : 0.998754 Centerline is valid? [True, True] Translation: X:92.23, Y:2.82, Z:-0.30 [[ 9.96447906e-01 -8.41789276e-02 2.34073837e-03 9.22268231e+01] [ 8.41785859e-02 9.96450654e-01 2.44296474e-04 2.82049694e+00] [-2.35299490e-03 -4.63886635e-05 9.99997231e-01 -3.02999897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.580281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:92.26, Y:2.83, Z:-0.30 [[ 9.95973254e-01 -8.96218237e-02 2.28159610e-03 9.22578028e+01] [ 8.96215136e-02 9.95975867e-01 2.38038754e-04 2.83007014e+00] [-2.29374812e-03 -3.26001368e-05 9.99997369e-01 -3.03389370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.610281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:92.29, Y:2.84, Z:-0.30 [[ 9.95744085e-01 -9.21535457e-02 1.20059378e-03 9.22899206e+01] [ 9.21534617e-02 9.95744809e-01 1.25225657e-04 2.83590276e+00] [-1.20702501e-03 -1.40538343e-05 9.99999271e-01 -3.04292839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.640281693 meters Centerline goodness : 0.998705 Centerline is valid? [True, True] Translation: X:92.32, Y:2.84, Z:-0.30 [[ 9.95518766e-01 -9.45641837e-02 3.89139246e-05 9.23212008e+01] [ 9.45641836e-02 9.95518767e-01 4.07925583e-06 2.84118924e+00] [-3.91252938e-05 -3.81112211e-07 9.99999999e-01 -3.04844172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.670281693 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:92.35, Y:2.85, Z:-0.30 [[ 9.95172870e-01 -9.81347903e-02 -7.22910224e-04 9.23528155e+01] [ 9.81347615e-02 9.95173132e-01 -7.52927994e-05 2.84759241e+00] [ 7.26809675e-04 3.98672881e-06 9.99999736e-01 -3.04480309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.70028169300001 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:92.38, Y:2.85, Z:-0.30 [[ 9.95050495e-01 -9.93705778e-02 -1.18373732e-05 9.23835195e+01] [ 9.93705778e-02 9.95050495e-01 -1.20939105e-06 2.85275719e+00] [ 1.18989620e-05 2.71185484e-08 1.00000000e+00 -3.03851774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.730281693 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:92.41, Y:2.86, Z:-0.30 [[ 9.94814025e-01 -1.01698474e-01 1.57331458e-03 9.24145202e+01] [ 1.01698342e-01 9.94815269e-01 1.63857258e-04 2.86012441e+00] [-1.58182140e-03 -3.00401377e-06 9.99998749e-01 -3.03499197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.760281693 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:92.45, Y:2.86, Z:-0.30 [[ 9.94713363e-01 -1.02677793e-01 1.61106519e-03 9.24452662e+01] [ 1.02677656e-01 9.94714668e-01 1.67753153e-04 2.86471151e+00] [-1.61977470e-03 -1.44590607e-06 9.99998688e-01 -3.03684756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.790281693 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:92.48, Y:2.87, Z:-0.30 [[ 9.94570050e-01 -1.04062421e-01 1.19475327e-03 9.24768074e+01] [ 1.04062346e-01 9.94570768e-01 1.24381885e-04 2.86877064e+00] [-1.20121015e-03 6.22330554e-07 9.99999279e-01 -3.04469292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.820281693 meters Centerline goodness : 0.998689 Centerline is valid? [True, True] Translation: X:92.51, Y:2.87, Z:-0.30 [[ 9.94061023e-01 -1.08815490e-01 1.36837420e-03 9.25067466e+01] [ 1.08815397e-01 9.94061964e-01 1.42432577e-04 2.87095443e+00] [-1.37574762e-03 7.31350983e-06 9.99999054e-01 -3.04290423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.850281693 meters Centerline goodness : 0.998742 Centerline is valid? [True, True] Translation: X:92.54, Y:2.87, Z:-0.30 [[ 9.93684759e-01 -1.12190733e-01 1.95953136e-03 9.25383540e+01] [ 1.12190549e-01 9.93686691e-01 2.03926963e-04 2.87301216e+00] [-1.97003894e-03 1.72017833e-05 9.99998059e-01 -3.03977138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.880281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:92.57, Y:2.87, Z:-0.30 [[ 9.92926380e-01 -1.18690760e-01 3.11582127e-03 9.25687794e+01] [ 1.18690327e-01 9.92931267e-01 3.24238269e-04 2.87213742e+00] [-3.13228045e-03 4.78731144e-05 9.99995093e-01 -3.04444216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.910281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:92.60, Y:2.87, Z:-0.30 [[ 9.92683697e-01 -1.20718801e-01 2.45946937e-03 9.25980975e+01] [ 1.20718537e-01 9.92686743e-01 2.55932819e-04 2.87280036e+00] [-2.47237854e-03 4.28432075e-05 9.99996943e-01 -3.04930333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.940281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:92.63, Y:2.87, Z:-0.30 [[ 9.92601561e-01 -1.21411652e-01 1.16237459e-03 9.26281427e+01] [ 1.21411594e-01 9.92602242e-01 1.20966784e-04 2.87340241e+00] [-1.16846240e-03 2.10539334e-05 9.99999317e-01 -3.04597639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.970281693 meters Centerline goodness : 0.998673 Centerline is valid? [True, True] Translation: X:92.66, Y:2.87, Z:-0.30 [[ 9.92936603e-01 -1.18643481e-01 -7.91078446e-04 9.26590471e+01] [ 1.18643453e-01 9.92936919e-01 -8.23361086e-05 2.87253293e+00] [ 7.95259637e-04 -1.21017427e-05 9.99999684e-01 -3.04141765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.000281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:92.69, Y:2.87, Z:-0.30 [[ 9.93267015e-01 -1.15840931e-01 -1.23150700e-03 9.26885470e+01] [ 1.15840861e-01 9.93267778e-01 -1.28219025e-04 2.87431420e+00] [ 1.23806923e-03 -1.53031015e-05 9.99999233e-01 -3.03607545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.030281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:92.72, Y:2.87, Z:-0.30 [[ 9.93896466e-01 -1.10315875e-01 -4.72608872e-04 9.27178563e+01] [ 1.10315865e-01 9.93896578e-01 -4.92385875e-05 2.87435730e+00] [ 4.75156139e-04 -3.19819830e-06 9.99999887e-01 -3.04026692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.06028169300001 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:92.75, Y:2.88, Z:-0.30 [[ 9.94110438e-01 -1.08371026e-01 3.95992359e-04 9.27485781e+01] [ 1.08371018e-01 9.94110517e-01 4.12375276e-05 2.87574821e+00] [-3.98129122e-04 1.91943861e-06 9.99999921e-01 -3.03634752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.09028169300001 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:92.78, Y:2.88, Z:-0.30 [[ 9.94193940e-01 -1.07596354e-01 1.19781206e-03 9.27780313e+01] [ 1.07596282e-01 9.94194661e-01 1.24742833e-04 2.87690426e+00] [-1.20428023e-03 4.86155518e-06 9.99999275e-01 -3.03643436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.120281693 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:92.81, Y:2.87, Z:-0.30 [[ 9.94119360e-01 -1.08251665e-01 2.87673862e-03 9.28089022e+01] [ 1.08251251e-01 9.94123522e-01 2.99608117e-04 2.87358198e+00] [-2.89226661e-03 1.35643254e-05 9.99995817e-01 -3.04098734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.150281693 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:92.84, Y:2.87, Z:-0.30 [[ 9.94025086e-01 -1.09112501e-01 2.93082544e-03 9.28388459e+01] [ 1.09112076e-01 9.94029407e-01 3.05267245e-04 2.87290035e+00] [-2.94663514e-03 1.63451474e-05 9.99995659e-01 -3.04269362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.180281693 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:92.87, Y:2.87, Z:-0.31 [[ 9.93739656e-01 -1.11720375e-01 2.31844307e-04 9.28691629e+01] [ 1.11720372e-01 9.93739683e-01 2.41499709e-05 2.87009317e+00] [-2.33090932e-04 1.90294853e-06 9.99999973e-01 -3.05064200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.210281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:92.90, Y:2.87, Z:-0.31 [[ 9.93554455e-01 -1.13350140e-01 -1.13599091e-03 9.28993075e+01] [ 1.13350078e-01 9.93555105e-01 -1.18363026e-04 2.87050858e+00] [ 1.14208604e-03 -1.11645468e-05 9.99999348e-01 -3.05549678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.240281693 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:92.93, Y:2.87, Z:-0.31 [[ 9.93390286e-01 -1.14774963e-01 -1.56453125e-03 9.29277527e+01] [ 1.14774848e-01 9.93391518e-01 -1.63119431e-04 2.87050337e+00] [ 1.57291410e-03 -1.75275787e-05 9.99998763e-01 -3.05607301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.270281693 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:92.96, Y:2.87, Z:-0.30 [[ 9.93332325e-01 -1.15286047e-01 -1.41252533e-04 9.29556358e+01] [ 1.15286046e-01 9.93332335e-01 -1.47848161e-05 2.86650086e+00] [ 1.42015192e-04 -1.59821030e-06 9.99999990e-01 -3.04120180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.300281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:92.98, Y:2.86, Z:-0.30 [[ 9.93327718e-01 -1.15321622e-01 9.84434948e-04 9.29843268e+01] [ 1.15321577e-01 9.93328205e-01 1.02746616e-04 2.86369672e+00] [-9.89715906e-04 1.14655284e-05 9.99999510e-01 -3.03802088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.330281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:93.01, Y:2.86, Z:-0.30 [[ 9.93330333e-01 -1.15298609e-01 1.03901342e-03 9.30119148e+01] [ 1.15298559e-01 9.93330877e-01 1.08637306e-04 2.86476058e+00] [-1.04460984e-03 1.18840183e-05 9.99999454e-01 -3.03736861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.360281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:93.04, Y:2.87, Z:-0.30 [[ 9.93385651e-01 -1.14821612e-01 9.73028426e-04 9.30402481e+01] [ 1.14821567e-01 9.93386127e-01 1.01877397e-04 2.86603377e+00] [-9.78290667e-04 1.05211052e-05 9.99999521e-01 -3.03785542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.390281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:93.07, Y:2.87, Z:-0.30 [[ 9.93505060e-01 -1.13786399e-01 5.92138745e-04 9.30679042e+01] [ 1.13786383e-01 9.93505237e-01 6.20181062e-05 2.86750136e+00] [-5.95349761e-04 5.76202355e-06 9.99999823e-01 -3.04161530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.420281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:93.10, Y:2.87, Z:-0.30 [[ 9.93904318e-01 -1.10246103e-01 5.96170464e-05 9.30953058e+01] [ 1.10246103e-01 9.93904320e-01 6.14641384e-06 2.87002657e+00] [-5.99312581e-05 4.63599770e-07 9.99999998e-01 -3.03838450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.45028169300001 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:93.12, Y:2.87, Z:-0.30 [[ 9.94164150e-01 -1.07875162e-01 7.69570476e-04 9.31223138e+01] [ 1.07875131e-01 9.94164448e-01 8.09072555e-05 2.87486828e+00] [-7.73807490e-04 2.58242325e-06 9.99999701e-01 -3.03676757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.480281693 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:93.15, Y:2.88, Z:-0.30 [[ 9.94716523e-01 -1.02643994e-01 1.80251455e-03 9.31495964e+01] [ 1.02643819e-01 9.94718156e-01 1.89833214e-04 2.88216657e+00] [-1.81247919e-03 -3.81325789e-06 9.99998357e-01 -3.03149666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.510281693 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:93.18, Y:2.89, Z:-0.30 [[ 9.94938862e-01 -1.00473804e-01 1.29422633e-03 9.31787352e+01] [ 1.00473712e-01 9.94939704e-01 1.36402876e-04 2.88730893e+00] [-1.30138208e-03 -5.67679842e-06 9.99999153e-01 -3.03437327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.540281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:93.21, Y:2.90, Z:-0.30 [[ 9.95142318e-01 -9.84467258e-02 -9.69882852e-05 9.32071290e+01] [ 9.84467253e-02 9.95142323e-01 -1.02485384e-05 2.89556962e+00] [ 9.75260824e-05 6.50575203e-07 9.99999995e-01 -3.04453551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.570281693 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:93.24, Y:2.90, Z:-0.31 [[ 9.95142305e-01 -9.84468751e-02 -7.35119476e-05 9.32358606e+01] [ 9.84468747e-02 9.95142308e-01 -7.76744691e-06 2.90124816e+00] [ 7.39195300e-05 4.92693529e-07 9.99999997e-01 -3.05031872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.600281693 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:93.26, Y:2.91, Z:-0.30 [[ 9.95110335e-01 -9.87691625e-02 2.70405018e-04 9.32648993e+01] [ 9.87691584e-02 9.95110372e-01 2.85083340e-05 2.90641374e+00] [-2.71898582e-04 -1.66126182e-06 9.99999963e-01 -3.04933870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.630281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:93.29, Y:2.91, Z:-0.30 [[ 9.94978427e-01 -1.00070094e-01 1.97616511e-03 9.32932132e+01] [ 1.00069877e-01 9.94980390e-01 2.08495783e-04 2.91241814e+00] [-1.98710972e-03 -9.69420697e-06 9.99998026e-01 -3.04262232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.660281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:93.32, Y:2.92, Z:-0.30 [[ 9.94908207e-01 -1.00749488e-01 2.68328552e-03 9.33230359e+01] [ 1.00749091e-01 9.94911826e-01 2.83130767e-04 2.91745758e+00] [-2.69815778e-03 -1.13505476e-05 9.99996360e-01 -3.04285017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.690281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:93.35, Y:2.92, Z:-0.30 [[ 9.94862591e-01 -1.01196338e-01 2.77964474e-03 9.33531409e+01] [ 1.01195914e-01 9.94866474e-01 2.93298250e-04 2.92270543e+00] [-2.79505607e-03 -1.05027682e-05 9.99996094e-01 -3.04195003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.720281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:93.38, Y:2.93, Z:-0.30 [[ 9.94811268e-01 -1.01722813e-01 1.73489601e-03 9.33821297e+01] [ 1.01722649e-01 9.94812781e-01 1.83071835e-04 2.92907368e+00] [-1.74451931e-03 -5.64370624e-06 9.99998478e-01 -3.04906827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.750281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:93.41, Y:2.93, Z:-0.30 [[ 9.94751926e-01 -1.02306926e-01 1.37801081e-03 9.34111111e+01] [ 1.02306822e-01 9.94752880e-01 1.45416198e-04 2.93312899e+00] [-1.38565731e-03 -3.67313592e-06 9.99999040e-01 -3.04840880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.780281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:93.44, Y:2.94, Z:-0.30 [[ 9.94750834e-01 -1.02317540e-01 1.37801018e-03 9.34411045e+01] [ 1.02317437e-01 9.94751789e-01 1.45422214e-04 2.93633427e+00] [-1.38565733e-03 -3.66439923e-06 9.99999040e-01 -3.04861014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.81028169300001 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:93.47, Y:2.94, Z:-0.31 [[ 9.94678170e-01 -1.03021220e-01 1.40220725e-03 9.34700434e+01] [ 1.03021114e-01 9.94679158e-01 1.47999022e-04 2.94014389e+00] [-1.40999336e-03 -2.75444346e-06 9.99999006e-01 -3.05415469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.84028169300001 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:93.50, Y:2.94, Z:-0.31 [[ 9.94586504e-01 -1.03901935e-01 1.44046382e-03 9.34998419e+01] [ 1.03901824e-01 9.94587547e-01 1.52059780e-04 2.94479750e+00] [-1.44846668e-03 -1.56978708e-06 9.99998951e-01 -3.05026236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.870281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:93.53, Y:2.95, Z:-0.31 [[ 9.94587353e-01 -1.03893185e-01 1.48436863e-03 9.35305766e+01] [ 1.03893067e-01 9.94588461e-01 1.56701656e-04 2.94851788e+00] [-1.49261614e-03 -1.63787639e-06 9.99998886e-01 -3.05155767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.900281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:93.56, Y:2.95, Z:-0.31 [[ 9.94651310e-01 -1.03288566e-01 4.94255493e-04 9.35599477e+01] [ 1.03288553e-01 9.94651433e-01 5.21755492e-05 2.95322517e+00] [-4.97001072e-04 -8.45543824e-07 9.99999876e-01 -3.05572562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.930281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:93.59, Y:2.96, Z:-0.31 [[ 9.94671551e-01 -1.03093186e-01 5.47645351e-04 9.35902868e+01] [ 1.03093170e-01 9.94671702e-01 5.78200854e-05 2.95809351e+00] [-5.50688190e-04 -1.05349884e-06 9.99999848e-01 -3.05821726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.960281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:93.62, Y:2.96, Z:-0.31 [[ 9.94664242e-01 -1.03160957e-01 9.28731045e-04 9.36206049e+01] [ 1.03160910e-01 9.94664676e-01 9.80548967e-05 2.96263855e+00] [-9.33891400e-04 -1.72295938e-06 9.99999564e-01 -3.05665930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.990281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:93.65, Y:2.97, Z:-0.31 [[ 9.94542757e-01 -1.04309873e-01 2.03823303e-03 9.36495731e+01] [ 1.04309651e-01 9.94544846e-01 2.15211168e-04 2.96639131e+00] [-2.04956281e-03 -1.42933178e-06 9.99997900e-01 -3.05697268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.020281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:93.68, Y:2.97, Z:-0.31 [[ 9.94457075e-01 -1.05127415e-01 1.83113552e-03 9.36799949e+01] [ 1.05127237e-01 9.94458761e-01 1.93351141e-04 2.96861620e+00] [-1.84131526e-03 2.22808315e-07 9.99998305e-01 -3.05440646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.050281693 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:93.71, Y:2.97, Z:-0.31 [[ 9.94159219e-01 -1.07923129e-01 2.14888710e-04 9.37100648e+01] [ 1.07923127e-01 9.94159242e-01 2.26852279e-05 2.96860967e+00] [-2.16081858e-04 6.38733053e-07 9.99999977e-01 -3.06425186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.080281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:93.74, Y:2.97, Z:-0.31 [[ 9.93945859e-01 -1.09867570e-01 -8.64079428e-04 9.37401994e+01] [ 1.09867532e-01 9.93946235e-01 -9.12824568e-05 2.97004168e+00] [ 8.68877476e-04 -4.20445411e-06 9.99999623e-01 -3.06666504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.110281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:93.77, Y:2.97, Z:-0.31 [[ 9.93530068e-01 -1.13556894e-01 -1.68404034e-03 9.37684586e+01] [ 1.13556756e-01 9.93531495e-01 -1.78005265e-04 2.96917102e+00] [ 1.69336084e-03 -1.43805740e-05 9.99998566e-01 -3.07446985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.140281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:93.80, Y:2.97, Z:-0.31 [[ 9.93391594e-01 -1.14766386e-01 -1.34850767e-03 9.37974229e+01] [ 1.14766298e-01 9.93392509e-01 -1.42823324e-04 2.96990368e+00] [ 1.35598873e-03 -1.28837434e-05 9.99999081e-01 -3.07491079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.170281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:93.83, Y:2.97, Z:-0.31 [[ 9.93354271e-01 -1.15089726e-01 -1.28372831e-03 9.38274450e+01] [ 1.15089646e-01 9.93355100e-01 -1.35910248e-04 2.97151161e+00] [ 1.29083994e-03 -1.27368114e-05 9.99999167e-01 -3.06542493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.20028169300001 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:93.86, Y:2.97, Z:-0.31 [[ 9.93535411e-01 -1.13514117e-01 -1.39031631e-03 9.38561126e+01] [ 1.13514022e-01 9.93536383e-01 -1.47250661e-04 2.97267277e+00] [ 1.39804487e-03 -1.15216516e-05 9.99999023e-01 -3.05942821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.230281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:93.88, Y:2.98, Z:-0.31 [[ 9.93686036e-01 -1.12185627e-01 -1.56401178e-03 9.38844829e+01] [ 1.12185505e-01 9.93687267e-01 -1.65697583e-04 2.97517787e+00] [ 1.57272748e-03 -1.08080771e-05 9.99998763e-01 -3.05854571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.260281693 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:93.91, Y:2.98, Z:-0.31 [[ 9.94071437e-01 -1.08726430e-01 -7.35358243e-04 9.39140045e+01] [ 1.08726403e-01 9.94071709e-01 -7.79285805e-05 2.97700236e+00] [ 7.39471722e-04 -2.48628029e-06 9.99999727e-01 -3.05960530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.290281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:93.94, Y:2.98, Z:-0.31 [[ 9.94277795e-01 -1.06822841e-01 -7.40252315e-04 9.39433361e+01] [ 1.06822812e-01 9.94278070e-01 -7.84645903e-05 2.97964514e+00] [ 7.44398454e-04 -1.06023436e-06 9.99999723e-01 -3.05794873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.320281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:93.97, Y:2.98, Z:-0.31 [[ 9.94458737e-01 -1.05126622e-01 -4.62378790e-04 9.39722062e+01] [ 1.05126610e-01 9.94458844e-01 -4.90405547e-05 2.98243864e+00] [ 4.64972145e-04 1.60493260e-07 9.99999892e-01 -3.05997603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.350281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:94.00, Y:2.99, Z:-0.31 [[ 9.94758586e-01 -1.02249834e-01 5.72435828e-04 9.40010616e+01] [ 1.02249816e-01 9.94758750e-01 6.06805335e-05 2.98632695e+00] [-5.75640124e-04 -1.83102324e-06 9.99999834e-01 -3.05688250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.380281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:94.03, Y:2.99, Z:-0.30 [[ 9.94845298e-01 -1.01400690e-01 8.55925169e-04 9.40286224e+01] [ 1.01400649e-01 9.94845666e-01 9.07854930e-05 2.98922456e+00] [-8.60719156e-04 -3.52615301e-06 9.99999630e-01 -3.04800602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.410281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:94.06, Y:2.99, Z:-0.31 [[ 9.94907226e-01 -1.00783480e-01 1.51734809e-03 9.40578236e+01] [ 1.00783351e-01 9.94908383e-01 1.61130161e-04 2.99164701e+00] [-1.52586159e-03 -7.38613651e-06 9.99998836e-01 -3.05056262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.440281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:94.09, Y:3.00, Z:-0.31 [[ 9.94880849e-01 -1.01036682e-01 1.91945826e-03 9.40880751e+01] [ 1.01036477e-01 9.94882701e-01 2.03955767e-04 2.99507239e+00] [-1.93024283e-03 -8.97638634e-06 9.99998137e-01 -3.05380792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.470281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:94.12, Y:3.00, Z:-0.31 [[ 9.94819583e-01 -1.01628223e-01 2.38788300e-03 9.41178116e+01] [ 1.01627907e-01 9.94822449e-01 2.53749149e-04 2.99824511e+00] [-2.40130769e-03 -9.75907094e-06 9.99997117e-01 -3.05735171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.500281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:94.15, Y:3.00, Z:-0.31 [[ 9.94620969e-01 -1.03560272e-01 2.09705145e-03 9.41469627e+01] [ 1.03560032e-01 9.94623180e-01 2.22895630e-04 2.99939509e+00] [-2.10885911e-03 -4.52595312e-06 9.99997776e-01 -3.05821830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.530281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:94.18, Y:3.00, Z:-0.31 [[ 9.94562921e-01 -1.04127566e-01 1.43033656e-03 9.41751972e+01] [ 1.04127455e-01 9.94563950e-01 1.52173016e-04 3.00112168e+00] [-1.43840658e-03 -2.40833439e-06 9.99998965e-01 -3.05756867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.56028169300001 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:94.20, Y:3.00, Z:-0.31 [[ 9.94721451e-01 -1.02611101e-01 4.43565248e-04 9.42045181e+01] [ 1.02611091e-01 9.94721550e-01 4.72202401e-05 3.00406922e+00] [-4.46069231e-04 -1.45627198e-06 9.99999901e-01 -3.05775429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.590281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:94.23, Y:3.01, Z:-0.31 [[ 9.94876328e-01 -1.01099215e-01 2.02609761e-04 9.42341155e+01] [ 1.01099212e-01 9.94876349e-01 2.15654353e-05 3.00837157e+00] [-2.03751908e-04 -9.71253797e-07 9.99999979e-01 -3.05729582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.620281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:94.26, Y:3.01, Z:-0.31 [[ 9.95024519e-01 -9.96302643e-02 1.31850569e-04 9.42625876e+01] [ 9.96302633e-02 9.95024528e-01 1.40257108e-05 3.01244251e+00] [-1.32591935e-04 -8.19619242e-07 9.99999991e-01 -3.05815526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.650281693 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:94.29, Y:3.02, Z:-0.31 [[ 9.95361639e-01 -9.62017344e-02 6.58776283e-04 9.42926280e+01] [ 9.62017090e-02 9.95361857e-01 7.01902547e-05 3.01757086e+00] [-6.62473209e-04 -6.48928263e-06 9.99999781e-01 -3.05379298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.680281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:94.32, Y:3.02, Z:-0.30 [[ 9.95477931e-01 -9.49909907e-02 6.33547783e-04 9.43217594e+01] [ 9.49909669e-02 9.95478132e-01 6.75018998e-05 3.02145240e+00] [-6.37095036e-04 -7.01533496e-06 9.99999797e-01 -3.04938988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.710281693 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:94.35, Y:3.03, Z:-0.31 [[ 9.95592630e-01 -9.37832014e-02 1.58828430e-04 9.43515396e+01] [ 9.37831999e-02 9.95592643e-01 1.69130901e-05 3.02643038e+00] [-1.59714580e-04 -1.94310939e-06 9.99999987e-01 -3.05801288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.740281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:94.38, Y:3.03, Z:-0.31 [[ 9.95592038e-01 -9.37891782e-02 2.89257684e-04 9.43822204e+01] [ 9.37891732e-02 9.95592080e-01 3.08292130e-05 3.03061894e+00] [-2.90874106e-04 -3.56407998e-06 9.99999958e-01 -3.07035189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.770281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:94.41, Y:3.03, Z:-0.31 [[ 9.95553925e-01 -9.41933014e-02 -7.12096351e-05 9.44124712e+01] [ 9.41933011e-02 9.95553927e-01 -7.58955467e-06 3.03474875e+00] [ 7.16079171e-05 8.48340341e-07 9.99999997e-01 -3.07762077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.800281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:94.44, Y:3.04, Z:-0.31 [[ 9.95525544e-01 -9.44880979e-02 -9.43779576e-04 9.44427245e+01] [ 9.44880450e-02 9.95525991e-01 -1.00588448e-04 3.04070208e+00] [ 9.49061509e-04 1.09624826e-05 9.99999550e-01 -3.07111950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.830281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:94.47, Y:3.05, Z:-0.31 [[ 9.95563499e-01 -9.40860182e-02 -1.06811774e-03 9.44718456e+01] [ 9.40859502e-02 9.95564072e-01 -1.13836026e-04 3.04565712e+00] [ 1.07409003e-03 1.28361199e-05 9.99999423e-01 -3.06576306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.860281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:94.50, Y:3.05, Z:-0.31 [[ 9.95765016e-01 -9.19343358e-02 -3.32834153e-04 9.45015353e+01] [ 9.19343291e-02 9.95765072e-01 -3.54727594e-05 3.05203014e+00] [ 3.34685789e-04 4.72364823e-06 9.99999944e-01 -3.05809058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.890281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:94.53, Y:3.06, Z:-0.31 [[ 9.95876674e-01 -9.07151344e-02 -6.43559398e-04 9.45302728e+01] [ 9.07151090e-02 9.95876882e-01 -6.86040896e-05 3.05663629e+00] [ 6.47129356e-04 9.94065163e-06 9.99999791e-01 -3.06500041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.920281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:94.56, Y:3.06, Z:-0.31 [[ 9.95921638e-01 -9.02126308e-02 -1.33107561e-03 9.45600665e+01] [ 9.02125217e-02 9.95922528e-01 -1.41921283e-04 3.06140464e+00] [ 1.33845128e-03 2.12627889e-05 9.99999104e-01 -3.06950240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.95028169300001 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:94.59, Y:3.07, Z:-0.31 [[ 9.95731546e-01 -9.22893199e-02 -1.16994551e-03 9.45904256e+01] [ 9.22892370e-02 9.95732234e-01 -1.24728803e-04 3.06821569e+00] [ 1.17646359e-03 1.62230256e-05 9.99999308e-01 -3.07371736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.980281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:94.62, Y:3.07, Z:-0.31 [[ 9.95533581e-01 -9.44071638e-02 -4.19884115e-04 9.46204185e+01] [ 9.44071533e-02 9.95533670e-01 -4.47641730e-05 3.07247921e+00] [ 4.22234833e-04 4.92417339e-06 9.99999911e-01 -3.06828207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.010281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:94.65, Y:3.08, Z:-0.31 [[ 9.95288347e-01 -9.69561217e-02 7.85299669e-04 9.46503331e+01] [ 9.69560858e-02 9.95288657e-01 8.37214101e-05 3.07588566e+00] [-7.89717156e-04 -7.18736180e-06 9.99999688e-01 -3.06595001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.040281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:94.68, Y:3.08, Z:-0.31 [[ 9.94839761e-01 -1.01444770e-01 1.67561459e-03 9.46815049e+01] [ 1.01444613e-01 9.94841173e-01 1.78615310e-04 3.07884371e+00] [-1.68508997e-03 -7.71153925e-06 9.99998580e-01 -3.05502227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.070281693 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:94.71, Y:3.08, Z:-0.31 [[ 9.94670072e-01 -1.03100191e-01 1.34097399e-03 9.47121115e+01] [ 1.03100092e-01 9.94670976e-01 1.42931449e-04 3.08232770e+00] [-1.34856417e-03 -3.91509334e-06 9.99999091e-01 -3.05164400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.100281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:94.74, Y:3.09, Z:-0.31 [[ 9.94449556e-01 -1.05211551e-01 7.81373734e-04 9.47424209e+01] [ 1.05211518e-01 9.94449863e-01 8.32848964e-05 3.08787072e+00] [-7.85799535e-04 -6.13111587e-07 9.99999691e-01 -3.05086477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.130281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:94.77, Y:3.09, Z:-0.30 [[ 9.94430630e-01 -1.05386647e-01 1.17340645e-03 9.47715444e+01] [ 1.05386573e-01 9.94431322e-01 1.25076579e-04 3.09250435e+00] [-1.18005353e-03 -7.18696749e-07 9.99999304e-01 -3.04786149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.160281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:94.80, Y:3.10, Z:-0.30 [[ 9.94503977e-01 -1.04672696e-01 2.33814452e-03 9.48005431e+01] [ 1.04672400e-01 9.94506725e-01 2.49239907e-04 3.09697542e+00] [-2.35138906e-03 -3.13088044e-06 9.99997235e-01 -3.04177687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.190281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:94.83, Y:3.10, Z:-0.30 [[ 9.94638039e-01 -1.03347335e-01 3.80790469e-03 9.48310039e+01] [ 1.03346539e-01 9.94645328e-01 4.05909624e-04 3.10157621e+00] [-3.82946428e-03 -1.01993836e-05 9.99992668e-01 -3.03833194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.220281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:94.86, Y:3.11, Z:-0.30 [[ 9.94885176e-01 -1.00913855e-01 4.45876894e-03 9.48611193e+01] [ 1.00912739e-01 9.94895167e-01 4.75149161e-04 3.10908509e+00] [-4.48395680e-03 -2.27722685e-05 9.99989947e-01 -3.03111337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.250281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:94.89, Y:3.11, Z:-0.30 [[ 9.94955362e-01 -1.00266863e-01 3.22249222e-03 9.48922381e+01] [ 1.00266277e-01 9.94960580e-01 3.43330999e-04 3.11484889e+00] [-3.24067745e-03 -1.84917207e-05 9.99994749e-01 -3.03500539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.280281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:94.92, Y:3.12, Z:-0.31 [[ 9.94980086e-01 -1.00067412e-01 1.06859712e-03 9.49227775e+01] [ 1.00067348e-01 9.94980660e-01 1.13836802e-04 3.12130541e+00] [-1.07462482e-03 -6.33367141e-06 9.99999423e-01 -3.05422143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.31028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:94.95, Y:3.13, Z:-0.31 [[ 9.94933927e-01 -1.00528395e-01 7.22915030e-04 9.49532428e+01] [ 1.00528366e-01 9.94934190e-01 7.70010552e-05 3.12591873e+00] [-7.26993672e-04 -3.93749563e-06 9.99999736e-01 -3.05850849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.340281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:94.99, Y:3.13, Z:-0.31 [[ 9.94845250e-01 -1.01403919e-01 4.16603918e-04 9.49855561e+01] [ 1.01403909e-01 9.94845337e-01 4.43820326e-05 3.13071652e+00] [-4.18956977e-04 -1.90798859e-06 9.99999912e-01 -3.06402236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.370281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:95.02, Y:3.14, Z:-0.31 [[ 9.94575964e-01 -1.04012667e-01 -1.27275794e-04 9.50159228e+01] [ 1.04012666e-01 9.94575972e-01 -1.35212640e-05 3.13579884e+00] [ 1.27991829e-04 2.09629494e-07 9.99999992e-01 -3.06626693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.400281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:95.05, Y:3.14, Z:-0.31 [[ 9.94462279e-01 -1.05093291e-01 -4.20395360e-04 9.50469327e+01] [ 1.05093281e-01 9.94462367e-01 -4.47142941e-05 3.13972020e+00] [ 4.22766538e-04 2.85950941e-07 9.99999911e-01 -3.06523428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.430281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:95.08, Y:3.14, Z:-0.31 [[ 9.94371290e-01 -1.05951528e-01 -1.03820012e-04 9.50771167e+01] [ 1.05951528e-01 9.94371296e-01 -1.10375683e-05 3.14384011e+00] [ 1.04405087e-04 -2.44478299e-08 9.99999995e-01 -3.05901763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.460281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:95.11, Y:3.15, Z:-0.30 [[ 9.94324923e-01 -1.06368945e-01 1.89588670e-03 9.51090187e+01] [ 1.06368754e-01 9.94326731e-01 2.01638635e-04 3.14901339e+00] [-1.90657892e-03 1.16878660e-06 9.99998182e-01 -3.04391425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.490281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:95.14, Y:3.15, Z:-0.30 [[ 9.94362542e-01 -1.06006810e-01 2.38547162e-03 9.51394255e+01] [ 1.06006507e-01 9.94365404e-01 2.53606562e-04 3.15366891e+00] [-2.39891447e-03 6.98647337e-07 9.99997123e-01 -3.04443702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.520281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:95.17, Y:3.16, Z:-0.31 [[ 9.94461667e-01 -1.05085361e-01 1.74947649e-03 9.51704474e+01] [ 1.05085197e-01 9.94463205e-01 1.85892991e-04 3.16002755e+00] [-1.75932463e-03 -1.01937237e-06 9.99998452e-01 -3.05023421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.550281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:95.20, Y:3.16, Z:-0.31 [[ 9.94414034e-01 -1.05538976e-01 1.50146296e-03 9.52018190e+01] [ 1.05538855e-01 9.94415167e-01 1.59457828e-04 3.16467911e+00] [-1.50990655e-03 -1.04420694e-07 9.99998860e-01 -3.05511446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.580281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:95.23, Y:3.17, Z:-0.30 [[ 9.94302153e-01 -1.06591277e-01 1.23660859e-03 9.52324483e+01] [ 1.06591196e-01 9.94302922e-01 1.31284020e-04 3.16865117e+00] [-1.24355726e-03 1.27560469e-06 9.99999227e-01 -3.04857179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.610281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:95.26, Y:3.17, Z:-0.30 [[ 9.94081394e-01 -1.08623767e-01 1.74927553e-03 9.52645599e+01] [ 1.08623609e-01 9.94082933e-01 1.85626465e-04 3.17275161e+00] [-1.75908839e-03 5.48480604e-06 9.99998453e-01 -3.04946676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.640281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:95.30, Y:3.18, Z:-0.30 [[ 9.93992693e-01 -1.09426226e-01 2.10415957e-03 9.52954704e+01] [ 1.09425999e-01 9.93994920e-01 2.23196298e-04 3.17671095e+00] [-2.11594745e-03 8.39427308e-06 9.99997761e-01 -3.04775792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.670281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:95.33, Y:3.18, Z:-0.31 [[ 9.93913091e-01 -1.10150898e-01 1.88341952e-03 9.53277407e+01] [ 1.10150718e-01 9.93914875e-01 1.99703271e-04 3.18153571e+00] [-1.89395617e-03 8.97231645e-06 9.99998206e-01 -3.05023700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.70028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:95.36, Y:3.18, Z:-0.31 [[ 9.93919458e-01 -1.10093435e-01 1.88343026e-03 9.53602502e+01] [ 1.10093255e-01 9.93921242e-01 1.99601983e-04 3.18489000e+00] [-1.89395621e-03 8.96467274e-06 9.99998206e-01 -3.05045509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.730281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:95.39, Y:3.19, Z:-0.31 [[ 9.93813906e-01 -1.11058078e-01 1.53818566e-04 9.53906668e+01] [ 1.11058077e-01 9.93813918e-01 1.63160251e-05 3.19068184e+00] [-1.54679058e-04 8.67701373e-07 9.99999988e-01 -3.05519096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.760281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:95.42, Y:3.20, Z:-0.31 [[ 9.93704813e-01 -1.12029979e-01 -1.67681515e-04 9.54221502e+01] [ 1.12029977e-01 9.93704827e-01 -1.77227723e-05 3.19561201e+00] [ 1.68611413e-04 -1.17415223e-06 9.99999986e-01 -3.06095899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.790281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:95.45, Y:3.20, Z:-0.31 [[ 9.93609772e-01 -1.12868242e-01 6.16548846e-04 9.54530241e+01] [ 1.12868223e-01 9.93609964e-01 6.52794179e-05 3.19975902e+00] [-6.19977050e-04 4.72650542e-06 9.99999808e-01 -3.05751699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.820281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:95.48, Y:3.20, Z:-0.31 [[ 9.93469179e-01 -1.14090084e-01 1.56274151e-03 9.54842727e+01] [ 1.14089965e-01 9.93470409e-01 1.65372802e-04 3.20396265e+00] [-1.57140485e-03 1.40003429e-05 9.99998765e-01 -3.05359185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.850281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:95.52, Y:3.21, Z:-0.31 [[ 9.93269907e-01 -1.15794888e-01 2.53705292e-03 9.55161782e+01] [ 1.15794581e-01 9.93273146e-01 2.68356597e-04 3.20730623e+00] [-2.55106086e-03 2.72264466e-05 9.99996746e-01 -3.05291170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.880281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:95.55, Y:3.21, Z:-0.31 [[ 9.92808868e-01 -1.19687308e-01 2.34512913e-03 9.55474205e+01] [ 1.19687056e-01 9.92811637e-01 2.47972164e-04 3.20792141e+00] [-2.35795062e-03 3.44926383e-05 9.99997219e-01 -3.05814657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.910281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:95.58, Y:3.21, Z:-0.31 [[ 9.92495779e-01 -1.22269819e-01 1.49004725e-03 9.55790016e+01] [ 1.22269720e-01 9.92496897e-01 1.57523871e-04 3.20841300e+00] [-1.49812769e-03 2.58458828e-05 9.99998877e-01 -3.06088141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.940281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:95.61, Y:3.21, Z:-0.31 [[ 9.92458392e-01 -1.22576422e-01 1.16619714e-03 9.56101218e+01] [ 1.22576362e-01 9.92459077e-01 1.23264205e-04 3.21047332e+00] [-1.17251223e-03 2.06136085e-05 9.99999312e-01 -3.06006774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.970281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:95.64, Y:3.21, Z:-0.31 [[ 9.92462055e-01 -1.22549551e-01 8.22927351e-04 9.56404157e+01] [ 1.22549521e-01 9.92462396e-01 8.69689324e-05 3.21232535e+00] [-8.27382454e-04 1.45359870e-05 9.99999658e-01 -3.06097960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.000281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:95.67, Y:3.21, Z:-0.31 [[ 9.92517201e-01 -1.22104553e-01 2.89861136e-04 9.56710200e+01] [ 1.22104549e-01 9.92517243e-01 3.06347699e-05 3.21317211e+00] [-2.91432821e-04 4.98782727e-06 9.99999958e-01 -3.06220097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.030281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:95.70, Y:3.21, Z:-0.31 [[ 9.92761887e-01 -1.20098369e-01 -4.66657341e-04 9.57015800e+01] [ 1.20098359e-01 9.92761997e-01 -4.92953535e-05 3.21254162e+00] [ 4.69199965e-04 -7.10623247e-06 9.99999890e-01 -3.06482514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.06028169300001 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:95.73, Y:3.22, Z:-0.31 [[ 9.92975106e-01 -1.18323404e-01 -1.02845989e-04 9.57318901e+01] [ 1.18323404e-01 9.92975112e-01 -1.08657709e-05 3.21535347e+00] [ 1.03409183e-04 -1.37964745e-06 9.99999995e-01 -3.05893347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.090281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:95.76, Y:3.22, Z:-0.31 [[ 9.93648295e-01 -1.12523178e-01 1.26470010e-03 9.57635120e+01] [ 1.12523099e-01 9.93649100e-01 1.33602618e-04 3.21847999e+00] [-1.27170151e-03 9.55396141e-06 9.99999191e-01 -3.05146901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.120281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:95.79, Y:3.22, Z:-0.30 [[ 9.94077018e-01 -1.08671654e-01 1.16386426e-03 9.57941731e+01] [ 1.08671585e-01 9.94077699e-01 1.22918400e-04 3.22132154e+00] [-1.17032925e-03 4.28861777e-06 9.99999315e-01 -3.04935676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.150281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:95.83, Y:3.23, Z:-0.30 [[ 9.94422087e-01 -1.05465188e-01 1.34408935e-03 9.58255519e+01] [ 1.05465092e-01 9.94422996e-01 1.41910121e-04 3.22500163e+00] [-1.35155994e-03 6.35948723e-07 9.99999087e-01 -3.04630850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.180281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:95.86, Y:3.23, Z:-0.30 [[ 9.94848587e-01 -1.01358436e-01 1.66037506e-03 9.58564844e+01] [ 1.01358285e-01 9.94849972e-01 1.75263214e-04 3.23078037e+00] [-1.66958848e-03 -6.06759231e-06 9.99998606e-01 -3.04837483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.210281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:95.89, Y:3.23, Z:-0.31 [[ 9.94924147e-01 -1.00618651e-01 1.35230699e-03 9.58865505e+01] [ 1.00618550e-01 9.94925066e-01 1.42724903e-04 3.23421442e+00] [-1.35980491e-03 -5.93328319e-06 9.99999075e-01 -3.05473113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.240281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:95.92, Y:3.24, Z:-0.31 [[ 9.94844043e-01 -1.01416342e-01 -2.34943187e-04 9.59187308e+01] [ 1.01416339e-01 9.94844071e-01 -2.47536980e-05 3.23690998e+00] [ 2.36242266e-04 7.98991038e-07 9.99999972e-01 -3.07168924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.270281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:95.95, Y:3.24, Z:-0.31 [[ 9.94770397e-01 -1.02133271e-01 -8.07689404e-04 9.59501570e+01] [ 1.02133236e-01 9.94770725e-01 -8.51527933e-05 3.24066092e+00] [ 8.12162707e-04 2.21554567e-06 9.99999670e-01 -3.07058304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.300281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:95.98, Y:3.25, Z:-0.31 [[ 9.94733198e-01 -1.02498116e-01 -4.08578151e-05 9.59804186e+01] [ 1.02498116e-01 9.94733198e-01 -4.28498702e-06 3.24762987e+00] [ 4.10818282e-05 7.45697711e-08 9.99999999e-01 -3.05988407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.330281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:96.01, Y:3.25, Z:-0.31 [[ 9.94756754e-01 -1.02267763e-01 5.52723280e-04 9.60101540e+01] [ 1.02267746e-01 9.94756907e-01 5.82705745e-05 3.25220930e+00] [-5.55784502e-04 -1.43928334e-06 9.99999846e-01 -3.05708746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:96.04, Y:3.26, Z:-0.31 [[ 9.94740716e-01 -1.02417207e-01 1.27406143e-03 9.60423406e+01] [ 1.02417119e-01 9.94741532e-01 1.34272338e-04 3.25651746e+00] [-1.28111362e-03 -3.08046070e-06 9.99999179e-01 -3.05149393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.390281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:96.07, Y:3.26, Z:-0.30 [[ 9.94772281e-01 -1.02107869e-01 1.44647442e-03 9.60734935e+01] [ 1.02107755e-01 9.94773333e-01 1.52381515e-04 3.26030426e+00] [-1.45447353e-03 -3.88865120e-06 9.99998942e-01 -3.04787952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.420281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:96.10, Y:3.27, Z:-0.30 [[ 9.94810537e-01 -1.01724372e-01 2.03638603e-03 9.61041008e+01] [ 1.01724146e-01 9.94812622e-01 2.14465004e-04 3.26642707e+00] [-2.04763884e-03 -6.20241682e-06 9.99997904e-01 -3.04421857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.45028169300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:96.14, Y:3.27, Z:-0.31 [[ 9.94807498e-01 -1.01750938e-01 2.18846477e-03 9.61360194e+01] [ 1.01750677e-01 9.94809905e-01 2.30397867e-04 3.27066569e+00] [-2.20054962e-03 -6.52375268e-06 9.99997579e-01 -3.05209035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.480281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:96.17, Y:3.27, Z:-0.31 [[ 9.94708736e-01 -1.02721443e-01 1.68414313e-03 9.61665598e+01] [ 1.02721290e-01 9.94710161e-01 1.77246965e-04 3.27497154e+00] [-1.69344134e-03 -3.31175003e-06 9.99998566e-01 -3.05475393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.510281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:96.20, Y:3.28, Z:-0.31 [[ 9.94635092e-01 -1.03437016e-01 1.34789286e-03 9.61974449e+01] [ 1.03436919e-01 9.94636006e-01 1.41825663e-04 3.27817564e+00] [-1.35533280e-03 -1.64289751e-06 9.99999082e-01 -3.05616437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.540281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:96.23, Y:3.28, Z:-0.31 [[ 9.94508365e-01 -1.04655537e-01 5.75628337e-04 9.62283032e+01] [ 1.04655519e-01 9.94508531e-01 6.05634624e-05 3.28112589e+00] [-5.78805593e-04 1.18124940e-08 9.99999832e-01 -3.05662240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.570281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:96.26, Y:3.28, Z:-0.31 [[ 9.94174889e-01 -1.07771142e-01 -1.29280918e-03 9.62599491e+01] [ 1.07771057e-01 9.94175729e-01 -1.35923134e-04 3.28228104e+00] [ 1.29992810e-03 -4.19604504e-06 9.99999155e-01 -3.06722200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.600281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.29, Y:3.28, Z:-0.31 [[ 9.93968480e-01 -1.09653052e-01 -1.69358869e-03 9.62915330e+01] [ 1.09652908e-01 9.93969923e-01 -1.78037566e-04 3.28348649e+00] [ 1.70289858e-03 -8.74319617e-06 9.99998550e-01 -3.07354077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:96.32, Y:3.28, Z:-0.31 [[ 9.93790241e-01 -1.11260999e-01 -1.39539025e-03 9.63220817e+01] [ 1.11260902e-01 9.93791221e-01 -1.46701493e-04 3.28474645e+00] [ 1.40304874e-03 -9.46186651e-06 9.99999016e-01 -3.07114045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.660281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:96.35, Y:3.28, Z:-0.31 [[ 9.93509961e-01 -1.13744980e-01 -1.92305232e-04 9.63522344e+01] [ 1.13744978e-01 9.93509980e-01 -2.02268567e-05 3.28349101e+00] [ 1.93357871e-04 -1.77817085e-06 9.99999981e-01 -3.06459104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.690281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.38, Y:3.28, Z:-0.31 [[ 9.93419454e-01 -1.14532916e-01 9.13883518e-06 9.63838827e+01] [ 1.14532916e-01 9.93419454e-01 9.75734863e-07 3.28420661e+00] [-9.19045040e-06 7.73834483e-08 1.00000000e+00 -3.06547637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.720281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:96.41, Y:3.28, Z:-0.31 [[ 9.93463126e-01 -1.14151444e-01 -6.81938208e-04 9.64149881e+01] [ 1.14151422e-01 9.93463360e-01 -7.16709539e-05 3.28252424e+00] [ 6.85661966e-04 -6.64176609e-06 9.99999765e-01 -3.06316261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.750281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:96.45, Y:3.28, Z:-0.31 [[ 9.93601140e-01 -1.12945741e-01 -1.82583522e-04 9.64453283e+01] [ 1.12945739e-01 9.93601157e-01 -1.91913237e-05 3.28351013e+00] [ 1.83582777e-04 -1.55350961e-06 9.99999983e-01 -3.07054743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.780281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:96.47, Y:3.28, Z:-0.31 [[ 9.93799566e-01 -1.11186355e-01 1.30143780e-04 9.64746201e+01] [ 1.11186354e-01 9.93799575e-01 1.36734147e-05 3.28479281e+00] [-1.30857130e-04 8.81578746e-07 9.99999991e-01 -3.06560088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.81028169300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:96.50, Y:3.29, Z:-0.31 [[ 9.94224978e-01 -1.07308578e-01 1.24997140e-03 9.65038777e+01] [ 1.07308497e-01 9.94225764e-01 1.31404751e-04 3.28505264e+00] [-1.25685463e-03 3.48666716e-06 9.99999210e-01 -3.05721604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.840281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:96.53, Y:3.29, Z:-0.31 [[ 9.94479224e-01 -1.04924932e-01 1.35347798e-03 9.65333772e+01] [ 1.04924836e-01 9.94480145e-01 1.42293934e-04 3.28728776e+00] [-1.36093716e-03 5.05093919e-07 9.99999074e-01 -3.05078259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:96.57, Y:3.29, Z:-0.30 [[ 9.95068121e-01 -9.91921766e-02 5.89101932e-04 9.65650090e+01] [ 9.91921574e-02 9.95068295e-01 6.19352529e-05 3.29086439e+00] [-5.92340148e-04 -3.19550421e-06 9.99999825e-01 -3.04790065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.900281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:96.60, Y:3.29, Z:-0.30 [[ 9.95377936e-01 -9.60344883e-02 3.77414297e-04 9.65966166e+01] [ 9.60344801e-02 9.95378007e-01 3.96830476e-05 3.29448764e+00] [-3.79480832e-04 -3.25484422e-06 9.99999928e-01 -3.04844643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.63, Y:3.30, Z:-0.30 [[ 9.95623635e-01 -9.34506481e-02 7.43789253e-04 9.66272909e+01] [ 9.34506158e-02 9.95623913e-01 7.81374300e-05 3.29781407e+00] [-7.47836360e-04 -8.28790838e-06 9.99999720e-01 -3.04942879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.960281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:96.66, Y:3.30, Z:-0.30 [[ 9.95880815e-01 -9.06557472e-02 1.71399595e-03 9.66587966e+01] [ 9.06555718e-02 9.95882290e-01 1.79895453e-04 3.30232712e+00] [-1.72324677e-03 -2.37711470e-05 9.99998515e-01 -3.04915696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.990281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:96.69, Y:3.31, Z:-0.31 [[ 9.95926409e-01 -9.01562436e-02 1.56199825e-03 9.66911692e+01] [ 9.01560975e-02 9.95927634e-01 1.63871025e-04 3.30681866e+00] [-1.57041122e-03 -2.23798149e-05 9.99998767e-01 -3.05300581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.020281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:96.72, Y:3.31, Z:-0.31 [[ 9.95897674e-01 -9.04748332e-02 1.45885933e-03 9.67233664e+01] [ 9.04747062e-02 9.95898742e-01 1.52983211e-04 3.31034871e+00] [-1.46671730e-03 -2.03657541e-05 9.99998924e-01 -3.05701272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.050281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:96.75, Y:3.31, Z:-0.31 [[ 9.95879448e-01 -9.06765389e-02 1.37467811e-03 9.67549110e+01] [ 9.06764263e-02 9.95880397e-01 1.44091857e-04 3.31376124e+00] [-1.38208074e-03 -1.88472206e-05 9.99999045e-01 -3.06428964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.080281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:96.79, Y:3.32, Z:-0.31 [[ 9.95952427e-01 -8.98819348e-02 8.93058081e-06 9.67858615e+01] [ 8.98819348e-02 9.95952427e-01 9.59100620e-07 3.31960199e+00] [-8.98063945e-06 -1.52520708e-07 1.00000000e+00 -3.06151329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.110281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:96.82, Y:3.32, Z:-0.31 [[ 9.96039681e-01 -8.89050884e-02 -9.16531488e-04 9.68181155e+01] [ 8.89050377e-02 9.96040102e-01 -9.59414226e-05 3.32492552e+00] [ 9.21431798e-04 1.40771974e-05 9.99999575e-01 -3.06116633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.140281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:96.85, Y:3.33, Z:-0.31 [[ 9.96312060e-01 -8.57651093e-02 -2.57392337e-03 9.68494800e+01] [ 8.57646995e-02 9.96315384e-01 -2.69370386e-04 3.33122274e+00] [ 2.58754203e-03 4.76251999e-05 9.99996651e-01 -3.07081867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.170281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:96.88, Y:3.34, Z:-0.31 [[ 9.96403696e-01 -8.46922320e-02 -2.62705370e-03 9.68807732e+01] [ 8.46918017e-02 9.96407157e-01 -2.74846398e-04 3.33627455e+00] [ 2.64089247e-03 5.13680552e-05 9.99996512e-01 -3.07588868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.20028169300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:96.91, Y:3.34, Z:-0.31 [[ 9.96496580e-01 -8.36048045e-02 -2.19153885e-03 9.69114868e+01] [ 8.36045025e-02 9.96498989e-01 -2.29201613e-04 3.34113147e+00] [ 2.20302861e-03 4.51761076e-05 9.99997572e-01 -3.06918940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.230281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:96.94, Y:3.35, Z:-0.31 [[ 9.96589518e-01 -8.25026325e-02 -1.62708126e-03 9.69430235e+01] [ 8.25024647e-02 9.96590846e-01 -1.70079867e-04 3.34803856e+00] [ 1.63556632e-03 3.52615987e-05 9.99998662e-01 -3.06733888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.260281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:96.98, Y:3.35, Z:-0.31 [[ 9.96570204e-01 -8.27409600e-02 -1.32721465e-03 9.69752250e+01] [ 8.27408486e-02 9.96571088e-01 -1.38665865e-04 3.35279954e+00] [ 1.33413710e-03 2.83754026e-05 9.99999110e-01 -3.06677689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.290281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:97.01, Y:3.36, Z:-0.31 [[ 9.96445709e-01 -8.42374124e-02 9.06194924e-05 9.70056119e+01] [ 8.42374119e-02 9.96445713e-01 9.49011631e-06 3.35906372e+00] [-9.10968275e-05 -1.82283416e-06 9.99999996e-01 -3.05921102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.320281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.04, Y:3.36, Z:-0.31 [[ 9.96390659e-01 -8.48724013e-02 1.52676064e-03 9.70377709e+01] [ 8.48722565e-02 9.96391828e-01 1.59455492e-04 3.36367641e+00] [-1.53478520e-03 -2.93003416e-05 9.99998822e-01 -3.05669767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.350281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.07, Y:3.37, Z:-0.31 [[ 9.96337886e-01 -8.54673889e-02 2.47852292e-03 9.70681750e+01] [ 8.54670098e-02 9.96340967e-01 2.58663340e-04 3.36839997e+00] [-2.49156120e-03 -4.58841421e-05 9.99996895e-01 -3.05324727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:97.10, Y:3.38, Z:-0.31 [[ 9.96286567e-01 -8.60821650e-02 1.71379217e-03 9.70984495e+01] [ 8.60819848e-02 9.96288041e-01 1.78782419e-04 3.37544493e+00] [-1.72282062e-03 -3.05918910e-05 9.99998515e-01 -3.05035912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.13, Y:3.38, Z:-0.31 [[ 9.96251659e-01 -8.64994448e-02 6.91663527e-04 9.71301512e+01] [ 8.64994156e-02 9.96251899e-01 7.21438696e-05 3.38109510e+00] [-6.95311507e-04 -1.20449589e-05 9.99999758e-01 -3.05281777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.440281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.16, Y:3.39, Z:-0.31 [[ 9.96157722e-01 -8.75762924e-02 -4.31669852e-04 9.71616654e+01] [ 8.75762811e-02 9.96157815e-01 -4.49567967e-05 3.38649967e+00] [ 4.33948446e-04 6.98001992e-06 9.99999906e-01 -3.05988537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.470281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:97.19, Y:3.39, Z:-0.31 [[ 9.95763168e-01 -9.19505910e-02 -8.95556039e-04 9.71920779e+01] [ 9.19505444e-02 9.95763571e-01 -9.32120064e-05 3.39192029e+00] [ 9.00332978e-04 1.04702175e-05 9.99999595e-01 -3.06375008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.500281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.22, Y:3.40, Z:-0.31 [[ 9.95510162e-01 -9.46546386e-02 -1.32707759e-04 9.72236073e+01] [ 9.46546376e-02 9.95510170e-01 -1.37869717e-05 3.39574385e+00] [ 1.33416925e-04 1.16366556e-06 9.99999991e-01 -3.06047295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.530281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:97.26, Y:3.40, Z:-0.31 [[ 9.94958681e-01 -1.00283726e-01 6.30662379e-04 9.72552940e+01] [ 1.00283704e-01 9.94958881e-01 6.56526209e-05 3.40166968e+00] [-6.34067024e-04 -2.07648556e-06 9.99999799e-01 -3.05033366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.56028169300001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.29, Y:3.41, Z:-0.30 [[ 9.94675370e-01 -1.03057766e-01 -6.78655276e-05 9.72863343e+01] [ 1.03057766e-01 9.94675373e-01 -7.03669266e-06 3.40670705e+00] [ 6.82293547e-05 5.15521121e-09 9.99999998e-01 -3.04381329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:97.32, Y:3.41, Z:-0.30 [[ 9.94678535e-01 -1.03027218e-01 -6.78655390e-05 9.73180115e+01] [ 1.03027217e-01 9.94678537e-01 -7.03657971e-06 3.40994763e+00] [ 6.82293542e-05 7.13717225e-09 9.99999998e-01 -3.04402578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.620281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:97.35, Y:3.41, Z:-0.31 [[ 9.94422558e-01 -1.05468562e-01 -3.98807025e-04 9.73496276e+01] [ 1.05468554e-01 9.94422638e-01 -4.14246834e-05 3.41432642e+00] [ 4.00951735e-04 -8.67960700e-07 9.99999920e-01 -3.05438785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.650281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:97.38, Y:3.42, Z:-0.31 [[ 9.94144974e-01 -1.08054054e-01 -3.04162072e-04 9.73811027e+01] [ 1.08054049e-01 9.94145020e-01 -3.15702782e-05 3.41800421e+00] [ 3.05792505e-04 -1.48051006e-06 9.99999953e-01 -3.05917139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.41, Y:3.42, Z:-0.31 [[ 9.93593952e-01 -1.13009063e-01 -9.67146449e-05 9.74122977e+01] [ 1.13009063e-01 9.93593957e-01 -1.00216498e-05 3.42108586e+00] [ 9.72276241e-05 -9.72180721e-07 9.99999995e-01 -3.06203002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.710281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:97.44, Y:3.42, Z:-0.31 [[ 9.93343334e-01 -1.15190288e-01 -4.67241180e-04 9.74445072e+01] [ 1.15190278e-01 9.93343444e-01 -4.84762317e-05 3.42401323e+00] [ 4.69714954e-04 -5.66809985e-06 9.99999890e-01 -3.06480002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.740281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:97.48, Y:3.43, Z:-0.31 [[ 9.92857575e-01 -1.19286508e-01 -2.13674669e-03 9.74759053e+01] [ 1.19286307e-01 9.92859873e-01 -2.21730973e-04 3.42662774e+00] [ 2.14793957e-03 -3.47373452e-05 9.99997693e-01 -3.06736961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.770281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:97.51, Y:3.43, Z:-0.31 [[ 9.92621986e-01 -1.21217613e-01 -2.80773929e-03 9.75080850e+01] [ 1.21217274e-01 9.92625956e-01 -2.91232339e-04 3.42957859e+00] [ 2.82233738e-03 -5.12628810e-05 9.99996016e-01 -3.07393412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.800281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:97.54, Y:3.43, Z:-0.31 [[ 9.92350273e-01 -1.23429614e-01 -2.46283254e-03 9.75405931e+01] [ 1.23429360e-01 9.92353328e-01 -2.55340538e-04 3.43223571e+00] [ 2.47551666e-03 -5.05985932e-05 9.99996935e-01 -3.07707972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.830281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.57, Y:3.43, Z:-0.31 [[ 9.91764567e-01 -1.28074363e-01 4.52787787e-05 9.75719585e+01] [ 1.28074363e-01 9.91764568e-01 4.70899400e-06 3.43235320e+00] [-4.55089898e-05 1.12883737e-06 9.99999999e-01 -3.05777536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.860281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:97.60, Y:3.43, Z:-0.30 [[ 9.91478859e-01 -1.30260804e-01 1.33997638e-03 9.76047459e+01] [ 1.30260735e-01 9.91479764e-01 1.38879465e-04 3.43292021e+00] [-1.34665002e-03 3.68502546e-05 9.99999093e-01 -3.00832836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.890281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:97.64, Y:3.43, Z:-0.30 [[ 9.91127903e-01 -1.32888196e-01 2.49145136e-03 9.76363889e+01] [ 1.32887967e-01 9.91131031e-01 2.58026629e-04 3.42825113e+00] [-2.50364345e-03 7.53465150e-05 9.99996863e-01 -3.04799503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.920281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:97.67, Y:3.43, Z:-0.31 [[ 9.91131612e-01 -1.32870334e-01 1.89809759e-03 9.76683308e+01] [ 1.32870201e-01 9.91133428e-01 1.96510919e-04 3.42817581e+00] [-1.90737844e-03 5.74324238e-05 9.99998179e-01 -3.05064853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.95028169300001 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:97.70, Y:3.43, Z:-0.31 [[ 9.91580584e-01 -1.29490056e-01 -5.21238179e-04 9.76987724e+01] [ 1.29490045e-01 9.91580721e-01 -5.39469154e-05 3.42601587e+00] [ 5.23835318e-04 -1.40024415e-05 9.99999863e-01 -3.05314469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 103.980281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.73, Y:3.43, Z:-0.30 [[ 9.91972082e-01 -1.26450293e-01 -1.30868062e-03 9.77296091e+01] [ 1.26450224e-01 9.91972944e-01 -1.35463735e-04 3.42737319e+00] [ 1.31530520e-03 -3.11067148e-05 9.99999135e-01 -3.04997855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.010281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.76, Y:3.43, Z:-0.30 [[ 9.92420586e-01 -1.22876435e-01 -1.66205260e-03 9.77594110e+01] [ 1.22876319e-01 9.92421977e-01 -1.72067505e-04 3.42904876e+00] [ 1.67060057e-03 -3.34635715e-05 9.99998604e-01 -3.04076461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.040281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:97.79, Y:3.43, Z:-0.30 [[ 9.93191438e-01 -1.16483225e-01 -1.55768285e-03 9.77891851e+01] [ 1.16483116e-01 9.93192659e-01 -1.61279902e-04 3.42972134e+00] [ 1.56586558e-03 -2.12619333e-05 9.99998774e-01 -3.04088743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:97.82, Y:3.43, Z:-0.30 [[ 9.93471876e-01 -1.14070371e-01 -1.25795946e-03 9.78207660e+01] [ 1.14070298e-01 9.93472672e-01 -1.30195488e-04 3.43178885e+00] [ 1.26459980e-03 -1.41502552e-05 9.99999200e-01 -3.04702418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.100281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:97.85, Y:3.43, Z:-0.31 [[ 9.93687593e-01 -1.12170843e-01 -1.63416558e-03 9.78509217e+01] [ 1.12170717e-01 9.93688936e-01 -1.69059407e-04 3.43214533e+00] [ 1.64281580e-03 -1.53132894e-05 9.99998650e-01 -3.05288190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:97.88, Y:3.43, Z:-0.31 [[ 9.93637601e-01 -1.12610392e-01 -1.79367578e-03 9.78802439e+01] [ 1.12610241e-01 9.93639220e-01 -1.85617184e-04 3.43405423e+00] [ 1.80316903e-03 -1.75500480e-05 9.99998374e-01 -3.05762022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.160281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:97.91, Y:3.44, Z:-0.31 [[ 9.93406106e-01 -1.14615029e-01 -2.77540571e-03 9.79117876e+01] [ 1.14614674e-01 9.93409983e-01 -2.87120147e-04 3.43567434e+00] [ 2.79002402e-03 -3.28753137e-05 9.99996107e-01 -3.05228502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.190281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:97.94, Y:3.44, Z:-0.30 [[ 9.93325563e-01 -1.15318595e-01 -2.43871472e-03 9.79419931e+01] [ 1.15318323e-01 9.93328556e-01 -2.52266547e-04 3.43840830e+00] [ 2.45153599e-03 -3.06456816e-05 9.99996995e-01 -3.04612299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.220281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:97.97, Y:3.44, Z:-0.30 [[ 9.93359801e-01 -1.15044343e-01 -1.05091665e-03 9.79700859e+01] [ 1.15044292e-01 9.93360357e-01 -1.08767592e-04 3.44130023e+00] [ 1.05645203e-03 -1.28566076e-05 9.99999442e-01 -3.03898245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.250281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:98.00, Y:3.44, Z:-0.30 [[ 9.93675523e-01 -1.12288572e-01 4.80515805e-04 9.80011269e+01] [ 1.12288561e-01 9.93675640e-01 4.97268227e-05 3.44450315e+00] [-4.83060604e-04 4.54410176e-06 9.99999883e-01 -3.02843570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.280281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.03, Y:3.45, Z:-0.30 [[ 9.93897279e-01 -1.10309458e-01 1.48219720e-04 9.80316542e+01] [ 1.10309457e-01 9.93897290e-01 1.53399227e-05 3.44720160e+00] [-1.49007316e-04 1.10372937e-06 9.99999989e-01 -3.03212172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.31028169300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.06, Y:3.45, Z:-0.30 [[ 9.94321575e-01 -1.06410961e-01 -1.14616459e-03 9.80629673e+01] [ 1.06410895e-01 9.94322235e-01 -1.18520184e-04 3.45034195e+00] [ 1.15226879e-03 -4.11722396e-06 9.99999336e-01 -3.03358613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.340281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.09, Y:3.45, Z:-0.30 [[ 9.94559645e-01 -1.04157633e-01 -1.51668271e-03 9.80944983e+01] [ 1.04157515e-01 9.94560801e-01 -1.56751744e-04 3.45405325e+00] [ 1.52476006e-03 -2.07494325e-06 9.99998838e-01 -3.03155427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.370281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.13, Y:3.46, Z:-0.30 [[ 9.94786671e-01 -1.01970084e-01 -1.25714766e-03 9.81252610e+01] [ 1.01970002e-01 9.94787466e-01 -1.29811194e-04 3.45812347e+00] [ 1.26383160e-03 9.43096741e-07 9.99999201e-01 -3.02563009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.400281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:98.16, Y:3.47, Z:-0.30 [[ 9.95225211e-01 -9.76026675e-02 -7.06574260e-04 9.81557923e+01] [ 9.76026403e-02 9.95225462e-01 -7.29564955e-05 3.46550365e+00] [ 7.10321442e-04 3.64463032e-06 9.99999748e-01 -3.01728276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.430281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.19, Y:3.47, Z:-0.30 [[ 9.95446325e-01 -9.53188569e-02 -9.63821875e-04 9.81872246e+01] [ 9.53188053e-02 9.95446792e-01 -9.94628494e-05 3.47092901e+00] [ 9.68914078e-04 7.13957838e-06 9.99999531e-01 -3.01875567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.460281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:98.22, Y:3.48, Z:-0.30 [[ 9.95709095e-01 -9.24934350e-02 -2.89188879e-03 9.82176076e+01] [ 9.24929585e-02 9.95713294e-01 -2.98359785e-04 3.47877807e+00] [ 2.90708843e-03 2.96002022e-05 9.99995774e-01 -3.03154100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:98.25, Y:3.48, Z:-0.30 [[ 9.95770976e-01 -9.18023535e-02 -3.53434595e-03 9.82493293e+01] [ 9.18016380e-02 9.95777247e-01 -3.64485886e-04 3.48489684e+00] [ 3.55288194e-03 3.84857188e-05 9.99993688e-01 -3.03426291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.520281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:98.28, Y:3.49, Z:-0.30 [[ 9.95738430e-01 -9.21388513e-02 -3.92576473e-03 9.82797886e+01] [ 9.21379724e-02 9.95746168e-01 -4.04542147e-04 3.49160601e+00] [ 3.94633923e-03 4.11061603e-05 9.99992212e-01 -3.03040223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.550281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:98.31, Y:3.50, Z:-0.30 [[ 9.95647044e-01 -9.31367319e-02 -3.53749724e-03 9.83110387e+01] [ 9.31360250e-02 9.95653327e-01 -3.64384227e-04 3.50142371e+00] [ 3.55605846e-03 3.33296465e-05 9.99993677e-01 -3.02371903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.580281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:98.34, Y:3.51, Z:-0.30 [[ 9.95592781e-01 -9.37530429e-02 -2.31995429e-03 9.83426099e+01] [ 9.37527408e-02 9.95595483e-01 -2.38853598e-04 3.50752194e+00] [ 2.33212926e-03 2.02988449e-05 9.99997280e-01 -3.02132171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.610281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:98.37, Y:3.52, Z:-0.30 [[ 9.95555046e-01 -9.41806978e-02 3.83593755e-04 9.83725545e+01] [ 9.41806895e-02 9.95555120e-01 3.95078923e-05 3.51629415e+00] [-3.85609607e-04 -3.20515718e-06 9.99999926e-01 -3.01169601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.640281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:98.40, Y:3.52, Z:-0.30 [[ 9.95553832e-01 -9.41818336e-02 1.53265647e-03 9.84046623e+01] [ 9.41817024e-02 9.95555012e-01 1.57725157e-04 3.52279031e+00] [-1.54069868e-03 -1.26756892e-05 9.99998813e-01 -3.00612707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.670281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:98.44, Y:3.53, Z:-0.30 [[ 9.95542417e-01 -9.42996564e-02 1.69426986e-03 9.84360885e+01] [ 9.42994963e-02 9.95543859e-01 1.74277424e-04 3.52891339e+00] [-1.70315425e-03 -1.37317743e-05 9.99998550e-01 -3.01075150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.70028169300001 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:98.47, Y:3.54, Z:-0.30 [[ 9.95351093e-01 -9.63115138e-02 -5.41693161e-04 9.84673372e+01] [ 9.63114977e-02 9.95351241e-01 -5.56543103e-05 3.53617754e+00] [ 5.44535111e-04 3.22429892e-06 9.99999852e-01 -3.02391797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.730281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:98.50, Y:3.54, Z:-0.30 [[ 9.95201868e-01 -9.78261287e-02 -1.81390966e-03 9.84985799e+01] [ 9.78259515e-02 9.95203521e-01 -1.86381095e-04 3.54011161e+00] [ 1.82344222e-03 8.03937534e-06 9.99998337e-01 -3.03023697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.760281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:98.53, Y:3.54, Z:-0.30 [[ 9.95030660e-01 -9.95429709e-02 -2.27653468e-03 9.85293200e+01] [ 9.95426964e-02 9.95033264e-01 -2.33848165e-04 3.54370181e+00] [ 2.28850567e-03 6.07369324e-06 9.99997381e-01 -3.03677851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.790281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:98.56, Y:3.55, Z:-0.30 [[ 9.94632766e-01 -1.03439061e-01 -2.45366935e-03 9.85616619e+01] [ 1.03438755e-01 9.94635793e-01 -2.51930305e-04 3.54781061e+00] [ 2.46656680e-03 -3.22636626e-06 9.99996958e-01 -3.02756407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.820281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:98.59, Y:3.55, Z:-0.30 [[ 9.94432829e-01 -1.05341868e-01 -2.53757154e-03 9.85928249e+01] [ 1.05341546e-01 9.94436067e-01 -2.60470522e-04 3.55149669e+00] [ 2.55089112e-03 -8.29127162e-06 9.99996746e-01 -3.02512031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.850281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:98.62, Y:3.56, Z:-0.30 [[ 9.94173734e-01 -1.07767462e-01 -2.18187706e-03 9.86248598e+01] [ 1.07767231e-01 9.94176128e-01 -2.23855146e-04 3.55602614e+00] [ 2.19329439e-03 -1.25839420e-05 9.99997595e-01 -3.02682646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.880281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:98.66, Y:3.56, Z:-0.30 [[ 9.94193375e-01 -1.07586747e-01 -2.15061383e-03 9.86564244e+01] [ 1.07586521e-01 9.94195701e-01 -2.20554787e-04 3.55906693e+00] [ 2.16185980e-03 -1.21029534e-05 9.99997663e-01 -3.02857502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.910281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:98.69, Y:3.56, Z:-0.30 [[ 9.94349519e-01 -1.06134808e-01 -2.10612002e-03 9.86871228e+01] [ 1.06134588e-01 9.94351750e-01 -2.15930488e-04 3.56289165e+00] [ 2.11714187e-03 -8.82180473e-06 9.99997759e-01 -3.02231163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.940281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:98.72, Y:3.57, Z:-0.30 [[ 9.94461301e-01 -1.05076069e-01 -2.39581428e-03 9.87190786e+01] [ 1.05075782e-01 9.94464187e-01 -2.45517360e-04 3.56697748e+00] [ 2.40834950e-03 -7.58454682e-06 9.99997100e-01 -3.02075444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.970281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:98.75, Y:3.57, Z:-0.30 [[ 9.94575353e-01 -1.03971949e-01 -3.11453451e-03 9.87505955e+01] [ 1.03971460e-01 9.94580230e-01 -3.19037163e-04 3.57065345e+00] [ 3.13082536e-03 -6.51620084e-06 9.99995099e-01 -3.02187816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.000281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:98.78, Y:3.57, Z:-0.30 [[ 9.94775054e-01 -1.01978711e-01 -4.78906496e-03 9.87822670e+01] [ 1.01977532e-01 9.94786581e-01 -4.90355765e-04 3.57283024e+00] [ 4.81410341e-03 -5.83345078e-07 9.99988412e-01 -3.02666916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.030281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:98.81, Y:3.58, Z:-0.30 [[ 9.94858644e-01 -1.01141182e-01 -5.17114592e-03 9.88130901e+01] [ 1.01139797e-01 9.94872083e-01 -5.29304156e-04 3.57637326e+00] [ 5.19816316e-03 3.57416768e-06 9.99986489e-01 -3.03107926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.06028169300001 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:98.84, Y:3.58, Z:-0.30 [[ 9.94982106e-01 -1.00009007e-01 -2.96778571e-03 9.88434675e+01] [ 1.00008547e-01 9.94986532e-01 -3.03516983e-04 3.58205292e+00] [ 2.98326125e-03 5.19003096e-06 9.99995550e-01 -3.01714107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.090281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:98.87, Y:3.59, Z:-0.30 [[ 9.94975453e-01 -1.00109091e-01 -1.42080363e-03 9.88749615e+01] [ 1.00108985e-01 9.94976467e-01 -1.45235211e-04 3.58552479e+00] [ 1.42820554e-03 2.27026031e-06 9.99998980e-01 -3.01492291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.120281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:98.91, Y:3.59, Z:-0.30 [[ 9.94938120e-01 -1.00489264e-01 -2.11392479e-04 9.89074937e+01] [ 1.00489262e-01 9.94938143e-01 -2.15730093e-05 3.58851351e+00] [ 2.12490297e-04 2.21135201e-07 9.99999977e-01 -3.01248870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.150281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:98.94, Y:3.59, Z:-0.30 [[ 9.94897459e-01 -1.00891251e-01 -4.88542036e-05 9.89397557e+01] [ 1.00891251e-01 9.94897460e-01 -4.96008087e-06 3.59178897e+00] [ 4.91053518e-05 5.81015870e-09 9.99999999e-01 -3.00712707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.180281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:98.97, Y:3.60, Z:-0.30 [[ 9.94790942e-01 -1.01931340e-01 -9.91806474e-04 9.89713339e+01] [ 1.01931290e-01 9.94791436e-01 -1.01237276e-04 3.59677871e+00] [ 9.96959838e-04 -3.86188753e-07 9.99999503e-01 -3.00557274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.210281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:99.00, Y:3.60, Z:-0.30 [[ 9.94250538e-01 -1.07075033e-01 -8.97375252e-04 9.90045084e+01] [ 1.07072178e-01 9.94247355e-01 -2.78326381e-03 3.60088310e+00] [ 1.19023104e-03 2.67117762e-03 9.99995724e-01 -3.00316307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.240281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:99.04, Y:3.60, Z:-0.30 [[ 9.93879227e-01 -1.10471925e-01 -1.86941909e-04 9.90363796e+01] [ 1.10472039e-01 9.93875890e-01 2.57764657e-03 3.59934898e+00] [-9.89605228e-05 -2.58252124e-03 9.99996660e-01 -3.01066160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.270281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:99.07, Y:3.60, Z:-0.30 [[ 9.93297862e-01 -1.15580317e-01 7.40620391e-04 9.90695837e+01] [ 1.15580292e-01 9.93298138e-01 7.56770255e-05 3.60179625e+00] [-7.44403630e-04 1.04312937e-05 9.99999723e-01 -3.00654187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.300281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:99.10, Y:3.60, Z:-0.30 [[ 9.92651170e-01 -1.21009482e-01 5.99228800e-04 9.91012920e+01] [ 1.21009467e-01 9.92651351e-01 6.11889900e-05 3.60191911e+00] [-6.02229726e-04 1.17730354e-05 9.99999819e-01 -3.00925699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.330281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:99.13, Y:3.60, Z:-0.30 [[ 9.91370941e-01 -1.31084667e-01 -6.83415367e-04 9.91344718e+01] [ 1.31084651e-01 9.91371176e-01 -6.96437101e-05 3.59592426e+00] [ 6.86647519e-04 -2.05425142e-05 9.99999764e-01 -3.01521257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:99.17, Y:3.59, Z:-0.30 [[ 9.90517259e-01 -1.37379843e-01 -1.52889017e-03 9.91671656e+01] [ 1.37379766e-01 9.90518438e-01 -1.55774538e-04 3.58946626e+00] [ 1.53579418e-03 -5.57412048e-05 9.99998819e-01 -3.00878770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.390281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:99.20, Y:3.59, Z:-0.30 [[ 9.90311217e-01 -1.38848823e-01 -2.16769512e-03 9.91992302e+01] [ 1.38848672e-01 9.90313586e-01 -2.20769388e-04 3.58856741e+00] [ 2.17735149e-03 -8.23511858e-05 9.99997626e-01 -3.00038860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.420281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:99.23, Y:3.59, Z:-0.30 [[ 9.90258270e-01 -1.39223076e-01 -2.34383914e-03 9.92309334e+01] [ 1.39222901e-01 9.90261040e-01 -2.38668365e-04 3.58731124e+00] [ 2.35424073e-03 -8.99727620e-05 9.99997225e-01 -2.99972671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.45028169300001 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:99.26, Y:3.59, Z:-0.30 [[ 9.90312160e-01 -1.38833645e-01 -2.65440084e-03 9.92612781e+01] [ 1.38833418e-01 9.90315712e-01 -2.70269059e-04 3.58511481e+00] [ 2.66621730e-03 -1.00868806e-04 9.99996441e-01 -2.99473980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.480281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:99.29, Y:3.59, Z:-0.30 [[ 9.90313722e-01 -1.38822497e-01 -2.65440387e-03 9.92921220e+01] [ 1.38822271e-01 9.90317274e-01 -2.70239288e-04 3.58825089e+00] [ 2.66621730e-03 -1.00868698e-04 9.99996441e-01 -2.99489993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.510281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:99.32, Y:3.58, Z:-0.30 [[ 9.90626966e-01 -1.36586799e-01 -1.50372011e-03 9.93225419e+01] [ 1.36586724e-01 9.90628106e-01 -1.53139609e-04 3.57974189e+00] [ 1.51054425e-03 -5.36839764e-05 9.99998858e-01 -2.99861792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.540281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:99.35, Y:3.58, Z:-0.30 [[ 9.90847269e-01 -1.34986559e-01 -5.64658090e-04 9.93515538e+01] [ 1.34986548e-01 9.90847430e-01 -5.75371365e-05 3.57700529e+00] [ 5.67256757e-04 -1.92107317e-05 9.99999839e-01 -3.00273040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.570281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:99.38, Y:3.57, Z:-0.30 [[ 9.91358555e-01 -1.31179650e-01 -3.40211722e-04 9.93823725e+01] [ 1.31179646e-01 9.91358613e-01 -3.46755445e-05 3.57054967e+00] [ 3.41820547e-04 -1.02529556e-05 9.99999942e-01 -2.99464776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.600281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:99.41, Y:3.57, Z:-0.30 [[ 9.91595326e-01 -1.29375475e-01 -8.33744047e-04 9.94127236e+01] [ 1.29375449e-01 9.91595677e-01 -8.49803508e-05 3.56923343e+00] [ 8.37731366e-04 -2.35998919e-05 9.99999649e-01 -3.00114015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.630281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:99.44, Y:3.57, Z:-0.30 [[ 9.91813384e-01 -1.27679566e-01 -2.03479684e-03 9.94427198e+01] [ 1.27679409e-01 9.91815469e-01 -2.07429003e-04 3.56831499e+00] [ 2.04462743e-03 -5.40707975e-05 9.99997908e-01 -3.00254668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.660281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:99.47, Y:3.57, Z:-0.30 [[ 9.92211542e-01 -1.24498791e-01 -4.03818341e-03 9.94714514e+01] [ 1.24498146e-01 9.92219755e-01 -4.11893609e-04 3.56543597e+00] [ 4.05804561e-03 -9.40607540e-05 9.99991762e-01 -3.00670439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.690281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:99.50, Y:3.56, Z:-0.30 [[ 9.92629451e-01 -1.21110857e-01 -4.35125218e-03 9.94992238e+01] [ 1.21110073e-01 9.92638984e-01 -4.44181172e-04 3.56306437e+00] [ 4.37301770e-03 -8.60731565e-05 9.99990435e-01 -3.01349337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.720281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:99.53, Y:3.56, Z:-0.30 [[ 9.92810082e-01 -1.19636256e-01 -3.91256787e-03 9.95285403e+01] [ 1.19635608e-01 9.92817788e-01 -4.00109460e-04 3.56256512e+00] [ 3.93233457e-03 -7.08497315e-05 9.99992266e-01 -3.01364013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.750281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:99.56, Y:3.56, Z:-0.30 [[ 9.92981620e-01 -1.18209532e-01 -3.74278067e-03 9.95569743e+01] [ 1.18208928e-01 9.92988672e-01 -3.82919352e-04 3.56210761e+00] [ 3.76180352e-03 -6.21982134e-05 9.99992922e-01 -3.01417426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.780281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:99.59, Y:3.56, Z:-0.30 [[ 9.93189686e-01 -1.16451394e-01 -3.64986197e-03 9.95853090e+01] [ 1.16450805e-01 9.93196390e-01 -3.74134997e-04 3.56191336e+00] [ 3.66859828e-03 -5.34423433e-05 9.99993269e-01 -3.00577744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.81028169300001 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:99.61, Y:3.56, Z:-0.30 [[ 9.93607702e-01 -1.12837371e-01 -3.38549475e-03 9.96135671e+01] [ 1.12836842e-01 9.93613469e-01 -3.47673182e-04 3.55933613e+00] [ 3.40310371e-03 -3.65577824e-05 9.99994209e-01 -3.00199677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.840281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:99.64, Y:3.56, Z:-0.30 [[ 9.94065182e-01 -1.08720161e-01 -3.78694227e-03 9.96414187e+01] [ 1.08719466e-01 9.94072395e-01 -3.89590078e-04 3.55603218e+00] [ 3.80685107e-03 -2.44364087e-05 9.99992754e-01 -3.00279892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.870281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:99.67, Y:3.56, Z:-0.30 [[ 9.94340337e-01 -1.06162872e-01 -4.09134838e-03 9.96692397e+01] [ 1.06162036e-01 9.94348754e-01 -4.21668253e-04 3.55640656e+00] [ 4.11299267e-03 -1.50641211e-05 9.99991541e-01 -3.00151767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.900281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:99.70, Y:3.56, Z:-0.30 [[ 9.94637234e-01 -1.03354142e-01 -3.83334818e-03 9.96972149e+01] [ 1.03353384e-01 9.94644621e-01 -3.95798317e-04 3.55731738e+00] [ 3.85372654e-03 -2.51376434e-06 9.99992574e-01 -3.00110878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.930281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:99.72, Y:3.56, Z:-0.30 [[ 9.94970212e-01 -1.00109878e-01 -3.50556683e-03 9.97241799e+01] [ 1.00109223e-01 9.94976388e-01 -3.62194349e-04 3.55836086e+00] [ 3.52421545e-03 9.43301685e-06 9.99993790e-01 -2.99997006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.960281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:99.75, Y:3.56, Z:-0.30 [[ 9.95557702e-01 -9.40961559e-02 -3.28269192e-03 9.97523361e+01] [ 9.40955470e-02 9.95563113e-01 -3.39789659e-04 3.55775641e+00] [ 3.30009989e-03 2.93935199e-05 9.99994554e-01 -2.99596154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.990281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:99.78, Y:3.56, Z:-0.30 [[ 9.95857060e-01 -9.08796530e-02 -3.09928537e-03 9.97799343e+01] [ 9.08790928e-02 9.95861882e-01 -3.21408567e-04 3.55995252e+00] [ 3.11566966e-03 3.84167479e-05 9.99995146e-01 -2.99203770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.020281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:99.81, Y:3.56, Z:-0.30 [[ 9.95876118e-01 -9.06761474e-02 -2.93138238e-03 9.98078452e+01] [ 9.06756450e-02 9.95880432e-01 -3.04107786e-04 3.56329565e+00] [ 2.94688167e-03 3.70486933e-05 9.99995657e-01 -2.99247714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.050281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:99.84, Y:3.57, Z:-0.30 [[ 9.95763706e-01 -9.19274923e-02 -1.99445439e-03 9.98363597e+01] [ 9.19272615e-02 9.95765703e-01 -2.07302441e-04 3.56673416e+00] [ 2.00506607e-03 2.30795170e-05 9.99997990e-01 -2.99606224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.080281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:99.86, Y:3.57, Z:-0.30 [[ 9.95237900e-01 -9.74745622e-02 4.82561123e-04 9.98647868e+01] [ 9.74745493e-02 9.95238017e-01 5.01314440e-05 3.56925000e+00] [-4.85149716e-04 -2.85528500e-06 9.99999882e-01 -2.99256543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.110281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:99.89, Y:3.57, Z:-0.30 [[ 9.94856789e-01 -1.01289101e-01 6.97940119e-04 9.98933908e+01] [ 1.01289075e-01 9.94857034e-01 7.26354475e-05 3.57181953e+00] [-7.01707816e-04 -1.56815872e-06 9.99999754e-01 -2.98766864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.140281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:99.92, Y:3.58, Z:-0.30 [[ 9.94429313e-01 -1.05405570e-01 8.07378255e-05 9.99229259e+01] [ 1.05405570e-01 9.94429317e-01 8.39422573e-06 3.57520307e+00] [-8.11728588e-05 1.62752376e-07 9.99999997e-01 -2.98907766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.170281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:99.95, Y:3.58, Z:-0.30 [[ 9.93699486e-01 -1.12069224e-01 -1.34908623e-03 9.99504050e+01] [ 1.12069136e-01 9.93700402e-01 -1.40578277e-04 3.57755905e+00] [ 1.35634202e-03 -1.14983664e-05 9.99999080e-01 -2.99775678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.20028169300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:99.98, Y:3.58, Z:-0.30 [[ 9.93467130e-01 -1.14112013e-01 -1.22872832e-03 9.99768630e+01] [ 1.14111942e-01 9.93467890e-01 -1.28149607e-04 3.57941815e+00] [ 1.23532554e-03 -1.29001531e-05 9.99999237e-01 -2.99933932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.230281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:100.00, Y:3.58, Z:-0.30 [[ 9.93266819e-01 -1.15844519e-01 -1.03663713e-03 1.00004557e+02] [ 1.15844469e-01 9.93267359e-01 -1.08375275e-04 3.58030327e+00] [ 1.04221251e-03 -1.24431128e-05 9.99999457e-01 -2.99292389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.260281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:100.03, Y:3.58, Z:-0.30 [[ 9.93271611e-01 -1.15791351e-01 -1.96727065e-03 1.00031497e+02] [ 1.15791170e-01 9.93273559e-01 -2.05687708e-04 3.58304011e+00] [ 1.97785478e-03 -2.34888096e-05 9.99998044e-01 -2.99068104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.290281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:100.06, Y:3.59, Z:-0.30 [[ 9.93348758e-01 -1.15103024e-01 -3.08864454e-03 1.00057913e+02] [ 1.15102576e-01 9.93353559e-01 -3.23161382e-04 3.58616676e+00] [ 3.10531289e-03 -3.44989851e-05 9.99995178e-01 -2.98836760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.320281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:100.09, Y:3.59, Z:-0.30 [[ 9.93428756e-01 -1.14396179e-01 -3.58075940e-03 1.00085936e+02] [ 1.14395569e-01 9.93435208e-01 -3.75375682e-04 3.58966969e+00] [ 3.60019401e-03 -3.67140142e-05 9.99993519e-01 -2.99295896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.350281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:100.11, Y:3.59, Z:-0.30 [[ 9.93491368e-01 -1.13886023e-01 -2.20821175e-03 1.00112684e+02] [ 1.13885789e-01 9.93493822e-01 -2.31652915e-04 3.59272452e+00] [ 2.22022676e-03 -2.13387659e-05 9.99997535e-01 -2.99542672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.380281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:100.14, Y:3.60, Z:-0.30 [[ 9.93378668e-01 -1.14885314e-01 -4.32348204e-04 1.00139979e+02] [ 1.14885305e-01 9.93378762e-01 -4.55252739e-05 3.59608532e+00] [ 4.34715709e-04 -4.44661914e-06 9.99999906e-01 -2.98912055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.410281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:100.17, Y:3.60, Z:-0.30 [[ 9.93248240e-01 -1.16006001e-01 -7.36234523e-04 1.00168211e+02] [ 1.16005975e-01 9.93248513e-01 -7.76020979e-05 3.59896973e+00] [ 7.40266154e-04 -8.32945672e-06 9.99999726e-01 -2.99107746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.440281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:100.20, Y:3.60, Z:-0.30 [[ 9.93107264e-01 -1.17196652e-01 -1.70519748e-03 1.00195354e+02] [ 1.17196516e-01 9.93108727e-01 -1.79690668e-04 3.60114581e+00] [ 1.71450564e-03 -2.13910959e-05 9.99998530e-01 -2.99662898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.470281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:100.22, Y:3.60, Z:-0.30 [[ 9.92942818e-01 -1.18568185e-01 -2.47923123e-03 1.00223412e+02] [ 1.18567901e-01 9.92945912e-01 -2.61755457e-04 3.60342979e+00] [ 2.49277838e-03 -3.40490427e-05 9.99996892e-01 -3.00055413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.500281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:100.25, Y:3.60, Z:-0.30 [[ 9.92743670e-01 -1.20188483e-01 -3.83864239e-03 1.00250289e+02] [ 1.20187813e-01 9.92751089e-01 -4.05487149e-04 3.60456517e+00] [ 3.85955130e-03 -5.88132340e-05 9.99992550e-01 -3.00700554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.530281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:100.28, Y:3.61, Z:-0.30 [[ 9.92743525e-01 -1.20197226e-01 -3.59442897e-03 1.00278296e+02] [ 1.20196637e-01 9.92750031e-01 -3.80413516e-04 3.60660459e+00] [ 3.61409412e-03 -5.43852184e-05 9.99993468e-01 -3.00546195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.56028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:100.31, Y:3.61, Z:-0.30 [[ 9.92975375e-01 -1.18304187e-01 -2.00596552e-03 1.00305464e+02] [ 1.18303999e-01 9.92977401e-01 -2.12569289e-04 3.60740851e+00] [ 2.01702626e-03 -2.62376731e-05 9.99997965e-01 -2.99163114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.590281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:100.33, Y:3.61, Z:-0.30 [[ 9.93076425e-01 -1.17457807e-01 -1.69620148e-03 1.00333534e+02] [ 1.17457670e-01 9.93077874e-01 -1.80095541e-04 3.60955346e+00] [ 1.70561378e-03 -2.03832374e-05 9.99998545e-01 -2.98835034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.620281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:100.36, Y:3.61, Z:-0.30 [[ 9.93139780e-01 -1.16916798e-01 -1.95934933e-03 1.00361782e+02] [ 1.16916614e-01 9.93141713e-01 -2.08381075e-04 3.61179129e+00] [ 1.97027480e-03 -2.21289547e-05 9.99998059e-01 -2.99074880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.650281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:100.39, Y:3.61, Z:-0.30 [[ 9.93125068e-01 -1.17026134e-01 -2.73561940e-03 1.00389651e+02] [ 1.17025775e-01 9.93128835e-01 -2.91418171e-04 3.61158320e+00] [ 2.75092604e-03 -3.07232893e-05 9.99996216e-01 -2.99920687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.680281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:100.42, Y:3.61, Z:-0.30 [[ 9.93120640e-01 -1.17050467e-01 -3.25312536e-03 1.00417014e+02] [ 1.17049959e-01 9.93125967e-01 -3.46739632e-04 3.61217781e+00] [ 3.27134931e-03 -3.64239054e-05 9.99994648e-01 -3.00143311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.710281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:100.45, Y:3.61, Z:-0.30 [[ 9.93073353e-01 -1.17430647e-01 -3.91914048e-03 1.00445688e+02] [ 1.17429909e-01 9.93081085e-01 -4.18474183e-04 3.61044394e+00] [ 3.94116598e-03 -4.46487521e-05 9.99992233e-01 -2.99651624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.740281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:100.47, Y:3.61, Z:-0.30 [[ 9.93100702e-01 -1.17217502e-01 -3.32465268e-03 1.00473488e+02] [ 1.17216968e-01 9.93106266e-01 -3.55623878e-04 3.61161092e+00] [ 3.34341876e-03 -3.65353856e-05 9.99994410e-01 -2.99225179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.770281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:100.50, Y:3.61, Z:-0.30 [[ 9.93243090e-01 -1.16038613e-01 -1.79002284e-03 1.00501910e+02] [ 1.16038456e-01 9.93244703e-01 -1.91850814e-04 3.61143426e+00] [ 1.80019281e-03 -1.71569916e-05 9.99998380e-01 -2.97339546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.800281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:100.53, Y:3.61, Z:-0.30 [[ 9.93317260e-01 -1.15411618e-01 -9.89791843e-04 1.00528892e+02] [ 1.15411570e-01 9.93317753e-01 -1.06152579e-04 3.61237045e+00] [ 9.95429050e-04 -8.79024118e-06 9.99999505e-01 -2.96823407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.830281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:100.56, Y:3.61, Z:-0.30 [[ 9.93517801e-01 -1.13676584e-01 1.11402443e-04 1.00556685e+02] [ 1.13676583e-01 9.93517808e-01 1.18656407e-05 3.61237399e+00] [-1.12029156e-04 8.75123794e-07 9.99999994e-01 -2.96712018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.860281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:100.58, Y:3.61, Z:-0.30 [[ 9.93647205e-01 -1.12539539e-01 2.91202876e-04 1.00583557e+02] [ 1.12539534e-01 9.93647247e-01 3.12449938e-05 3.61423643e+00] [-2.92869233e-04 1.72533529e-06 9.99999957e-01 -2.96451404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.890281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:100.61, Y:3.62, Z:-0.30 [[ 9.93798319e-01 -1.11196530e-01 4.81515058e-04 1.00611043e+02] [ 1.11196518e-01 9.93798436e-01 5.17712784e-05 3.61587558e+00] [-4.84285698e-04 2.09258857e-06 9.99999883e-01 -2.96478380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.920281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:100.64, Y:3.62, Z:-0.30 [[ 9.94134262e-01 -1.08152989e-01 3.84956259e-06 1.00638079e+02] [ 1.08152989e-01 9.94134262e-01 3.19516033e-07 3.61666867e+00] [-3.86153867e-06 9.86998652e-08 1.00000000e+00 -2.96180839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.95028169300001 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:100.67, Y:3.62, Z:-0.30 [[ 9.94294556e-01 -1.06668286e-01 -4.60499738e-04 1.00666196e+02] [ 1.06668274e-01 9.94294663e-01 -4.98718910e-05 3.61962631e+00] [ 4.63192181e-04 4.66637325e-07 9.99999893e-01 -2.96517969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.980281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:100.69, Y:3.62, Z:-0.30 [[ 9.94629847e-01 -1.03485515e-01 -1.48845357e-03 1.00693523e+02] [ 1.03485390e-01 9.94630961e-01 -1.61268115e-04 3.62267448e+00] [ 1.49715091e-03 6.36888284e-06 9.99998879e-01 -2.98454715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.010281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:100.72, Y:3.63, Z:-0.30 [[ 9.94817249e-01 -1.01659944e-01 -1.97402871e-03 1.00720029e+02] [ 1.01659719e-01 9.94819208e-01 -2.13954816e-04 3.62510142e+00] [ 1.98555232e-03 1.21667370e-05 9.99998029e-01 -2.98901822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.040281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:100.75, Y:3.63, Z:-0.30 [[ 9.94983983e-01 -1.00012107e-01 -2.10986680e-03 1.00747492e+02] [ 1.00011846e-01 9.94986220e-01 -2.29127246e-04 3.62807055e+00] [ 2.12220389e-03 1.69662663e-05 9.99997748e-01 -2.98443341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.070281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:100.77, Y:3.63, Z:-0.30 [[ 9.95287767e-01 -9.69521409e-02 -1.59447061e-03 1.00774937e+02] [ 9.69519874e-02 9.95289044e-01 -1.73481684e-04 3.63356469e+00] [ 1.60377856e-03 1.80771027e-05 9.99998714e-01 -2.97268907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.100281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:100.80, Y:3.64, Z:-0.30 [[ 9.95386673e-01 -9.59388828e-02 -1.04947128e-03 1.00802514e+02] [ 9.59388155e-02 9.95387226e-01 -1.14427069e-04 3.63766352e+00] [ 1.05560831e-03 1.32141477e-05 9.99999443e-01 -2.97067067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.130281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:100.83, Y:3.64, Z:-0.30 [[ 9.95603879e-01 -9.36602727e-02 -8.18049643e-04 1.00829639e+02] [ 9.36602309e-02 9.95604215e-01 -8.92957374e-05 3.64159536e+00] [ 8.22817136e-04 1.22844641e-05 9.99999661e-01 -2.97875183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.160281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:100.86, Y:3.65, Z:-0.30 [[ 9.95676596e-01 -9.28763466e-02 -1.44907286e-03 1.00857696e+02] [ 9.28762143e-02 9.95677651e-01 -1.58413105e-04 3.64640318e+00] [ 1.45752229e-03 2.31438202e-05 9.99998938e-01 -2.98447056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.190281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:100.88, Y:3.65, Z:-0.30 [[ 9.95860143e-01 -9.08373174e-02 -3.34039716e-03 1.00884011e+02] [ 9.08366017e-02 9.95865743e-01 -3.65660501e-04 3.65491469e+00] [ 3.35980272e-03 6.07163927e-05 9.99994354e-01 -2.99202402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.220281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:100.91, Y:3.66, Z:-0.30 [[ 9.95913385e-01 -9.02379704e-02 -3.69291629e-03 1.00911853e+02] [ 9.02370891e-02 9.95920230e-01 -4.04922610e-04 3.66074040e+00] [ 3.71438944e-03 7.00298311e-05 9.99993099e-01 -2.99113792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.250281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:100.94, Y:3.67, Z:-0.30 [[ 9.95928752e-01 -9.00902948e-02 -3.10810038e-03 1.00939775e+02] [ 9.00896679e-02 9.95933600e-01 -3.41385535e-04 3.66597448e+00] [ 3.12621712e-03 5.99879392e-05 9.99995112e-01 -2.99000858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.280281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:100.97, Y:3.67, Z:-0.30 [[ 9.95911753e-01 -9.03087435e-02 -2.02737826e-03 1.00967830e+02] [ 9.03084763e-02 9.95913816e-01 -2.23105912e-04 3.67093345e+00] [ 2.03924243e-03 3.91043587e-05 9.99997920e-01 -2.98383243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.31028169300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:100.99, Y:3.68, Z:-0.30 [[ 9.95857570e-01 -9.09264081e-02 -2.96575392e-04 1.00994448e+02] [ 9.09264024e-02 9.95857614e-01 -3.26897390e-05 3.67772185e+00] [ 2.98319223e-04 5.58779067e-06 9.99999955e-01 -2.98140380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.340281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:101.02, Y:3.68, Z:-0.30 [[ 9.95733158e-01 -9.22793107e-02 -7.99284221e-05 1.01023357e+02] [ 9.22793103e-02 9.95733161e-01 -8.90049942e-06 3.68265045e+00] [ 8.04087124e-05 1.48678274e-06 9.99999997e-01 -2.98541518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.370281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:101.05, Y:3.69, Z:-0.30 [[ 9.95716390e-01 -9.24600713e-02 -7.99261420e-05 1.01051635e+02] [ 9.24600708e-02 9.95716393e-01 -8.92109084e-06 3.68595111e+00] [ 8.04086145e-05 1.49289962e-06 9.99999997e-01 -2.98556231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.400281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.08, Y:3.69, Z:-0.30 [[ 9.95490624e-01 -9.48533896e-02 -1.11888992e-03 1.01079452e+02] [ 9.48533105e-02 9.95491253e-01 -1.23665385e-04 3.69138245e+00] [ 1.12557521e-03 1.69773186e-05 9.99999366e-01 -2.99293146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.430281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:101.11, Y:3.70, Z:-0.30 [[ 9.95349104e-01 -9.63149785e-02 -1.89391992e-03 1.01106079e+02] [ 9.63147542e-02 9.95350905e-01 -2.09472579e-04 3.69553296e+00] [ 1.90529025e-03 2.60859120e-05 9.99998185e-01 -2.99526504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.460281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:101.13, Y:3.70, Z:-0.30 [[ 9.95169110e-01 -9.81559994e-02 -1.96036119e-03 1.01134028e+02] [ 9.81557619e-02 9.95171040e-01 -2.17244962e-04 3.69992361e+00] [ 1.97221858e-03 2.37747297e-05 9.99998055e-01 -2.99736732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.490281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:101.16, Y:3.71, Z:-0.30 [[ 9.94876415e-01 -1.01085880e-01 -1.60104453e-03 1.01161769e+02] [ 1.01085724e-01 9.94877703e-01 -1.77749166e-04 3.70530464e+00] [ 1.61081143e-03 1.49957068e-05 9.99998703e-01 -2.99112741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.520281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:101.19, Y:3.71, Z:-0.30 [[ 9.94777902e-01 -1.02050522e-01 -1.61761928e-03 1.01188564e+02] [ 1.02050364e-01 9.94779217e-01 -1.79666922e-04 3.70973506e+00] [ 1.62750914e-03 1.36500468e-05 9.99998676e-01 -2.98816023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.550281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.22, Y:3.71, Z:-0.30 [[ 9.94648670e-01 -1.03304803e-01 -1.46302940e-03 1.01215877e+02] [ 1.03304676e-01 9.94649746e-01 -1.62831809e-04 3.71424634e+00] [ 1.47202313e-03 1.08226654e-05 9.99998917e-01 -2.99272376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.580281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:101.24, Y:3.72, Z:-0.30 [[ 9.94387973e-01 -1.05784903e-01 -1.45371306e-03 1.01243612e+02] [ 1.05784779e-01 9.94389036e-01 -1.62072610e-04 3.71951785e+00] [ 1.46270117e-03 7.38233870e-06 9.99998930e-01 -3.00645238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.610281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:101.27, Y:3.72, Z:-0.30 [[ 9.94244594e-01 -1.07125586e-01 -1.33989780e-03 1.01270762e+02] [ 1.07125482e-01 9.94245497e-01 -1.49446137e-04 3.72375788e+00] [ 1.34819686e-03 5.04881645e-06 9.99999091e-01 -3.00933459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.640281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:101.30, Y:3.73, Z:-0.30 [[ 9.93829241e-01 -1.10913381e-01 -1.28918007e-03 1.01298814e+02] [ 1.10913287e-01 9.93830077e-01 -1.44088741e-04 3.72838989e+00] [ 1.29720730e-03 2.12404268e-07 9.99999159e-01 -3.00634519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.670281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:101.33, Y:3.73, Z:-0.30 [[ 9.93553106e-01 -1.13359731e-01 -1.34082132e-03 1.01326626e+02] [ 1.13359632e-01 9.93554010e-01 -1.50108587e-04 3.73149886e+00] [ 1.34919467e-03 -2.85415918e-06 9.99999090e-01 -3.00336280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.70028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.35, Y:3.73, Z:-0.30 [[ 9.93279644e-01 -1.15736569e-01 -7.72319413e-04 1.01354836e+02] [ 1.15736536e-01 9.93279944e-01 -8.66499429e-05 3.73428396e+00] [ 7.77157950e-04 -3.31794931e-06 9.99999698e-01 -3.00313292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.730281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:101.38, Y:3.74, Z:-0.30 [[ 9.92889913e-01 -1.19032646e-01 9.22315395e-04 1.01381736e+02] [ 1.19032601e-01 9.92890341e-01 1.03396658e-04 3.73611510e+00] [-9.28065625e-04 7.12410213e-06 9.99999569e-01 -2.99938091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.760281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:101.41, Y:3.74, Z:-0.30 [[ 9.92764581e-01 -1.20065806e-01 1.63991640e-03 1.01409630e+02] [ 1.20065666e-01 9.92765935e-01 1.84125161e-04 3.73861942e+00] [-1.65016028e-03 1.41047166e-05 9.99998638e-01 -2.99332089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.790281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:101.44, Y:3.74, Z:-0.30 [[ 9.92826352e-01 -1.19559872e-01 1.12764498e-03 1.01437049e+02] [ 1.19559805e-01 9.92826992e-01 1.26751015e-04 3.74064993e+00] [-1.13471071e-03 8.97926666e-06 9.99999356e-01 -2.98887282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.820281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:101.46, Y:3.74, Z:-0.30 [[ 9.92974431e-01 -1.18328868e-01 2.40469403e-04 1.01464551e+02] [ 1.18328865e-01 9.92974460e-01 2.69936855e-05 3.74319814e+00] [-2.41974108e-04 1.65043204e-06 9.99999971e-01 -2.99284178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.850281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.49, Y:3.75, Z:-0.30 [[ 9.93159961e-01 -1.16761316e-01 -2.96406263e-04 1.01491564e+02] [ 1.16761312e-01 9.93160005e-01 -3.34520833e-05 3.74575322e+00] [ 2.98284755e-04 -1.38551437e-06 9.99999956e-01 -2.99630245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.880281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:101.52, Y:3.75, Z:-0.30 [[ 9.93657657e-01 -1.12445749e-01 -6.44327310e-04 1.01518574e+02] [ 1.12445725e-01 9.93657865e-01 -7.27208582e-05 3.74870885e+00] [ 6.48418051e-04 -1.92214151e-07 9.99999790e-01 -2.99461161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.910281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.55, Y:3.75, Z:-0.30 [[ 9.93945053e-01 -1.09873133e-01 -1.06148452e-03 1.01546298e+02] [ 1.09873067e-01 9.93945620e-01 -1.20019074e-04 3.75275382e+00] [ 1.06824476e-03 2.66380460e-06 9.99999429e-01 -2.99681471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.940281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.57, Y:3.76, Z:-0.30 [[ 9.94560238e-01 -1.04150438e-01 -1.61832207e-03 1.01573057e+02] [ 1.04150278e-01 9.94561555e-01 -1.83004659e-04 3.75758915e+00] [ 1.62858093e-03 1.34604634e-05 9.99998674e-01 -2.99548844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.970281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:101.60, Y:3.76, Z:-0.30 [[ 9.94834903e-01 -1.01500854e-01 -1.04492983e-03 1.01600802e+02] [ 1.01500786e-01 9.94835452e-01 -1.18415548e-04 3.76212957e+00] [ 1.05155252e-03 1.17427220e-05 9.99999447e-01 -2.99429203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.000281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:101.63, Y:3.77, Z:-0.30 [[ 9.95009031e-01 -9.97848595e-02 -1.00716585e-04 1.01627743e+02] [ 9.97848588e-02 9.95009036e-01 -1.14803535e-05 3.76649710e+00] [ 1.01359478e-04 1.37306524e-06 9.99999995e-01 -2.98819755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.030281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.66, Y:3.77, Z:-0.30 [[ 9.94995829e-01 -9.99010545e-02 1.75489268e-03 1.01656577e+02] [ 9.99008586e-02 9.94997376e-01 1.99141817e-04 3.77075360e+00] [-1.76600809e-03 -2.28299911e-05 9.99998440e-01 -2.98637764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.06028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:101.68, Y:3.77, Z:-0.30 [[ 9.94831123e-01 -1.01541451e-01 6.07823386e-04 1.01684107e+02] [ 1.01541428e-01 9.94831309e-01 6.90129025e-05 3.77095489e+00] [-6.11689405e-04 -6.93692885e-06 9.99999813e-01 -2.99491691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.090281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:101.71, Y:3.77, Z:-0.30 [[ 9.94776498e-01 -1.02076646e-01 -2.78716310e-04 1.01711903e+02] [ 1.02076641e-01 9.94776537e-01 -3.18058599e-05 3.77237914e+00] [ 2.80507081e-04 3.18929701e-06 9.99999961e-01 -3.00187576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.120281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:101.74, Y:3.77, Z:-0.30 [[ 9.94744182e-01 -1.02388967e-01 -7.14875574e-04 1.01739425e+02] [ 1.02388934e-01 9.94744439e-01 -8.15622550e-05 3.77499325e+00] [ 7.19469577e-04 7.93823036e-06 9.99999741e-01 -3.00182246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.150281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:101.77, Y:3.78, Z:-0.30 [[ 9.94795931e-01 -1.01879996e-01 -1.23343030e-03 1.01767418e+02] [ 1.01879900e-01 9.94796696e-01 -1.40890662e-04 3.77881702e+00] [ 1.24136632e-03 1.44957025e-05 9.99999229e-01 -2.99556241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:101.80, Y:3.78, Z:-0.30 [[ 9.95132970e-01 -9.85352114e-02 -1.08862978e-03 1.01795212e+02] [ 9.85351341e-02 9.95133565e-01 -1.24567965e-04 3.78450165e+00] [ 1.09560637e-03 1.66934075e-05 9.99999400e-01 -2.99485498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.210281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:101.82, Y:3.79, Z:-0.30 [[ 9.95573446e-01 -9.39818298e-02 -9.63537212e-04 1.01823073e+02] [ 9.39817670e-02 9.95573913e-01 -1.10445854e-04 3.79097399e+00] [ 9.69652416e-04 1.94020296e-05 9.99999530e-01 -2.98567944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.240281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:101.85, Y:3.80, Z:-0.30 [[ 9.95754099e-01 -9.20481847e-02 -9.51613626e-04 1.01851340e+02] [ 9.20481223e-02 9.95754554e-01 -1.09227614e-04 3.79661343e+00] [ 9.57627805e-04 2.11695969e-05 9.99999541e-01 -2.98882636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.270281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:101.88, Y:3.80, Z:-0.30 [[ 9.95870347e-01 -9.07811873e-02 -1.01426451e-03 1.01878920e+02] [ 9.07811158e-02 9.95870863e-01 -1.16417638e-04 3.80288638e+00] [ 1.02064500e-03 2.38608091e-05 9.99999479e-01 -2.98817102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.300281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:101.91, Y:3.81, Z:-0.30 [[ 9.95903544e-01 -9.04202658e-02 -5.53399717e-04 1.01906541e+02] [ 9.04202444e-02 9.95903698e-01 -6.36788873e-05 3.81161862e+00] [ 5.56890686e-04 1.33794919e-05 9.99999845e-01 -2.99586747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.330281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:101.94, Y:3.82, Z:-0.30 [[ 9.95840691e-01 -9.11112138e-02 -2.56596512e-04 1.01935245e+02] [ 9.11112093e-02 9.95840724e-01 -2.95050881e-05 3.81766573e+00] [ 2.58217500e-04 6.00354888e-06 9.99999967e-01 -2.99977988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.360281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:101.96, Y:3.82, Z:-0.30 [[ 9.95737866e-01 -9.22278851e-02 3.45982860e-04 1.01963861e+02] [ 9.22278768e-02 9.95737926e-01 3.97611092e-05 3.82389582e+00] [-3.48175338e-04 -7.68237741e-06 9.99999939e-01 -3.00035968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.390281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:101.99, Y:3.83, Z:-0.30 [[ 9.95489111e-01 -9.48611202e-02 1.67250432e-03 1.01992432e+02] [ 9.48609310e-02 9.95490516e-01 1.92308319e-04 3.83300731e+00] [-1.68320477e-03 -3.27855207e-05 9.99998583e-01 -2.99458246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.420281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:102.02, Y:3.84, Z:-0.30 [[ 9.95373911e-01 -9.60708978e-02 1.07693903e-03 1.02021775e+02] [ 9.60708200e-02 9.95374493e-01 1.23845388e-04 3.83875113e+00] [-1.08385558e-03 -1.98100529e-05 9.99999412e-01 -2.99372272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.45028169300001 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:102.05, Y:3.85, Z:-0.30 [[ 9.95064638e-01 -9.92212118e-02 -1.23180852e-03 1.02051662e+02] [ 9.92211125e-02 9.95065400e-01 -1.41668209e-04 3.84641617e+00] [ 1.23978653e-03 1.87476140e-05 9.99999231e-01 -3.00628927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.480281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.08, Y:3.85, Z:-0.30 [[ 9.94891309e-01 -1.00933493e-01 -1.92706017e-03 1.02080568e+02] [ 1.00933252e-01 9.94893175e-01 -2.22008442e-04 3.85145103e+00] [ 1.93962710e-03 2.63698182e-05 9.99998119e-01 -3.01475526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.510281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:102.11, Y:3.86, Z:-0.30 [[ 9.94731871e-01 -1.02492341e-01 -1.95579479e-03 1.02109889e+02] [ 1.02492096e-01 9.94733793e-01 -2.25295314e-04 3.85631794e+00] [ 1.96858621e-03 2.36549213e-05 9.99998062e-01 -3.01403552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.540281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:102.14, Y:3.86, Z:-0.30 [[ 9.94393366e-01 -1.05741437e-01 -7.62643408e-04 1.02140176e+02] [ 1.05741401e-01 9.94393659e-01 -8.78470698e-05 3.86233938e+00] [ 7.67656844e-04 6.71156086e-06 9.99999705e-01 -3.00245772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.570281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:102.17, Y:3.87, Z:-0.30 [[ 9.94233455e-01 -1.07236900e-01 -2.90999822e-04 1.02169267e+02] [ 1.07236894e-01 9.94233497e-01 -3.35173850e-05 3.86693371e+00] [ 2.92916071e-04 2.11818827e-06 9.99999957e-01 -2.99351922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.600281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:102.20, Y:3.87, Z:-0.30 [[ 9.93907160e-01 -1.10220272e-01 2.19355267e-04 1.02198453e+02] [ 1.10220270e-01 9.93907185e-01 2.52595904e-05 3.87339455e+00] [-2.20802895e-04 -9.28291013e-07 9.99999976e-01 -2.99247987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.630281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:102.23, Y:3.88, Z:-0.30 [[ 9.93792431e-01 -1.11249546e-01 3.77362681e-04 1.02227338e+02] [ 1.11249537e-01 9.93792503e-01 4.34736785e-05 3.87846521e+00] [-3.79856630e-04 -1.22238894e-06 9.99999928e-01 -2.99975304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.660281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.26, Y:3.88, Z:-0.30 [[ 9.93711149e-01 -1.11972961e-01 4.55828426e-04 1.02257636e+02] [ 1.11972949e-01 9.93711254e-01 5.25203675e-05 3.88365751e+00] [-4.58842698e-04 -1.14962177e-06 9.99999895e-01 -3.00459790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.690281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:102.29, Y:3.89, Z:-0.30 [[ 9.93581797e-01 -1.13115927e-01 -8.18996308e-06 1.02287652e+02] [ 1.13115927e-01 9.93581797e-01 -9.43644243e-07 3.89041182e+00] [ 8.24413943e-06 1.11724755e-08 1.00000000e+00 -3.00355472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.720281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:102.32, Y:3.90, Z:-0.30 [[ 9.93429564e-01 -1.14442751e-01 -7.47649934e-04 1.02317199e+02] [ 1.14442719e-01 9.93429845e-01 -8.61728597e-05 3.89519093e+00] [ 7.52599617e-04 4.35752307e-08 9.99999717e-01 -3.00212711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:102.35, Y:3.90, Z:-0.30 [[ 9.92977411e-01 -1.18288644e-01 -1.91246743e-03 1.02346646e+02] [ 1.18288439e-01 9.92979253e-01 -2.20425279e-04 3.89943672e+00] [ 1.92511429e-03 -7.34546433e-06 9.99998147e-01 -2.99757416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.780281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:102.38, Y:3.90, Z:-0.30 [[ 9.92743028e-01 -1.20237489e-01 -2.05569456e-03 1.02377197e+02] [ 1.20237256e-01 9.92745157e-01 -2.36926920e-04 3.90247042e+00] [ 2.06926831e-03 -1.19635246e-05 9.99997859e-01 -3.00232179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.81028169300001 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:102.41, Y:3.91, Z:-0.30 [[ 9.92552340e-01 -1.21810281e-01 -1.45173022e-03 1.02407588e+02] [ 1.21810166e-01 9.92553402e-01 -1.67317644e-04 3.90559435e+00] [ 1.46130078e-03 -1.07639807e-05 9.99998932e-01 -3.00375246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.840281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:102.44, Y:3.91, Z:-0.30 [[ 9.92295636e-01 -1.23888062e-01 1.05812966e-03 1.02437232e+02] [ 1.23888002e-01 9.92296200e-01 1.21960060e-04 3.90884125e+00] [-1.06508744e-03 1.00691343e-05 9.99999433e-01 -2.99800341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.870281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:102.47, Y:3.91, Z:-0.30 [[ 9.92265632e-01 -1.24123843e-01 1.47891912e-03 1.02466140e+02] [ 1.24123727e-01 9.92266734e-01 1.70501748e-04 3.91144855e+00] [-1.48864558e-03 1.43859294e-05 9.99998892e-01 -2.99947087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.900281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:102.49, Y:3.91, Z:-0.30 [[ 9.92266978e-01 -1.24119964e-01 6.91945774e-04 1.02494436e+02] [ 1.24119939e-01 9.92267219e-01 7.97873356e-05 3.91211566e+00] [-6.96498310e-04 6.71392865e-06 9.99999757e-01 -3.00165496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:102.52, Y:3.91, Z:-0.30 [[ 9.92290639e-01 -1.23929530e-01 8.71319630e-04 1.02523523e+02] [ 1.23929489e-01 9.92291022e-01 1.00500733e-04 3.91451314e+00] [-8.77057654e-04 8.25626035e-06 9.99999615e-01 -3.00001600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.960281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:102.55, Y:3.92, Z:-0.30 [[ 9.92334226e-01 -1.23580740e-01 7.64419139e-04 1.02553501e+02] [ 1.23580708e-01 9.92334521e-01 8.81866403e-05 3.91689147e+00] [-7.69457670e-04 6.95683720e-06 9.99999704e-01 -2.99848727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:102.58, Y:3.92, Z:-0.30 [[ 9.92344396e-01 -1.23500984e-01 3.27339979e-04 1.02581934e+02] [ 1.23500978e-01 9.92344450e-01 3.77620162e-05 3.91881224e+00] [-3.29497658e-04 2.95388249e-06 9.99999946e-01 -3.00294810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.020281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:102.61, Y:3.92, Z:-0.30 [[ 9.92275935e-01 -1.24022929e-01 -2.60402354e-03 1.02610901e+02] [ 1.24013011e-01 9.92273780e-01 -3.67679244e-03 3.91941604e+00] [ 3.03991085e-03 3.32545986e-03 9.99989850e-01 -3.00669372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.050281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:102.64, Y:3.92, Z:-0.30 [[ 9.92200297e-01 -1.24611124e-01 -3.26156248e-03 1.02638005e+02] [ 1.24620925e-01 9.92199902e-01 2.99644804e-03 3.91653784e+00] [ 2.86273121e-03 -3.37953557e-03 9.99990192e-01 -3.02939691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.080281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:102.67, Y:3.91, Z:-0.30 [[ 9.91993375e-01 -1.26270083e-01 -2.23836123e-03 1.02665416e+02] [ 1.26269820e-01 9.91995900e-01 -2.59106073e-04 3.91480083e+00] [ 2.25316251e-03 -2.56059620e-05 9.99997461e-01 -3.02241654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.110281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:102.69, Y:3.92, Z:-0.30 [[ 9.91933131e-01 -1.26755536e-01 -1.30313748e-03 1.02693933e+02] [ 1.26755447e-01 9.91933987e-01 -1.51167312e-04 3.91529522e+00] [ 1.31178765e-03 -1.52319093e-05 9.99999139e-01 -3.01855545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.140281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:102.72, Y:3.92, Z:-0.30 [[ 9.91966581e-01 -1.26499046e-01 -5.42552927e-04 1.02722956e+02] [ 1.26499030e-01 9.91966729e-01 -6.30743979e-05 3.91630847e+00] [ 5.46173303e-04 -6.06472442e-06 9.99999851e-01 -3.01766290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.170281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:102.75, Y:3.91, Z:-0.30 [[ 9.92318489e-01 -1.23705486e-01 -9.84130801e-04 1.02750606e+02] [ 1.23705433e-01 9.92318977e-01 -1.14453276e-04 3.91484971e+00] [ 9.90730169e-04 -8.16822493e-06 9.99999509e-01 -3.01453500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.20028169300001 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:102.78, Y:3.92, Z:-0.30 [[ 9.92495762e-01 -1.22270312e-01 -1.46073331e-03 1.02777611e+02] [ 1.22270194e-01 9.92496837e-01 -1.69943532e-04 3.91515672e+00] [ 1.47055223e-03 -9.93590972e-06 9.99998919e-01 -3.01982692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.230281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:102.81, Y:3.91, Z:-0.30 [[ 9.92774133e-01 -1.19992325e-01 -1.16741418e-03 1.02805745e+02] [ 1.19992248e-01 9.92774819e-01 -1.36099634e-04 3.91313821e+00] [ 1.17531032e-03 -4.96445604e-06 9.99999309e-01 -3.01612148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.260281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:102.83, Y:3.91, Z:-0.30 [[ 9.92884556e-01 -1.19080869e-01 6.65106704e-05 1.02832256e+02] [ 1.19080869e-01 9.92884559e-01 7.71233804e-06 3.91447108e+00] [-6.69558096e-05 2.62687078e-07 9.99999998e-01 -3.00774564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.290281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:102.86, Y:3.92, Z:-0.30 [[ 9.92864218e-01 -1.19250328e-01 6.65146720e-05 1.02860510e+02] [ 1.19250328e-01 9.92864220e-01 7.67807033e-06 3.91795507e+00] [-6.69556503e-05 3.08615150e-07 9.99999998e-01 -3.00789126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.320281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:102.89, Y:3.92, Z:-0.30 [[ 9.92943710e-01 -1.18582759e-01 9.58492519e-04 1.02887806e+02] [ 1.18582706e-01 9.92944172e-01 1.11945292e-04 3.91930753e+00] [-9.65004343e-04 2.50526351e-06 9.99999534e-01 -3.00245619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.350281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:102.92, Y:3.92, Z:-0.30 [[ 9.93019878e-01 -1.17946265e-01 -4.47084797e-04 1.02915895e+02] [ 1.17946253e-01 9.93019979e-01 -5.24131122e-05 3.91919082e+00] [ 4.50146066e-04 -6.84714379e-07 9.99999899e-01 -3.02130606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.380281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:102.94, Y:3.92, Z:-0.30 [[ 9.92997085e-01 -1.18115582e-01 -2.34492616e-03 1.02944253e+02] [ 1.18115262e-01 9.92999854e-01 -2.74952717e-04 3.92169286e+00] [ 2.36098754e-03 -3.94432137e-06 9.99997213e-01 -3.02951512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.410281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:102.97, Y:3.92, Z:-0.30 [[ 9.92982355e-01 -1.18194638e-01 -4.00872945e-03 1.02971474e+02] [ 1.18193703e-01 9.92990447e-01 -4.70251354e-04 3.92286717e+00] [ 4.03621123e-03 -6.85528099e-06 9.99991854e-01 -3.03972944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.440281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:103.00, Y:3.92, Z:-0.30 [[ 9.92987699e-01 -1.18173569e-01 -3.23066719e-03 1.02999103e+02] [ 1.18172959e-01 9.92992954e-01 -3.79654459e-04 3.92442391e+00] [ 3.25289488e-03 -4.78529487e-06 9.99994709e-01 -3.03591798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.470281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:103.03, Y:3.93, Z:-0.30 [[ 9.93013599e-01 -1.17982423e-01 -2.03483250e-03 1.03026311e+02] [ 1.17982181e-01 9.93015684e-01 -2.39274735e-04 3.92570319e+00] [ 2.04885080e-03 -2.47091020e-06 9.99997901e-01 -3.02795959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:103.05, Y:3.93, Z:-0.30 [[ 9.93017792e-01 -1.17962525e-01 -7.11837526e-04 1.03054628e+02] [ 1.17962495e-01 9.93018048e-01 -8.39214622e-05 3.92564000e+00] [ 7.16767098e-04 -6.34625565e-07 9.99999743e-01 -3.02661316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.530281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:103.08, Y:3.93, Z:-0.30 [[ 9.92937039e-01 -1.18635006e-01 -1.33118477e-03 1.03082304e+02] [ 1.18634902e-01 9.92937931e-01 -1.57105769e-04 3.92706842e+00] [ 1.34042210e-03 -1.92883809e-06 9.99999102e-01 -3.03141018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.56028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:103.11, Y:3.93, Z:-0.30 [[ 9.92614439e-01 -1.21278253e-01 -2.85675687e-03 1.03110239e+02] [ 1.21277784e-01 9.92618550e-01 -3.37595696e-04 3.92557487e+00] [ 2.87661288e-03 -1.13587795e-05 9.99995862e-01 -3.03812210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.590281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.14, Y:3.93, Z:-0.30 [[ 9.92419161e-01 -1.22857143e-01 -3.21415462e-03 1.03137171e+02] [ 1.22856556e-01 9.92424366e-01 -3.80216360e-04 3.92581237e+00] [ 3.23651766e-03 -1.75459654e-05 9.99994762e-01 -3.04425534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.620281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:103.17, Y:3.92, Z:-0.30 [[ 9.92090479e-01 -1.25497059e-01 -2.64016803e-03 1.03165151e+02] [ 1.25496672e-01 9.92093991e-01 -3.12519732e-04 3.92238635e+00] [ 2.65851515e-03 -2.12844494e-05 9.99996466e-01 -3.04174866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.650281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:103.19, Y:3.92, Z:-0.30 [[ 9.91978970e-01 -1.26391210e-01 -1.72801650e-03 1.03193721e+02] [ 1.26391044e-01 9.91980475e-01 -2.04928256e-04 3.92242588e+00] [ 1.74005976e-03 -1.51212894e-05 9.99998486e-01 -3.03309512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.680281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:103.22, Y:3.92, Z:-0.30 [[ 9.91895102e-01 -1.27054264e-01 -1.14915926e-03 1.03222371e+02] [ 1.27054191e-01 9.91895768e-01 -1.36524371e-04 3.92257410e+00] [ 1.15719221e-03 -1.05876462e-05 9.99999330e-01 -3.02651562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.710281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.25, Y:3.92, Z:-0.30 [[ 9.91662041e-01 -1.28850772e-01 -1.96843855e-03 1.03250361e+02] [ 1.28850561e-01 9.91663995e-01 -2.33895627e-04 3.91914687e+00] [ 1.98216726e-03 -2.16889965e-05 9.99998035e-01 -3.03828419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.740281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:103.28, Y:3.92, Z:-0.30 [[ 9.91477302e-01 -1.30263265e-01 -2.05971819e-03 1.03277891e+02] [ 1.30263037e-01 9.91479441e-01 -2.44902486e-04 3.91845271e+00] [ 2.07407004e-03 -2.54898919e-05 9.99997849e-01 -3.04176868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.770281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:103.31, Y:3.92, Z:-0.30 [[ 9.91212679e-01 -1.32270229e-01 -1.41838031e-03 1.03305761e+02] [ 1.32270122e-01 9.91213693e-01 -1.68980583e-04 3.91755954e+00] [ 1.42826909e-03 -2.01136417e-05 9.99998980e-01 -3.04225894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.800281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:103.33, Y:3.92, Z:-0.30 [[ 9.90958066e-01 -1.34168308e-01 -9.88352366e-04 1.03333029e+02] [ 1.34168257e-01 9.90958559e-01 -1.17874463e-04 3.91613167e+00] [ 9.95231254e-04 -1.57968647e-05 9.99999505e-01 -3.03919402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.830281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:103.36, Y:3.91, Z:-0.30 [[ 9.90519960e-01 -1.37361273e-01 -1.44563437e-03 1.03361703e+02] [ 1.37361167e-01 9.90521014e-01 -1.72677780e-04 3.91080465e+00] [ 1.45565046e-03 -2.75332368e-05 9.99998940e-01 -3.02977776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.860281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:103.39, Y:3.91, Z:-0.30 [[ 9.90452020e-01 -1.37841804e-01 -2.10570985e-03 1.03389067e+02] [ 1.37841580e-01 9.90454257e-01 -2.51596394e-04 3.90967235e+00] [ 2.12028978e-03 -4.10602170e-05 9.99997751e-01 -3.03530584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.890281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:103.42, Y:3.91, Z:-0.30 [[ 9.90531424e-01 -1.37268934e-01 -2.17652966e-03 1.03416685e+02] [ 1.37268693e-01 9.90533815e-01 -2.60230261e-04 3.90545061e+00] [ 2.19164776e-03 -4.10031311e-05 9.99997597e-01 -3.02284804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.920281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:103.45, Y:3.91, Z:-0.30 [[ 9.90659205e-01 -1.36353309e-01 -1.45415844e-03 1.03445115e+02] [ 1.36353200e-01 9.90660272e-01 -1.74192443e-04 3.90554244e+00] [ 1.46432871e-03 -2.57138093e-05 9.99998928e-01 -3.01558217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.95028169300001 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:103.47, Y:3.91, Z:-0.30 [[ 9.90808534e-01 -1.35268486e-01 -9.41349911e-04 1.03473718e+02] [ 1.35268439e-01 9.90808981e-01 -1.12966766e-04 3.90576949e+00] [ 9.47978790e-04 -1.54064972e-05 9.99999551e-01 -3.00809618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.980281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:103.50, Y:3.90, Z:-0.30 [[ 9.91190930e-01 -1.32440672e-01 -9.20664504e-05 1.03501333e+02] [ 1.32440671e-01 9.91190934e-01 -1.10867899e-05 3.90117838e+00] [ 9.27237729e-05 -1.20421690e-06 9.99999996e-01 -3.01762557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.010281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:103.53, Y:3.90, Z:-0.30 [[ 9.91356138e-01 -1.31198167e-01 -2.18952541e-04 1.03529551e+02] [ 1.31198165e-01 9.91356162e-01 -2.64028826e-05 3.90071457e+00] [ 2.20523961e-04 -2.55151183e-06 9.99999976e-01 -3.02081036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.040281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:103.56, Y:3.90, Z:-0.30 [[ 9.91542534e-01 -1.29780586e-01 -6.34106195e-04 1.03556590e+02] [ 1.29780564e-01 9.91542737e-01 -7.62884954e-05 3.89987564e+00] [ 6.38644158e-04 -6.65137158e-06 9.99999796e-01 -3.01785773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.070281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:103.59, Y:3.90, Z:-0.30 [[ 9.91805747e-01 -1.27754094e-01 -5.01830216e-04 1.03585724e+02] [ 1.27754080e-01 9.91805874e-01 -6.05315662e-05 3.89589728e+00] [ 5.05451312e-04 -4.07530230e-06 9.99999872e-01 -3.01135350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.100281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:103.61, Y:3.90, Z:-0.30 [[ 9.91896065e-01 -1.27051905e-01 9.75285887e-05 1.03613160e+02] [ 1.27051905e-01 9.91896070e-01 1.17123496e-05 3.89563080e+00] [-9.82263002e-05 7.73759483e-07 9.99999995e-01 -3.00438116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.130281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:103.64, Y:3.90, Z:-0.30 [[ 9.91939294e-01 -1.26712654e-01 5.83313359e-04 1.03641188e+02] [ 1.26712634e-01 9.91939466e-01 7.03110608e-05 3.89623557e+00] [-5.87520842e-04 4.16886829e-06 9.99999827e-01 -3.00073166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.160281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:103.67, Y:3.89, Z:-0.30 [[ 9.92200839e-01 -1.24644229e-01 1.14534555e-03 1.03669080e+02] [ 1.24644152e-01 9.92201500e-01 1.38289615e-04 3.89405488e+00] [-1.15365058e-03 5.54955334e-06 9.99999335e-01 -2.99996655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.190281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:103.70, Y:3.90, Z:-0.30 [[ 9.92323731e-01 -1.23657130e-01 1.58969754e-03 1.03696898e+02] [ 1.23656981e-01 9.92325004e-01 1.92208408e-04 3.89508153e+00] [-1.60126455e-03 5.84423287e-06 9.99998718e-01 -3.00322419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.220281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:103.72, Y:3.90, Z:-0.30 [[ 9.92506076e-01 -1.22181120e-01 1.86107746e-03 1.03724201e+02] [ 1.22180913e-01 9.92507821e-01 2.25251580e-04 3.89627136e+00] [-1.87465542e-03 3.82458054e-06 9.99998243e-01 -2.99745982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.250281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:103.75, Y:3.90, Z:-0.30 [[ 9.92972045e-01 -1.18340842e-01 1.40093287e-03 1.03751115e+02] [ 1.18340721e-01 9.92973033e-01 1.69707761e-04 3.89637062e+00] [-1.41117192e-03 -2.72765722e-06 9.99999004e-01 -2.99892079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.280281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:103.78, Y:3.90, Z:-0.30 [[ 9.93223391e-01 -1.16219921e-01 4.74512122e-04 1.03779484e+02] [ 1.16219907e-01 9.93223505e-01 5.74979380e-05 3.89900166e+00] [-4.77978999e-04 -1.96054223e-06 9.99999886e-01 -3.00332895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.31028169300001 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:103.81, Y:3.90, Z:-0.30 [[ 9.93456236e-01 -1.14213358e-01 1.27788556e-04 1.03806686e+02] [ 1.14213357e-01 9.93456244e-01 1.54788839e-05 3.90272558e+00] [-1.28720234e-04 -7.82433726e-07 9.99999992e-01 -3.00701372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.340281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:103.83, Y:3.91, Z:-0.30 [[ 9.93930511e-01 -1.10009585e-01 1.75032067e-04 1.03833439e+02] [ 1.10009583e-01 9.93930526e-01 2.12324656e-05 3.90760478e+00] [-1.76305490e-04 -1.84839064e-06 9.99999984e-01 -2.99503879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.370281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:103.86, Y:3.91, Z:-0.30 [[ 9.94142346e-01 -1.08076901e-01 6.15386159e-04 1.03861306e+02] [ 1.08076875e-01 9.94142537e-01 7.48201741e-05 3.91224832e+00] [-6.19867889e-04 -7.87289026e-06 9.99999808e-01 -2.99849101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.400281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:103.89, Y:3.92, Z:-0.30 [[ 9.94523965e-01 -1.04508586e-01 1.94083805e-04 1.03888440e+02] [ 1.04508584e-01 9.94523984e-01 2.35684291e-05 3.91979623e+00] [-1.95484102e-04 -3.15594399e-06 9.99999981e-01 -2.99845911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.430281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:103.92, Y:3.93, Z:-0.30 [[ 9.94654116e-01 -1.03262462e-01 -2.33050628e-04 1.03916105e+02] [ 1.03262458e-01 9.94654143e-01 -2.85544964e-05 3.92634285e+00] [ 2.34753380e-04 4.33646664e-06 9.99999972e-01 -3.00722137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.460281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:103.94, Y:3.93, Z:-0.30 [[ 9.94742827e-01 -1.02403125e-01 -5.55269526e-04 1.03943677e+02] [ 1.02403103e-01 9.94742982e-01 -6.80077559e-05 3.93228387e+00] [ 5.59314671e-04 1.07889052e-05 9.99999844e-01 -3.01190938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.490281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:103.97, Y:3.94, Z:-0.30 [[ 9.94739395e-01 -1.02432225e-01 -1.08445310e-03 1.03970242e+02] [ 1.02432141e-01 9.94739986e-01 -1.32764207e-04 3.93796851e+00] [ 1.09234819e-03 2.09829336e-05 9.99999403e-01 -3.01381201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.520281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:104.00, Y:3.94, Z:-0.30 [[ 9.94716517e-01 -1.02645895e-01 -1.69450586e-03 1.03998232e+02] [ 1.02645690e-01 9.94717960e-01 -2.07801041e-04 3.94340176e+00] [ 1.70688533e-03 3.27694041e-05 9.99998543e-01 -3.01275610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.550281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:104.02, Y:3.95, Z:-0.30 [[ 9.94627088e-01 -1.03512788e-01 -1.43510228e-03 1.04024102e+02] [ 1.03512641e-01 9.94628123e-01 -1.76067892e-04 3.95233607e+00] [ 1.44561836e-03 2.65706677e-05 9.99998955e-01 -3.00135547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.580281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:104.05, Y:3.96, Z:-0.30 [[ 9.94618464e-01 -1.03602860e-01 -7.46976811e-04 1.04050731e+02] [ 1.03602820e-01 9.94618745e-01 -9.17811972e-05 3.95929793e+00] [ 7.52465933e-04 1.38983690e-05 9.99999717e-01 -2.99931400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.610281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:104.08, Y:3.97, Z:-0.30 [[ 9.94630617e-01 -1.03488264e-01 -3.38136734e-04 1.04078045e+02] [ 1.03488256e-01 9.94630675e-01 -4.16721821e-05 3.96869359e+00] [ 3.40633750e-04 6.45524727e-06 9.99999942e-01 -3.00643734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.640281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:104.11, Y:3.98, Z:-0.30 [[ 9.94604498e-01 -1.03738065e-01 -5.52754585e-04 1.04105258e+02] [ 1.03738044e-01 9.94604652e-01 -6.81686720e-05 3.97502537e+00] [ 5.56843968e-04 1.04591885e-05 9.99999845e-01 -3.00761647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.670281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:104.13, Y:3.98, Z:-0.30 [[ 9.94536915e-01 -1.04384523e-01 -4.43513325e-04 1.04132483e+02] [ 1.04384509e-01 9.94537014e-01 -5.47998262e-05 3.98144177e+00] [ 4.46810671e-04 8.20452943e-06 9.99999900e-01 -3.00309044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.70028169300001 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:104.16, Y:3.99, Z:-0.30 [[ 9.94309031e-01 -1.06508907e-01 2.32443637e-03 1.04159058e+02] [ 1.06508527e-01 9.94311748e-01 2.86850693e-04 3.98993546e+00] [-2.34176654e-03 -3.76459405e-05 9.99997257e-01 -2.99360073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.730281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:104.19, Y:3.99, Z:-0.30 [[ 9.94150917e-01 -1.07919580e-01 4.16160542e-03 1.04185301e+02] [ 1.07918374e-01 9.94159625e-01 5.13933298e-04 3.99431113e+00] [-4.19276355e-03 -6.18135704e-05 9.99991208e-01 -2.99070040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.760281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:104.21, Y:4.00, Z:-0.30 [[ 9.93956008e-01 -1.09657530e-01 5.16538077e-03 1.04212766e+02] [ 1.09655690e-01 9.93969427e-01 6.38812348e-04 3.99858779e+00] [-5.20428114e-03 -6.85379781e-05 9.99986455e-01 -2.98549265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.790281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:104.24, Y:4.00, Z:-0.30 [[ 9.93452848e-01 -1.14165852e-01 4.19485733e-03 1.04239581e+02] [ 1.14164677e-01 9.93461704e-01 5.19337405e-04 4.00490075e+00] [-4.22672070e-03 -3.70326934e-05 9.99991067e-01 -2.99356901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.820281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:104.27, Y:4.01, Z:-0.30 [[ 9.93078998e-01 -1.17423283e-01 2.42396450e-03 1.04267413e+02] [ 1.17422900e-01 9.93081957e-01 3.00486334e-04 4.01092252e+00] [-2.44247950e-03 -1.37777277e-05 9.99997017e-01 -3.00779663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.850281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:104.29, Y:4.02, Z:-0.30 [[ 9.92389618e-01 -1.23133507e-01 -9.93061118e-04 1.04293602e+02] [ 1.23133445e-01 9.92390115e-01 -1.23263222e-04 4.01759504e+00] [ 1.00068187e-03 4.61053262e-08 9.99999499e-01 -3.01721137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.880281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:104.32, Y:4.02, Z:-0.30 [[ 9.92035784e-01 -1.25948073e-01 -1.44430993e-03 1.04321474e+02] [ 1.25947945e-01 9.92036835e-01 -1.79569734e-04 4.02253426e+00] [ 1.45542511e-03 -3.76826587e-06 9.99998941e-01 -3.02109020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.910281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:104.35, Y:4.03, Z:-0.30 [[ 9.91708124e-01 -1.28500196e-01 -1.64182407e-03 1.04348767e+02] [ 1.28500034e-01 9.91709483e-01 -2.04414651e-04 4.02712760e+00] [ 1.65447982e-03 -8.25477792e-06 9.99998631e-01 -3.01058754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.940281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:104.38, Y:4.03, Z:-0.30 [[ 9.91155877e-01 -1.32696548e-01 -1.28591483e-03 1.04375970e+02] [ 1.32696452e-01 9.91156711e-01 -1.60369952e-04 4.03259188e+00] [ 1.29582366e-03 -1.16847154e-05 9.99999160e-01 -3.00631400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.970281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:104.40, Y:4.04, Z:-0.30 [[ 9.90897940e-01 -1.34613382e-01 -7.14344013e-04 1.04402198e+02] [ 1.34613353e-01 9.90898197e-01 -8.91348130e-05 4.03700726e+00] [ 7.19840933e-04 -7.83674019e-06 9.99999741e-01 -2.99989184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:104.43, Y:4.04, Z:-0.30 [[ 9.90675578e-01 -1.36241755e-01 2.89798815e-04 1.04429358e+02] [ 1.36241751e-01 9.90675620e-01 3.61040081e-05 4.04189516e+00] [-2.92015494e-04 3.71533885e-06 9.99999957e-01 -2.99939593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.030281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.46, Y:4.05, Z:-0.30 [[ 9.90399707e-01 -1.38228702e-01 1.11606233e-03 1.04456396e+02] [ 1.38228633e-01 9.90400336e-01 1.39513329e-04 4.04745926e+00] [-1.12463325e-03 1.60978094e-05 9.99999367e-01 -3.00008036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.06028169300001 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:104.48, Y:4.05, Z:-0.30 [[ 9.89832431e-01 -1.42236716e-01 6.89749845e-04 1.04483429e+02] [ 1.42236690e-01 9.89832671e-01 8.63045211e-05 4.05196118e+00] [-6.95012603e-04 1.26807213e-05 9.99999758e-01 -3.00596735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.090281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:104.51, Y:4.05, Z:-0.30 [[ 9.89594262e-01 -1.43886047e-01 5.14800209e-05 1.04510948e+02] [ 1.43886047e-01 9.89594263e-01 6.36158570e-06 4.05479113e+00] [-5.18596768e-05 1.11186799e-06 9.99999999e-01 -3.01054819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.120281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:104.54, Y:4.06, Z:-0.30 [[ 9.89382691e-01 -1.45332712e-01 -5.42277309e-04 1.04538236e+02] [ 1.45332697e-01 9.89382839e-01 -6.81375109e-05 4.05795585e+00] [ 5.46422473e-04 -1.13965499e-05 9.99999851e-01 -3.00843056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.150281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:104.57, Y:4.06, Z:-0.30 [[ 9.89073224e-01 -1.47424864e-01 -2.59251682e-04 1.04566195e+02] [ 1.47424860e-01 9.89073258e-01 -3.26889925e-05 4.06084390e+00] [ 2.61238076e-04 -5.88833583e-06 9.99999966e-01 -2.99175184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.180281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:104.59, Y:4.06, Z:-0.30 [[ 9.89047579e-01 -1.47596811e-01 -2.59246760e-04 1.04594429e+02] [ 1.47596808e-01 9.89047613e-01 -3.27280504e-05 4.06457715e+00] [ 2.61237945e-04 -5.89439513e-06 9.99999966e-01 -2.99189751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.210281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:104.62, Y:4.07, Z:-0.30 [[ 9.88917182e-01 -1.48463933e-01 1.12615567e-03 1.04621558e+02] [ 1.48463867e-01 9.88917823e-01 1.41830526e-04 4.06655059e+00] [-1.13473213e-03 2.69347817e-05 9.99999356e-01 -2.99328052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.240281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:104.65, Y:4.07, Z:-0.30 [[ 9.88740571e-01 -1.49617789e-01 2.56929599e-03 1.04649648e+02] [ 1.49617452e-01 9.88743907e-01 3.24057357e-04 4.06751030e+00] [-2.58886050e-03 6.40028642e-05 9.99996647e-01 -2.98919586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.270281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:104.68, Y:4.07, Z:-0.30 [[ 9.88441701e-01 -1.51554393e-01 3.77754879e-03 1.04677489e+02] [ 1.51553677e-01 9.88448914e-01 4.76850796e-04 4.06596986e+00] [-3.80618283e-03 1.01162197e-04 9.99992751e-01 -2.99360344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.300281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:104.70, Y:4.07, Z:-0.30 [[ 9.88400849e-01 -1.51834710e-01 3.15937911e-03 1.04704749e+02] [ 1.51834210e-01 9.88405895e-01 3.99058680e-04 4.06689619e+00] [-3.18333990e-03 8.52718919e-05 9.99994930e-01 -2.99385105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.330281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:104.73, Y:4.07, Z:-0.30 [[ 9.88420244e-01 -1.51728436e-01 1.97542179e-03 1.04732695e+02] [ 1.51728240e-01 9.88422217e-01 2.49801021e-04 4.06700338e+00] [-1.99045270e-03 5.28188842e-05 9.99998018e-01 -2.99811416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.360281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:104.76, Y:4.06, Z:-0.30 [[ 9.88557994e-01 -1.50841221e-01 1.32740644e-04 1.04761864e+02] [ 1.50841220e-01 9.88558003e-01 1.67248163e-05 4.06228867e+00] [-1.33744617e-04 3.48930989e-06 9.99999991e-01 -3.00578433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.390281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:104.79, Y:4.06, Z:-0.29 [[ 9.88639684e-01 -1.50304059e-01 -5.14327242e-04 1.04789823e+02] [ 1.50304045e-01 9.88639818e-01 -6.53390880e-05 4.06137384e+00] [ 5.18305121e-04 -1.27086497e-05 9.99999866e-01 -2.92370750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.420281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:104.82, Y:4.06, Z:-0.30 [[ 9.88793304e-01 -1.49290486e-01 -3.92108678e-04 1.04817805e+02] [ 1.49290478e-01 9.88793381e-01 -4.98136305e-05 4.05815975e+00] [ 3.95151167e-04 -9.28270767e-06 9.99999922e-01 -3.00147620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.45028169300001 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:104.85, Y:4.06, Z:-0.30 [[ 9.89009019e-01 -1.47849257e-01 -1.32600222e-03 1.04846303e+02] [ 1.47849164e-01 9.89009907e-01 -1.68651770e-04 4.05780565e+00] [ 1.33636437e-03 -2.92501988e-05 9.99999107e-01 -3.00621891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.480281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:104.87, Y:4.06, Z:-0.30 [[ 9.89331208e-01 -1.45674144e-01 -1.67454414e-03 1.04874683e+02] [ 1.45673992e-01 9.89332625e-01 -2.13280513e-04 4.05749218e+00] [ 1.68775061e-03 -3.29324623e-05 9.99998575e-01 -3.01021113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.510281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:104.90, Y:4.06, Z:-0.30 [[ 9.89792287e-01 -1.42508973e-01 -1.55611999e-03 1.04902131e+02] [ 1.42508838e-01 9.89793510e-01 -1.98374947e-04 4.05758127e+00] [ 1.56850768e-03 -2.54108582e-05 9.99998770e-01 -3.01107570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.540281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:104.93, Y:4.06, Z:-0.30 [[ 9.91085025e-01 -1.33230597e-01 2.86683904e-04 1.04930364e+02] [ 1.33230592e-01 9.91085066e-01 3.65080857e-05 4.05631051e+00] [-2.88992130e-04 2.01244917e-06 9.99999958e-01 -2.99943865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:104.96, Y:4.06, Z:-0.30 [[ 9.91809088e-01 -1.27727268e-01 6.90658437e-04 1.04958509e+02] [ 1.27727238e-01 9.91809329e-01 8.81343208e-05 4.05813608e+00] [-6.96258637e-04 8.03474094e-07 9.99999758e-01 -2.99562981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.600281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:104.99, Y:4.06, Z:-0.30 [[ 9.92526842e-01 -1.22026073e-01 3.23754639e-04 1.04985017e+02] [ 1.22026066e-01 9.92526895e-01 4.13444527e-05 4.06036569e+00] [-3.26380288e-04 -1.52897416e-06 9.99999947e-01 -2.99777959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.630281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:105.01, Y:4.06, Z:-0.30 [[ 9.93847545e-01 -1.10753802e-01 -8.07794941e-04 1.05012976e+02] [ 1.10753755e-01 9.93847873e-01 -1.03513979e-04 4.06297508e+00] [ 8.14289851e-04 1.34107907e-05 9.99999668e-01 -3.00335831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.660281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:105.04, Y:4.07, Z:-0.30 [[ 9.94429731e-01 -1.05397536e-01 -9.32279809e-04 1.05040056e+02] [ 1.05397470e-01 9.94430168e-01 -1.19472895e-04 4.06695105e+00] [ 9.39679316e-04 2.05474650e-05 9.99999558e-01 -3.00473100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.690281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:105.07, Y:4.07, Z:-0.30 [[ 9.94941105e-01 -1.00457591e-01 -6.86032157e-04 1.05067466e+02] [ 1.00457554e-01 9.94941341e-01 -8.81139146e-05 4.07179100e+00] [ 6.91413465e-04 1.87510428e-05 9.99999761e-01 -3.00491597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.720281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:105.09, Y:4.08, Z:-0.30 [[ 9.95410819e-01 -9.56911121e-02 -7.15943005e-04 1.05094405e+02] [ 9.56910707e-02 9.95411076e-01 -9.19555600e-05 4.07771393e+00] [ 7.21456927e-04 2.30242066e-05 9.99999739e-01 -3.00837065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.750281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:105.12, Y:4.09, Z:-0.30 [[ 9.96146547e-01 -8.76989874e-02 -9.71733286e-04 1.05121527e+02] [ 8.76989071e-02 9.96147020e-01 -1.25032902e-04 4.08744802e+00] [ 9.78954476e-04 3.93311462e-05 9.99999520e-01 -3.01544032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.780281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:105.15, Y:4.09, Z:-0.30 [[ 9.96415289e-01 -8.45908369e-02 -9.80453665e-04 1.05147407e+02] [ 8.45907536e-02 9.96415771e-01 -1.26180388e-04 4.09458193e+00] [ 9.87613199e-04 4.27907530e-05 9.99999511e-01 -3.01941583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.81028169300001 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:105.17, Y:4.10, Z:-0.30 [[ 9.96761025e-01 -8.04194496e-02 -4.14833850e-04 1.05173712e+02] [ 8.04194343e-02 9.96761111e-01 -5.34375415e-05 4.10489980e+00] [ 4.17787667e-04 1.99037551e-05 9.99999913e-01 -3.01574930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.840281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:105.20, Y:4.11, Z:-0.30 [[ 9.96851048e-01 -7.92950439e-02 -5.32617714e-04 1.05200709e+02] [ 7.92950185e-02 9.96851190e-01 -6.87360990e-05 4.11199866e+00] [ 5.36391034e-04 2.62857209e-05 9.99999856e-01 -3.01088260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.870281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:105.23, Y:4.12, Z:-0.30 [[ 9.96888866e-01 -7.88138922e-02 -9.79554897e-04 1.05227697e+02] [ 7.88138058e-02 9.96889346e-01 -1.26507387e-04 4.11894112e+00] [ 9.86478380e-04 4.89113562e-05 9.99999512e-01 -3.01961482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.900281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:105.25, Y:4.13, Z:-0.30 [[ 9.96838440e-01 -7.94506266e-02 -8.49824415e-04 1.05254779e+02] [ 7.94505617e-02 9.96838801e-01 -1.09906035e-04 4.12959031e+00] [ 8.55870055e-04 4.20395336e-05 9.99999633e-01 -3.03395359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.930281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:105.28, Y:4.14, Z:-0.30 [[ 9.96790183e-01 -8.00574655e-02 -3.65353009e-04 1.05281625e+02] [ 8.00574535e-02 9.96790250e-01 -4.73735272e-05 4.13685098e+00] [ 3.67972922e-04 1.79722353e-05 9.99999932e-01 -3.03203597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.960281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:105.31, Y:4.14, Z:-0.30 [[ 9.96751572e-01 -8.05375251e-02 1.03499413e-04 1.05308076e+02] [ 8.05375242e-02 9.96751577e-01 1.33618389e-05 4.14403244e+00] [-1.04239332e-04 -4.98284752e-06 9.99999995e-01 -3.02553406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.990281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:105.33, Y:4.15, Z:-0.30 [[ 9.96568030e-01 -8.27769303e-02 -3.77228035e-04 1.05334525e+02] [ 8.27769177e-02 9.96568101e-01 -4.89173599e-05 4.15335161e+00] [ 3.79982656e-04 1.75237029e-05 9.99999928e-01 -3.01517092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.020281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:105.36, Y:4.16, Z:-0.30 [[ 9.96405200e-01 -8.47107204e-02 -8.77661426e-04 1.05361610e+02] [ 8.47106528e-02 9.96405586e-01 -1.13966546e-04 4.15947124e+00] [ 8.84160936e-04 3.92095868e-05 9.99999608e-01 -3.01663730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.050281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:105.39, Y:4.17, Z:-0.30 [[ 9.96206218e-01 -8.70176853e-02 -1.04566310e-03 1.05388551e+02] [ 8.70175904e-02 9.96206766e-01 -1.35952288e-04 4.16555467e+00] [ 1.05352691e-03 4.44454316e-05 9.99999444e-01 -3.02064445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.080281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:105.42, Y:4.17, Z:-0.30 [[ 9.95803513e-01 -9.15159922e-02 -4.32689472e-04 1.05416071e+02] [ 9.15159763e-02 9.95803607e-01 -5.63893938e-05 4.17322575e+00] [ 4.36034268e-04 1.65547570e-05 9.99999905e-01 -3.03244917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.110281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:105.44, Y:4.18, Z:-0.30 [[ 9.95610567e-01 -9.35927315e-02 3.18343110e-06 1.05442644e+02] [ 9.35927315e-02 9.95610567e-01 3.22928989e-07 4.17878817e+00] [-3.19968144e-06 -2.35655011e-08 1.00000000e+00 -3.03190351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.140281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:105.47, Y:4.19, Z:-0.30 [[ 9.95281738e-01 -9.70155625e-02 1.49723955e-03 1.05468374e+02] [ 9.70153785e-02 9.95282863e-01 1.95154494e-04 4.18782365e+00] [-1.50910989e-03 -4.89784428e-05 9.99998860e-01 -3.02616727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.170281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:105.50, Y:4.19, Z:-0.30 [[ 9.95129642e-01 -9.85592150e-02 1.75408006e-03 1.05495877e+02] [ 9.85589645e-02 9.95131186e-01 2.28916906e-04 4.19483305e+00] [-1.76810164e-03 -5.49216849e-05 9.99998435e-01 -3.02600680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.20028169300001 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:105.52, Y:4.20, Z:-0.30 [[ 9.94995259e-01 -9.99111737e-02 1.48068740e-03 1.05522185e+02] [ 9.99109964e-02 9.94996359e-01 1.93400685e-04 4.20154759e+00] [-1.49260146e-03 -4.44958114e-05 9.99998885e-01 -3.02953083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.230281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:105.55, Y:4.21, Z:-0.30 [[ 9.94745940e-01 -1.02366234e-01 -1.29198513e-03 1.05548997e+02] [ 1.02366100e-01 9.94746778e-01 -1.69109386e-04 4.20969960e+00] [ 1.30250914e-03 3.59653957e-05 9.99999151e-01 -3.04100545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.260281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:105.58, Y:4.22, Z:-0.30 [[ 9.94578823e-01 -1.03957983e-01 -2.38789083e-03 1.05576185e+02] [ 1.03957531e-01 9.94581688e-01 -3.12936448e-04 4.21567669e+00] [ 2.40748474e-03 6.30007296e-05 9.99997100e-01 -3.03711285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.290281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:105.60, Y:4.22, Z:-0.30 [[ 9.94401820e-01 -1.05641655e-01 -2.20490196e-03 1.05602772e+02] [ 1.05641274e-01 9.94404263e-01 -2.89089903e-04 4.22210478e+00] [ 2.22310385e-03 5.45428735e-05 9.99997527e-01 -3.03989746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.320281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:105.63, Y:4.23, Z:-0.30 [[ 9.94215545e-01 -1.07397321e-01 -1.12469503e-03 1.05630140e+02] [ 1.07397223e-01 9.94216181e-01 -1.47724416e-04 4.22847781e+00] [ 1.13405520e-03 2.60807887e-05 9.99999357e-01 -3.03290264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.350281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:105.66, Y:4.24, Z:-0.30 [[ 9.93758025e-01 -1.11550624e-01 1.20238445e-03 1.05657580e+02] [ 1.11550514e-01 9.93758752e-01 1.57964939e-04 4.23653054e+00] [-1.21250116e-03 -2.28523222e-05 9.99999265e-01 -3.02752287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.380281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:105.69, Y:4.24, Z:-0.30 [[ 9.93503313e-01 -1.13797489e-01 1.13956612e-03 1.05685468e+02] [ 1.13797392e-01 9.93503966e-01 1.49922464e-04 4.24200171e+00] [-1.14922426e-03 -1.92688124e-05 9.99999339e-01 -3.02952437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.410281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:105.71, Y:4.25, Z:-0.30 [[ 9.93241094e-01 -1.16068477e-01 4.88427662e-04 1.05713138e+02] [ 1.16068459e-01 9.93241214e-01 6.42956673e-05 4.24756256e+00] [-4.92589184e-04 -7.17005280e-06 9.99999879e-01 -3.02785678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.440281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:105.74, Y:4.25, Z:-0.30 [[ 9.92822719e-01 -1.19594640e-01 -4.13071996e-04 1.05739147e+02] [ 1.19594627e-01 9.92822805e-01 -5.45365947e-05 4.25314872e+00] [ 4.16629582e-04 4.74397887e-06 9.99999913e-01 -3.03483497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.470281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:105.77, Y:4.26, Z:-0.30 [[ 9.92602854e-01 -1.21405298e-01 -5.72303976e-04 1.05766874e+02] [ 1.21405275e-01 9.92603019e-01 -7.56986968e-05 4.25731883e+00] [ 5.77260877e-04 5.65802115e-06 9.99999833e-01 -3.04167242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.500281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:105.79, Y:4.26, Z:-0.30 [[ 9.92272984e-01 -1.24073698e-01 -2.06037405e-04 1.05794325e+02] [ 1.24073695e-01 9.92273006e-01 -2.73545865e-05 4.26189220e+00] [ 2.07839340e-04 1.57939504e-06 9.99999978e-01 -3.03455915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.530281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:105.82, Y:4.27, Z:-0.30 [[ 9.92114294e-01 -1.25336446e-01 6.22499378e-05 1.05821482e+02] [ 1.25336446e-01 9.92114295e-01 8.14957610e-06 4.26677888e+00] [-6.27804921e-05 -2.83124980e-07 9.99999998e-01 -3.02999555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.56028169300001 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:105.85, Y:4.27, Z:-0.30 [[ 9.91954481e-01 -1.26594728e-01 2.86640226e-04 1.05848117e+02] [ 1.26594722e-01 9.91954523e-01 3.79586136e-05 4.27201785e+00] [-2.89139429e-04 -1.36607702e-06 9.99999958e-01 -3.02875146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.590281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:105.88, Y:4.28, Z:-0.30 [[ 9.91781180e-01 -1.27945651e-01 -2.49515864e-05 1.05875872e+02] [ 1.27945651e-01 9.91781181e-01 -3.40923287e-06 4.27707101e+00] [ 2.51827103e-05 1.88766039e-07 1.00000000e+00 -3.02894325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.620281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:105.90, Y:4.28, Z:-0.30 [[ 9.91434137e-01 -1.30603598e-01 -1.02588887e-03 1.05902670e+02] [ 1.30603527e-01 9.91434668e-01 -1.36403020e-04 4.28120975e+00] [ 1.03491652e-03 1.24990486e-06 9.99999464e-01 -3.03441027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.650281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:105.93, Y:4.29, Z:-0.30 [[ 9.91136769e-01 -1.32843958e-01 -6.22612640e-04 1.05930592e+02] [ 1.32843933e-01 9.91136965e-01 -8.29679198e-05 4.28541010e+00] [ 6.28116189e-04 -4.77755559e-07 9.99999803e-01 -3.03809656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.680281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:105.96, Y:4.29, Z:-0.30 [[ 9.90806235e-01 -1.35288592e-01 -4.18775498e-05 1.05957199e+02] [ 1.35288592e-01 9.90806236e-01 -5.62108947e-06 4.28914838e+00] [ 4.22530068e-05 -9.61442287e-08 9.99999999e-01 -3.03777076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.710281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:105.98, Y:4.29, Z:-0.30 [[ 9.90166289e-01 -1.39891753e-01 1.00899773e-03 1.05984013e+02] [ 1.39891689e-01 9.90166803e-01 1.34422659e-04 4.29152058e+00] [-1.01788067e-03 8.04961012e-06 9.99999482e-01 -3.03182402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.740281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:106.01, Y:4.29, Z:-0.30 [[ 9.89937403e-01 -1.41499097e-01 1.39414955e-03 1.06011726e+02] [ 1.41498975e-01 9.89938385e-01 1.85964496e-04 4.29383766e+00] [-1.40643596e-03 1.31775227e-05 9.99999011e-01 -3.03430318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.770281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:106.04, Y:4.30, Z:-0.30 [[ 9.89828410e-01 -1.42261724e-01 1.14931134e-03 1.06038612e+02] [ 1.42261642e-01 9.89829077e-01 1.53439838e-04 4.29594862e+00] [-1.15945040e-03 1.16238074e-05 9.99999328e-01 -3.03690260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.800281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:106.07, Y:4.30, Z:-0.30 [[ 9.89832153e-01 -1.42239350e-01 -5.25888546e-04 1.06065533e+02] [ 1.42239333e-01 9.89832292e-01 -7.03142649e-05 4.29691973e+00] [ 5.30542920e-04 -5.20271576e-06 9.99999859e-01 -3.03626510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.830281693 meters Centerline goodness : 0.999440 Centerline is valid? [True, True] Translation: X:106.09, Y:4.30, Z:-0.30 [[ 9.89900871e-01 -1.41757061e-01 -1.09563586e-03 1.06093874e+02] [ 1.41756985e-01 9.89901478e-01 -1.46714923e-04 4.29927624e+00] [ 1.10536943e-03 -1.00808055e-05 9.99999389e-01 -3.03625453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.860281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:106.12, Y:4.30, Z:-0.30 [[ 9.90177247e-01 -1.39817466e-01 -3.09000937e-04 1.06122021e+02] [ 1.39817460e-01 9.90177295e-01 -4.15095127e-05 4.29861110e+00] [ 3.11769467e-04 -2.10195106e-06 9.99999951e-01 -3.03473633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.890281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:106.15, Y:4.30, Z:-0.30 [[ 9.90328974e-01 -1.38738895e-01 2.06432206e-04 1.06149340e+02] [ 1.38738893e-01 9.90328995e-01 2.76392593e-05 4.30001481e+00] [-2.08270439e-04 1.26821637e-06 9.99999978e-01 -3.03582767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.920281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:106.18, Y:4.30, Z:-0.30 [[ 9.90452126e-01 -1.37856083e-01 5.34659415e-04 1.06177139e+02] [ 1.37856064e-01 9.90452271e-01 7.17027135e-05 4.30177051e+00] [-5.39439286e-04 2.68793773e-06 9.99999855e-01 -3.03465676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.95028169300001 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:106.21, Y:4.30, Z:-0.30 [[ 9.90594456e-01 -1.36828828e-01 7.04477330e-04 1.06205117e+02] [ 1.36828795e-01 9.90594706e-01 9.46382895e-05 4.30411413e+00] [-7.10800760e-04 2.64461923e-06 9.99999747e-01 -3.03871531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.980281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:106.23, Y:4.30, Z:-0.30 [[ 9.90912797e-01 -1.34502664e-01 9.28248593e-04 1.06232251e+02] [ 1.34502606e-01 9.90913232e-01 1.24882695e-04 4.30475030e+00] [-9.36610868e-04 1.10399376e-06 9.99999561e-01 -3.03925037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.010281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:106.26, Y:4.31, Z:-0.30 [[ 9.91046986e-01 -1.33510535e-01 8.98736608e-04 1.06260095e+02] [ 1.33510480e-01 9.91047394e-01 1.21050541e-04 4.30710571e+00] [-9.06852096e-04 2.39829099e-08 9.99999589e-01 -3.03811889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.040281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:106.29, Y:4.31, Z:-0.30 [[ 9.91135093e-01 -1.32855115e-01 8.64150124e-04 1.06287549e+02] [ 1.32855064e-01 9.91135469e-01 1.16547018e-04 4.31000134e+00] [-8.71973706e-04 -7.07119946e-07 9.99999620e-01 -3.04012419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.070281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:106.31, Y:4.31, Z:-0.30 [[ 9.91405361e-01 -1.30821904e-01 1.01943088e-03 1.06314560e+02] [ 1.30821832e-01 9.91405885e-01 1.37638124e-04 4.31320923e+00] [-1.02867586e-03 -3.09135791e-06 9.99999471e-01 -3.03729258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.100281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:106.34, Y:4.32, Z:-0.30 [[ 9.91383230e-01 -1.30989508e-01 1.01941361e-03 1.06342755e+02] [ 1.30989436e-01 9.91383755e-01 1.37765976e-04 4.31721491e+00] [-1.02867599e-03 -3.04646530e-06 9.99999471e-01 -3.03743822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.130281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:106.37, Y:4.32, Z:-0.30 [[ 9.91487360e-01 -1.30191446e-01 1.73279884e-03 1.06370577e+02] [ 1.30191235e-01 9.91488874e-01 2.34559435e-04 4.32047367e+00] [-1.74858840e-03 -6.96749452e-06 9.99998471e-01 -3.03874267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.160281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:106.40, Y:4.32, Z:-0.30 [[ 9.91575048e-01 -1.29518304e-01 1.98337319e-03 1.06397832e+02] [ 1.29518025e-01 9.91577031e-01 2.68714581e-04 4.32353495e+00] [-2.00147075e-03 -9.56809491e-06 9.99997997e-01 -3.04009124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.190281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:106.43, Y:4.33, Z:-0.30 [[ 9.91590043e-01 -1.29410936e-01 1.41276232e-03 1.06425616e+02] [ 1.29410794e-01 9.91591050e-01 1.91610270e-04 4.32606761e+00] [-1.42567894e-03 -7.17214133e-06 9.99998984e-01 -3.04144974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.220281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:106.45, Y:4.33, Z:-0.30 [[ 9.91570323e-01 -1.29567582e-01 7.31865223e-04 1.06451999e+02] [ 1.29567544e-01 9.91570593e-01 9.93416556e-05 4.32936359e+00] [-7.38567492e-04 -3.67825832e-06 9.99999727e-01 -3.04432229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.250281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:106.48, Y:4.33, Z:-0.31 [[ 9.91363566e-01 -1.31141800e-01 3.28582916e-04 1.06479409e+02] [ 1.31141792e-01 9.91363621e-01 4.45974773e-05 4.33170452e+00] [-3.31593743e-04 -1.12136153e-06 9.99999945e-01 -3.05368035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.280281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:106.51, Y:4.33, Z:-0.31 [[ 9.91142656e-01 -1.32801282e-01 2.35100939e-04 1.06507578e+02] [ 1.32801278e-01 9.91142684e-01 3.19270145e-05 4.33406218e+00] [-2.37258524e-04 -4.22520915e-07 9.99999972e-01 -3.05500335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.31028169300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:106.54, Y:4.34, Z:-0.31 [[ 9.90894437e-01 -1.34641052e-01 3.44425031e-05 1.06535839e+02] [ 1.34641051e-01 9.90894438e-01 4.60227413e-06 4.33681167e+00] [-3.47485398e-05 7.70070068e-08 9.99999999e-01 -3.05232659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.340281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:106.56, Y:4.34, Z:-0.31 [[ 9.90535808e-01 -1.37253114e-01 -6.29068271e-04 1.06562985e+02] [ 1.37253087e-01 9.90536008e-01 -8.58955261e-05 4.33885294e+00] [ 6.34904202e-04 -1.25896765e-06 9.99999798e-01 -3.05048293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.370281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:106.59, Y:4.34, Z:-0.31 [[ 9.90337667e-01 -1.38675870e-01 -5.55780461e-04 1.06591261e+02] [ 1.38675849e-01 9.90337823e-01 -7.60490654e-05 4.34175551e+00] [ 5.60956582e-04 -1.75907353e-06 9.99999843e-01 -3.05505237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.400281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:106.62, Y:4.34, Z:-0.31 [[ 9.90179680e-01 -1.39800279e-01 -2.88295298e-04 1.06619360e+02] [ 1.39800273e-01 9.90179722e-01 -3.95468423e-05 4.34379212e+00] [ 2.90992818e-04 -1.14528175e-06 9.99999958e-01 -3.05545776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.430281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:106.65, Y:4.35, Z:-0.31 [[ 9.90036878e-01 -1.40808034e-01 2.79470752e-04 1.06646365e+02] [ 1.40808029e-01 9.90036917e-01 3.82269861e-05 4.34573311e+00] [-2.82069029e-04 1.50559973e-06 9.99999960e-01 -3.05611045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.460281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:106.67, Y:4.35, Z:-0.30 [[ 9.89919263e-01 -1.41631723e-01 5.54000378e-04 1.06674615e+02] [ 1.41631703e-01 9.89919418e-01 7.58676346e-05 4.34813866e+00] [-5.59160996e-04 3.36118418e-06 9.99999844e-01 -3.04600675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.490281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:106.70, Y:4.35, Z:-0.30 [[ 9.89996656e-01 -1.41090352e-01 3.66765217e-04 1.06702588e+02] [ 1.41090343e-01 9.89996724e-01 5.02625839e-05 4.35062788e+00] [-3.70187929e-04 1.98724031e-06 9.99999931e-01 -3.04223205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.520281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:106.73, Y:4.35, Z:-0.30 [[ 9.90120626e-01 -1.40217550e-01 4.30652369e-04 1.06730391e+02] [ 1.40217538e-01 9.90120719e-01 5.91118148e-05 4.35481879e+00] [-4.34686347e-04 1.85718774e-06 9.99999906e-01 -3.04537197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.550281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:106.76, Y:4.36, Z:-0.30 [[ 9.90500265e-01 -1.37509026e-01 7.02642366e-04 1.06756919e+02] [ 1.37508992e-01 9.90500514e-01 9.66290615e-05 4.35818084e+00] [-7.09254992e-04 9.08532360e-07 9.99999748e-01 -3.04568645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.580281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:106.78, Y:4.36, Z:-0.30 [[ 9.90641561e-01 -1.36483523e-01 1.24306691e-03 1.06784671e+02] [ 1.36483416e-01 9.90642341e-01 1.71207243e-04 4.36196738e+00] [-1.25480168e-03 5.30072594e-08 9.99999213e-01 -3.04375561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.610281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:106.81, Y:4.37, Z:-0.30 [[ 9.90808719e-01 -1.35262339e-01 1.47688685e-03 1.06811379e+02] [ 1.35262186e-01 9.90809820e-01 2.03605967e-04 4.36581428e+00] [-1.49085421e-03 -1.96762446e-06 9.99998889e-01 -3.03475625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.640281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:106.84, Y:4.37, Z:-0.30 [[ 9.90744425e-01 -1.35739688e-01 4.70490353e-04 1.06838979e+02] [ 1.35739673e-01 9.90744537e-01 6.48690140e-05 4.36951050e+00] [-4.74941046e-04 -4.04407324e-07 9.99999887e-01 -3.03757064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.670281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:106.87, Y:4.37, Z:-0.30 [[ 9.90613028e-01 -1.36695934e-01 -2.22976125e-04 1.06866751e+02] [ 1.36695930e-01 9.90613053e-01 -3.09346806e-05 4.37245644e+00] [ 2.25111705e-04 1.64368794e-07 9.99999975e-01 -3.04195651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.70028169300001 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:106.89, Y:4.37, Z:-0.30 [[ 9.90479041e-01 -1.37663058e-01 3.89991657e-04 1.06893945e+02] [ 1.37663048e-01 9.90479118e-01 5.39181197e-05 4.37385604e+00] [-3.93701126e-04 2.82672711e-07 9.99999923e-01 -3.04426462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.730281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:106.92, Y:4.38, Z:-0.30 [[ 9.90473468e-01 -1.37696075e-01 1.44908965e-03 1.06921377e+02] [ 1.37695928e-01 9.90474528e-01 2.00689346e-04 4.37765931e+00] [-1.46292053e-03 7.56272523e-07 9.99998930e-01 -3.04129748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.760281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:106.95, Y:4.38, Z:-0.30 [[ 9.90562655e-01 -1.37050295e-01 1.68613680e-03 1.06948765e+02] [ 1.37050095e-01 9.90564090e-01 2.33860410e-04 4.38185016e+00] [-1.70227721e-03 -5.68179169e-07 9.99998551e-01 -3.03682842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.790281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:106.98, Y:4.39, Z:-0.30 [[ 9.90993083e-01 -1.33909119e-01 1.02774524e-03 1.06976320e+02] [ 1.33909043e-01 9.90993616e-01 1.42706240e-04 4.38523785e+00] [-1.03759864e-03 -3.79651520e-06 9.99999462e-01 -3.02722228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.820281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:107.00, Y:4.39, Z:-0.30 [[ 9.91197609e-01 -1.32387938e-01 8.56649732e-04 1.07004583e+02] [ 1.32387885e-01 9.91197979e-01 1.19100398e-04 4.38859588e+00] [-8.64876939e-04 -4.64198375e-06 9.99999626e-01 -3.03320436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.850281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:107.03, Y:4.39, Z:-0.30 [[ 9.91414673e-01 -1.30753686e-01 6.47496181e-04 1.07031773e+02] [ 1.30753655e-01 9.91414885e-01 9.01084769e-05 4.39135400e+00] [-6.53719367e-04 -4.67237378e-06 9.99999786e-01 -3.02054855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.880281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:107.06, Y:4.39, Z:-0.30 [[ 9.91667419e-01 -1.28811729e-01 1.80804075e-03 1.07059648e+02] [ 1.28811484e-01 9.91669067e-01 2.51973016e-04 4.39420239e+00] [-1.82543516e-03 -1.69770184e-05 9.99998334e-01 -3.02823178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.910281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:107.09, Y:4.40, Z:-0.30 [[ 9.91758564e-01 -1.28107734e-01 1.83256501e-03 1.07087218e+02] [ 1.28107480e-01 9.91760257e-01 2.55741392e-04 4.39757970e+00] [-1.85022760e-03 -1.88684291e-05 9.99998288e-01 -3.03291725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.940281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:107.11, Y:4.40, Z:-0.30 [[ 9.92073565e-01 -1.25654879e-01 9.44821569e-04 1.07114090e+02] [ 1.25654810e-01 9.92074015e-01 1.31940863e-04 4.39983309e+00] [-9.53911940e-04 -1.21736677e-05 9.99999545e-01 -3.03988639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.970281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:107.14, Y:4.40, Z:-0.30 [[ 9.92318040e-01 -1.23712978e-01 8.50503681e-05 1.07142020e+02] [ 1.23712977e-01 9.92318043e-01 1.18012573e-05 4.40375593e+00] [-8.58569835e-05 -1.18876628e-06 9.99999996e-01 -3.03323975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.000281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.17, Y:4.41, Z:-0.30 [[ 9.92558745e-01 -1.21765099e-01 -6.30390216e-04 1.07169459e+02] [ 1.21765067e-01 9.92558946e-01 -8.83981672e-05 4.40892545e+00] [ 6.36463260e-04 1.09808668e-05 9.99999797e-01 -3.02978915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.030281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:107.20, Y:4.41, Z:-0.30 [[ 9.92840636e-01 -1.19441518e-01 -1.09307411e-03 1.07195880e+02] [ 1.19441422e-01 9.92841238e-01 -1.53244298e-04 4.41423919e+00] [ 1.10355279e-03 2.15888397e-05 9.99999391e-01 -3.03301406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.06028169300001 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:107.22, Y:4.42, Z:-0.30 [[ 9.93259652e-01 -1.15907786e-01 -8.05381759e-04 1.07222072e+02] [ 1.15907733e-01 9.93259978e-01 -1.12988396e-04 4.41886008e+00] [ 8.13049703e-04 1.88768416e-05 9.99999669e-01 -3.04152528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.090281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:107.25, Y:4.42, Z:-0.30 [[ 9.93359121e-01 -1.15053388e-01 -6.11627368e-04 1.07249900e+02] [ 1.15053357e-01 9.93359309e-01 -8.59879414e-05 4.42253463e+00] [ 6.17458944e-04 1.50471241e-05 9.99999809e-01 -3.04504146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.120281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:107.28, Y:4.43, Z:-0.30 [[ 9.93400100e-01 -1.14698296e-01 -7.36362464e-04 1.07276199e+02] [ 1.14698251e-01 9.93400373e-01 -1.03569561e-04 4.42652351e+00] [ 7.43381998e-04 1.84265258e-05 9.99999724e-01 -3.04548236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.150281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:107.30, Y:4.43, Z:-0.30 [[ 9.93324788e-01 -1.15346657e-01 -1.00723719e-03 1.07303666e+02] [ 1.15346572e-01 9.93325298e-01 -1.41867042e-04 4.43225883e+00] [ 1.01687807e-03 2.47386917e-05 9.99999483e-01 -3.04110336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.180281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:107.33, Y:4.44, Z:-0.30 [[ 9.93279976e-01 -1.15731605e-01 -1.04173867e-03 1.07330325e+02] [ 1.15731514e-01 9.93280522e-01 -1.46754995e-04 4.43677763e+00] [ 1.05172292e-03 2.52068048e-05 9.99999447e-01 -3.03219580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.210281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:107.36, Y:4.44, Z:-0.30 [[ 9.93119595e-01 -1.17103668e-01 -4.48923794e-04 1.07357484e+02] [ 1.17103652e-01 9.93119696e-01 -6.34049772e-05 4.44135963e+00] [ 4.53260018e-04 1.03981097e-05 9.99999897e-01 -3.02879002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.240281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:107.38, Y:4.45, Z:-0.30 [[ 9.93022843e-01 -1.17922057e-01 1.44963326e-04 1.07384228e+02] [ 1.17922055e-01 9.93022854e-01 2.04135915e-05 4.44533141e+00] [-1.46359108e-04 -3.17678931e-06 9.99999989e-01 -3.02894859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.270281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.41, Y:4.45, Z:-0.30 [[ 9.92905777e-01 -1.18903077e-01 4.19395047e-04 1.07412360e+02] [ 1.18903063e-01 9.92905866e-01 5.91634054e-05 4.44974490e+00] [-4.23454514e-04 -8.87633130e-06 9.99999910e-01 -3.03246760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.300281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:107.44, Y:4.45, Z:-0.30 [[ 9.92791314e-01 -1.19855549e-01 2.31722940e-04 1.07439807e+02] [ 1.19855545e-01 9.92791341e-01 3.26873924e-05 4.45374725e+00] [-2.33970294e-04 -4.67847994e-06 9.99999973e-01 -3.03681218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.330281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:107.47, Y:4.46, Z:-0.30 [[ 9.92559178e-01 -1.21751180e-01 -1.71129839e-03 1.07467664e+02] [ 1.21750943e-01 9.92560653e-01 -2.42549274e-04 4.45596254e+00] [ 1.72809810e-03 3.23923156e-05 9.99998506e-01 -3.04848550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.360281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:107.49, Y:4.46, Z:-0.30 [[ 9.92417974e-01 -1.22882504e-01 -2.54063935e-03 1.07494868e+02] [ 1.22881984e-01 9.92421225e-01 -3.60207824e-04 4.45847899e+00] [ 2.56564765e-03 4.52779142e-05 9.99996708e-01 -3.04495739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.390281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:107.52, Y:4.46, Z:-0.30 [[ 9.92198239e-01 -1.24668434e-01 -6.60236159e-04 1.07522816e+02] [ 1.24668399e-01 9.92198459e-01 -9.38151549e-05 4.46003895e+00] [ 6.66781088e-04 1.07726468e-05 9.99999778e-01 -3.03307845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.420281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:107.55, Y:4.46, Z:-0.30 [[ 9.92107650e-01 -1.25386651e-01 7.73227202e-04 1.07550835e+02] [ 1.25386604e-01 9.92107952e-01 1.09810104e-04 4.46295810e+00] [-7.80893577e-04 -1.19911113e-05 9.99999695e-01 -3.02817592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.45028169300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:107.58, Y:4.47, Z:-0.30 [[ 9.92045015e-01 -1.25866402e-01 2.08271274e-03 1.07578699e+02] [ 1.25866058e-01 9.92047200e-01 2.96342690e-04 4.46544258e+00] [-2.10344893e-03 -3.18424470e-05 9.99997787e-01 -3.02890654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.480281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:107.61, Y:4.47, Z:-0.30 [[ 9.91985808e-01 -1.26326830e-01 2.38520546e-03 1.07605721e+02] [ 1.26326378e-01 9.91988675e-01 3.39745144e-04 4.46559846e+00] [-2.40901573e-03 -3.57079930e-05 9.99997098e-01 -3.03160754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.510281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:107.63, Y:4.47, Z:-0.30 [[ 9.91962949e-01 -1.26519242e-01 1.54603462e-03 1.07632834e+02] [ 1.26519052e-01 9.91964153e-01 2.20344891e-04 4.46758523e+00] [-1.56148879e-03 -2.29711341e-05 9.99998781e-01 -3.03575983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.540281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:107.66, Y:4.47, Z:-0.30 [[ 9.91929894e-01 -1.26787557e-01 -1.52660363e-05 1.07661013e+02] [ 1.26787557e-01 9.91929894e-01 -2.27797009e-06 4.46763422e+00] [ 1.54316560e-05 3.24043176e-07 1.00000000e+00 -3.04065730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.570281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:107.69, Y:4.47, Z:-0.30 [[ 9.91920479e-01 -1.26861125e-01 1.33732839e-04 1.07687623e+02] [ 1.26861124e-01 9.91920488e-01 1.90581395e-05 4.46914070e+00] [-1.35070080e-04 -1.93866062e-06 9.99999991e-01 -3.03632965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.600281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:107.72, Y:4.47, Z:-0.30 [[ 9.91870264e-01 -1.27250064e-01 8.95339060e-04 1.07715784e+02] [ 1.27250000e-01 9.91870668e-01 1.27955185e-04 4.47112059e+00] [-9.04342857e-04 -1.29830481e-05 9.99999591e-01 -3.03485276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:107.74, Y:4.47, Z:-0.30 [[ 9.91840326e-01 -1.27479193e-01 1.35002021e-03 1.07742440e+02] [ 1.27479049e-01 9.91841245e-01 1.93150121e-04 4.47272921e+00] [-1.36362835e-03 -1.94747869e-05 9.99999070e-01 -3.03745733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.660281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:107.77, Y:4.47, Z:-0.30 [[ 9.91792487e-01 -1.27851638e-01 1.27354212e-03 1.07769452e+02] [ 1.27851509e-01 9.91793304e-01 1.82310055e-04 4.47460543e+00] [-1.28639919e-03 -1.79894602e-05 9.99999172e-01 -3.03483497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.690281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:107.80, Y:4.48, Z:-0.30 [[ 9.91773289e-01 -1.28006637e-01 2.08445328e-04 1.07797955e+02] [ 1.28006633e-01 9.91773311e-01 2.97896383e-05 4.47531757e+00] [-2.10543785e-04 -2.86218284e-06 9.99999978e-01 -3.04025544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.720281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:107.83, Y:4.48, Z:-0.30 [[ 9.91808884e-01 -1.27730701e-01 -7.84064627e-05 1.07825613e+02] [ 1.27730700e-01 9.91808887e-01 -1.13537057e-05 4.47806865e+00] [ 7.92144433e-05 1.24579383e-06 9.99999997e-01 -3.04700383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.750281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:107.85, Y:4.48, Z:-0.30 [[ 9.91918507e-01 -1.26876147e-01 -3.45014399e-04 1.07853778e+02] [ 1.26876137e-01 9.91918567e-01 -4.96954425e-05 4.47953777e+00] [ 3.48531355e-04 5.51973484e-06 9.99999939e-01 -3.04473990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.780281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:107.88, Y:4.48, Z:-0.30 [[ 9.91957335e-01 -1.26572405e-01 -2.67265457e-04 1.07880860e+02] [ 1.26572399e-01 9.91957371e-01 -3.84858873e-05 4.48270923e+00] [ 2.69987192e-04 4.34792808e-06 9.99999964e-01 -3.04118951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.81028169300001 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:107.91, Y:4.49, Z:-0.30 [[ 9.91953092e-01 -1.26605607e-01 -2.89502407e-04 1.07908455e+02] [ 1.26605600e-01 9.91953134e-01 -4.17961613e-05 4.48601052e+00] [ 2.92464449e-04 4.80720556e-06 9.99999957e-01 -3.04265050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.840281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:107.94, Y:4.49, Z:-0.30 [[ 9.91924861e-01 -1.26826931e-01 -9.00521696e-06 1.07935663e+02] [ 1.26826931e-01 9.91924861e-01 -1.34038961e-06 4.48944305e+00] [ 9.10249608e-06 1.87461753e-07 1.00000000e+00 -3.04545777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:107.96, Y:4.49, Z:-0.30 [[ 9.91827366e-01 -1.27586966e-01 2.07815250e-04 1.07963683e+02] [ 1.27586962e-01 9.91827387e-01 2.98914692e-05 4.49390888e+00] [-2.09930619e-04 -3.13266070e-06 9.99999978e-01 -3.04374853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.900281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:107.99, Y:4.50, Z:-0.30 [[ 9.91759293e-01 -1.28115016e-01 -2.18587560e-04 1.07990553e+02] [ 1.28115013e-01 9.91759317e-01 -3.16070986e-05 4.49836053e+00] [ 2.20835593e-04 3.34228575e-06 9.99999976e-01 -3.04642406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.930281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:108.02, Y:4.50, Z:-0.31 [[ 9.91535378e-01 -1.29820770e-01 -2.04030346e-03 1.08018329e+02] [ 1.29820437e-01 9.91537476e-01 -2.95108964e-04 4.50315040e+00] [ 2.06134861e-03 2.77378907e-05 9.99997875e-01 -3.05394646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.960281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:108.05, Y:4.51, Z:-0.31 [[ 9.91376502e-01 -1.31028179e-01 -2.06090863e-03 1.08046075e+02] [ 1.31027842e-01 9.91378644e-01 -2.98487538e-04 4.50721575e+00] [ 2.08225108e-03 2.58771219e-05 9.99997832e-01 -3.05560907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.990281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:108.07, Y:4.51, Z:-0.31 [[ 9.91353259e-01 -1.31203924e-01 -2.06085659e-03 1.08074241e+02] [ 1.31203586e-01 9.91355400e-01 -2.98846709e-04 4.51148365e+00] [ 2.08225117e-03 2.58708849e-05 9.99997832e-01 -3.05575473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.020281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:108.10, Y:4.52, Z:-0.30 [[ 9.90913083e-01 -1.34502333e-01 -6.19184325e-04 1.08100902e+02] [ 1.34502304e-01 9.90913277e-01 -8.98553813e-05 4.51553592e+00] [ 6.25643727e-04 5.75715485e-06 9.99999804e-01 -3.03661868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.050281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:108.13, Y:4.52, Z:-0.30 [[ 9.90629278e-01 -1.36577970e-01 3.04221108e-04 1.08128579e+02] [ 1.36577963e-01 9.90629324e-01 4.40887845e-05 4.51974682e+00] [-3.07391907e-04 -2.12574161e-06 9.99999953e-01 -3.02984791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.080281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:108.15, Y:4.52, Z:-0.30 [[ 9.90367379e-01 -1.38462666e-01 7.38153741e-04 1.08154863e+02] [ 1.38462625e-01 9.90367654e-01 1.07240837e-04 4.52338367e+00] [-7.45892441e-04 -4.00112174e-06 9.99999722e-01 -3.03054932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.110281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:108.18, Y:4.52, Z:-0.30 [[ 9.89942097e-01 -1.41472201e-01 5.11656006e-04 1.08182730e+02] [ 1.41472182e-01 9.89942229e-01 7.43814084e-05 4.52464048e+00] [-5.17032789e-04 -1.24819594e-06 9.99999866e-01 -3.04551513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.140281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:108.21, Y:4.53, Z:-0.30 [[ 9.89760409e-01 -1.42738681e-01 -4.31345458e-05 1.08210218e+02] [ 1.42738680e-01 9.89760410e-01 -6.38410043e-06 4.52717976e+00] [ 4.36041238e-05 1.61761709e-07 9.99999999e-01 -3.04900044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.170281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:108.24, Y:4.53, Z:-0.30 [[ 9.89634610e-01 -1.43608077e-01 -2.40812891e-04 1.08237458e+02] [ 1.43608073e-01 9.89634640e-01 -3.51614471e-05 4.52979267e+00] [ 2.43366247e-04 2.14309885e-07 9.99999970e-01 -3.04580508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.200281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:108.26, Y:4.53, Z:-0.30 [[ 9.89648829e-01 -1.43509467e-01 -4.77631951e-04 1.08264609e+02] [ 1.43509450e-01 9.89648944e-01 -6.97366363e-05 4.53035746e+00] [ 4.82695824e-04 4.70081692e-07 9.99999884e-01 -3.02803252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.230281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:108.29, Y:4.53, Z:-0.30 [[ 9.89743176e-01 -1.42857112e-01 -5.39606768e-04 1.08292684e+02] [ 1.42857091e-01 9.89743323e-01 -7.89461101e-05 4.53273814e+00] [ 5.45350209e-04 1.04972080e-06 9.99999851e-01 -3.02646049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.260281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:108.32, Y:4.54, Z:-0.30 [[ 9.89893117e-01 -1.41815206e-01 -2.53383820e-04 1.08319651e+02] [ 1.41815202e-01 9.89893149e-01 -3.70894156e-05 4.53524068e+00] [ 2.56082750e-04 7.80879760e-07 9.99999967e-01 -3.02585244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.290281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:108.35, Y:4.54, Z:-0.30 [[ 9.90035468e-01 -1.40818166e-01 1.30313097e-04 1.08346111e+02] [ 1.40818165e-01 9.90035476e-01 1.90211203e-05 4.53831006e+00] [-1.31693108e-04 -4.81132606e-07 9.99999991e-01 -3.02774626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.320281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:108.37, Y:4.54, Z:-0.30 [[ 9.90467466e-01 -1.37744807e-01 7.52384759e-04 1.08374203e+02] [ 1.37744763e-01 9.90467752e-01 1.10108471e-04 4.54145769e+00] [-7.60379711e-04 -5.42179773e-06 9.99999711e-01 -3.03052287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.350281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:108.40, Y:4.55, Z:-0.30 [[ 9.90661130e-01 -1.36345525e-01 6.50322580e-04 1.08402114e+02] [ 1.36345492e-01 9.90661344e-01 9.52798102e-05 4.54518727e+00] [-6.57240416e-04 -5.72145261e-06 9.99999784e-01 -3.03102338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.380281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:108.43, Y:4.55, Z:-0.30 [[ 9.90833416e-01 -1.35089230e-01 -2.02038527e-04 1.08428588e+02] [ 1.35089227e-01 9.90833437e-01 -2.96913974e-05 4.54891226e+00] [ 2.04197516e-04 2.12600040e-06 9.99999979e-01 -3.03276191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.410281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:108.46, Y:4.55, Z:-0.30 [[ 9.91070295e-01 -1.33328046e-01 -1.81739197e-03 1.08456424e+02] [ 1.33327780e-01 9.91071961e-01 -2.67154308e-04 4.55333642e+00] [ 1.83678539e-03 2.24598621e-05 9.99998313e-01 -3.03911529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.440281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:108.48, Y:4.56, Z:-0.30 [[ 9.91172542e-01 -1.32561777e-01 -2.08968502e-03 1.08483667e+02] [ 1.32561423e-01 9.91174745e-01 -3.07583123e-04 4.55764480e+00] [ 2.11201678e-03 2.78563266e-05 9.99997769e-01 -3.04295112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.470281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:108.51, Y:4.56, Z:-0.30 [[ 9.91372462e-01 -1.31067716e-01 -1.37637646e-03 1.08510163e+02] [ 1.31067561e-01 9.91373418e-01 -2.02778969e-04 4.56227298e+00] [ 1.39108081e-03 2.06311801e-05 9.99999032e-01 -3.02652782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.500281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:108.54, Y:4.57, Z:-0.30 [[ 9.91450828e-01 -1.30478942e-01 -7.08789206e-04 1.08537669e+02] [ 1.30478900e-01 9.91451081e-01 -1.04626872e-04 4.56763840e+00] [ 7.16381428e-04 1.12503627e-05 9.99999743e-01 -3.02310946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.530281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:108.56, Y:4.57, Z:-0.30 [[ 9.91587673e-01 -1.29435956e-01 -4.69179463e-04 1.08564409e+02] [ 1.29435938e-01 9.91587784e-01 -6.92746524e-05 4.57304393e+00] [ 4.74199254e-04 7.96320756e-06 9.99999888e-01 -3.02708449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.56028169300001 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:108.59, Y:4.58, Z:-0.30 [[ 9.91823227e-01 -1.27619251e-01 1.11822221e-04 1.08591503e+02] [ 1.27619250e-01 9.91823234e-01 1.64252964e-05 4.58051382e+00] [-1.13004061e-04 -2.02032260e-06 9.99999994e-01 -3.03156544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.590281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:108.62, Y:4.59, Z:-0.30 [[ 9.91922286e-01 -1.26846864e-01 -2.27357332e-04 1.08617779e+02] [ 1.26846860e-01 9.91922312e-01 -3.36870737e-05 4.58588957e+00] [ 2.29793910e-04 4.57539550e-06 9.99999974e-01 -3.02645017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.620281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:108.64, Y:4.59, Z:-0.30 [[ 9.91995680e-01 -1.26267339e-01 -1.06345257e-03 1.08644721e+02] [ 1.26267243e-01 9.91996249e-01 -1.57557945e-04 4.59171222e+00] [ 1.07483538e-03 2.20175772e-05 9.99999422e-01 -3.02846430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.650281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:108.67, Y:4.60, Z:-0.30 [[ 9.92241265e-01 -1.24293442e-01 -2.90024071e-03 1.08671877e+02] [ 1.24292716e-01 9.92245502e-01 -4.30079659e-04 4.60068000e+00] [ 2.93120688e-03 6.62639908e-05 9.99995702e-01 -3.02452523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.680281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:108.70, Y:4.61, Z:-0.30 [[ 9.92402045e-01 -1.22999873e-01 -3.03506889e-03 1.08699147e+02] [ 1.22999069e-01 9.92406684e-01 -4.50649075e-04 4.60791672e+00] [ 3.06745243e-03 7.39144151e-05 9.99995293e-01 -3.02307077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.710281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:108.73, Y:4.62, Z:-0.30 [[ 9.92594706e-01 -1.21448176e-01 -2.46767988e-03 1.08726776e+02] [ 1.21447639e-01 9.92597772e-01 -3.66890813e-04 4.61528187e+00] [ 2.49397177e-03 6.44799829e-05 9.99996888e-01 -3.02125960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.740281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:108.75, Y:4.63, Z:-0.30 [[ 9.92992716e-01 -1.18169244e-01 -1.22327958e-03 1.08753315e+02] [ 1.18169110e-01 9.92993468e-01 -1.82156388e-04 4.62674334e+00] [ 1.23623392e-03 3.63261071e-05 9.99999235e-01 -3.01012932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.770281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:108.78, Y:4.64, Z:-0.30 [[ 9.93094079e-01 -1.17318777e-01 -6.74863647e-04 1.08780293e+02] [ 1.17318736e-01 9.93094308e-01 -1.00665187e-04 4.63536248e+00] [ 6.82013163e-04 2.07958512e-05 9.99999767e-01 -3.01142032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.800281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:108.81, Y:4.65, Z:-0.30 [[ 9.93015463e-01 -1.17982889e-01 5.72533905e-04 1.08805898e+02] [ 1.17982859e-01 9.93015628e-01 8.53280332e-05 4.64616825e+00] [-5.78602363e-04 -1.71828693e-05 9.99999832e-01 -3.01623591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.830281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:108.83, Y:4.65, Z:-0.30 [[ 9.92757017e-01 -1.20136196e-01 8.94709464e-04 1.08833610e+02] [ 1.20136124e-01 9.92757419e-01 1.33521047e-04 4.65283816e+00] [-9.04270169e-04 -2.50670292e-05 9.99999591e-01 -3.01941648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.860281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:108.86, Y:4.66, Z:-0.30 [[ 9.92360628e-01 -1.23369884e-01 5.05396066e-04 1.08860979e+02] [ 1.23369861e-01 9.92360757e-01 7.54767790e-05 4.65924474e+00] [-5.10846784e-04 -1.25495412e-05 9.99999869e-01 -3.01569255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.890281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:108.89, Y:4.67, Z:-0.30 [[ 9.91870290e-01 -1.27252785e-01 2.36046492e-04 1.08888040e+02] [ 1.27252780e-01 9.91870319e-01 3.52450303e-05 4.66599770e+00] [-2.38612538e-04 -4.92092617e-06 9.99999972e-01 -3.01523732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.920281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:108.91, Y:4.67, Z:-0.30 [[ 9.91023347e-01 -1.33686780e-01 7.55598505e-04 1.08914369e+02] [ 1.33686732e-01 9.91023635e-01 1.13152027e-04 4.67437451e+00] [-7.63942907e-04 -1.11228056e-05 9.99999708e-01 -3.01052179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.950281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:108.94, Y:4.68, Z:-0.30 [[ 9.90771317e-01 -1.35532113e-01 1.80084587e-03 1.08940375e+02] [ 1.35531846e-01 9.90772954e-01 2.69887146e-04 4.68061071e+00] [-1.82080776e-03 -2.33244772e-05 9.99998342e-01 -3.00853062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.980281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:108.97, Y:4.69, Z:-0.30 [[ 9.90695367e-01 -1.36078031e-01 2.33648231e-03 1.08966821e+02] [ 1.36077583e-01 9.90698122e-01 3.50363712e-04 4.68733368e+00] [-2.36242544e-03 -2.91608418e-05 9.99997209e-01 -3.00565414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.010281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:108.99, Y:4.70, Z:-0.30 [[ 9.90674766e-01 -1.36244630e-01 9.53168075e-04 1.08994003e+02] [ 1.36244555e-01 9.90675225e-01 1.43029833e-04 4.69786470e+00] [-9.63767043e-04 -1.18320856e-05 9.99999536e-01 -3.00725790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.040281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:109.02, Y:4.70, Z:-0.30 [[ 9.90551401e-01 -1.37141948e-01 8.84141543e-05 1.09021230e+02] [ 1.37141947e-01 9.90551405e-01 1.31973042e-05 4.70435601e+00] [-8.93886688e-05 -9.47318854e-07 9.99999996e-01 -3.01031861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.070281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:109.05, Y:4.71, Z:-0.30 [[ 9.90007892e-01 -1.41008014e-01 -1.05496956e-03 1.09047324e+02] [ 1.41007925e-01 9.90008454e-01 -1.58808473e-04 4.71007275e+00] [ 1.06682205e-03 8.46257249e-06 9.99999431e-01 -3.01819117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.100281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:109.07, Y:4.71, Z:-0.30 [[ 9.89587179e-01 -1.43933373e-01 -6.32189804e-04 1.09074877e+02] [ 1.43933341e-01 9.89587381e-01 -9.53375272e-05 4.71419267e+00] [ 6.39329304e-04 3.35160393e-06 9.99999796e-01 -3.01793270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.130281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:109.10, Y:4.72, Z:-0.30 [[ 9.89085326e-01 -1.47343796e-01 1.55278099e-04 1.09102784e+02] [ 1.47343794e-01 9.89085338e-01 2.33261629e-05 4.71847131e+00] [-1.57020257e-04 -1.92301062e-07 9.99999988e-01 -3.01474144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.160281693 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:109.13, Y:4.72, Z:-0.30 [[ 9.88582935e-01 -1.50674486e-01 9.90125216e-04 1.09130645e+02] [ 1.50674412e-01 9.88583431e-01 1.49456620e-04 4.72231516e+00] [-1.00134068e-03 1.43627126e-06 9.99999499e-01 -3.01610655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.190281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:109.16, Y:4.72, Z:-0.30 [[ 9.87905377e-01 -1.55051848e-01 1.37465222e-03 1.09157322e+02] [ 1.55051709e-01 9.87906334e-01 2.07714248e-04 4.72369035e+00] [-1.39023411e-03 7.94015403e-06 9.99999034e-01 -3.00722554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.220281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:109.19, Y:4.73, Z:-0.30 [[ 9.87661840e-01 -1.56593880e-01 1.56413066e-03 1.09185488e+02] [ 1.56593701e-01 9.87663079e-01 2.36587156e-04 4.72663262e+00] [-1.58188220e-03 1.12649034e-05 9.99998749e-01 -3.00719042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.250281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:109.21, Y:4.73, Z:-0.30 [[ 9.87662420e-01 -1.56596773e-01 6.28998692e-04 1.09213019e+02] [ 1.56596744e-01 9.87662620e-01 9.52017964e-05 4.72871301e+00] [-6.36146790e-04 4.47191047e-06 9.99999798e-01 -3.00763232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.280281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:109.24, Y:4.73, Z:-0.30 [[ 9.87848413e-01 -1.55420113e-01 -3.17989049e-04 1.09239827e+02] [ 1.55420106e-01 9.87848464e-01 -4.82473349e-05 4.73164161e+00] [ 3.21623600e-04 -1.76083841e-06 9.99999948e-01 -3.00733039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.31028169300001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:109.27, Y:4.73, Z:-0.30 [[ 9.88402803e-01 -1.51831814e-01 -2.64578983e-03 1.09267842e+02] [ 1.51831282e-01 9.88406344e-01 -4.01683247e-04 4.73230347e+00] [ 2.67610375e-03 -4.68881589e-06 9.99996419e-01 -3.01424366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.340281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:109.30, Y:4.74, Z:-0.30 [[ 9.88714413e-01 -1.49774875e-01 -3.36087513e-03 1.09295258e+02] [ 1.49774004e-01 9.88720126e-01 -5.10882995e-04 4.73507233e+00] [ 3.39948231e-03 1.74565676e-06 9.99994222e-01 -3.01547326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.370281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:109.32, Y:4.74, Z:-0.30 [[ 9.88991754e-01 -1.47925635e-01 -3.64936830e-03 1.09322383e+02] [ 1.47924594e-01 9.88998487e-01 -5.54983983e-04 4.73919805e+00] [ 3.69131608e-03 9.04325846e-06 9.99993187e-01 -3.01174703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.400281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:109.35, Y:4.74, Z:-0.30 [[ 9.89266345e-01 -1.46097282e-01 -2.77189090e-03 1.09349777e+02] [ 1.46096673e-01 9.89270228e-01 -4.22084834e-04 4.74421532e+00] [ 2.80381459e-03 1.25902832e-05 9.99996069e-01 -3.01115234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.430281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:109.38, Y:4.75, Z:-0.30 [[ 9.89743983e-01 -1.42850713e-01 7.22231057e-04 1.09377123e+02] [ 1.42850671e-01 9.89744247e-01 1.09995376e-04 4.75030884e+00] [-7.30536952e-04 -5.69607036e-06 9.99999733e-01 -3.00076407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.460281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:109.40, Y:4.75, Z:-0.30 [[ 9.89895754e-01 -1.41781090e-01 2.12579349e-03 1.09404479e+02] [ 1.41780720e-01 9.89898036e-01 3.24361159e-04 4.75494110e+00] [-2.15030708e-03 -1.96872023e-05 9.99997688e-01 -2.99461957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.490281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:109.43, Y:4.76, Z:-0.30 [[ 9.90017524e-01 -1.40923760e-01 2.40754713e-03 1.09431365e+02] [ 1.40923282e-01 9.90020451e-01 3.67623348e-04 4.75947550e+00] [-2.43532776e-03 -2.46741138e-05 9.99997034e-01 -2.98519260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.520281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:109.46, Y:4.77, Z:-0.30 [[ 9.90046155e-01 -1.40739493e-01 1.00310475e-03 1.09458697e+02] [ 1.40739410e-01 9.90046663e-01 1.53282518e-04 4.76524885e+00] [-1.01469341e-03 -1.05803973e-05 9.99999485e-01 -2.99702241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.550281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:109.49, Y:4.77, Z:-0.30 [[ 9.90001826e-01 -1.41052247e-01 8.05244375e-04 1.09486433e+02] [ 1.41052194e-01 9.90002153e-01 1.23183432e-04 4.77040212e+00] [-8.14568965e-04 -8.37033694e-06 9.99999668e-01 -3.00545451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.580281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:109.51, Y:4.77, Z:-0.30 [[ 9.90031021e-01 -1.40844493e-01 1.18578909e-03 1.09512793e+02] [ 1.40844377e-01 9.90031731e-01 1.81600686e-04 4.77462310e+00] [-1.19954628e-03 -1.27785868e-05 9.99999280e-01 -3.00263795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.610281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:109.54, Y:4.78, Z:-0.30 [[ 9.90003734e-01 -1.41017180e-01 2.60014138e-03 1.09540172e+02] [ 1.41016619e-01 9.90007149e-01 3.98702986e-04 4.77918241e+00] [-2.63038252e-03 -2.80542990e-05 9.99996540e-01 -3.00490422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.640281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:109.57, Y:4.78, Z:-0.30 [[ 9.89959223e-01 -1.41332607e-01 2.41487207e-03 1.09567743e+02] [ 1.41332123e-01 9.89962168e-01 3.70762400e-04 4.78326226e+00] [-2.44303280e-03 -2.57406607e-05 9.99997015e-01 -3.00928950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.670281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:109.59, Y:4.79, Z:-0.30 [[ 9.89872640e-01 -1.41953863e-01 1.12137877e-03 1.09594414e+02] [ 1.41953759e-01 9.89873275e-01 1.72267910e-04 4.78514176e+00] [-1.13447697e-03 -1.13393593e-05 9.99999356e-01 -3.01354586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.700281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:109.62, Y:4.79, Z:-0.30 [[ 9.89872962e-01 -1.41954229e-01 7.18372685e-04 1.09621406e+02] [ 1.41954187e-01 9.89873223e-01 1.10403134e-04 4.78781210e+00] [-7.26770077e-04 -7.30906673e-06 9.99999736e-01 -3.00803651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.730281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:109.65, Y:4.79, Z:-0.30 [[ 9.89948588e-01 -1.41425438e-01 7.98827586e-04 1.09648783e+02] [ 1.41425385e-01 9.89948910e-01 1.22871828e-04 4.79089866e+00] [-8.08175701e-04 -8.66229398e-06 9.99999673e-01 -3.00846474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.760281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:109.68, Y:4.79, Z:-0.30 [[ 9.90316771e-01 -1.38821287e-01 1.15925503e-03 1.09675162e+02] [ 1.38821173e-01 9.90317449e-01 1.78539654e-04 4.79365808e+00] [-1.17281559e-03 -1.58816701e-05 9.99999312e-01 -3.02166005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.790281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:109.70, Y:4.80, Z:-0.30 [[ 9.90572254e-01 -1.36988242e-01 9.11703636e-04 1.09703210e+02] [ 1.36988170e-01 9.90572673e-01 1.40543910e-04 4.79714597e+00] [-9.22361571e-04 -1.43262846e-05 9.99999575e-01 -3.01985879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.820281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:109.73, Y:4.80, Z:-0.30 [[ 9.90772213e-01 -1.35533639e-01 1.02688585e-03 1.09730252e+02] [ 1.35533547e-01 9.90772745e-01 1.58476727e-04 4.79989185e+00] [-1.03888944e-03 -1.78368559e-05 9.99999460e-01 -3.02471381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.850281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:109.76, Y:4.80, Z:-0.30 [[ 9.90857042e-01 -1.34910222e-01 1.24660136e-03 1.09758248e+02] [ 1.34910087e-01 9.90857826e-01 1.92603198e-04 4.80275728e+00] [-1.26118886e-03 -2.26631376e-05 9.99999204e-01 -3.02751261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.880281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:109.79, Y:4.80, Z:-0.30 [[ 9.90801886e-01 -1.35315937e-01 1.10463817e-03 1.09785993e+02] [ 1.35315830e-01 9.90802501e-01 1.70866974e-04 4.80356724e+00] [-1.11759928e-03 -1.98202894e-05 9.99999375e-01 -3.03080559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.910281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:109.81, Y:4.81, Z:-0.30 [[ 9.90786187e-01 -1.35430840e-01 1.10461290e-03 1.09814122e+02] [ 1.35430733e-01 9.90786802e-01 1.71030218e-04 4.80808460e+00] [-1.11759865e-03 -1.98558433e-05 9.99999375e-01 -3.03095128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.940281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:109.84, Y:4.81, Z:-0.30 [[ 9.90682795e-01 -1.36189200e-01 3.17652381e-04 1.09841042e+02] [ 1.36189191e-01 9.90682846e-01 4.91759082e-05 4.81102788e+00] [-3.21389993e-04 -5.45690541e-06 9.99999948e-01 -3.03507613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.970281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:109.87, Y:4.81, Z:-0.30 [[ 9.90544367e-01 -1.37192743e-01 -9.08168835e-05 1.09869419e+02] [ 1.37192742e-01 9.90544371e-01 -1.41965729e-05 4.81361223e+00] [ 9.19058195e-05 1.60291802e-06 9.99999996e-01 -3.04533253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.000281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:109.90, Y:4.82, Z:-0.30 [[ 9.90575524e-01 -1.36967462e-01 2.15865411e-04 1.09896567e+02] [ 1.36967457e-01 9.90575547e-01 3.34806353e-05 4.81704137e+00] [-2.18416755e-04 -3.59856137e-06 9.99999976e-01 -3.04443830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.030281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:109.92, Y:4.82, Z:-0.30 [[ 9.90732334e-01 -1.35825974e-01 8.64409201e-04 1.09923539e+02] [ 1.35825909e-01 9.90732711e-01 1.34273972e-04 4.82118292e+00] [-8.74636364e-04 -1.56204002e-05 9.99999617e-01 -3.02940950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.06028169300001 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:109.95, Y:4.83, Z:-0.30 [[ 9.91373749e-01 -1.31025475e-01 3.22730543e-03 1.09950634e+02] [ 1.31024535e-01 9.91378999e-01 5.01990736e-04 4.82758090e+00] [-3.26525640e-03 -7.48042446e-05 9.99994666e-01 -3.01963098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.090281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:109.98, Y:4.83, Z:-0.30 [[ 9.91788679e-01 -1.27844229e-01 3.32718338e-03 1.09977637e+02] [ 1.27843210e-01 9.91794255e-01 5.18163193e-04 4.83420448e+00] [-3.36612554e-03 -8.85505855e-05 9.99994331e-01 -3.02553335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.120281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:110.00, Y:4.84, Z:-0.30 [[ 9.92253197e-01 -1.24212663e-01 2.19254157e-03 1.10004237e+02] [ 1.24212211e-01 9.92255617e-01 3.41661484e-04 4.84121253e+00] [-2.21800038e-03 -6.66742624e-05 9.99997538e-01 -3.03705664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.150281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:110.03, Y:4.85, Z:-0.31 [[ 9.92975950e-01 -1.18305970e-01 -1.56831465e-03 1.10030273e+02] [ 1.18305731e-01 9.92977187e-01 -2.44588745e-04 4.85112814e+00] [ 1.58623698e-03 5.73301295e-05 9.99998740e-01 -3.05756755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.180281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:110.06, Y:4.86, Z:-0.31 [[ 9.93118164e-01 -1.17101557e-01 -1.88092144e-03 1.10057014e+02] [ 1.17101211e-01 9.93119942e-01 -2.93738493e-04 4.85912498e+00] [ 1.90237782e-03 7.14588557e-05 9.99998188e-01 -3.05971576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.210281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:110.08, Y:4.87, Z:-0.30 [[ 9.93165758e-01 -1.16706728e-01 -1.14723133e-03 1.10083777e+02] [ 1.16706598e-01 9.93166420e-01 -1.79419297e-04 4.86782710e+00] [ 1.16033107e-03 4.43036369e-05 9.99999326e-01 -3.04759991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.240281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:110.11, Y:4.88, Z:-0.30 [[ 9.93192656e-01 -1.16467035e-01 1.94352217e-03 1.10108782e+02] [ 1.16466663e-01 9.93194555e-01 3.03987028e-04 4.88109917e+00] [-1.96570011e-03 -7.55621418e-05 9.99998065e-01 -3.03800793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.270281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:110.13, Y:4.89, Z:-0.30 [[ 9.93188097e-01 -1.16499404e-01 2.30055350e-03 1.10134722e+02] [ 1.16498882e-01 9.93190758e-01 3.60060260e-04 4.88954152e+00] [-2.32683528e-03 -8.95956544e-05 9.99997289e-01 -3.03895941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.300281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:110.16, Y:4.90, Z:-0.30 [[ 9.93064552e-01 -1.17557320e-01 1.75298698e-03 1.10160335e+02] [ 1.17557018e-01 9.93066097e-01 2.74494041e-04 4.90288029e+00] [-1.77310072e-03 -6.65143799e-05 9.99998426e-01 -3.04561994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.330281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:110.19, Y:4.91, Z:-0.30 [[ 9.92977064e-01 -1.18295722e-01 1.63467330e-03 1.10186800e+02] [ 1.18295460e-01 9.92978408e-01 2.56222734e-04 4.91257276e+00] [-1.65350534e-03 -6.10488680e-05 9.99998631e-01 -3.04253375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.360281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:110.21, Y:4.92, Z:-0.30 [[ 9.92894087e-01 -1.18982973e-01 2.09403810e-03 1.10212370e+02] [ 1.18982544e-01 9.92896292e-01 3.28481609e-04 4.92228153e+00] [-2.11824638e-03 -7.69934661e-05 9.99997754e-01 -3.04287502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.390281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:110.24, Y:4.93, Z:-0.30 [[ 9.92652691e-01 -1.20945621e-01 3.57650167e-03 1.10237280e+02] [ 1.20944382e-01 9.92659126e-01 5.61501493e-04 4.93498537e+00] [-3.61815817e-03 -1.24818186e-04 9.99993447e-01 -3.04361366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.420281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:110.26, Y:4.94, Z:-0.30 [[ 9.92468100e-01 -1.22446102e-01 3.74468642e-03 1.10264241e+02] [ 1.22444752e-01 9.92475157e-01 5.88574658e-04 4.94331862e+00] [-3.78857691e-03 -1.25624374e-04 9.99992815e-01 -3.03997432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.450281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:110.29, Y:4.96, Z:-0.30 [[ 9.92037963e-01 -1.25895352e-01 3.32263270e-03 1.10290582e+02] [ 1.25894306e-01 9.92043522e-01 5.22873234e-04 4.95735614e+00] [-3.36202356e-03 -1.00409560e-04 9.99994343e-01 -3.04324003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.480281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:110.32, Y:4.97, Z:-0.30 [[ 9.91833651e-01 -1.27500589e-01 3.09980547e-03 1.10316144e+02] [ 1.27499686e-01 9.91838491e-01 4.88121948e-04 4.96588071e+00] [-3.13674222e-03 -8.89115483e-05 9.99995076e-01 -3.04661406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.510281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:110.34, Y:4.97, Z:-0.30 [[ 9.91622035e-01 -1.29136524e-01 3.08190303e-03 1.10343306e+02] [ 1.29135637e-01 9.91626820e-01 4.85820174e-04 4.97432690e+00] [-3.11883483e-03 -8.37664769e-05 9.99995133e-01 -3.04820589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.540281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:110.37, Y:4.98, Z:-0.31 [[ 9.91465455e-01 -1.30336131e-01 2.95703310e-03 1.10370483e+02] [ 1.30335319e-01 9.91469862e-01 4.66697627e-04 4.98219094e+00] [-2.99263676e-03 -7.73087240e-05 9.99995519e-01 -3.05243715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.570281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:110.40, Y:4.99, Z:-0.31 [[ 9.91165920e-01 -1.32615173e-01 1.82602777e-03 1.10396873e+02] [ 1.32614866e-01 9.91167601e-01 2.88512296e-04 4.99461548e+00] [-1.84816067e-03 -4.38051266e-05 9.99998291e-01 -3.05556473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.600281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:110.42, Y:5.00, Z:-0.31 [[ 9.91039418e-01 -1.33566971e-01 8.57614828e-04 1.10423884e+02] [ 1.33566903e-01 9.91039789e-01 1.35618099e-04 5.00355597e+00] [-8.68044517e-04 -1.98539254e-05 9.99999623e-01 -3.06003418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.630281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:110.45, Y:5.01, Z:-0.31 [[ 9.90751859e-01 -1.35685108e-01 5.52499612e-04 1.10449392e+02] [ 1.35685081e-01 9.90752013e-01 8.74365578e-05 5.01487467e+00] [-5.59253941e-04 -1.16619778e-05 9.99999844e-01 -3.05752385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.660281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:110.48, Y:5.02, Z:-0.31 [[ 9.90513593e-01 -1.37407760e-01 1.38917452e-03 1.10476322e+02] [ 1.37407586e-01 9.90514567e-01 2.20123523e-04 5.02211787e+00] [-1.40624428e-03 -2.71522247e-05 9.99999011e-01 -3.06212132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.690281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:110.50, Y:5.03, Z:-0.31 [[ 9.90220168e-01 -1.39499668e-01 1.96520242e-03 1.10502774e+02] [ 1.39499324e-01 9.90222117e-01 3.11658696e-04 5.02940131e+00] [-1.98946319e-03 -3.44663176e-05 9.99998020e-01 -3.05486872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.720281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:110.53, Y:5.04, Z:-0.31 [[ 9.89506472e-01 -1.44468155e-01 2.42790907e-03 1.10528348e+02] [ 1.44467644e-01 9.89509450e-01 3.85250132e-04 5.03949298e+00] [-2.45809535e-03 -3.04531953e-05 9.99996978e-01 -3.06377735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.750281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:110.56, Y:5.05, Z:-0.31 [[ 9.89127695e-01 -1.47035782e-01 2.62333764e-03 1.10555999e+02] [ 1.47035194e-01 9.89131173e-01 4.16685267e-04 5.04552787e+00] [-2.65609268e-03 -2.64319798e-05 9.99996472e-01 -3.07104226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.780281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:110.58, Y:5.05, Z:-0.31 [[ 9.88707715e-01 -1.49838358e-01 2.34962628e-03 1.10583464e+02] [ 1.49837894e-01 9.88710507e-01 3.73632024e-04 5.05065442e+00] [-2.37908460e-03 -1.73498123e-05 9.99997170e-01 -3.07438792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.81028169300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:110.61, Y:5.06, Z:-0.31 [[ 9.87808144e-01 -1.55670171e-01 1.36686003e-03 1.10610399e+02] [ 1.55670019e-01 9.87809090e-01 2.17570093e-04 5.05717098e+00] [-1.38406593e-03 -2.13838390e-06 9.99999042e-01 -3.07268731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.840281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:110.64, Y:5.06, Z:-0.31 [[ 9.87337618e-01 -1.58629176e-01 1.10100100e-03 1.10637598e+02] [ 1.58629079e-01 9.87338232e-01 1.75438915e-04 5.06359336e+00] [-1.11489011e-03 1.43333388e-06 9.99999379e-01 -3.07300959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.870281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:110.66, Y:5.07, Z:-0.31 [[ 9.86852852e-01 -1.61616107e-01 1.29678873e-03 1.10664370e+02] [ 1.61615974e-01 9.86853704e-01 2.06811486e-04 5.06879963e+00] [-1.31316483e-03 5.48926929e-06 9.99999138e-01 -3.07409426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.900281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:110.69, Y:5.07, Z:-0.31 [[ 9.85730535e-01 -1.68320275e-01 1.89681919e-03 1.10692725e+02] [ 1.68320004e-01 9.85732360e-01 3.02819826e-04 5.07117328e+00] [-1.92072678e-03 2.07738651e-05 9.99998155e-01 -3.07854655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.930281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:110.72, Y:5.07, Z:-0.31 [[ 9.85123399e-01 -1.71838369e-01 1.86093538e-03 1.10720537e+02] [ 1.71838114e-01 9.85125157e-01 2.97442032e-04 5.07414497e+00] [-1.88436622e-03 2.67625203e-05 9.99998224e-01 -3.07435506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.960281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:110.75, Y:5.08, Z:-0.31 [[ 9.84539940e-01 -1.75149859e-01 1.90618081e-03 1.10747224e+02] [ 1.75149597e-01 9.84541785e-01 3.04889587e-04 5.07696032e+00] [-1.93011603e-03 3.36908256e-05 9.99998137e-01 -3.07999779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.990281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:110.77, Y:5.08, Z:-0.31 [[ 9.83454477e-01 -1.81138342e-01 2.48867794e-03 1.10774473e+02] [ 1.81137914e-01 9.83457624e-01 3.98268309e-04 5.07706389e+00] [-2.51965096e-03 5.91151808e-05 9.99996824e-01 -3.07632119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.020281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:110.80, Y:5.08, Z:-0.31 [[ 9.83017467e-01 -1.83496153e-01 2.41286797e-03 1.10803059e+02] [ 1.83495757e-01 9.83020426e-01 3.86524787e-04 5.07834332e+00] [-2.44282431e-03 6.27904185e-05 9.99997014e-01 -3.07915125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.050281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:110.83, Y:5.08, Z:-0.31 [[ 9.82576729e-01 -1.85849100e-01 1.75610381e-03 1.10831386e+02] [ 1.85848894e-01 9.82578297e-01 2.81482945e-04 5.07515845e+00] [-1.77782284e-03 4.97913588e-05 9.99998418e-01 -3.07691726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.080281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:110.86, Y:5.08, Z:-0.31 [[ 9.82447712e-01 -1.86533384e-01 1.33803604e-03 1.10859529e+02] [ 1.86533265e-01 9.82448622e-01 2.14647556e-04 5.07565030e+00] [-1.35459060e-03 3.87082306e-05 9.99999082e-01 -3.07190883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.110281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:110.89, Y:5.08, Z:-0.31 [[ 9.82419151e-01 -1.86685416e-01 1.08049570e-03 1.10887816e+02] [ 1.86685338e-01 9.82419744e-01 1.73512297e-04 5.07553233e+00] [-1.09389253e-03 3.12509027e-05 9.99999401e-01 -3.07083879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.140281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:110.92, Y:5.08, Z:-0.31 [[ 9.82461629e-01 -1.86461337e-01 1.14737548e-03 1.10916467e+02] [ 1.86461248e-01 9.82462299e-01 1.84474118e-04 5.07577453e+00] [-1.16165044e-03 3.27023215e-05 9.99999325e-01 -3.07055063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:110.94, Y:5.07, Z:-0.31 [[ 9.82966110e-01 -1.83782193e-01 1.31615623e-03 1.10944492e+02] [ 1.83782074e-01 9.82966991e-01 2.11871919e-04 5.07166503e+00] [-1.33267641e-03 3.36230053e-05 9.99999111e-01 -3.07394920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.200281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:110.97, Y:5.07, Z:-0.31 [[ 9.83501537e-01 -1.80894775e-01 1.34435635e-03 1.10971934e+02] [ 1.80894648e-01 9.83502455e-01 2.16575490e-04 5.07193316e+00] [-1.36135515e-03 3.01845429e-05 9.99999073e-01 -3.07281611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.230281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:111.00, Y:5.07, Z:-0.31 [[ 9.84817793e-01 -1.73579549e-01 2.01387580e-03 1.11000867e+02] [ 1.73579248e-01 9.84819851e-01 3.24749168e-04 5.07017595e+00] [-2.03967468e-03 2.97482870e-05 9.99997919e-01 -3.05897266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.260281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:111.03, Y:5.07, Z:-0.31 [[ 9.85443884e-01 -1.69982890e-01 2.48378066e-03 1.11029158e+02] [ 1.69982419e-01 9.85447014e-01 4.00996984e-04 5.07309022e+00] [-2.51579686e-03 2.70390188e-05 9.99996835e-01 -3.05259392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.290281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:111.06, Y:5.08, Z:-0.31 [[ 9.85981869e-01 -1.66823402e-01 3.11548579e-03 1.11056996e+02] [ 1.66822643e-01 9.85986791e-01 5.03594857e-04 5.07598985e+00] [-3.15583925e-03 2.31981759e-05 9.99995020e-01 -3.05683989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.320281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:111.08, Y:5.08, Z:-0.31 [[ 9.86905494e-01 -1.61269260e-01 3.12603998e-03 1.11084818e+02] [ 1.61268466e-01 9.86910445e-01 5.05876664e-04 5.07691737e+00] [-3.16670386e-03 4.87921443e-06 9.99994986e-01 -3.05547779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.350281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:111.11, Y:5.08, Z:-0.31 [[ 9.87271922e-01 -1.59008221e-01 3.24620232e-03 1.11111668e+02] [ 1.59007352e-01 9.87277259e-01 5.25652177e-04 5.07958229e+00] [-3.28848474e-03 -2.79159936e-06 9.99994593e-01 -3.05977434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.380281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:111.14, Y:5.08, Z:-0.31 [[ 9.87521072e-01 -1.57448580e-01 3.47534176e-03 1.11139837e+02] [ 1.57447572e-01 9.87527187e-01 5.63375109e-04 5.08327424e+00] [-3.52069709e-03 -9.16066785e-06 9.99993802e-01 -3.05967861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.410281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:111.17, Y:5.09, Z:-0.31 [[ 9.87735856e-01 -1.56086808e-01 3.84531812e-03 1.11166523e+02] [ 1.56085562e-01 9.87743341e-01 6.23901851e-04 5.08749636e+00] [-3.89557022e-03 -1.60515877e-05 9.99992412e-01 -3.05968336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.19, Y:5.09, Z:-0.31 [[ 9.88124857e-01 -1.53615513e-01 3.39727253e-03 1.11194271e+02] [ 1.53614524e-01 9.88130697e-01 5.51816994e-04 5.09249373e+00] [-3.44171693e-03 -2.33936867e-05 9.99994077e-01 -3.05451856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.470281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:111.22, Y:5.10, Z:-0.31 [[ 9.88628986e-01 -1.50365755e-01 1.69324916e-03 1.11220132e+02] [ 1.50365504e-01 9.88630436e-01 2.75180209e-04 5.09973962e+00] [-1.71537534e-03 -1.74448668e-05 9.99998529e-01 -3.05753426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.500281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:111.25, Y:5.11, Z:-0.31 [[ 9.88825950e-01 -1.49065519e-01 1.64669085e-03 1.11247474e+02] [ 1.49065280e-01 9.88827321e-01 2.67859615e-04 5.10642923e+00] [-1.66822153e-03 -1.94021067e-05 9.99998608e-01 -3.05772853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:111.27, Y:5.11, Z:-0.31 [[ 9.88951600e-01 -1.48221860e-01 2.23877766e-03 1.11273406e+02] [ 1.48221415e-01 9.88954134e-01 3.64440072e-04 5.11319293e+00] [-2.26806641e-03 -2.85788000e-05 9.99997428e-01 -3.06446927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.56028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:111.30, Y:5.12, Z:-0.31 [[ 9.88666727e-01 -1.50076274e-01 3.90066069e-03 1.11300402e+02] [ 1.50074934e-01 9.88674421e-01 6.35702750e-04 5.12108310e+00] [-3.95188735e-03 -4.31067621e-05 9.99992190e-01 -3.05732988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.590281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:111.33, Y:5.13, Z:-0.31 [[ 9.88257543e-01 -1.52746703e-01 3.93375094e-03 1.11327346e+02] [ 1.52745359e-01 9.88265371e-01 6.41482817e-04 5.12617075e+00] [-3.98557422e-03 -3.30880308e-05 9.99992057e-01 -3.05701368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.35, Y:5.13, Z:-0.31 [[ 9.87683841e-01 -1.56438183e-01 2.77931260e-03 1.11354525e+02] [ 1.56437526e-01 9.87687752e-01 4.53695189e-04 5.13036562e+00] [-2.81606826e-03 -1.33186219e-05 9.99996035e-01 -3.05920154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.650281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.38, Y:5.13, Z:-0.31 [[ 9.86299344e-01 -1.64954026e-01 1.94265290e-03 1.11382378e+02] [ 1.64953720e-01 9.86301257e-01 3.17461926e-04 5.13224246e+00] [-1.96840761e-03 7.33533325e-06 9.99998063e-01 -3.06739031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.680281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:111.41, Y:5.14, Z:-0.31 [[ 9.85590781e-01 -1.69120482e-01 3.01243198e-03 1.11410169e+02] [ 1.69119765e-01 9.85595385e-01 4.92917540e-04 5.13541069e+00] [-3.05240151e-03 2.36468063e-05 9.99995341e-01 -3.07088701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.710281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:111.44, Y:5.14, Z:-0.31 [[ 9.84649236e-01 -1.74491510e-01 4.31220180e-03 1.11436876e+02] [ 1.74490091e-01 9.84658677e-01 7.06056320e-04 5.13673166e+00] [-4.36924775e-03 5.72186675e-05 9.99990453e-01 -3.06630692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.740281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:111.46, Y:5.14, Z:-0.31 [[ 9.84345337e-01 -1.76206370e-01 3.94615826e-03 1.11464341e+02] [ 1.76205194e-01 9.84353245e-01 6.46446462e-04 5.13909992e+00] [-3.99832167e-03 5.90070221e-05 9.99992005e-01 -3.06099535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.770281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.49, Y:5.14, Z:-0.31 [[ 9.84071904e-01 -1.77746673e-01 2.93393983e-03 1.11492127e+02] [ 1.77746028e-01 9.84076277e-01 4.81116482e-04 5.14106248e+00] [-2.97273744e-03 4.80429395e-05 9.99995580e-01 -3.06581734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.52, Y:5.15, Z:-0.31 [[ 9.84041304e-01 -1.77916004e-01 2.93385607e-03 1.11520197e+02] [ 1.77915359e-01 9.84045676e-01 4.81626974e-04 5.14584882e+00] [-2.97273752e-03 4.80372182e-05 9.99995580e-01 -3.06596301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.830281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.55, Y:5.14, Z:-0.31 [[ 9.83765197e-01 -1.79457228e-01 1.06830747e-03 1.11549174e+02] [ 1.79457144e-01 9.83765776e-01 1.75513559e-04 5.14490459e+00] [-1.08246151e-03 1.90512770e-05 9.99999414e-01 -3.07099478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.860281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.58, Y:5.15, Z:-0.31 [[ 9.83635228e-01 -1.80169059e-01 9.21104371e-04 1.11576828e+02] [ 1.80168996e-01 9.83635659e-01 1.51489136e-04 5.14698991e+00] [-9.33324760e-04 1.69443990e-05 9.99999564e-01 -3.07692470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.890281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:111.60, Y:5.15, Z:-0.31 [[ 9.83462267e-01 -1.81110132e-01 1.04414755e-03 1.11604124e+02] [ 1.81110052e-01 9.83462821e-01 1.71876476e-04 5.14621198e+00] [-1.05800886e-03 2.00715879e-05 9.99999440e-01 -3.08869458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.920281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.63, Y:5.15, Z:-0.31 [[ 9.83419402e-01 -1.81345220e-01 4.36011427e-04 1.11631290e+02] [ 1.81345206e-01 9.83419499e-01 7.17831974e-05 5.14864108e+00] [-4.41799679e-04 8.47559288e-06 9.99999902e-01 -3.08451448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.950281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:111.66, Y:5.15, Z:-0.31 [[ 9.83379276e-01 -1.81562848e-01 -3.63148406e-04 1.11658511e+02] [ 1.81562839e-01 9.83379343e-01 -5.98899766e-05 5.15165335e+00] [ 3.67986436e-04 -7.03969374e-06 9.99999932e-01 -3.08165502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.980281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:111.69, Y:5.15, Z:-0.31 [[ 9.83632002e-01 -1.80188568e-01 -4.05607463e-04 1.11685382e+02] [ 1.80188555e-01 9.83632086e-01 -6.69571942e-05 5.15404168e+00] [ 4.11033436e-04 -7.22458381e-06 9.99999916e-01 -3.07203408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.010281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.71, Y:5.16, Z:-0.31 [[ 9.83937536e-01 -1.78512575e-01 4.31070101e-04 1.11712648e+02] [ 1.78512561e-01 9.83937630e-01 7.10824547e-05 5.15841819e+00] [-4.36835206e-04 7.01073233e-06 9.99999905e-01 -3.06412035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.040281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:111.74, Y:5.16, Z:-0.31 [[ 9.84953574e-01 -1.72812095e-01 1.56074989e-03 1.11738432e+02] [ 1.72811903e-01 9.84954811e-01 2.57782946e-04 5.16492585e+00] [-1.58181613e-03 1.58119256e-05 9.99998749e-01 -3.07204714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.070281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.77, Y:5.17, Z:-0.31 [[ 9.85564072e-01 -1.69299025e-01 1.14004897e-03 1.11766139e+02] [ 1.69298920e-01 9.85564732e-01 1.88442172e-04 5.17173911e+00] [-1.15549513e-03 7.28722602e-06 9.99999332e-01 -3.07480376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.100281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:111.79, Y:5.18, Z:-0.31 [[ 9.86174291e-01 -1.65707947e-01 1.06921544e-03 1.11793227e+02] [ 1.65707852e-01 9.86174871e-01 1.76924170e-04 5.17885140e+00] [-1.08375114e-03 2.69932713e-06 9.99999413e-01 -3.07688372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:111.82, Y:5.19, Z:-0.31 [[ 9.87400890e-01 -1.58236471e-01 8.37119944e-04 1.11818491e+02] [ 1.58236411e-01 9.87401245e-01 1.38618788e-04 5.18922928e+00] [-8.48507823e-04 -4.40945894e-06 9.99999640e-01 -3.06757755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.160281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:111.85, Y:5.20, Z:-0.31 [[ 9.87845901e-01 -1.55433976e-01 8.68360014e-04 1.11845680e+02] [ 1.55433909e-01 9.87846283e-01 1.43898972e-04 5.19752539e+00] [-8.80173002e-04 -7.17741822e-06 9.99999613e-01 -3.07422389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:111.87, Y:5.21, Z:-0.31 [[ 9.88135396e-01 -1.53584131e-01 5.95188640e-04 1.11873122e+02] [ 1.53584099e-01 9.88135575e-01 9.87089894e-05 5.20564509e+00] [-6.03287204e-04 -6.12633525e-06 9.99999818e-01 -3.07237841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.220281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:111.90, Y:5.21, Z:-0.31 [[ 9.88208250e-01 -1.53112844e-01 9.54503072e-04 1.11899494e+02] [ 1.53112762e-01 9.88208711e-01 1.58479843e-04 5.21331181e+00] [-9.67513550e-04 -1.04644867e-05 9.99999532e-01 -3.07996308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.93, Y:5.22, Z:-0.31 [[ 9.87836183e-01 -1.55478873e-01 2.44847748e-03 1.11926037e+02] [ 1.55478342e-01 9.87839217e-01 4.07010004e-04 5.22361042e+00] [-2.48198354e-03 -2.13739886e-05 9.99996920e-01 -3.07631744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.280281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:111.95, Y:5.23, Z:-0.31 [[ 9.87441225e-01 -1.57948914e-01 3.45957534e-03 1.11951757e+02] [ 1.57947867e-01 9.87447285e-01 5.75472708e-04 5.23090999e+00] [-3.50704356e-03 -2.18129313e-05 9.99993850e-01 -3.07382838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.31028169300001 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:111.98, Y:5.24, Z:-0.31 [[ 9.86743142e-01 -1.62210527e-01 5.07113802e-03 1.11977746e+02] [ 1.62208331e-01 9.86756173e-01 8.43960550e-04 5.24022102e+00] [-5.14087603e-03 -1.01914488e-05 9.99986786e-01 -3.07402204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.340281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.01, Y:5.25, Z:-0.31 [[ 9.86447797e-01 -1.64008503e-01 4.68568831e-03 1.12005017e+02] [ 1.64006645e-01 9.86458925e-01 7.80632537e-04 5.24707870e+00] [-4.75026942e-03 -1.56922588e-06 9.99988717e-01 -3.07420013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.03, Y:5.25, Z:-0.31 [[ 9.86302546e-01 -1.64916555e-01 3.13340247e-03 1.12032632e+02] [ 1.64915727e-01 9.86307523e-01 5.22591193e-04 5.25384897e+00] [-3.17668237e-03 1.31432190e-06 9.99994954e-01 -3.08241882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.400281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.06, Y:5.26, Z:-0.31 [[ 9.86029779e-01 -1.66569079e-01 -1.31735934e-04 1.12058650e+02] [ 1.66569077e-01 9.86029788e-01 -2.20281107e-05 5.26200784e+00] [ 1.33564758e-04 -2.22759896e-07 9.99999991e-01 -3.10353988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.08, Y:5.27, Z:-0.31 [[ 9.85770649e-01 -1.68095280e-01 -4.51188396e-04 1.12084906e+02] [ 1.68095263e-01 9.85770753e-01 -7.54259206e-05 5.26803078e+00] [ 4.57447066e-04 -1.48997330e-06 9.99999895e-01 -3.10472724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.460281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.11, Y:5.27, Z:-0.31 [[ 9.85470426e-01 -1.69847048e-01 -1.38777886e-04 1.12111940e+02] [ 1.69847046e-01 9.85470436e-01 -2.33037427e-05 5.27338668e+00] [ 1.40719576e-04 -6.05864793e-07 9.99999990e-01 -3.10561179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.14, Y:5.28, Z:-0.31 [[ 9.85071866e-01 -1.72140266e-01 1.07156925e-03 1.12138222e+02] [ 1.72140173e-01 9.85072449e-01 1.79233995e-04 5.27836520e+00] [-1.08642673e-03 7.90174925e-06 9.99999410e-01 -3.10415844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.520281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.17, Y:5.28, Z:-0.31 [[ 9.84974213e-01 -1.72698480e-01 1.01711752e-03 1.12165119e+02] [ 1.72698396e-01 9.84974738e-01 1.70208479e-04 5.28359978e+00] [-1.03122981e-03 8.00360179e-06 9.99999468e-01 -3.10381052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.19, Y:5.29, Z:-0.31 [[ 9.84787964e-01 -1.73759834e-01 4.31444638e-04 1.12192156e+02] [ 1.73759819e-01 9.84788058e-01 7.22031124e-05 5.28982773e+00] [-4.37427528e-04 3.86298628e-06 9.99999904e-01 -3.09582672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.580281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.22, Y:5.29, Z:-0.31 [[ 9.84649272e-01 -1.74542548e-01 8.42500322e-04 1.12218669e+02] [ 1.74542491e-01 9.84649633e-01 1.41213960e-04 5.29482886e+00] [-8.54215476e-04 8.00588212e-06 9.99999635e-01 -3.09956602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.610281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.25, Y:5.30, Z:-0.31 [[ 9.84485949e-01 -1.75457995e-01 1.38143411e-03 1.12245186e+02] [ 1.75457842e-01 9.84486918e-01 2.31689200e-04 5.29933851e+00] [-1.40065553e-03 1.42886859e-05 9.99999019e-01 -3.09986917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.640281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:112.27, Y:5.30, Z:-0.31 [[ 9.83928612e-01 -1.78551520e-01 1.96015335e-03 1.12273198e+02] [ 1.78551218e-01 9.83930564e-01 3.29092411e-04 5.30320990e+00] [-1.98741474e-03 2.61843294e-05 9.99998025e-01 -3.09906006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.670281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.30, Y:5.31, Z:-0.31 [[ 9.83590764e-01 -1.80409022e-01 1.33941039e-03 1.12300127e+02] [ 1.80408883e-01 9.83591676e-01 2.25012749e-04 5.30765497e+00] [-1.35802724e-03 2.03210713e-05 9.99999078e-01 -3.10723550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.700281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.33, Y:5.31, Z:-0.31 [[ 9.82862501e-01 -1.84340186e-01 -2.37548756e-05 1.12328502e+02] [ 1.84340186e-01 9.82862501e-01 -4.09099738e-06 5.31044794e+00] [ 2.41019117e-05 -3.58090256e-07 1.00000000e+00 -3.11018177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.730281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.36, Y:5.31, Z:-0.31 [[ 9.82400218e-01 -1.86788149e-01 2.48280711e-06 1.12355927e+02] [ 1.86788149e-01 9.82400218e-01 3.23253733e-07 5.31391129e+00] [-2.49949020e-06 1.46194406e-07 1.00000000e+00 -3.10926221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.760281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.38, Y:5.32, Z:-0.31 [[ 9.82009500e-01 -1.88831501e-01 7.77212355e-05 1.12384019e+02] [ 1.88831501e-01 9.82009503e-01 1.30087454e-05 5.31736682e+00] [-7.87794527e-05 1.90150592e-06 9.99999997e-01 -3.10629940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.790281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.41, Y:5.32, Z:-0.31 [[ 9.81611823e-01 -1.90887605e-01 3.87783747e-04 1.12411433e+02] [ 1.90887594e-01 9.81611900e-01 6.53666869e-05 5.31955575e+00] [-3.93130831e-04 9.85839387e-06 9.99999923e-01 -3.10822079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:112.44, Y:5.32, Z:-0.31 [[ 9.81584546e-01 -1.91027143e-01 6.39566808e-04 1.12439816e+02] [ 1.91027113e-01 9.81584755e-01 1.07901396e-04 5.32243374e+00] [-6.48401124e-04 1.62602579e-05 9.99999790e-01 -3.11066971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.850281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:112.47, Y:5.32, Z:-0.31 [[ 9.81691418e-01 -1.90470864e-01 1.67628019e-03 1.12467282e+02] [ 1.90470659e-01 9.81692848e-01 2.83148265e-04 5.32159792e+00] [-1.69952377e-03 4.13179701e-05 9.99998555e-01 -3.10540257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.49, Y:5.32, Z:-0.31 [[ 9.81620432e-01 -1.90830734e-01 2.22661330e-03 1.12494970e+02] [ 1.90830370e-01 9.81622956e-01 3.76487153e-04 5.32388597e+00] [-2.25754005e-03 5.53379589e-05 9.99997450e-01 -3.10183501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.910281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.52, Y:5.33, Z:-0.31 [[ 9.81470657e-01 -1.91587814e-01 3.07551616e-03 1.12522102e+02] [ 1.91587124e-01 9.81475473e-01 5.20366409e-04 5.32566962e+00] [-3.11823954e-03 7.85049339e-05 9.99995135e-01 -3.10515095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.55, Y:5.32, Z:-0.31 [[ 9.80996916e-01 -1.93992868e-01 3.43772018e-03 1.12551080e+02] [ 1.93992018e-01 9.81002935e-01 5.82248330e-04 5.32148552e+00] [-3.48536561e-03 9.57064583e-05 9.99993922e-01 -3.10860345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.970281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.58, Y:5.32, Z:-0.31 [[ 9.80884607e-01 -1.94566015e-01 3.07474838e-03 1.12578153e+02] [ 1.94565337e-01 9.80889422e-01 5.21066741e-04 5.32080482e+00] [-3.11737004e-03 8.71331089e-05 9.99995137e-01 -3.11302035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.000281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:112.61, Y:5.32, Z:-0.31 [[ 9.81372176e-01 -1.92103122e-01 2.24576767e-03 1.12606598e+02] [ 1.92102753e-01 9.81374743e-01 3.80954120e-04 5.31866070e+00] [-2.27712215e-03 5.75603783e-05 9.99997406e-01 -3.10301312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.030281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.63, Y:5.32, Z:-0.31 [[ 9.82079478e-01 -1.88454893e-01 2.15694918e-03 1.12633967e+02] [ 1.88454543e-01 9.82081845e-01 3.66123663e-04 5.32122548e+00] [-2.18729843e-03 4.69243368e-05 9.99997607e-01 -3.10254946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.06028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:112.66, Y:5.32, Z:-0.31 [[ 9.82891538e-01 -1.84177987e-01 1.64143769e-03 1.12661490e+02] [ 1.84177778e-01 9.82892908e-01 2.78862438e-04 5.32499632e+00] [-1.66471778e-03 2.82248150e-05 9.99998614e-01 -3.09347438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.090281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.69, Y:5.33, Z:-0.31 [[ 9.84834300e-01 -1.73490929e-01 1.51641019e-03 1.12688197e+02] [ 1.73490738e-01 9.84835467e-01 2.57893949e-04 5.32905666e+00] [-1.53815680e-03 9.10031665e-06 9.99998817e-01 -3.09347840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.72, Y:5.33, Z:-0.31 [[ 9.85672361e-01 -1.68663280e-01 1.64180370e-03 1.12715090e+02] [ 1.68663048e-01 9.85673728e-01 2.79410994e-04 5.33486139e+00] [-1.66540915e-03 1.50392226e-06 9.99998613e-01 -3.09441880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.150281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.74, Y:5.34, Z:-0.31 [[ 9.86831055e-01 -1.61734740e-01 2.51850411e-03 1.12742252e+02] [ 1.61734171e-01 9.86834269e-01 4.29041608e-04 5.34324629e+00] [-2.55473710e-03 -1.60634061e-05 9.99996737e-01 -3.10008681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.77, Y:5.35, Z:-0.31 [[ 9.87056604e-01 -1.60348258e-01 2.77428980e-03 1.12769535e+02] [ 1.60347561e-01 9.87060503e-01 4.73160022e-04 5.35025185e+00] [-2.81426227e-03 -2.21851210e-05 9.99996040e-01 -3.10399964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.210281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.80, Y:5.36, Z:-0.31 [[ 9.87076843e-01 -1.60236980e-01 1.84819210e-03 1.12795706e+02] [ 1.60236670e-01 9.87078573e-01 3.15457156e-04 5.36023952e+00] [-1.87485873e-03 -1.52323057e-05 9.99998242e-01 -3.10790060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.82, Y:5.37, Z:-0.31 [[ 9.86895200e-01 -1.61360567e-01 7.94913222e-04 1.12821508e+02] [ 1.61360510e-01 9.86895520e-01 1.35732282e-04 5.36781972e+00] [-8.06398136e-04 -5.68593384e-06 9.99999675e-01 -3.10794542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.85, Y:5.38, Z:-0.31 [[ 9.86615227e-01 -1.63065034e-01 4.34897727e-04 1.12848308e+02] [ 1.63065017e-01 9.86615323e-01 7.42694609e-05 5.37536502e+00] [-4.41187513e-04 -2.35877584e-06 9.99999903e-01 -3.11717581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:112.88, Y:5.38, Z:-0.31 [[ 9.86329086e-01 -1.64786612e-01 5.53897787e-04 1.12875450e+02] [ 1.64786585e-01 9.86329241e-01 9.47195655e-05 5.38271809e+00] [-5.61934100e-04 -2.14973791e-06 9.99999842e-01 -3.11646155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.330281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:112.90, Y:5.39, Z:-0.31 [[ 9.85808424e-01 -1.67869745e-01 1.22501037e-03 1.12901719e+02] [ 1.67869614e-01 9.85809185e-01 2.09828751e-04 5.39266025e+00] [-1.24285037e-03 -1.20893317e-06 9.99999228e-01 -3.12055258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:112.93, Y:5.40, Z:-0.31 [[ 9.85545517e-01 -1.69407874e-01 1.00282489e-03 1.12927527e+02] [ 1.69407787e-01 9.85546027e-01 1.71892042e-04 5.40005346e+00] [-1.01744995e-03 4.78913784e-07 9.99999482e-01 -3.11958860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.390281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:112.95, Y:5.41, Z:-0.31 [[ 9.84985000e-01 -1.72639852e-01 -1.74912074e-04 1.12954203e+02] [ 1.72639849e-01 9.84985016e-01 -3.01244096e-05 5.40774815e+00] [ 1.77486446e-04 -5.24702571e-07 9.99999984e-01 -3.13582787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.420281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:112.98, Y:5.41, Z:-0.31 [[ 9.84706161e-01 -1.74221378e-01 -8.29641762e-04 1.12980373e+02] [ 1.74221319e-01 9.84706510e-01 -1.42523973e-04 5.41231025e+00] [ 8.41784367e-04 -4.19704790e-06 9.99999646e-01 -3.14206888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.450281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.01, Y:5.42, Z:-0.31 [[ 9.84295757e-01 -1.76525356e-01 -8.13061715e-04 1.13008102e+02] [ 1.76525300e-01 9.84296093e-01 -1.39894538e-04 5.41716974e+00] [ 8.24988402e-04 -5.82836364e-06 9.99999660e-01 -3.14265584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.480281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:113.03, Y:5.42, Z:-0.31 [[ 9.83416664e-01 -1.81357681e-01 -1.02745767e-03 1.13034799e+02] [ 1.81357595e-01 9.83417201e-01 -1.76788569e-04 5.42103642e+00] [ 1.04248151e-03 -1.24804278e-05 9.99999457e-01 -3.13796142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.510281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.06, Y:5.42, Z:-0.31 [[ 9.82921293e-01 -1.84024983e-01 -7.33661999e-04 1.13061858e+02] [ 1.84024940e-01 9.82921566e-01 -1.26308292e-04 5.42478063e+00] [ 7.44376082e-04 -1.08609958e-05 9.99999723e-01 -3.14209673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.540281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.09, Y:5.43, Z:-0.31 [[ 9.82539298e-01 -1.86054905e-01 -3.16856240e-04 1.13088967e+02] [ 1.86054897e-01 9.82539349e-01 -5.45984828e-05 5.42755951e+00] [ 3.21482039e-04 -5.30749994e-06 9.99999948e-01 -3.14076338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.570281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:113.12, Y:5.43, Z:-0.31 [[ 9.82153425e-01 -1.88078846e-01 9.99076876e-04 1.13117161e+02] [ 1.88078768e-01 9.82153933e-01 1.72114468e-04 5.42936535e+00] [-1.01361837e-03 1.88623342e-05 9.99999486e-01 -3.14104301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.14, Y:5.43, Z:-0.31 [[ 9.82118585e-01 -1.88259931e-01 1.13259577e-03 1.13144912e+02] [ 1.88259831e-01 9.82119238e-01 1.95337924e-04 5.43342053e+00] [-1.14911840e-03 2.13772826e-05 9.99999340e-01 -3.14147056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:113.17, Y:5.44, Z:-0.31 [[ 9.82092448e-01 -1.88396311e-01 1.11962294e-03 1.13172821e+02] [ 1.88396213e-01 9.82093086e-01 1.93312261e-04 5.43799570e+00] [-1.13599326e-03 2.10822092e-05 9.99999355e-01 -3.14226340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.660281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:113.20, Y:5.44, Z:-0.31 [[ 9.82262499e-01 -1.87507989e-01 1.06606039e-03 1.13199876e+02] [ 1.87507900e-01 9.82263078e-01 1.84201677e-04 5.44250732e+00] [-1.08169105e-03 1.89603449e-05 9.99999415e-01 -3.14608506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.690281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:113.23, Y:5.45, Z:-0.31 [[ 9.82290496e-01 -1.87361347e-01 1.05263883e-03 1.13227371e+02] [ 1.87361260e-01 9.82291059e-01 1.82029081e-04 5.44778365e+00] [-1.06810292e-03 1.84183003e-05 9.99999429e-01 -3.14641305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.720281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:113.25, Y:5.45, Z:-0.31 [[ 9.82565933e-01 -1.85914226e-01 2.96286626e-04 1.13254302e+02] [ 1.85914219e-01 9.82565978e-01 5.12230644e-05 5.45459845e+00] [-3.00644255e-04 4.75385856e-06 9.99999955e-01 -3.13861750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.750281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:113.28, Y:5.46, Z:-0.31 [[ 9.82533372e-01 -1.86086233e-01 2.96276607e-04 1.13282326e+02] [ 1.86086226e-01 9.82533416e-01 5.12809288e-05 5.45963302e+00] [-3.00644341e-04 4.74777163e-06 9.99999955e-01 -3.13876317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.780281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.31, Y:5.47, Z:-0.31 [[ 9.82756851e-01 -1.84902588e-01 -6.63593410e-05 1.13308321e+02] [ 1.84902587e-01 9.82756853e-01 -1.15538029e-05 5.46613128e+00] [ 6.73514252e-05 -9.15434894e-07 9.99999998e-01 -3.14560116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.81028169300001 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:113.34, Y:5.47, Z:-0.31 [[ 9.82909631e-01 -1.84086707e-01 -8.60678836e-04 1.13335751e+02] [ 1.84086646e-01 9.82910008e-01 -1.49567971e-04 5.47270851e+00] [ 8.73503317e-04 -1.14276815e-05 9.99999618e-01 -3.14919440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.840281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:113.36, Y:5.48, Z:-0.32 [[ 9.82899096e-01 -1.84132382e-01 -2.15235168e-03 1.13362160e+02] [ 1.84132004e-01 9.82901452e-01 -3.74014210e-04 5.47956527e+00] [ 2.18441772e-03 -2.86986000e-05 9.99997614e-01 -3.16158390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.870281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.39, Y:5.49, Z:-0.32 [[ 9.82702937e-01 -1.85179715e-01 -1.84658705e-03 1.13389697e+02] [ 1.85179439e-01 9.82704672e-01 -3.21293783e-04 5.48583187e+00] [ 1.87414681e-03 -2.62136083e-05 9.99998243e-01 -3.16195425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.900281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.42, Y:5.49, Z:-0.32 [[ 9.82487166e-01 -1.86328659e-01 -7.74049571e-04 1.13417150e+02] [ 1.86328610e-01 9.82487471e-01 -1.34884902e-04 5.49259038e+00] [ 7.85626928e-04 -1.17048958e-05 9.99999691e-01 -3.15709553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.44, Y:5.50, Z:-0.32 [[ 9.82065266e-01 -1.88541263e-01 6.73991394e-05 1.13443242e+02] [ 1.88541263e-01 9.82065269e-01 1.17000249e-05 5.49948163e+00] [-6.83962914e-05 1.21733071e-06 9.99999998e-01 -3.16416762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.960281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.47, Y:5.50, Z:-0.32 [[ 9.81836324e-01 -1.89729337e-01 -4.60750079e-04 1.13470040e+02] [ 1.89729321e-01 9.81836432e-01 -8.03496683e-05 5.50475499e+00] [ 4.67625903e-04 -8.52757650e-06 9.99999891e-01 -3.16526385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.990281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:113.50, Y:5.51, Z:-0.32 [[ 9.81518072e-01 -1.91365285e-01 -1.26598832e-03 1.13497270e+02] [ 1.91365159e-01 9.81518888e-01 -2.20991712e-04 5.50982228e+00] [ 1.28488159e-03 -2.53586975e-05 9.99999174e-01 -3.16708058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.020281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:113.52, Y:5.51, Z:-0.32 [[ 9.80797227e-01 -1.95020490e-01 -1.95142148e-03 1.13524187e+02] [ 1.95020198e-01 9.80799167e-01 -3.40809322e-04 5.51404864e+00] [ 1.98041736e-03 -4.63017649e-05 9.99998038e-01 -3.16201293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.050281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.55, Y:5.52, Z:-0.32 [[ 9.80484094e-01 -1.96589069e-01 -1.91804655e-03 1.13551986e+02] [ 1.96588789e-01 9.80485969e-01 -3.35363102e-04 5.51828584e+00] [ 1.94654645e-03 -4.82482618e-05 9.99998104e-01 -3.15826438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.080281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.58, Y:5.52, Z:-0.32 [[ 9.80256690e-01 -1.97720128e-01 -1.89042211e-03 1.13579692e+02] [ 1.97719857e-01 9.80258511e-01 -3.30894839e-04 5.52237288e+00] [ 1.91852694e-03 -4.94121111e-05 9.99998158e-01 -3.16034528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:113.61, Y:5.53, Z:-0.32 [[ 9.80026589e-01 -1.98862578e-01 -1.24921927e-03 1.13606235e+02] [ 1.98862461e-01 9.80027384e-01 -2.18740909e-04 5.52561407e+00] [ 1.26776847e-03 -3.40509106e-05 9.99999196e-01 -3.15772436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.140281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.63, Y:5.53, Z:-0.32 [[ 9.79949927e-01 -1.99241413e-01 -1.00042106e-03 1.13633619e+02] [ 1.99241337e-01 9.79950437e-01 -1.75420470e-04 5.53067874e+00] [ 1.01531408e-03 -2.74219541e-05 9.99999484e-01 -3.15413401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.170281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:113.66, Y:5.54, Z:-0.32 [[ 9.79749173e-01 -2.00227259e-01 -7.75794389e-04 1.13661140e+02] [ 2.00227214e-01 9.79749480e-01 -1.36181566e-04 5.53542839e+00] [ 7.87351411e-04 -2.19113727e-05 9.99999690e-01 -3.15023407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.200281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:113.69, Y:5.54, Z:-0.32 [[ 9.79586930e-01 -2.01019749e-01 -7.12432331e-04 1.13687722e+02] [ 2.01019711e-01 9.79587189e-01 -1.25077127e-04 5.53900324e+00] [ 7.23032557e-04 -2.06890224e-05 9.99999738e-01 -3.15207956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.230281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.72, Y:5.54, Z:-0.32 [[ 9.79142756e-01 -2.03171134e-01 -9.76970057e-04 1.13715507e+02] [ 2.03171064e-01 9.79143242e-01 -1.71732871e-04 5.54061997e+00] [ 9.91484792e-04 -3.03410499e-05 9.99999508e-01 -3.15182494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.260281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:113.74, Y:5.54, Z:-0.32 [[ 9.78941593e-01 -2.04139601e-01 -6.16951693e-04 1.13743758e+02] [ 2.04139573e-01 9.78941787e-01 -1.08596490e-04 5.54375462e+00] [ 6.26128637e-04 -1.96346338e-05 9.99999804e-01 -3.15304045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.290281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:113.77, Y:5.55, Z:-0.31 [[ 9.78904905e-01 -2.04316108e-01 -3.39924103e-04 1.13770869e+02] [ 2.04316100e-01 9.78904964e-01 -5.98500633e-05 5.54624714e+00] [ 3.44981724e-04 -1.08644464e-05 9.99999940e-01 -3.14411985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.320281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:113.80, Y:5.55, Z:-0.31 [[ 9.79053064e-01 -2.03604560e-01 5.30133303e-04 1.13797629e+02] [ 2.03604539e-01 9.79053207e-01 9.32795249e-05 5.54754096e+00] [-5.38020848e-04 1.66119421e-05 9.99999855e-01 -3.14120852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.350281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:113.82, Y:5.55, Z:-0.31 [[ 9.79301480e-01 -2.02405445e-01 8.04974458e-04 1.13824609e+02] [ 2.02405396e-01 9.79301810e-01 1.41723296e-04 5.55123513e+00] [-8.16998511e-04 2.41413414e-05 9.99999666e-01 -3.14472803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:113.85, Y:5.55, Z:-0.31 [[ 9.79980207e-01 -1.99094837e-01 2.00637996e-04 1.13852076e+02] [ 1.99094833e-01 9.79980227e-01 3.52794405e-05 5.55413877e+00] [-2.03645224e-04 5.37283506e-06 9.99999979e-01 -3.14721137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:113.88, Y:5.56, Z:-0.32 [[ 9.80382960e-01 -1.97102085e-01 -1.38504372e-04 1.13878984e+02] [ 1.97102084e-01 9.80382970e-01 -2.44671372e-05 5.55721951e+00] [ 1.40609852e-04 -3.31233600e-06 9.99999990e-01 -3.15027785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:113.91, Y:5.56, Z:-0.31 [[ 9.80747825e-01 -1.95277087e-01 -7.49969695e-04 1.13907193e+02] [ 1.95277043e-01 9.80748112e-01 -1.32488230e-04 5.56077755e+00] [ 7.61403278e-04 -1.65143204e-05 9.99999710e-01 -3.14895156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.470281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:113.93, Y:5.57, Z:-0.31 [[ 9.81104103e-01 -1.93477266e-01 -1.13395161e-03 1.13934440e+02] [ 1.93477164e-01 9.81104758e-01 -2.00484252e-04 5.56537660e+00] [ 1.15131447e-03 -2.26978189e-05 9.99999337e-01 -3.14800485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.500281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:113.96, Y:5.57, Z:-0.31 [[ 9.82028039e-01 -1.88731826e-01 -1.10840348e-03 1.13961099e+02] [ 1.88731725e-01 9.82028664e-01 -1.96004667e-04 5.57099596e+00] [ 1.12547631e-03 -1.67088228e-05 9.99999367e-01 -3.14980962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.530281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:113.99, Y:5.58, Z:-0.32 [[ 9.82375269e-01 -1.86917831e-01 -7.44914165e-04 1.13988932e+02] [ 1.86917785e-01 9.82375552e-01 -1.31921268e-04 5.57679375e+00] [ 7.56443901e-04 -9.64151409e-06 9.99999714e-01 -3.15366777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.56028169300001 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.02, Y:5.58, Z:-0.31 [[ 9.82639453e-01 -1.85524995e-01 -4.26321264e-04 1.14016256e+02] [ 1.85524979e-01 9.82639545e-01 -7.56138203e-05 5.58369699e+00] [ 4.32948386e-04 -4.79212051e-06 9.99999906e-01 -3.14817473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.590281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:114.04, Y:5.59, Z:-0.32 [[ 9.82589588e-01 -1.85787490e-01 -8.42778428e-04 1.14043149e+02] [ 1.85787430e-01 9.82589949e-01 -1.49546876e-04 5.58940982e+00] [ 8.55889551e-04 -9.63443464e-06 9.99999634e-01 -3.15347371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.07, Y:5.60, Z:-0.32 [[ 9.82474679e-01 -1.86384827e-01 -2.04952875e-03 1.14070625e+02] [ 1.86384474e-01 9.82476817e-01 -3.63924210e-04 5.59510657e+00] [ 2.08144444e-03 -2.44540158e-05 9.99997833e-01 -3.15643789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.650281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.10, Y:5.60, Z:-0.32 [[ 9.82095846e-01 -1.88358690e-01 -2.95852565e-03 1.14097312e+02] [ 1.88357961e-01 9.82100302e-01 -5.25631008e-04 5.60000798e+00] [ 3.00457610e-03 -4.10418281e-05 9.99995485e-01 -3.16292931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.12, Y:5.61, Z:-0.32 [[ 9.81876749e-01 -1.89501304e-01 -2.70298404e-03 1.14123369e+02] [ 1.89500699e-01 9.81880468e-01 -4.80417885e-04 5.60510781e+00] [ 2.74504705e-03 -4.05062137e-05 9.99996232e-01 -3.16259333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.710281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:114.15, Y:5.61, Z:-0.32 [[ 9.81659441e-01 -1.90627741e-01 -2.40940229e-03 1.14149613e+02] [ 1.90627264e-01 9.81662398e-01 -4.28425318e-04 5.61032009e+00] [ 2.44688938e-03 -3.87300070e-05 9.99997006e-01 -3.16212253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.740281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.18, Y:5.62, Z:-0.32 [[ 9.81416611e-01 -1.91875416e-01 -2.29369897e-03 1.14177115e+02] [ 1.91874986e-01 9.81419290e-01 -4.08297090e-04 5.61542936e+00] [ 2.32942259e-03 -3.93939114e-05 9.99997286e-01 -3.16850487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.770281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.20, Y:5.62, Z:-0.32 [[ 9.81116626e-01 -1.93391846e-01 -3.12427674e-03 1.14204349e+02] [ 1.93391053e-01 9.81121598e-01 -5.56733569e-04 5.61929181e+00] [ 3.17296312e-03 -5.79866083e-05 9.99994964e-01 -3.16635529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.800281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:114.23, Y:5.62, Z:-0.32 [[ 9.81140624e-01 -1.93264673e-01 -3.44113126e-03 1.14231177e+02] [ 1.93263709e-01 9.81146657e-01 -6.13420449e-04 5.62348640e+00] [ 3.49480694e-03 -6.31940701e-05 9.99993891e-01 -3.16493595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.26, Y:5.63, Z:-0.32 [[ 9.81431073e-01 -1.91782602e-01 -3.53314226e-03 1.14257413e+02] [ 1.91781576e-01 9.81437431e-01 -6.30115378e-04 5.62733554e+00] [ 3.58840323e-03 -5.91767785e-05 9.99993560e-01 -3.16298339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:114.29, Y:5.63, Z:-0.32 [[ 9.81565948e-01 -1.91096377e-01 -3.23485315e-03 1.14285156e+02] [ 1.91095511e-01 9.81571277e-01 -5.77513744e-04 5.63211710e+00] [ 3.28559972e-03 -5.12980884e-05 9.99994601e-01 -3.16200411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.890281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.31, Y:5.64, Z:-0.32 [[ 9.81616103e-01 -1.90857459e-01 -1.80484158e-03 1.14312233e+02] [ 1.90857188e-01 9.81617761e-01 -3.22560782e-04 5.63680965e+00] [ 1.83322768e-03 -2.78361305e-05 9.99998319e-01 -3.16429487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.920281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.34, Y:5.64, Z:-0.32 [[ 9.81395423e-01 -1.91992152e-01 -1.42700574e-03 1.14339556e+02] [ 1.91991984e-01 9.81396461e-01 -2.55293792e-04 5.64174348e+00] [ 1.44947279e-03 -2.34295052e-05 9.99998949e-01 -3.16155872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.950281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.37, Y:5.65, Z:-0.32 [[ 9.81121411e-01 -1.93386872e-01 -1.51495306e-03 1.14366802e+02] [ 1.93386683e-01 9.81122580e-01 -2.71289679e-04 5.64644351e+00] [ 1.53881851e-03 -2.68036340e-05 9.99998816e-01 -3.16388525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.980281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:114.39, Y:5.65, Z:-0.32 [[ 9.80821469e-01 -1.94898996e-01 -1.90474102e-03 1.14394789e+02] [ 1.94898700e-01 9.80823317e-01 -3.41425903e-04 5.65033142e+00] [ 1.93475797e-03 -3.63536927e-05 9.99998128e-01 -3.16516049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.010281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.42, Y:5.65, Z:-0.32 [[ 9.80393344e-01 -1.97040067e-01 -2.02570591e-03 1.14423220e+02] [ 1.97039736e-01 9.80395436e-01 -3.63478800e-04 5.65157570e+00] [ 2.05761271e-03 -4.27923608e-05 9.99997882e-01 -3.17158122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.040281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.45, Y:5.65, Z:-0.32 [[ 9.80393066e-01 -1.97046102e-01 -1.50665758e-03 1.14450334e+02] [ 1.97045919e-01 9.80394223e-01 -2.70436867e-04 5.65484535e+00] [ 1.53040692e-03 -3.17462987e-05 9.99998828e-01 -3.17041876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.070281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:114.48, Y:5.66, Z:-0.32 [[ 9.80460089e-01 -1.96715782e-01 -9.56007012e-04 1.14478564e+02] [ 1.96715708e-01 9.80460555e-01 -1.71839666e-04 5.65857323e+00] [ 9.71130740e-04 -1.95796619e-05 9.99999528e-01 -3.16673710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.100281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.51, Y:5.66, Z:-0.32 [[ 9.80786441e-01 -1.95081086e-01 -1.15167636e-03 1.14506743e+02] [ 1.95080977e-01 9.80787117e-01 -2.07201740e-04 5.66118013e+00] [ 1.16997047e-03 -2.14494915e-05 9.99999315e-01 -3.16045259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.130281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:114.53, Y:5.67, Z:-0.32 [[ 9.81033094e-01 -1.93833011e-01 -1.68311227e-03 1.14534648e+02] [ 1.93832777e-01 9.81034537e-01 -3.03082048e-04 5.66549637e+00] [ 1.70993857e-03 -2.89088059e-05 9.99998538e-01 -3.15723103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.160281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:114.56, Y:5.67, Z:-0.32 [[ 9.81546124e-01 -1.91209675e-01 -2.46292353e-03 1.14562866e+02] [ 1.91209163e-01 9.81549214e-01 -4.43927053e-04 5.66933224e+00] [ 2.50236381e-03 -3.51986689e-05 9.99996868e-01 -3.15601481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.190281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.59, Y:5.67, Z:-0.32 [[ 9.81818318e-01 -1.89817205e-01 -1.49002022e-03 1.14590538e+02] [ 1.89817015e-01 9.81819448e-01 -2.68892459e-04 5.67374168e+00] [ 1.51397125e-03 -1.88276486e-05 9.99998854e-01 -3.15980515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.220281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:114.62, Y:5.68, Z:-0.32 [[ 9.82344186e-01 -1.87080261e-01 -9.36434750e-04 1.14616824e+02] [ 1.87080185e-01 9.82344632e-01 -1.69051089e-04 5.67823878e+00] [ 9.51527772e-04 -9.12203164e-06 9.99999547e-01 -3.16488093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.250281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.64, Y:5.68, Z:-0.32 [[ 9.82512771e-01 -1.86187201e-01 -1.72648313e-03 1.14643275e+02] [ 1.86186941e-01 9.82514288e-01 -3.11778191e-04 5.68320984e+00] [ 1.75434345e-03 -1.51225576e-05 9.99998461e-01 -3.16385258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.280281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:114.67, Y:5.69, Z:-0.32 [[ 9.82571834e-01 -1.85862741e-01 -2.76265347e-03 1.14670947e+02] [ 1.85862071e-01 9.82575718e-01 -4.99441524e-04 5.68888187e+00] [ 2.80734379e-03 -2.27353215e-05 9.99996059e-01 -3.16574265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.31028169300001 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.70, Y:5.69, Z:-0.32 [[ 9.82610531e-01 -1.85647130e-01 -3.41863270e-03 1.14697457e+02] [ 1.85646103e-01 9.82616478e-01 -6.18233531e-04 5.69490358e+00] [ 3.47397811e-03 -2.71730593e-05 9.99993965e-01 -3.17164053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.340281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.72, Y:5.70, Z:-0.32 [[ 9.82384781e-01 -1.86853788e-01 -2.40900045e-03 1.14724492e+02] [ 1.86853280e-01 9.82387735e-01 -4.36176833e-04 5.70339642e+00] [ 2.44807379e-03 -2.16361528e-05 9.99997003e-01 -3.17237252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.370281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:114.75, Y:5.71, Z:-0.32 [[ 9.82131179e-01 -1.88192273e-01 -1.41961863e-03 1.14751012e+02] [ 1.88192098e-01 9.82132205e-01 -2.57141551e-04 5.70941631e+00] [ 1.44264523e-03 -1.46142728e-05 9.99998959e-01 -3.16558518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.400281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.78, Y:5.72, Z:-0.32 [[ 9.81489876e-01 -1.91512029e-01 -8.75023192e-04 1.14778346e+02] [ 1.91511964e-01 9.81490266e-01 -1.58734195e-04 5.71503887e+00] [ 8.89226253e-04 -1.17814046e-05 9.99999605e-01 -3.15957102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:114.81, Y:5.72, Z:-0.32 [[ 9.81161325e-01 -1.93180524e-01 -1.93397680e-03 1.14805017e+02] [ 1.93180208e-01 9.81163230e-01 -3.50823561e-04 5.72020380e+00] [ 1.96531920e-03 -2.93915299e-05 9.99998068e-01 -3.16017593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.460281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:114.83, Y:5.73, Z:-0.32 [[ 9.80813336e-01 -1.94933111e-01 -2.50647588e-03 1.14832104e+02] [ 1.94932584e-01 9.80816538e-01 -4.55185671e-04 5.72524825e+00] [ 2.54712375e-03 -4.21416423e-05 9.99996755e-01 -3.16883712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:114.86, Y:5.73, Z:-0.32 [[ 9.80436895e-01 -1.96814601e-01 -2.74016504e-03 1.14858664e+02] [ 1.96813978e-01 9.80440722e-01 -4.97786171e-04 5.72985190e+00] [ 2.78454098e-03 -5.12548549e-05 9.99996122e-01 -3.16834575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.520281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:114.89, Y:5.73, Z:-0.32 [[ 9.79655044e-01 -2.00687145e-01 -8.15451570e-04 1.14886076e+02] [ 2.00687091e-01 9.79655383e-01 -1.48360370e-04 5.73316181e+00] [ 8.28635540e-04 -1.83086192e-05 9.99999657e-01 -3.15850461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.91, Y:5.74, Z:-0.32 [[ 9.79202926e-01 -2.02882595e-01 5.32148702e-04 1.14914043e+02] [ 2.02882572e-01 9.79203070e-01 9.67639736e-05 5.73740724e+00] [-5.40713368e-04 1.32121314e-05 9.99999854e-01 -3.15371860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.580281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:114.94, Y:5.74, Z:-0.32 [[ 9.78298571e-01 -2.07198205e-01 8.99557813e-04 1.14941185e+02] [ 2.07198142e-01 9.78298985e-01 1.63760054e-04 5.73843250e+00] [-9.13967284e-04 2.61804808e-05 9.99999582e-01 -3.15284570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.610281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:114.97, Y:5.74, Z:-0.32 [[ 9.77817611e-01 -2.09458141e-01 8.14485065e-05 1.14968901e+02] [ 2.09458140e-01 9.77817615e-01 1.47571931e-05 5.74046521e+00] [-8.27327986e-05 2.63020940e-06 9.99999997e-01 -3.15741532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.640281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:115.00, Y:5.75, Z:-0.32 [[ 9.77784550e-01 -2.09612420e-01 8.14451199e-05 1.14996884e+02] [ 2.09612420e-01 9.77784554e-01 1.47758039e-05 5.74576227e+00] [-8.27329722e-05 2.62435591e-06 9.99999997e-01 -3.15756099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:115.03, Y:5.75, Z:-0.32 [[ 9.77340335e-01 -2.11671917e-01 -9.32091217e-04 1.15025354e+02] [ 2.11671850e-01 9.77340779e-01 -1.70297434e-04 5.74781577e+00] [ 9.47017940e-04 -3.08589217e-05 9.99999551e-01 -3.16124574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.700281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:115.05, Y:5.75, Z:-0.32 [[ 9.76942614e-01 -2.13496502e-01 -1.54045798e-03 1.15053127e+02] [ 2.13496324e-01 9.76943827e-01 -2.81459558e-04 5.74702952e+00] [ 1.56503154e-03 -5.39122790e-05 9.99998774e-01 -3.16407787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.730281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:115.08, Y:5.75, Z:-0.32 [[ 9.77024877e-01 -2.13122052e-01 -1.17514170e-03 1.15080683e+02] [ 2.13121947e-01 9.77025583e-01 -2.14983451e-04 5.74957058e+00] [ 1.19396122e-03 -4.04043083e-05 9.99999286e-01 -3.15876740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.760281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:115.11, Y:5.75, Z:-0.32 [[ 9.77365810e-01 -2.11553931e-01 -1.00336707e-03 1.15108720e+02] [ 2.11553854e-01 9.77366325e-01 -1.83774071e-04 5.75178847e+00] [ 1.01953531e-03 -3.26516756e-05 9.99999480e-01 -3.15282910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.790281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.14, Y:5.75, Z:-0.32 [[ 9.78446228e-01 -2.06495609e-01 -1.59479303e-03 1.15135648e+02] [ 2.06495407e-01 9.78447526e-01 -2.92120372e-04 5.75265587e+00] [ 1.62074287e-03 -4.34933598e-05 9.99998686e-01 -3.15281967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.820281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.16, Y:5.76, Z:-0.32 [[ 9.79036886e-01 -2.03677900e-01 -1.44510578e-03 1.15163514e+02] [ 2.03677731e-01 9.79037952e-01 -2.64869800e-04 5.75661685e+00] [ 1.46876153e-03 -3.50185616e-05 9.99998921e-01 -3.15044805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.850281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:115.19, Y:5.76, Z:-0.31 [[ 9.80054705e-01 -1.98727873e-01 -8.30860310e-05 1.15191191e+02] [ 1.98727873e-01 9.80054709e-01 -1.53287532e-05 5.75842511e+00] [ 8.44751064e-05 -1.48849347e-06 9.99999996e-01 -3.14428333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.880281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:115.22, Y:5.76, Z:-0.31 [[ 9.80364500e-01 -1.97193495e-01 4.16201680e-04 1.15217581e+02] [ 1.97193480e-01 9.80364588e-01 7.63320668e-05 5.76154670e+00] [-4.23081576e-04 7.23900933e-06 9.99999910e-01 -3.13872891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.910281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:115.25, Y:5.76, Z:-0.31 [[ 9.80503674e-01 -1.96500085e-01 5.11133763e-04 1.15246132e+02] [ 1.96500062e-01 9.80503808e-01 9.38183165e-05 5.76340497e+00] [-5.19603908e-04 8.44861225e-06 9.99999865e-01 -3.14499806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.940281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:115.27, Y:5.77, Z:-0.32 [[ 9.80399062e-01 -1.97021951e-01 -1.71171824e-04 1.15274390e+02] [ 1.97021949e-01 9.80399077e-01 -3.15652253e-05 5.76702699e+00] [ 1.74035741e-04 -2.77808902e-06 9.99999985e-01 -3.15101123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.970281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:115.30, Y:5.77, Z:-0.32 [[ 9.80214237e-01 -1.97936261e-01 -1.13410178e-03 1.15302268e+02] [ 1.97936152e-01 9.80214893e-01 -2.08839811e-04 5.77059694e+00] [ 1.15300043e-03 -1.97719866e-05 9.99999335e-01 -3.16011404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.000281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.33, Y:5.77, Z:-0.32 [[ 9.80060291e-01 -1.98688937e-01 -2.12885600e-03 1.15329749e+02] [ 1.98688554e-01 9.80062602e-01 -3.92312572e-04 5.77313868e+00] [ 2.16436032e-03 -3.84893459e-05 9.99997657e-01 -3.16466849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.030281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:115.36, Y:5.77, Z:-0.32 [[ 9.79905958e-01 -1.99444022e-01 -2.52871426e-03 1.15357408e+02] [ 1.99443483e-01 9.79909220e-01 -4.66255978e-04 5.77268317e+00] [ 2.57090238e-03 -4.74485682e-05 9.99996694e-01 -3.16530026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.06028169300001 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:115.39, Y:5.78, Z:-0.32 [[ 9.79929547e-01 -1.99335561e-01 -1.84862374e-03 1.15385115e+02] [ 1.99335272e-01 9.79931290e-01 -3.41257315e-04 5.77527058e+00] [ 1.87954896e-03 -3.40877893e-05 9.99998233e-01 -3.15792037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.090281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:115.41, Y:5.78, Z:-0.32 [[ 9.80165721e-01 -1.98178157e-01 -7.59891252e-04 1.15411638e+02] [ 1.98178107e-01 9.80166016e-01 -1.40341144e-04 5.77775802e+00] [ 7.72632130e-04 -1.30362319e-05 9.99999701e-01 -3.15243810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.120281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:115.44, Y:5.78, Z:-0.31 [[ 9.81062794e-01 -1.93689851e-01 -1.88176236e-04 1.15439186e+02] [ 1.93689848e-01 9.81062812e-01 -3.47988315e-05 5.77997112e+00] [ 1.91352888e-04 -2.30798784e-06 9.99999982e-01 -3.14562817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.150281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:115.47, Y:5.78, Z:-0.32 [[ 9.81618381e-01 -1.90853602e-01 -5.05706247e-04 1.15467267e+02] [ 1.90853580e-01 9.81618512e-01 -9.35975156e-05 5.78420463e+00] [ 5.14274036e-04 -4.63880564e-06 9.99999868e-01 -3.15066933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.180281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:115.49, Y:5.79, Z:-0.32 [[ 9.82635446e-01 -1.85544050e-01 -9.93018879e-04 1.15494376e+02] [ 1.85543959e-01 9.82635948e-01 -1.83797138e-04 5.78678638e+00] [ 1.00987851e-03 -3.64307144e-06 9.99999490e-01 -3.15194462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.210281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:115.52, Y:5.79, Z:-0.31 [[ 9.82973417e-01 -1.83746387e-01 -7.25633391e-04 1.15522164e+02] [ 1.83746338e-01 9.82973685e-01 -1.34486354e-04 5.79101472e+00] [ 7.37989910e-04 -1.13596756e-06 9.99999728e-01 -3.14641285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.240281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:115.55, Y:5.80, Z:-0.31 [[ 9.83211138e-01 -1.82471313e-01 -2.80839517e-04 1.15549131e+02] [ 1.82471306e-01 9.83211178e-01 -5.21125081e-05 5.79513937e+00] [ 2.85633590e-04 -7.55500364e-09 9.99999959e-01 -3.14356504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.270281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:115.58, Y:5.80, Z:-0.31 [[ 9.83342959e-01 -1.81758826e-01 5.95076721e-04 1.15576516e+02] [ 1.81758793e-01 9.83343139e-01 1.10305199e-04 5.79974699e+00] [-6.05213554e-04 -3.07414066e-07 9.99999817e-01 -3.14236543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.300281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:115.60, Y:5.80, Z:-0.31 [[ 9.83385616e-01 -1.81525364e-01 1.12778573e-03 1.15603392e+02] [ 1.81525243e-01 9.83386263e-01 2.09301417e-04 5.80351199e+00] [-1.14704251e-03 -1.10242444e-06 9.99999342e-01 -3.14755961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.330281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:115.63, Y:5.81, Z:-0.32 [[ 9.83302420e-01 -1.81978586e-01 3.80430510e-04 1.15630346e+02] [ 1.81978572e-01 9.83302494e-01 7.06140242e-05 5.80750386e+00] [-3.86928510e-04 -2.04739911e-07 9.99999925e-01 -3.15129229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.360281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:115.66, Y:5.81, Z:-0.32 [[ 9.82948327e-01 -1.83876446e-01 -1.42814559e-03 1.15657258e+02] [ 1.83876255e-01 9.82949364e-01 -2.65473719e-04 5.81108902e+00] [ 1.45260917e-03 -1.65511437e-06 9.99998945e-01 -3.15836820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.390281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:115.68, Y:5.82, Z:-0.32 [[ 9.82850927e-01 -1.84388122e-01 -2.25302980e-03 1.15683756e+02] [ 1.84387646e-01 9.82853509e-01 -4.18926995e-04 5.81666230e+00] [ 2.29164340e-03 -3.68807574e-06 9.99997374e-01 -3.15561863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.420281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:115.71, Y:5.82, Z:-0.32 [[ 9.82853082e-01 -1.84363610e-01 -3.14314911e-03 1.15711151e+02] [ 1.84362682e-01 9.82858107e-01 -5.85031877e-04 5.82326083e+00] [ 3.19712817e-03 -4.47901542e-06 9.99994889e-01 -3.15146203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.450281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:115.74, Y:5.83, Z:-0.31 [[ 9.83292911e-01 -1.82017813e-01 -2.13729160e-03 1.15737472e+02] [ 1.82017378e-01 9.83295233e-01 -3.97956113e-04 5.82980448e+00] [ 2.17402375e-03 2.28321173e-06 9.99997637e-01 -3.14880335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.480281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:115.77, Y:5.84, Z:-0.31 [[ 9.83522496e-01 -1.80784465e-01 -6.90572500e-04 1.15765013e+02] [ 1.80784419e-01 9.83522739e-01 -1.28780850e-04 5.83521197e+00] [ 7.02475333e-04 1.81411489e-06 9.99999753e-01 -3.14554554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.510281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:115.79, Y:5.84, Z:-0.31 [[ 9.83688805e-01 -1.79878444e-01 2.83152240e-04 1.15792395e+02] [ 1.79878437e-01 9.83688846e-01 5.27281623e-05 5.84137327e+00] [-2.88018360e-04 -9.35120728e-07 9.99999959e-01 -3.14373901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.540281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:115.82, Y:5.85, Z:-0.31 [[ 9.83692380e-01 -1.79858267e-01 5.51814519e-04 1.15819539e+02] [ 1.79858238e-01 9.83692535e-01 1.02940623e-04 5.85015026e+00] [-5.61330545e-04 -2.01351915e-06 9.99999842e-01 -3.14156728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.570281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:115.85, Y:5.86, Z:-0.31 [[ 9.83603306e-01 -1.80345600e-01 -7.46425046e-07 1.15845926e+02] [ 1.80345600e-01 9.83603306e-01 -1.82499877e-07 5.85561348e+00] [ 7.67099201e-07 4.48930106e-08 1.00000000e+00 -3.14441660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.600281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:115.87, Y:5.86, Z:-0.32 [[ 9.83331438e-01 -1.81819736e-01 -9.30447237e-04 1.15874100e+02] [ 1.81819653e-01 9.83331879e-01 -1.74090329e-04 5.85861360e+00] [ 9.46591487e-04 2.01489973e-06 9.99999552e-01 -3.15180485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.630281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:115.90, Y:5.86, Z:-0.31 [[ 9.83059001e-01 -1.83286681e-01 -9.96425498e-04 1.15901407e+02] [ 1.83286586e-01 9.83059506e-01 -1.86614651e-04 5.86273194e+00] [ 1.01374954e-03 8.21784592e-07 9.99999486e-01 -3.14659634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.660281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:115.93, Y:5.87, Z:-0.31 [[ 9.82777641e-01 -1.84791102e-01 -5.97878346e-04 1.15928958e+02] [ 1.84791068e-01 9.82777823e-01 -1.12130905e-04 5.86756547e+00] [ 6.08302372e-04 -2.82832036e-07 9.99999815e-01 -3.14562602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.690281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:115.96, Y:5.87, Z:-0.32 [[ 9.82632467e-01 -1.85561296e-01 -6.64092788e-04 1.15956276e+02] [ 1.85561254e-01 9.82632691e-01 -1.24539131e-04 5.87058481e+00] [ 6.75668926e-04 -8.53696832e-07 9.99999772e-01 -3.15125087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.720281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:115.98, Y:5.87, Z:-0.31 [[ 9.82765844e-01 -1.84851469e-01 -1.10934472e-03 1.15984210e+02] [ 1.84851352e-01 9.82766470e-01 -2.08275175e-04 5.87331943e+00] [ 1.12872676e-03 -3.78142568e-07 9.99999363e-01 -3.14785173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.750281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:116.01, Y:5.88, Z:-0.31 [[ 9.82938111e-01 -1.83933167e-01 -1.12278332e-03 1.16010988e+02] [ 1.83933046e-01 9.82938752e-01 -2.10836364e-04 5.87609980e+00] [ 1.14240704e-03 7.22140993e-07 9.99999347e-01 -3.14920463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.780281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:116.04, Y:5.88, Z:-0.31 [[ 9.83354926e-01 -1.81694224e-01 -5.47044130e-04 1.16038667e+02] [ 1.81694194e-01 9.83355078e-01 -1.02896470e-04 5.87792099e+00] [ 5.56634317e-04 1.78900856e-06 9.99999845e-01 -3.13838008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.81028169300001 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:116.07, Y:5.88, Z:-0.31 [[ 9.83539791e-01 -1.80691639e-01 1.02025067e-04 1.16066527e+02] [ 1.80691638e-01 9.83539797e-01 1.90980435e-05 5.88216418e+00] [-1.03796571e-04 -3.48609285e-07 9.99999995e-01 -3.14554633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.840281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:116.09, Y:5.88, Z:-0.32 [[ 9.83771102e-01 -1.79424468e-01 -1.13111575e-03 1.16094911e+02] [ 1.79424341e-01 9.83771752e-01 -2.13093807e-04 5.88349499e+00] [ 1.15099397e-03 6.68583047e-06 9.99999338e-01 -3.15423597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.870281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:116.12, Y:5.89, Z:-0.32 [[ 9.83789320e-01 -1.79314197e-01 -2.23453020e-03 1.16121833e+02] [ 1.79313703e-01 9.83791857e-01 -4.21006762e-04 5.88650664e+00] [ 2.27380510e-03 1.35000720e-05 9.99997415e-01 -3.16320200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.900281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:116.15, Y:5.89, Z:-0.32 [[ 9.83973262e-01 -1.78294402e-01 -2.77942175e-03 1.16149539e+02] [ 1.78293632e-01 9.83977188e-01 -5.24235382e-04 5.89013432e+00] [ 2.82835583e-03 2.02803996e-05 9.99996000e-01 -3.16502499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.930281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:116.18, Y:5.90, Z:-0.32 [[ 9.84128750e-01 -1.77443859e-01 -2.06895390e-03 1.16175644e+02] [ 1.77443430e-01 9.84130925e-01 -3.90372057e-04 5.89567395e+00] [ 2.10539064e-03 1.70540885e-05 9.99997784e-01 -3.15343808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.960281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:116.20, Y:5.90, Z:-0.32 [[ 9.84387197e-01 -1.76013517e-01 -1.04274115e-03 1.16203147e+02] [ 1.76013407e-01 9.84387750e-01 -1.97014555e-04 5.90135777e+00] [ 1.06113884e-03 1.04021821e-05 9.99999437e-01 -3.15196100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.990281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:116.23, Y:5.91, Z:-0.31 [[ 9.84643592e-01 -1.74575698e-01 -5.68515942e-04 1.16229071e+02] [ 1.74575665e-01 9.84643756e-01 -1.07450526e-04 5.90699405e+00] [ 5.78543923e-04 6.55142334e-06 9.99999833e-01 -3.14815589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.020281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:116.26, Y:5.91, Z:-0.31 [[ 9.85127121e-01 -1.71827069e-01 -1.20426492e-04 1.16255840e+02] [ 1.71827068e-01 9.85127128e-01 -2.28678756e-05 5.91433857e+00] [ 1.22564725e-04 1.83523340e-06 9.99999992e-01 -3.14109060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.050281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:116.28, Y:5.92, Z:-0.31 [[ 9.85305840e-01 -1.70799151e-01 2.28845319e-04 1.16283018e+02] [ 1.70799146e-01 9.85305866e-01 4.32276048e-05 5.92101905e+00] [-2.32865873e-04 -3.50582653e-06 9.99999973e-01 -3.13800738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.080281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:116.31, Y:5.93, Z:-0.31 [[ 9.85732725e-01 -1.68316527e-01 7.36111944e-04 1.16309901e+02] [ 1.68316469e-01 9.85733000e-01 1.39391941e-04 5.92968048e+00] [-7.49071802e-04 -1.35034342e-05 9.99999719e-01 -3.13960850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.110281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:116.34, Y:5.94, Z:-0.31 [[ 9.85847740e-01 -1.67643110e-01 1.46716202e-04 1.16337266e+02] [ 1.67643108e-01 9.85847751e-01 2.77329075e-05 5.93734413e+00] [-1.49289069e-04 -2.74446414e-06 9.99999989e-01 -3.14336554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.140281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:116.36, Y:5.94, Z:-0.32 [[ 9.85934885e-01 -1.67126554e-01 -1.05692299e-03 1.16363314e+02] [ 1.67126435e-01 9.85935452e-01 -2.00693852e-04 5.94474705e+00] [ 1.07559912e-03 2.12312986e-05 9.99999421e-01 -3.15005995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.170281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:116.39, Y:5.95, Z:-0.31 [[ 9.85958285e-01 -1.66976160e-01 -2.28537451e-03 1.16390785e+02] [ 1.66975601e-01 9.85960932e-01 -4.34317845e-04 5.95277738e+00] [ 2.32581071e-03 4.66174948e-05 9.99997294e-01 -3.14971791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.200281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:116.42, Y:5.96, Z:-0.31 [[ 9.85865145e-01 -1.67520954e-01 -2.57784279e-03 1.16417856e+02] [ 1.67520244e-01 9.85868514e-01 -4.90389646e-04 5.96160222e+00] [ 2.62356458e-03 5.16172068e-05 9.99996557e-01 -3.14593883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.230281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:116.44, Y:5.97, Z:-0.31 [[ 9.85741132e-01 -1.68255543e-01 -2.11969691e-03 1.16443923e+02] [ 1.68255064e-01 9.85743410e-01 -4.03374438e-04 5.96828482e+00] [ 2.15734724e-03 4.09730361e-05 9.99997672e-01 -3.14353524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.260281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:116.47, Y:5.98, Z:-0.31 [[ 9.85372243e-01 -1.70415339e-01 -3.94317640e-04 1.16470607e+02] [ 1.70415323e-01 9.85372322e-01 -7.51044890e-05 5.97510526e+00] [ 4.01348646e-04 6.80811087e-06 9.99999919e-01 -3.14652345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.290281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:116.50, Y:5.98, Z:-0.31 [[ 9.85055301e-01 -1.72237586e-01 5.18051041e-04 1.16498200e+02] [ 1.72237558e-01 9.85055437e-01 9.86198368e-05 5.98100220e+00] [-5.27295038e-04 -7.91814672e-06 9.99999861e-01 -3.14678175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.320281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:116.53, Y:5.99, Z:-0.31 [[ 9.84690576e-01 -1.74306863e-01 1.25974019e-03 1.16526058e+02] [ 1.74306698e-01 9.84691382e-01 2.40185442e-04 5.98694389e+00] [-1.28232128e-03 -1.69271874e-05 9.99999178e-01 -3.14299687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.350281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:116.55, Y:5.99, Z:-0.31 [[ 9.84051629e-01 -1.77874800e-01 1.71670772e-03 1.16552306e+02] [ 1.77874499e-01 9.84053126e-01 3.27540574e-04 5.99204644e+00] [-1.74759281e-03 -1.69583090e-05 9.99998473e-01 -3.14264719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.380281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:116.58, Y:6.00, Z:-0.31 [[ 9.83780787e-01 -1.79361955e-01 2.15672562e-03 1.16579558e+02] [ 1.79361483e-01 9.83783151e-01 4.11855372e-04 5.99779816e+00] [-2.19562151e-03 -1.83418961e-05 9.99997589e-01 -3.14037217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:116.61, Y:6.00, Z:-0.31 [[ 9.83647789e-01 -1.80091559e-01 2.01432457e-03 1.16607400e+02] [ 1.80091148e-01 9.83649851e-01 3.85031331e-04 6.00376241e+00] [-2.05073096e-03 -1.59731924e-05 9.99997897e-01 -3.14062930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.63, Y:6.01, Z:-0.31 [[ 9.83581038e-01 -1.80467012e-01 1.00499446e-05 1.16634966e+02] [ 1.80467012e-01 9.83581038e-01 1.82997147e-06 6.00987125e+00] [-1.02151844e-05 1.37582290e-08 1.00000000e+00 -3.14654785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.470281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:116.66, Y:6.02, Z:-0.31 [[ 9.83572340e-01 -1.80512971e-01 -7.20976433e-04 1.16661811e+02] [ 1.80512918e-01 9.83572604e-01 -1.38078457e-04 6.01525719e+00] [ 7.34057620e-04 5.66459090e-06 9.99999731e-01 -3.14834226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.69, Y:6.02, Z:-0.31 [[ 9.83500834e-01 -1.80901181e-01 -9.34313811e-04 1.16689427e+02] [ 1.80901092e-01 9.83501277e-01 -1.79148340e-04 6.02136474e+00] [ 9.51306973e-04 7.17415332e-06 9.99999547e-01 -3.14778293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.72, Y:6.03, Z:-0.31 [[ 9.83479247e-01 -1.81020843e-01 1.59295664e-04 1.16715633e+02] [ 1.81020841e-01 9.83479260e-01 3.05006497e-05 6.02898658e+00] [-1.62185235e-04 -1.16092101e-06 9.99999987e-01 -3.14268567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.56028169300001 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:116.74, Y:6.03, Z:-0.31 [[ 9.83449254e-01 -1.81183716e-01 1.59299131e-04 1.16743571e+02] [ 1.81183713e-01 9.83449267e-01 3.04825896e-05 6.03455211e+00] [-1.62185563e-04 -1.11567183e-06 9.99999987e-01 -3.14283134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.590281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:116.77, Y:6.04, Z:-0.31 [[ 9.83464784e-01 -1.81098717e-01 5.23166063e-04 1.16771178e+02] [ 1.81098690e-01 9.83464923e-01 1.00397243e-04 6.04139366e+00] [-5.32697284e-04 -3.99246422e-06 9.99999858e-01 -3.13788202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.620281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:116.80, Y:6.05, Z:-0.31 [[ 9.83524651e-01 -1.80771898e-01 -8.83611389e-04 1.16797064e+02] [ 1.80771819e-01 9.83525048e-01 -1.69837906e-04 6.04973929e+00] [ 8.99755855e-04 7.30772912e-06 9.99999595e-01 -3.14491903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.650281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:116.82, Y:6.06, Z:-0.32 [[ 9.83543661e-01 -1.80661437e-01 -1.81985446e-03 1.16823813e+02] [ 1.80661098e-01 9.83545345e-01 -3.50126693e-04 6.05774074e+00] [ 1.85316378e-03 1.55879837e-05 9.99998283e-01 -3.15058708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.680281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:116.85, Y:6.07, Z:-0.32 [[ 9.83582755e-01 -1.80444067e-01 -2.21426264e-03 1.16850667e+02] [ 1.80443564e-01 9.83585247e-01 -4.26386339e-04 6.06558263e+00] [ 2.25485495e-03 1.98368068e-05 9.99997458e-01 -3.15074461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.710281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:116.88, Y:6.08, Z:-0.31 [[ 9.83668941e-01 -1.79980525e-01 -1.55713472e-03 1.16876552e+02] [ 1.79980276e-01 9.83670174e-01 -2.99945118e-04 6.07623531e+00] [ 1.58569126e-03 1.47931606e-05 9.99998743e-01 -3.13728748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.740281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:116.90, Y:6.08, Z:-0.31 [[ 9.83763623e-01 -1.79467717e-01 -6.86998214e-04 1.16902792e+02] [ 1.79467669e-01 9.83763863e-01 -1.32408784e-04 6.08453900e+00] [ 6.99607119e-04 6.96497712e-06 9.99999755e-01 -3.13361213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:116.93, Y:6.09, Z:-0.31 [[ 9.83861776e-01 -1.78930158e-01 6.01132709e-05 1.16929535e+02] [ 1.78930157e-01 9.83861778e-01 1.15042223e-05 6.09304213e+00] [-6.12016019e-05 -5.62487576e-07 9.99999998e-01 -3.13375855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.800281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:116.96, Y:6.10, Z:-0.31 [[ 9.83958561e-01 -1.78396564e-01 4.65139024e-04 1.16956253e+02] [ 1.78396541e-01 9.83958671e-01 8.96978360e-05 6.10128451e+00] [-4.73679361e-04 -5.27976068e-06 9.99999888e-01 -3.13903018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.830281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:116.98, Y:6.11, Z:-0.31 [[ 9.84028700e-01 -1.78009782e-01 1.86819306e-04 1.16982476e+02] [ 1.78009778e-01 9.84028718e-01 3.60032639e-05 6.11231007e+00] [-1.90244495e-04 -2.17258184e-06 9.99999982e-01 -3.14408345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.860281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:117.01, Y:6.12, Z:-0.31 [[ 9.83984327e-01 -1.78254446e-01 -4.42805863e-04 1.17008863e+02] [ 1.78254425e-01 9.83984427e-01 -8.56900618e-05 6.12008478e+00] [ 4.50988708e-04 5.38557319e-06 9.99999898e-01 -3.14253379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.890281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:117.03, Y:6.13, Z:-0.31 [[ 9.83875933e-01 -1.78848781e-01 -1.12367929e-03 1.17034690e+02] [ 1.78848649e-01 9.83876574e-01 -2.17414182e-04 6.13041925e+00] [ 1.14444599e-03 1.29400583e-05 9.99999345e-01 -3.13853523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.920281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:117.06, Y:6.14, Z:-0.31 [[ 9.83793996e-01 -1.79299572e-01 -1.01831116e-03 1.17061902e+02] [ 1.79299464e-01 9.83794523e-01 -1.97253854e-04 6.13889280e+00] [ 1.03717647e-03 1.14745131e-05 9.99999462e-01 -3.13989241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.950281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:117.09, Y:6.15, Z:-0.31 [[ 9.83693045e-01 -1.79855188e-01 3.22917956e-04 1.17087864e+02] [ 1.79855177e-01 9.83693098e-01 6.24915078e-05 6.14941520e+00] [-3.28891587e-04 -3.39399546e-06 9.99999946e-01 -3.13818020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.980281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:117.11, Y:6.16, Z:-0.31 [[ 9.83600961e-01 -1.80356684e-01 7.84785764e-04 1.17114948e+02] [ 1.80356620e-01 9.83601274e-01 1.52143886e-04 6.15693114e+00] [-7.99356444e-04 -8.10756478e-06 9.99999680e-01 -3.13874890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.010281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.14, Y:6.16, Z:-0.31 [[ 9.83490733e-01 -1.80957722e-01 5.30568851e-04 1.17141910e+02] [ 1.80957693e-01 9.83490876e-01 1.02926519e-04 6.16478473e+00] [-5.40434972e-04 -5.21676274e-06 9.99999854e-01 -3.13663003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.040281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:117.17, Y:6.17, Z:-0.31 [[ 9.83449918e-01 -1.81180055e-01 -2.16774805e-04 1.17167430e+02] [ 1.81180050e-01 9.83449942e-01 -4.21533817e-05 6.17234104e+00] [ 2.20824522e-04 2.18046978e-06 9.99999976e-01 -3.14067812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.070281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:117.19, Y:6.18, Z:-0.32 [[ 9.83354347e-01 -1.81694534e-01 -1.15063428e-03 1.17193352e+02] [ 1.81694396e-01 9.83355020e-01 -2.23662121e-04 6.18245840e+00] [ 1.17212018e-03 1.08753187e-05 9.99999313e-01 -3.15027470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.100281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:117.22, Y:6.19, Z:-0.32 [[ 9.83280237e-01 -1.82095056e-01 -1.16854805e-03 1.17220397e+02] [ 1.82094915e-01 9.83280932e-01 -2.27420596e-04 6.18990829e+00] [ 1.19042318e-03 1.08315209e-05 9.99999291e-01 -3.15194908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.130281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:117.25, Y:6.20, Z:-0.31 [[ 9.83095135e-01 -1.83089530e-01 -1.47635257e-03 1.17245591e+02] [ 1.83089305e-01 9.83096243e-01 -2.87368413e-04 6.20023938e+00] [ 1.50401082e-03 1.22061213e-05 9.99998869e-01 -3.14553515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.160281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:117.27, Y:6.21, Z:-0.31 [[ 9.82894981e-01 -1.84162183e-01 -1.32136627e-03 1.17271209e+02] [ 1.84162003e-01 9.82895870e-01 -2.57311698e-04 6.20749901e+00] [ 1.34615253e-03 9.56491731e-06 9.99999094e-01 -3.14325924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.190281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:117.30, Y:6.21, Z:-0.31 [[ 9.82597598e-01 -1.85743289e-01 -1.17924005e-03 1.17297505e+02] [ 1.85743147e-01 9.82598306e-01 -2.29734857e-04 6.21465712e+00] [ 1.20139098e-03 6.70116082e-06 9.99999278e-01 -3.14610454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.220281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.32, Y:6.22, Z:-0.32 [[ 9.82219853e-01 -1.87729687e-01 -1.31367757e-03 1.17324242e+02] [ 1.87729512e-01 9.82220731e-01 -2.56219270e-04 6.22135634e+00] [ 1.33842131e-03 5.04760511e-06 9.99999104e-01 -3.15031818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.250281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:117.35, Y:6.23, Z:-0.32 [[ 9.81198434e-01 -1.92991496e-01 -1.97879875e-03 1.17350121e+02] [ 1.92991110e-01 9.81200429e-01 -3.86003895e-04 6.22920858e+00] [ 2.01609365e-03 -3.14414934e-06 9.99997968e-01 -3.15285263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.280281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:117.38, Y:6.23, Z:-0.32 [[ 9.80627830e-01 -1.95871607e-01 -1.83628219e-03 1.17376210e+02] [ 1.95871280e-01 9.80629550e-01 -3.58353127e-04 6.23481264e+00] [ 1.87090378e-03 -8.26389264e-06 9.99998250e-01 -3.15090389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.31028169300001 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:117.40, Y:6.24, Z:-0.31 [[ 9.79400168e-01 -2.01925101e-01 -1.25092552e-03 1.17403548e+02] [ 2.01924954e-01 9.79400967e-01 -2.44431683e-04 6.24034063e+00] [ 1.27451455e-03 -1.31966455e-05 9.99999188e-01 -3.14691867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.340281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.43, Y:6.25, Z:-0.32 [[ 9.78859824e-01 -2.04530605e-01 -8.22545217e-04 1.17430417e+02] [ 2.04530542e-01 9.78860170e-01 -1.60773277e-04 6.24577554e+00] [ 8.38039807e-04 -1.08611174e-05 9.99999649e-01 -3.15086941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.370281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.46, Y:6.25, Z:-0.32 [[ 9.78086527e-01 -2.08197249e-01 -8.06556777e-04 1.17456447e+02] [ 2.08197190e-01 9.78086860e-01 -1.57716296e-04 6.25093784e+00] [ 8.21718685e-04 -1.36626704e-05 9.99999662e-01 -3.16014507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.400281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:117.48, Y:6.26, Z:-0.32 [[ 9.77859617e-01 -2.09259559e-01 -1.00334588e-03 1.17483174e+02] [ 2.09259468e-01 9.77860131e-01 -1.96338701e-04 6.25607710e+00] [ 1.02221768e-03 -1.79679378e-05 9.99999477e-01 -3.15796593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.430281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:117.51, Y:6.26, Z:-0.32 [[ 9.77640960e-01 -2.10277482e-01 -1.23891416e-03 1.17510835e+02] [ 2.10277343e-01 9.77641744e-01 -2.42683817e-04 6.26125095e+00] [ 1.26224514e-03 -2.32579385e-05 9.99999203e-01 -3.15780793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.460281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:117.54, Y:6.27, Z:-0.32 [[ 9.77414729e-01 -2.11322103e-01 -1.84829082e-03 1.17537625e+02] [ 2.11321796e-01 9.77416476e-01 -3.62102296e-04 6.26506730e+00] [ 1.88307012e-03 -3.66600193e-05 9.99998226e-01 -3.15120302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.490281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:117.56, Y:6.27, Z:-0.31 [[ 9.77434557e-01 -2.11232921e-01 -1.52963347e-03 1.17563914e+02] [ 2.11232710e-01 9.77435754e-01 -2.99804586e-04 6.27027286e+00] [ 1.55844704e-03 -3.00692605e-05 9.99998785e-01 -3.14843263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.520281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:117.59, Y:6.28, Z:-0.31 [[ 9.77450585e-01 -2.11158960e-01 -1.49901684e-03 1.17590697e+02] [ 2.11158757e-01 9.77451734e-01 -2.93918867e-04 6.27585926e+00] [ 1.52728022e-03 -2.92393652e-05 9.99998833e-01 -3.14850331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.550281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.62, Y:6.28, Z:-0.31 [[ 9.77370007e-01 -2.11536923e-01 -1.45283154e-05 1.17618326e+02] [ 2.11536923e-01 9.77370007e-01 -2.94306244e-06 6.28088534e+00] [ 1.48221061e-05 -1.96814167e-07 1.00000000e+00 -3.14560103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.580281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:117.65, Y:6.29, Z:-0.31 [[ 9.77273937e-01 -2.11979145e-01 7.03541651e-04 1.17645235e+02] [ 2.11979101e-01 9.77274190e-01 1.38094200e-04 6.28513753e+00] [-7.16826187e-04 1.41802643e-05 9.99999743e-01 -3.14357673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.610281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:117.67, Y:6.29, Z:-0.31 [[ 9.77115780e-01 -2.12705441e-01 1.07151966e-03 1.17672720e+02] [ 2.12705338e-01 9.77116367e-01 2.10560554e-04 6.28983448e+00] [-1.09178677e-03 2.21759114e-05 9.99999404e-01 -3.14461501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.640281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:117.70, Y:6.29, Z:-0.32 [[ 9.77031322e-01 -2.13094272e-01 -7.92055838e-04 1.17700105e+02] [ 2.13094216e-01 9.77031643e-01 -1.55942947e-04 6.29448506e+00] [ 8.07094165e-04 -1.64213737e-05 9.99999674e-01 -3.15013443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.670281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.73, Y:6.30, Z:-0.32 [[ 9.77123188e-01 -2.12667131e-01 -1.72238164e-03 1.17727665e+02] [ 2.12666863e-01 9.77124706e-01 -3.39317322e-04 6.30044073e+00] [ 1.75514329e-03 -3.47386757e-05 9.99998459e-01 -3.15134536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.700281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:117.75, Y:6.31, Z:-0.31 [[ 9.77708588e-01 -2.09947004e-01 -2.85872530e-03 1.17753690e+02] [ 2.09946254e-01 9.77712766e-01 -5.63316414e-04 6.30673722e+00] [ 2.91327882e-03 -4.94193737e-05 9.99995755e-01 -3.14321466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.730281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:117.78, Y:6.31, Z:-0.31 [[ 9.78034874e-01 -2.08422708e-01 -2.78564434e-03 1.17779509e+02] [ 2.08421988e-01 9.78038840e-01 -5.49510881e-04 6.31277553e+00] [ 2.83899891e-03 -4.31487281e-05 9.99995969e-01 -3.14454489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.760281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:117.81, Y:6.32, Z:-0.31 [[ 9.78324437e-01 -2.07064209e-01 -2.38944960e-03 1.17806451e+02] [ 2.07063674e-01 9.78327354e-01 -4.71801223e-04 6.31934058e+00] [ 2.43535706e-03 -3.31935490e-05 9.99997034e-01 -3.14486156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.790281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:117.83, Y:6.33, Z:-0.31 [[ 9.78655408e-01 -2.05496642e-01 -2.17293482e-03 1.17832557e+02] [ 2.05496196e-01 9.78657820e-01 -4.29178124e-04 6.32553844e+00] [ 2.21475432e-03 -2.65123463e-05 9.99997547e-01 -3.14727775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.820281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:117.86, Y:6.33, Z:-0.31 [[ 9.79153761e-01 -2.03105383e-01 -2.47292597e-03 1.17859600e+02] [ 2.03104796e-01 9.79156884e-01 -4.88959039e-04 6.33280514e+00] [ 2.52069270e-03 -2.34970438e-05 9.99996823e-01 -3.14993606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.850281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:117.89, Y:6.34, Z:-0.32 [[ 9.79326402e-01 -2.02269798e-01 -2.59366255e-03 1.17885700e+02] [ 2.02269148e-01 9.79329836e-01 -5.12989899e-04 6.33908783e+00] [ 2.64381348e-03 -2.22333618e-05 9.99996505e-01 -3.15531072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.880281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:117.91, Y:6.35, Z:-0.32 [[ 9.79463497e-01 -2.01607095e-01 -2.41618898e-03 1.17913153e+02] [ 2.01606528e-01 9.79466477e-01 -4.78411181e-04 6.34539380e+00] [ 2.46302720e-03 -1.85331838e-05 9.99996967e-01 -3.15496639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.910281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:117.94, Y:6.35, Z:-0.32 [[ 9.79720457e-01 -2.00362145e-01 -1.68403902e-03 1.17940562e+02] [ 2.00361868e-01 9.79721905e-01 -3.33800972e-04 6.35173478e+00] [ 1.71677099e-03 -1.03855621e-05 9.99998526e-01 -3.15756577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.940281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:117.97, Y:6.36, Z:-0.32 [[ 9.79734272e-01 -2.00297430e-01 -1.30236033e-03 1.17966645e+02] [ 2.00297264e-01 9.79735137e-01 -2.58223631e-04 6.35801186e+00] [ 1.32768971e-03 -7.86866913e-06 9.99999119e-01 -3.15369583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.970281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:117.99, Y:6.36, Z:-0.32 [[ 9.79640407e-01 -2.00758511e-01 -8.32759497e-04 1.17993773e+02] [ 2.00758443e-01 9.79640761e-01 -1.65352980e-04 6.36444958e+00] [ 8.49001166e-04 -5.19703953e-06 9.99999640e-01 -3.15050399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.02, Y:6.37, Z:-0.32 [[ 9.79426009e-01 -2.01802350e-01 -7.09510122e-04 1.18020449e+02] [ 2.01802301e-01 9.79426266e-01 -1.40959466e-04 6.36914301e+00] [ 7.23358801e-04 -5.12140835e-06 9.99999738e-01 -3.15411390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.030281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.05, Y:6.37, Z:-0.32 [[ 9.79017939e-01 -2.03773011e-01 -6.59230953e-04 1.18047983e+02] [ 2.03772969e-01 9.79018161e-01 -1.31130177e-04 6.37383845e+00] [ 6.72119867e-04 -5.95465299e-06 9.99999774e-01 -3.15398857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.06028169300001 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.08, Y:6.38, Z:-0.32 [[ 9.78489416e-01 -2.06296825e-01 -2.89499130e-04 1.18075630e+02] [ 2.06296817e-01 9.78489458e-01 -5.76956490e-05 6.37840493e+00] [ 2.95174276e-04 -3.26816706e-06 9.99999956e-01 -3.15772002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.090281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:118.10, Y:6.38, Z:-0.32 [[ 9.77421064e-01 -2.11300364e-01 4.67865799e-04 1.18103150e+02] [ 2.11300344e-01 9.77421176e-01 9.30802742e-05 6.38233157e+00] [-4.76969836e-04 7.88158366e-06 9.99999886e-01 -3.15759092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.13, Y:6.39, Z:-0.32 [[ 9.76970113e-01 -2.13376158e-01 1.13217953e-04 1.18130079e+02] [ 2.13376157e-01 9.76970120e-01 2.24963396e-05 6.38662582e+00] [-1.15410740e-04 2.17976035e-06 9.99999993e-01 -3.16096454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.150281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.16, Y:6.39, Z:-0.32 [[ 9.76485762e-01 -2.15581771e-01 -2.39528434e-04 1.18157327e+02] [ 2.15581766e-01 9.76485791e-01 -4.77976424e-05 6.38963074e+00] [ 2.44200413e-04 -4.96424554e-06 9.99999970e-01 -3.15005399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.180281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:118.18, Y:6.39, Z:-0.31 [[ 9.76393056e-01 -2.16000693e-01 -5.48698837e-04 1.18184949e+02] [ 2.16000666e-01 9.76393210e-01 -1.09595630e-04 6.39497247e+00] [ 5.59418551e-04 -1.15109024e-05 9.99999843e-01 -3.14606792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.210281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:118.21, Y:6.40, Z:-0.32 [[ 9.76385917e-01 -2.16030804e-01 -1.11031691e-03 1.18212212e+02] [ 2.16030692e-01 9.76386548e-01 -2.21892148e-04 6.40084765e+00] [ 1.13203403e-03 -2.32101609e-05 9.99999359e-01 -3.15070507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.240281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:118.24, Y:6.41, Z:-0.32 [[ 9.76631728e-01 -2.14912404e-01 -1.76839426e-03 1.18238141e+02] [ 2.14912116e-01 9.76633328e-01 -3.53442490e-04 6.40750312e+00] [ 1.80303195e-03 -3.48662040e-05 9.99998374e-01 -3.15715234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:118.27, Y:6.41, Z:-0.32 [[ 9.76798362e-01 -2.14157744e-01 -1.19188478e-03 1.18265314e+02] [ 2.14157613e-01 9.76799089e-01 -2.38515162e-04 6.41383096e+00] [ 1.21531184e-03 -2.22699793e-05 9.99999261e-01 -3.15730494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.300281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:118.29, Y:6.42, Z:-0.32 [[ 9.76948119e-01 -2.13476858e-01 6.27101239e-05 1.18292591e+02] [ 2.13476857e-01 9.76948121e-01 1.24599068e-05 6.42192197e+00] [-6.39244395e-05 1.21447771e-06 9.99999998e-01 -3.15587999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.330281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:118.32, Y:6.43, Z:-0.32 [[ 9.76868315e-01 -2.13841722e-01 -1.15797677e-04 1.18320042e+02] [ 2.13841721e-01 9.76868322e-01 -2.33052460e-05 6.42884571e+00] [ 1.18102717e-04 -1.99621819e-06 9.99999993e-01 -3.15439814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:118.35, Y:6.44, Z:-0.32 [[ 9.76704472e-01 -2.14587187e-01 -8.44705315e-04 1.18346602e+02] [ 2.14587120e-01 9.76704837e-01 -1.69409088e-04 6.43531372e+00] [ 8.61380786e-04 -1.58002669e-05 9.99999629e-01 -3.15868444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.390281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:118.37, Y:6.44, Z:-0.32 [[ 9.76015852e-01 -2.17685448e-01 -2.47024142e-03 1.18373764e+02] [ 2.17684890e-01 9.76018977e-01 -4.95836101e-04 6.44138298e+00] [ 2.51893881e-03 -5.37903381e-05 9.99996826e-01 -3.16708392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.420281693 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:118.40, Y:6.45, Z:-0.31 [[ 9.75458836e-01 -2.20157478e-01 -3.27768884e-03 1.18400966e+02] [ 2.20156508e-01 9.75464340e-01 -6.58509282e-04 6.44703699e+00] [ 3.34224432e-03 -7.92558290e-05 9.99994412e-01 -3.09259626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.450281693 meters Centerline goodness : 0.999675 Centerline is valid? [True, True] Translation: X:118.43, Y:6.45, Z:-0.31 [[ 9.75421050e-01 -2.20324836e-01 -3.27757700e-03 1.18428847e+02] [ 2.20323864e-01 9.75426553e-01 -6.59065745e-04 6.45281948e+00] [ 3.34224419e-03 -7.92618289e-05 9.99994412e-01 -3.09274193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.480281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.46, Y:6.46, Z:-0.32 [[ 9.74004915e-01 -2.26517365e-01 -2.07582460e-03 1.18456978e+02] [ 2.26516988e-01 9.74007125e-01 -4.17845351e-04 6.45691058e+00] [ 2.11651718e-03 -6.32261103e-05 9.99997758e-01 -3.16968284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.510281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.48, Y:6.46, Z:-0.32 [[ 9.73282612e-01 -2.29605950e-01 -1.43666595e-03 1.18483651e+02] [ 2.29605773e-01 9.73283672e-01 -2.89281670e-04 6.46041685e+00] [ 1.46470431e-03 -4.83139766e-05 9.99998926e-01 -3.16637066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.540281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.51, Y:6.46, Z:-0.32 [[ 9.72543657e-01 -2.32719888e-01 -5.37319324e-04 1.18511102e+02] [ 2.32719864e-01 9.72543805e-01 -1.08361863e-04 6.46326507e+00] [ 5.47784540e-04 -1.96582369e-05 9.99999850e-01 -3.16655469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.570281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.54, Y:6.47, Z:-0.32 [[ 9.71826198e-01 -2.35698519e-01 -2.19205818e-04 1.18538927e+02] [ 2.35698515e-01 9.71826223e-01 -4.43048704e-05 6.46529370e+00] [ 2.23472555e-04 -8.60985200e-06 9.99999975e-01 -3.16901988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.600281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.57, Y:6.46, Z:-0.32 [[ 9.70472625e-01 -2.41209169e-01 -1.01038153e-03 1.18566884e+02] [ 2.41209087e-01 9.70473150e-01 -2.03906053e-04 6.46124540e+00] [ 1.02973216e-03 -4.58279637e-05 9.99999469e-01 -3.16965071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.60, Y:6.46, Z:-0.32 [[ 9.69831199e-01 -2.43761959e-01 -2.74818254e-03 1.18595412e+02] [ 2.43761363e-01 9.69835084e-01 -5.54753185e-04 6.45705225e+00] [ 2.80051156e-03 -1.31883775e-04 9.99996070e-01 -3.16148785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.660281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.62, Y:6.46, Z:-0.32 [[ 9.69972677e-01 -2.43195917e-01 -2.95847853e-03 1.18623947e+02] [ 2.43195223e-01 9.69977178e-01 -5.97791942e-04 6.45783142e+00] [ 3.01503722e-03 -1.39645996e-04 9.99995445e-01 -3.15325636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.65, Y:6.46, Z:-0.31 [[ 9.70441941e-01 -2.41321715e-01 -2.50396564e-03 1.18652477e+02] [ 2.41321210e-01 9.70445164e-01 -5.06421995e-04 6.45864953e+00] [ 2.55217198e-03 -1.12806875e-04 9.99996737e-01 -3.14798704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.720281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:118.68, Y:6.46, Z:-0.31 [[ 9.71172906e-01 -2.38372130e-01 -1.38386198e-03 1.18680577e+02] [ 2.38371972e-01 9.71173890e-01 -2.80194632e-04 6.45942790e+00] [ 1.41076121e-03 -5.77564739e-05 9.99999003e-01 -3.14168569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.750281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:118.71, Y:6.46, Z:-0.31 [[ 9.72966133e-01 -2.30942592e-01 1.55659044e-03 1.18709671e+02] [ 2.30942383e-01 9.72967377e-01 3.15263858e-04 6.45657448e+00] [-1.58731957e-03 5.27416501e-05 9.99998739e-01 -3.13313296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.780281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.74, Y:6.46, Z:-0.31 [[ 9.73815452e-01 -2.27327704e-01 2.36248573e-03 1.18737084e+02] [ 2.27327211e-01 9.73818315e-01 4.78790001e-04 6.45800250e+00] [-2.40947410e-03 7.08041892e-05 9.99997095e-01 -3.13077965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.81028169300001 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.77, Y:6.46, Z:-0.31 [[ 9.74570487e-01 -2.24067637e-01 2.46178215e-03 1.18765515e+02] [ 2.24067090e-01 9.74573594e-01 4.99338388e-04 6.45934636e+00] [-2.51107345e-03 6.49639051e-05 9.99996845e-01 -3.13653976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.840281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:118.79, Y:6.46, Z:-0.31 [[ 9.75888566e-01 -2.18268801e-01 4.87427423e-04 1.18793299e+02] [ 2.18268779e-01 9.75888687e-01 9.88844950e-05 6.45721175e+00] [-4.97258309e-04 9.88994070e-06 9.99999876e-01 -3.14500852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:118.82, Y:6.46, Z:-0.31 [[ 9.76518206e-01 -2.15434174e-01 -5.56867856e-04 1.18820997e+02] [ 2.15434145e-01 9.76518365e-01 -1.13287953e-04 6.46061376e+00] [ 5.68197785e-04 -9.34060198e-06 9.99999839e-01 -3.14794443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.900281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.85, Y:6.47, Z:-0.31 [[ 9.77203181e-01 -2.12302151e-01 -1.31881680e-03 1.18847303e+02] [ 2.12301982e-01 9.77204071e-01 -2.68417765e-04 6.46501564e+00] [ 1.34573882e-03 -1.76887260e-05 9.99999094e-01 -3.14313819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.87, Y:6.47, Z:-0.31 [[ 9.78772571e-01 -2.04944506e-01 -1.41575541e-03 1.18873497e+02] [ 2.04944303e-01 9.78773595e-01 -2.88204561e-04 6.47130372e+00] [ 1.44476996e-03 -8.06428805e-06 9.99998956e-01 -3.14356188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.960281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.90, Y:6.48, Z:-0.32 [[ 9.79412635e-01 -2.01863860e-01 -1.36832326e-03 1.18900954e+02] [ 2.01863668e-01 9.79413591e-01 -2.78865136e-04 6.47740022e+00] [ 1.39644719e-03 -3.09071427e-06 9.99999025e-01 -3.15068169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:118.93, Y:6.48, Z:-0.32 [[ 9.80208361e-01 -1.97962250e-01 -1.58661639e-03 1.18927762e+02] [ 1.97961985e-01 9.80209645e-01 -3.23641679e-04 6.48350267e+00] [ 1.61928553e-03 3.14654894e-06 9.99998689e-01 -3.15954582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.020281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:118.95, Y:6.49, Z:-0.32 [[ 9.80289551e-01 -1.97560122e-01 -1.54713934e-03 1.18953902e+02] [ 1.97559870e-01 9.80290772e-01 -3.15665846e-04 6.48901876e+00] [ 1.57900940e-03 3.79128434e-06 9.99998753e-01 -3.15877534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.050281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:118.98, Y:6.49, Z:-0.32 [[ 9.80234451e-01 -1.97834735e-01 -1.35588352e-03 1.18981485e+02] [ 1.97834541e-01 9.80235389e-01 -2.76955334e-04 6.49476783e+00] [ 1.38387639e-03 3.24056674e-06 9.99999042e-01 -3.16204210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.080281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.01, Y:6.50, Z:-0.32 [[ 9.80138776e-01 -1.98309578e-01 -1.13649848e-03 1.19009137e+02] [ 1.98309442e-01 9.80139435e-01 -2.32373570e-04 6.49997444e+00] [ 1.16000888e-03 2.37996782e-06 9.99999327e-01 -3.16127246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.04, Y:6.51, Z:-0.32 [[ 9.80110953e-01 -1.98442272e-01 -1.78479102e-03 1.19035958e+02] [ 1.98441936e-01 9.80112578e-01 -3.65207703e-04 6.50605489e+00] [ 1.82176877e-03 3.76668577e-06 9.99998341e-01 -3.16010333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.140281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:119.06, Y:6.51, Z:-0.32 [[ 9.80447062e-01 -1.96766318e-01 -2.56403577e-03 1.19061468e+02] [ 1.96765619e-01 9.80450415e-01 -5.24773920e-04 6.51373283e+00] [ 2.61716777e-03 9.99896298e-06 9.99996575e-01 -3.15936461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.170281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.09, Y:6.52, Z:-0.32 [[ 9.80697276e-01 -1.95513902e-01 -2.67718386e-03 1.19088041e+02] [ 1.95513134e-01 9.80700930e-01 -5.48148260e-04 6.52045853e+00] [ 2.73268731e-03 1.41428975e-05 9.99996266e-01 -3.15509555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.200281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.12, Y:6.53, Z:-0.32 [[ 9.80924472e-01 -1.94376236e-01 -2.24920767e-03 1.19115152e+02] [ 1.94375690e-01 9.80927051e-01 -4.61000623e-04 6.52654893e+00] [ 2.29591621e-03 1.50155003e-05 9.99997364e-01 -3.15789223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.230281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:119.14, Y:6.53, Z:-0.32 [[ 9.81029406e-01 -1.93848200e-01 -2.04464797e-03 1.19142007e+02] [ 1.93847747e-01 9.81031536e-01 -4.19464647e-04 6.53277573e+00] [ 2.08717660e-03 1.51567524e-05 9.99997822e-01 -3.15501598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.260281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:119.17, Y:6.54, Z:-0.32 [[ 9.80869726e-01 -1.94657301e-01 -1.76505431e-03 1.19169380e+02] [ 1.94656964e-01 9.80871314e-01 -3.62476782e-04 6.53868683e+00] [ 1.80184989e-03 1.19623901e-05 9.99998377e-01 -3.16040780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.290281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:119.20, Y:6.54, Z:-0.32 [[ 9.80641254e-01 -1.95796918e-01 -2.50947130e-03 1.19195853e+02] [ 1.95796240e-01 9.80644465e-01 -5.15471598e-04 6.54424463e+00] [ 2.56182689e-03 1.41476702e-05 9.99996718e-01 -3.16799617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.320281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:119.22, Y:6.55, Z:-0.32 [[ 9.80105171e-01 -1.98462376e-01 -2.55712093e-03 1.19222783e+02] [ 1.98461680e-01 9.80108507e-01 -5.25836647e-04 6.54987316e+00] [ 2.61061476e-03 7.88470318e-06 9.99996592e-01 -3.17444997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.350281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:119.25, Y:6.56, Z:-0.32 [[ 9.79903456e-01 -1.99462156e-01 -2.01603094e-03 1.19249009e+02] [ 1.99461724e-01 9.79905530e-01 -4.14837191e-04 6.55567528e+00] [ 2.05826419e-03 4.37938883e-06 9.99997882e-01 -3.17048608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:119.28, Y:6.56, Z:-0.32 [[ 9.79789321e-01 -2.00031202e-01 -6.35560309e-04 1.19275321e+02] [ 2.00031160e-01 9.79789527e-01 -1.30852672e-04 6.56234746e+00] [ 6.48889952e-04 1.07618471e-06 9.99999789e-01 -3.15849661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.410281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:119.30, Y:6.57, Z:-0.32 [[ 9.79811985e-01 -1.99920243e-01 -6.08933766e-04 1.19302931e+02] [ 1.99920204e-01 9.79812174e-01 -1.25532565e-04 6.56866318e+00] [ 6.21737218e-04 1.26014878e-06 9.99999807e-01 -3.15719956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.440281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:119.33, Y:6.58, Z:-0.32 [[ 9.79941936e-01 -1.99280238e-01 -1.08995116e-03 1.19329718e+02] [ 1.99280111e-01 9.79942543e-01 -2.24840854e-04 6.57518261e+00] [ 1.11289585e-03 3.12539397e-06 9.99999381e-01 -3.15600985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.470281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:119.36, Y:6.58, Z:-0.32 [[ 9.80170455e-01 -1.98150557e-01 -1.49551368e-03 1.19355788e+02] [ 1.98150317e-01 9.80171596e-01 -3.08537492e-04 6.58163850e+00] [ 1.52699691e-03 6.08282361e-06 9.99998834e-01 -3.16329793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.500281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:119.38, Y:6.59, Z:-0.32 [[ 9.80644997e-01 -1.95792916e-01 -7.24140614e-04 1.19383005e+02] [ 1.95792859e-01 9.80645264e-01 -1.49610372e-04 6.59061470e+00] [ 7.39417715e-04 4.93310135e-06 9.99999727e-01 -3.17181103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.530281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:119.41, Y:6.60, Z:-0.32 [[ 9.80887511e-01 -1.94575625e-01 1.31418439e-04 1.19409706e+02] [ 1.94575623e-01 9.80887520e-01 2.71035216e-05 6.59710095e+00] [-1.34180391e-04 -1.01468125e-06 9.99999991e-01 -3.16984055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.56028169300001 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:119.44, Y:6.60, Z:-0.32 [[ 9.81268512e-01 -1.92644188e-01 -5.69659860e-04 1.19437158e+02] [ 1.92644152e-01 9.81268677e-01 -1.17867122e-04 6.60411678e+00] [ 5.81695793e-04 5.91765456e-06 9.99999831e-01 -3.16144756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.590281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:119.46, Y:6.61, Z:-0.32 [[ 9.81266766e-01 -1.92650581e-01 -1.13494319e-03 1.19464635e+02] [ 1.92650438e-01 9.81267422e-01 -2.34961530e-04 6.61055690e+00] [ 1.15894826e-03 1.19126372e-05 9.99999328e-01 -3.17026160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:119.49, Y:6.62, Z:-0.32 [[ 9.81185839e-01 -1.93058823e-01 -1.62452912e-03 1.19492142e+02] [ 1.93058531e-01 9.81187184e-01 -3.36596210e-04 6.61682590e+00] [ 1.65895002e-03 1.66342292e-05 9.99998624e-01 -3.17541792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.650281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:119.52, Y:6.62, Z:-0.32 [[ 9.80942184e-01 -1.94297658e-01 -9.22927044e-04 1.19519043e+02] [ 1.94297564e-01 9.80942618e-01 -1.91292527e-04 6.62182447e+00] [ 9.42506161e-04 8.32443293e-06 9.99999556e-01 -3.17539700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.680281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:119.55, Y:6.63, Z:-0.32 [[ 9.80846538e-01 -1.94781922e-01 -2.67661250e-04 1.19546514e+02] [ 1.94781914e-01 9.80846575e-01 -5.56073869e-05 6.62747633e+00] [ 2.73365934e-04 2.40674249e-06 9.99999963e-01 -3.16559809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.710281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:119.57, Y:6.64, Z:-0.32 [[ 9.80906970e-01 -1.94476402e-01 6.67026978e-04 1.19573673e+02] [ 1.94476352e-01 9.80907197e-01 1.38378171e-04 6.63575921e+00] [-6.81202852e-04 -6.01513826e-06 9.99999768e-01 -3.15872863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.740281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:119.60, Y:6.64, Z:-0.32 [[ 9.81031847e-01 -1.93846583e-01 1.33836518e-04 1.19600114e+02] [ 1.93846581e-01 9.81031856e-01 2.77534108e-05 6.64279689e+00] [-1.36677791e-04 -1.28322834e-06 9.99999991e-01 -3.15989163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:119.63, Y:6.65, Z:-0.32 [[ 9.81080887e-01 -1.93597064e-01 -6.85170024e-04 1.19626182e+02] [ 1.93597012e-01 9.81081126e-01 -1.42400072e-04 6.64942645e+00] [ 6.99775615e-04 7.05911981e-06 9.99999755e-01 -3.15779759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.800281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:119.65, Y:6.66, Z:-0.32 [[ 9.81100177e-01 -1.93495368e-01 -1.40888459e-03 1.19652802e+02] [ 1.93495147e-01 9.81101189e-01 -2.93106214e-04 6.65695549e+00] [ 1.43897304e-03 1.49542286e-05 9.99998965e-01 -3.16209423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.830281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:119.68, Y:6.66, Z:-0.32 [[ 9.80965478e-01 -1.94177273e-01 -1.38481777e-03 1.19679793e+02] [ 1.94177059e-01 9.80966455e-01 -2.88387973e-04 6.66441640e+00] [ 1.41445817e-03 1.39988039e-05 9.99999000e-01 -3.15747278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.860281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:119.71, Y:6.67, Z:-0.32 [[ 9.80746189e-01 -1.95283928e-01 -1.04927146e-03 1.19705519e+02] [ 1.95283806e-01 9.80746750e-01 -2.18570884e-04 6.67237909e+00] [ 1.07175295e-03 9.45683757e-06 9.99999426e-01 -3.15930507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.890281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:119.73, Y:6.68, Z:-0.32 [[ 9.80199896e-01 -1.98010285e-01 -3.01868403e-04 1.19732099e+02] [ 1.98010275e-01 9.80199942e-01 -6.30274889e-05 6.68245110e+00] [ 3.08371482e-04 2.00649268e-06 9.99999952e-01 -3.15932401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.920281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:119.76, Y:6.69, Z:-0.32 [[ 9.79876142e-01 -1.99606414e-01 1.61827579e-04 1.19758295e+02] [ 1.99606411e-01 9.79876155e-01 3.37058403e-05 6.68993236e+00] [-1.65298888e-04 -7.25726586e-07 9.99999986e-01 -3.15733317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.950281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:119.79, Y:6.70, Z:-0.32 [[ 9.79092383e-01 -2.03409119e-01 1.68378813e-03 1.19785088e+02] [ 2.03408816e-01 9.79093831e-01 3.51382155e-04 6.69954614e+00] [-1.72006090e-03 -1.53824232e-06 9.99998521e-01 -3.15800909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.980281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:119.81, Y:6.71, Z:-0.32 [[ 9.78763583e-01 -2.04978345e-01 2.39299238e-03 1.19812406e+02] [ 2.04977736e-01 9.78766508e-01 4.99891813e-04 6.70737423e+00] [-2.44464780e-03 1.23425751e-06 9.99997012e-01 -3.15723695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.010281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:119.84, Y:6.71, Z:-0.32 [[ 9.78478212e-01 -2.06338715e-01 2.17315556e-03 1.19838536e+02] [ 2.06338215e-01 9.78480626e-01 4.54199579e-04 6.71422544e+00] [-2.22010957e-03 3.98064729e-06 9.99997536e-01 -3.15519927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.040281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:119.87, Y:6.72, Z:-0.32 [[ 9.77973087e-01 -2.08730761e-01 3.31817212e-04 1.19865655e+02] [ 2.08730750e-01 9.77973143e-01 6.93250145e-05 6.72164151e+00] [-3.38978585e-04 1.46245711e-06 9.99999943e-01 -3.16048989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.070281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:119.89, Y:6.73, Z:-0.32 [[ 9.77614910e-01 -2.10402019e-01 -2.78156071e-04 1.19892430e+02] [ 2.10402011e-01 9.77614950e-01 -5.82612942e-05 6.72722774e+00] [ 2.84187827e-04 -1.56748691e-06 9.99999960e-01 -3.17073892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.100281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:119.92, Y:6.73, Z:-0.32 [[ 9.77114033e-01 -2.12715178e-01 -6.47755294e-04 1.19919361e+02] [ 2.12715134e-01 9.77114248e-01 -1.35800473e-04 6.73281042e+00] [ 6.61817749e-04 -5.09480679e-06 9.99999781e-01 -3.16915557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:119.95, Y:6.74, Z:-0.32 [[ 9.76590852e-01 -2.15105338e-01 4.32651264e-05 1.19946732e+02] [ 2.15105338e-01 9.76590853e-01 8.97354918e-06 6.73794680e+00] [-4.41825850e-05 5.43073623e-07 9.99999999e-01 -3.16796342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.160281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:119.97, Y:6.74, Z:-0.32 [[ 9.75753882e-01 -2.18863919e-01 1.71686308e-03 1.19972987e+02] [ 2.18863624e-01 9.75755392e-01 3.60122651e-04 6.74185548e+00] [-1.75405627e-03 2.43678014e-05 9.99998461e-01 -3.16782844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.190281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:120.00, Y:6.74, Z:-0.32 [[ 9.75279940e-01 -2.20969354e-01 1.25839927e-03 1.20001400e+02] [ 2.20969197e-01 9.75280751e-01 2.64135147e-04 6.74395107e+00] [-1.28565836e-03 2.04617660e-05 9.99999173e-01 -3.17011580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.220281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:120.03, Y:6.75, Z:-0.32 [[ 9.75186564e-01 -2.21380365e-01 1.37839662e-03 1.20029613e+02] [ 2.21380177e-01 9.75187538e-01 2.89597119e-04 6.74806854e+00] [-1.40830633e-03 2.27384688e-05 9.99999008e-01 -3.16996618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.250281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:120.06, Y:6.75, Z:-0.32 [[ 9.75214168e-01 -2.21258680e-01 1.38682542e-03 1.20057259e+02] [ 2.21258489e-01 9.75215154e-01 2.91635489e-04 6.75224001e+00] [-1.41698005e-03 2.24398374e-05 9.99998996e-01 -3.16809378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.280281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:120.08, Y:6.76, Z:-0.32 [[ 9.75372971e-01 -2.20559037e-01 1.13057143e-03 1.20083512e+02] [ 2.20558909e-01 9.75373626e-01 2.37879068e-04 6.75638693e+00] [-1.15519593e-03 1.73367874e-05 9.99999333e-01 -3.16782909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.310281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:120.11, Y:6.76, Z:-0.32 [[ 9.76177428e-01 -2.16971657e-01 -9.63307340e-04 1.20111038e+02] [ 2.16971563e-01 9.76177904e-01 -2.02998505e-04 6.76052225e+00] [ 9.84404262e-04 -1.08477402e-05 9.99999515e-01 -3.16522484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.340281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:120.14, Y:6.77, Z:-0.32 [[ 9.76669443e-01 -2.14739453e-01 -1.94089642e-03 1.20137196e+02] [ 2.14739064e-01 9.76671371e-01 -4.09017297e-04 6.76634621e+00] [ 1.98345012e-03 -1.73115840e-05 9.99998033e-01 -3.17173147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.370281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:120.17, Y:6.77, Z:-0.32 [[ 9.76633037e-01 -2.14904967e-01 -1.94081754e-03 1.20165026e+02] [ 2.14904578e-01 9.76634965e-01 -4.09391450e-04 6.77240836e+00] [ 1.98345053e-03 -1.72653595e-05 9.99998033e-01 -3.17187713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.400281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:120.19, Y:6.78, Z:-0.32 [[ 9.77079356e-01 -2.12856202e-01 -2.85838278e-03 1.20192691e+02] [ 2.12855347e-01 9.77083536e-01 -6.03444547e-04 6.77913140e+00] [ 2.92132567e-03 -1.88088500e-05 9.99995733e-01 -3.16554306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.430281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:120.22, Y:6.79, Z:-0.32 [[ 9.77695103e-01 -2.10018954e-01 -2.07955600e-03 1.20220238e+02] [ 2.10018494e-01 9.77697315e-01 -4.39440635e-04 6.78557649e+00] [ 2.12546718e-03 -7.10626325e-06 9.99997741e-01 -3.17167698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.460281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:120.25, Y:6.79, Z:-0.32 [[ 9.77826347e-01 -2.09414923e-01 -1.01241388e-03 1.20247523e+02] [ 2.09414814e-01 9.77826871e-01 -2.14177218e-04 6.79088416e+00] [ 1.03481740e-03 -2.58633596e-06 9.99999465e-01 -3.16960601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.49028169300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:120.27, Y:6.80, Z:-0.32 [[ 9.78121579e-01 -2.08032250e-01 8.70967142e-04 1.20273915e+02] [ 2.08032169e-01 9.78121967e-01 1.84203245e-04 6.79755554e+00] [-8.90232310e-04 1.01601448e-06 9.99999604e-01 -3.15905791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.520281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:120.30, Y:6.80, Z:-0.32 [[ 9.78331702e-01 -2.07036852e-01 1.68023019e-03 1.20301234e+02] [ 2.07036546e-01 9.78333145e-01 3.55654316e-04 6.80481579e+00] [-1.71745844e-03 -7.88358257e-08 9.99998525e-01 -3.15455777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.550281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:120.33, Y:6.81, Z:-0.32 [[ 9.78631679e-01 -2.05614028e-01 1.70547169e-03 1.20328288e+02] [ 2.05613710e-01 9.78633165e-01 3.61314379e-04 6.81194559e+00] [-1.74332247e-03 -2.92533391e-06 9.99998480e-01 -3.15682673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.580281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:120.35, Y:6.82, Z:-0.32 [[ 9.79560600e-01 -2.01148320e-01 6.20518019e-04 1.20354749e+02] [ 2.01148277e-01 9.79560796e-01 1.31517187e-04 6.82016839e+00] [-6.34289586e-04 -4.01292433e-06 9.99999799e-01 -3.16045423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.610281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:120.38, Y:6.83, Z:-0.32 [[ 9.79984929e-01 -1.99071579e-01 -2.13396460e-04 1.20380402e+02] [ 1.99071574e-01 9.79984952e-01 -4.53212787e-05 6.82816458e+00] [ 2.18147498e-04 1.93300093e-06 9.99999976e-01 -3.16116961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.640281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:120.41, Y:6.84, Z:-0.32 [[ 9.80421716e-01 -1.96908363e-01 -5.96600874e-04 1.20406362e+02] [ 1.96908323e-01 9.80421897e-01 -1.26678130e-04 6.83659871e+00] [ 6.09864544e-04 6.72231238e-06 9.99999814e-01 -3.16721651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.670281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:120.43, Y:6.85, Z:-0.32 [[ 9.81241005e-01 -1.92783883e-01 6.81164270e-04 1.20433192e+02] [ 1.92783829e-01 9.81241242e-01 1.44620748e-04 6.84696598e+00] [-6.96267023e-04 -1.05903521e-05 9.99999758e-01 -3.16467965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.700281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:120.46, Y:6.85, Z:-0.32 [[ 9.81499759e-01 -1.91457351e-01 1.51879114e-03 1.20460377e+02] [ 1.91457080e-01 9.81500933e-01 3.22849279e-04 6.85483526e+00] [-1.55250679e-03 -2.60931733e-05 9.99998795e-01 -3.16181217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.730281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:120.49, Y:6.87, Z:-0.32 [[ 9.81726481e-01 -1.90281875e-01 2.43416685e-03 1.20485258e+02] [ 1.90281176e-01 9.81729497e-01 5.17728996e-04 6.86528526e+00] [-2.48820784e-03 -4.50921344e-05 9.99996903e-01 -3.16968221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.760281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:120.51, Y:6.87, Z:-0.32 [[ 9.81563691e-01 -1.91121370e-01 2.31125668e-03 1.20511452e+02] [ 1.91120742e-01 9.81566411e-01 4.91766887e-04 6.87350414e+00] [-2.36263909e-03 -4.09714284e-05 9.99997208e-01 -3.17234073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.790281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:120.54, Y:6.88, Z:-0.32 [[ 9.81355945e-01 -1.92188828e-01 1.99081772e-03 1.20538398e+02] [ 1.92188363e-01 9.81357964e-01 4.23888552e-04 6.88210891e+00] [-2.03517147e-03 -3.33735524e-05 9.99997928e-01 -3.17262813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.820281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:120.56, Y:6.89, Z:-0.32 [[ 9.81096482e-01 -1.93518628e-01 4.83179198e-04 1.20563043e+02] [ 1.93518601e-01 9.81096601e-01 1.02899873e-04 6.89442228e+00] [-4.93958511e-04 -7.45054137e-06 9.99999878e-01 -3.17025933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.850281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:120.59, Y:6.90, Z:-0.32 [[ 9.81001073e-01 -1.94001747e-01 -4.64689268e-04 1.20589685e+02] [ 1.94001722e-01 9.81001183e-01 -9.91777562e-05 6.90456983e+00] [ 4.75101380e-04 7.14296702e-06 9.99999887e-01 -3.17659414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.880281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:120.62, Y:6.91, Z:-0.32 [[ 9.81020127e-01 -1.93901251e-01 -1.34735235e-03 1.20615098e+02] [ 1.93901039e-01 9.81021052e-01 -2.87443907e-04 6.91444168e+00] [ 1.37751675e-03 2.07352384e-05 9.99999051e-01 -3.17354101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.910281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:120.64, Y:6.93, Z:-0.32 [[ 9.80979253e-01 -1.94109882e-01 -1.02904783e-03 1.20639290e+02] [ 1.94109758e-01 9.80979793e-01 -2.19623890e-04 6.92855723e+00] [ 1.05210630e-03 1.56982530e-05 9.99999446e-01 -3.17932717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.940281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:120.67, Y:6.94, Z:-0.32 [[ 9.80925910e-01 -1.94381920e-01 -1.71137933e-04 1.20665859e+02] [ 1.94381916e-01 9.80925924e-01 -3.66529887e-05 6.93856406e+00] [ 1.74998314e-04 2.68774683e-06 9.99999985e-01 -3.17675928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.970281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:120.69, Y:6.95, Z:-0.32 [[ 9.80865753e-01 -1.94685031e-01 3.35646087e-04 1.20691002e+02] [ 1.94685018e-01 9.80865811e-01 7.16753810e-05 6.94836415e+00] [-3.43177895e-04 -4.95866192e-06 9.99999941e-01 -3.17241491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.000281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:120.72, Y:6.96, Z:-0.32 [[ 9.80346147e-01 -1.97285111e-01 1.32039472e-04 1.20716353e+02] [ 1.97285109e-01 9.80346156e-01 2.81492651e-05 6.96155525e+00] [-1.34997819e-04 -1.54660200e-06 9.99999991e-01 -3.17081732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.030281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:120.74, Y:6.97, Z:-0.32 [[ 9.79862249e-01 -1.99674191e-01 4.36296450e-04 1.20743005e+02] [ 1.99674169e-01 9.79862346e-01 9.32902655e-05 6.97068633e+00] [-4.46138121e-04 -4.29447839e-06 9.99999900e-01 -3.17573749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.060281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:120.77, Y:6.98, Z:-0.32 [[ 9.78684227e-01 -2.05369263e-01 8.06070998e-04 1.20769494e+02] [ 2.05369190e-01 9.78684559e-01 1.72574140e-04 6.98080037e+00] [-8.24330663e-04 -3.35344058e-06 9.99999660e-01 -3.18243544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.090281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:120.80, Y:6.99, Z:-0.32 [[ 9.78082603e-01 -2.08217226e-01 8.96135499e-05 1.20796146e+02] [ 2.08217225e-01 9.78082607e-01 1.91625658e-05 6.98742155e+00] [-9.16394308e-05 -8.34875222e-08 9.99999996e-01 -3.18207386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.120281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:120.82, Y:6.99, Z:-0.32 [[ 9.77478161e-01 -2.11036377e-01 -3.04598063e-04 1.20823844e+02] [ 2.11036367e-01 9.77478208e-01 -6.54214552e-05 6.99356467e+00] [ 3.11544275e-04 -3.33224682e-07 9.99999951e-01 -3.18466159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.150281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:120.85, Y:7.00, Z:-0.32 [[ 9.76797621e-01 -2.14164300e-01 2.44146766e-04 1.20850261e+02] [ 2.14164294e-01 9.76797652e-01 5.23312139e-05 6.99954263e+00] [-2.49689465e-04 1.17051448e-06 9.99999969e-01 -3.17360406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.180281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:120.88, Y:7.01, Z:-0.32 [[ 9.76744680e-01 -2.14404205e-01 8.16282000e-04 1.20877913e+02] [ 2.14404134e-01 9.76745021e-01 1.75234857e-04 7.00592616e+00] [-8.34870469e-04 3.85452110e-06 9.99999651e-01 -3.16329212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.210281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:120.91, Y:7.01, Z:-0.32 [[ 9.77143638e-01 -2.12575339e-01 1.42676013e-03 1.20905441e+02] [ 2.12575118e-01 9.77144680e-01 3.06627353e-04 7.01308148e+00] [-1.45933249e-03 3.67473621e-06 9.99998935e-01 -3.16362537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.24028169300001 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:120.93, Y:7.02, Z:-0.32 [[ 9.77356161e-01 -2.11596399e-01 1.37792084e-03 1.20932646e+02] [ 2.11596192e-01 9.77357132e-01 2.96387756e-04 7.01914576e+00] [-1.40943534e-03 1.88640359e-06 9.99999007e-01 -3.17171764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.270281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:120.96, Y:7.03, Z:-0.32 [[ 9.77521431e-01 -2.10832111e-01 1.29309171e-03 1.20958599e+02] [ 2.10831927e-01 9.77522287e-01 2.78294326e-04 7.02502852e+00] [-1.32269935e-03 5.86350145e-07 9.99999125e-01 -3.17408811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.300281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:120.99, Y:7.03, Z:-0.32 [[ 9.77083226e-01 -2.12841154e-01 2.64807149e-03 1.20985608e+02] [ 2.12840389e-01 9.77086815e-01 5.70389726e-04 7.03074914e+00] [-2.70879814e-03 6.29833330e-06 9.99996331e-01 -3.17670088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.330281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:121.01, Y:7.04, Z:-0.32 [[ 9.76553544e-01 -2.15247821e-01 3.39879040e-03 1.21013258e+02] [ 2.15246574e-01 9.76559458e-01 7.32747102e-04 7.03541513e+00] [-3.47684313e-03 1.60112121e-05 9.99993956e-01 -3.17598096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.360281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:121.04, Y:7.04, Z:-0.32 [[ 9.75887537e-01 -2.18238728e-01 3.92070062e-03 1.21041444e+02] [ 2.18237090e-01 9.75895413e-01 8.46004727e-04 7.03916313e+00] [-4.01082474e-03 3.00368247e-05 9.99991956e-01 -3.17283096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.390281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:121.07, Y:7.04, Z:-0.32 [[ 9.74471875e-01 -2.24493131e-01 2.72000438e-03 1.21068809e+02] [ 2.24492366e-01 9.74475671e-01 5.87162038e-04 7.03968639e+00] [-2.78239194e-03 3.84473266e-05 9.99996128e-01 -3.18486317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.420281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:121.10, Y:7.04, Z:-0.32 [[ 9.73882500e-01 -2.27048340e-01 1.38798415e-03 1.21096246e+02] [ 2.27048143e-01 9.73883489e-01 2.99803867e-04 7.04333382e+00] [-1.41980482e-03 2.31654848e-05 9.99998992e-01 -3.19194987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.450281693 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:121.12, Y:7.05, Z:-0.32 [[ 9.73437339e-01 -2.28953302e-01 3.63806181e-04 1.21123665e+02] [ 2.28953289e-01 9.73437407e-01 7.85803385e-05 7.04705525e+00] [-3.72133773e-04 6.80158596e-06 9.99999931e-01 -3.19219194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.480281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:121.15, Y:7.05, Z:-0.32 [[ 9.73248085e-01 -2.29756729e-01 -1.01261267e-04 1.21151470e+02] [ 2.29756728e-01 9.73248090e-01 -2.19472331e-05 7.04787944e+00] [ 1.03594859e-04 -1.90535477e-06 9.99999995e-01 -3.19201851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.510281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:121.18, Y:7.05, Z:-0.32 [[ 9.73362345e-01 -2.29272178e-01 1.17835689e-04 1.21179365e+02] [ 2.29272177e-01 9.73362352e-01 2.54229407e-05 7.05094983e+00] [-1.20525597e-04 2.27071175e-06 9.99999993e-01 -3.18745717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.540281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:121.21, Y:7.05, Z:-0.32 [[ 9.73610329e-01 -2.28215870e-01 6.66683847e-04 1.21207358e+02] [ 2.28215825e-01 9.73610557e-01 1.44365817e-04 7.05417321e+00] [-6.82037002e-04 1.15917540e-05 9.99999767e-01 -3.19111091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.570281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:121.24, Y:7.05, Z:-0.32 [[ 9.74395287e-01 -2.24841626e-01 -2.60297201e-04 1.21235554e+02] [ 2.24841619e-01 9.74395322e-01 -5.65245599e-05 7.05446039e+00] [ 2.66341449e-04 -3.44837940e-06 9.99999965e-01 -3.19567846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.600281693 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:121.26, Y:7.06, Z:-0.32 [[ 9.74717815e-01 -2.23437169e-01 -1.00647589e-03 1.21263827e+02] [ 2.23437063e-01 9.74718334e-01 -2.18482375e-04 7.05807038e+00] [ 1.02984759e-03 -1.19253533e-05 9.99999470e-01 -3.20220800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.630281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:121.29, Y:7.06, Z:-0.32 [[ 9.75310367e-01 -2.20832484e-01 -1.64379257e-03 1.21292590e+02] [ 2.20832196e-01 9.75311752e-01 -3.57072857e-04 7.05938673e+00] [ 1.68206350e-03 -1.47454644e-05 9.99998585e-01 -3.20222496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.660281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:121.32, Y:7.06, Z:-0.32 [[ 9.75628792e-01 -2.19422508e-01 -1.49121179e-03 1.21319736e+02] [ 2.19422269e-01 9.75629931e-01 -3.24093915e-04 7.06329090e+00] [ 1.52598436e-03 -1.10097211e-05 9.99998836e-01 -3.19874346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.690281693 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:121.35, Y:7.07, Z:-0.32 [[ 9.75895642e-01 -2.18232022e-01 -1.57484826e-03 1.21347384e+02] [ 2.18231753e-01 9.75896913e-01 -3.42585188e-04 7.06822657e+00] [ 1.61165262e-03 -9.35450547e-06 9.99998701e-01 -3.19590962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.720281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:121.37, Y:7.07, Z:-0.32 [[ 9.76826023e-01 -2.14030263e-01 -1.40257135e-03 1.21373578e+02] [ 2.14030045e-01 9.76827030e-01 -3.05178497e-04 7.07256078e+00] [ 1.43538704e-03 -2.08611164e-06 9.99998970e-01 -3.18950775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.750281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:121.40, Y:7.08, Z:-0.32 [[ 9.77357563e-01 -2.11590845e-01 -1.22825730e-03 1.21399899e+02] [ 2.11590676e-01 9.77358335e-01 -2.67351755e-04 7.07925228e+00] [ 1.25701670e-03 1.41046620e-06 9.99999210e-01 -3.18429779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.780281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:121.43, Y:7.09, Z:-0.32 [[ 9.77916406e-01 -2.08996175e-01 -3.18739540e-04 1.21427279e+02] [ 2.08996163e-01 9.77916458e-01 -6.95169229e-05 7.08699064e+00] [ 3.26229413e-04 1.36639852e-06 9.99999947e-01 -3.17600148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.810281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:121.45, Y:7.10, Z:-0.32 [[ 9.79082894e-01 -2.03453129e-01 1.87363381e-03 1.21452796e+02] [ 2.03452720e-01 9.79084687e-01 4.08215860e-04 7.09789241e+00] [-1.91749897e-03 -1.84812706e-05 9.99998161e-01 -3.16762978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.840281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:121.48, Y:7.11, Z:-0.32 [[ 9.79445301e-01 -2.01692933e-01 2.61961762e-03 1.21480015e+02] [ 2.01692126e-01 9.79448804e-01 5.71180080e-04 7.10669327e+00] [-2.68098433e-03 -3.10833977e-05 9.99996406e-01 -3.17000637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.870281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:121.51, Y:7.12, Z:-0.32 [[ 9.79769779e-01 -2.00110669e-01 2.62676619e-03 1.21506133e+02] [ 2.00109852e-01 9.79773300e-01 5.72993604e-04 7.11532895e+00] [-2.68829751e-03 -3.57600231e-05 9.99996386e-01 -3.17207139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.900281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:121.53, Y:7.13, Z:-0.32 [[ 9.79997175e-01 -1.98989246e-01 2.96916463e-03 1.21531490e+02] [ 1.98988196e-01 9.80001672e-01 6.48176246e-04 7.12839199e+00] [-3.03876640e-03 -4.43821786e-05 9.99995382e-01 -3.17294227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.930281693 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:121.56, Y:7.14, Z:-0.32 [[ 9.79871604e-01 -1.99602419e-01 3.24245398e-03 1.21557788e+02] [ 1.99601167e-01 9.79876968e-01 7.08496588e-04 7.13804079e+00] [-3.31862360e-03 -4.70380896e-05 9.99994492e-01 -3.17359178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.960281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:121.58, Y:7.15, Z:-0.32 [[ 9.79707988e-01 -2.00401899e-01 3.36706653e-03 1.21584791e+02] [ 2.00400551e-01 9.79713773e-01 7.36414388e-04 7.14748120e+00] [-3.44634030e-03 -4.67090685e-05 9.99994060e-01 -3.17146268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.99028169300001 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:121.61, Y:7.16, Z:-0.32 [[ 9.79347408e-01 -2.02165592e-01 2.77994715e-03 1.21609291e+02] [ 2.02164680e-01 9.79351353e-01 6.08290891e-04 7.16054820e+00] [-2.84552049e-03 -3.37209820e-05 9.99995951e-01 -3.17529459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.020281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:121.64, Y:7.17, Z:-0.32 [[ 9.79115770e-01 -2.03296743e-01 1.65648051e-03 1.21636054e+02] [ 2.03296421e-01 9.79117171e-01 3.62688615e-04 7.17050143e+00] [-1.69562192e-03 -1.83575850e-05 9.99998562e-01 -3.18021091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.050281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:121.66, Y:7.18, Z:-0.32 [[ 9.78872045e-01 -2.04473251e-01 4.58122265e-04 1.21662249e+02] [ 2.04473227e-01 9.78872152e-01 1.00322652e-04 7.17946082e+00] [-4.68956426e-04 -4.52930146e-06 9.99999890e-01 -3.18617987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.080281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:121.69, Y:7.19, Z:-0.32 [[ 9.78177807e-01 -2.07769443e-01 -1.89065744e-04 1.21688877e+02] [ 2.07769439e-01 9.78177826e-01 -4.15730413e-05 7.19044798e+00] [ 1.93577526e-04 1.38374305e-06 9.99999981e-01 -3.19831484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.110281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:121.71, Y:7.20, Z:-0.32 [[ 9.77650765e-01 -2.10235494e-01 -1.37891958e-04 1.21714207e+02] [ 2.10235492e-01 9.77650775e-01 -3.03038317e-05 7.19877955e+00] [ 1.41181121e-04 6.36780614e-07 9.99999990e-01 -3.19580929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.140281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:121.74, Y:7.21, Z:-0.32 [[ 9.76619410e-01 -2.14975574e-01 1.73434750e-04 1.21740553e+02] [ 2.14975571e-01 9.76619426e-01 3.80024306e-05 7.20818146e+00] [-1.77549340e-04 1.70323015e-07 9.99999984e-01 -3.20137519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.170281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:121.77, Y:7.21, Z:-0.32 [[ 9.76197238e-01 -2.16884650e-01 -4.19893235e-05 1.21766458e+02] [ 2.16884650e-01 9.76197239e-01 -9.26682264e-06 7.21456351e+00] [ 4.29996932e-05 -6.05930665e-08 9.99999999e-01 -3.20237915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.200281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:121.79, Y:7.22, Z:-0.32 [[ 9.75845505e-01 -2.18461594e-01 -2.86832411e-04 1.21792301e+02] [ 2.18461585e-01 9.75845547e-01 -6.30897860e-05 7.22053210e+00] [ 2.93686827e-04 -1.09597903e-06 9.99999957e-01 -3.20373051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.230281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:121.82, Y:7.23, Z:-0.32 [[ 9.75811681e-01 -2.18612628e-01 -2.86814052e-04 1.21820061e+02] [ 2.18612619e-01 9.75811723e-01 -6.31732646e-05 7.22684854e+00] [ 2.93686987e-04 -1.05596142e-06 9.99999957e-01 -3.20387613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.260281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:121.85, Y:7.23, Z:-0.32 [[ 9.75202204e-01 -2.21312396e-01 -1.21879472e-03 1.21847588e+02] [ 2.21312234e-01 9.75202965e-01 -2.68419224e-04 7.23353050e+00] [ 1.24797673e-03 -7.97116373e-06 9.99999221e-01 -3.21090899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.290281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:121.88, Y:7.24, Z:-0.32 [[ 9.74855810e-01 -2.22830736e-01 -1.61638188e-03 1.21875118e+02] [ 2.22830452e-01 9.74857150e-01 -3.56268993e-04 7.23966584e+00] [ 1.65512911e-03 -1.28682062e-05 9.99998630e-01 -3.21578857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.320281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:121.90, Y:7.24, Z:-0.32 [[ 9.74299156e-01 -2.25246810e-01 -2.24258470e-03 1.21901738e+02] [ 2.25246268e-01 9.74301737e-01 -4.94518455e-04 7.24446165e+00] [ 2.29634287e-03 -2.33249209e-05 9.99997363e-01 -3.21282854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.350281693 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:121.93, Y:7.25, Z:-0.32 [[ 9.74051612e-01 -2.26320812e-01 -1.53191848e-03 1.21928675e+02] [ 2.26320560e-01 9.74052817e-01 -3.38127970e-04 7.25027326e+00] [ 1.56869491e-03 -1.73505557e-05 9.99998769e-01 -3.21157142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.380281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:121.96, Y:7.26, Z:-0.32 [[ 9.73721644e-01 -2.27739817e-01 -8.57719404e-04 1.21956095e+02] [ 2.27739738e-01 9.73722022e-01 -1.89524533e-04 7.25529353e+00] [ 8.78342555e-04 -1.07926525e-05 9.99999614e-01 -3.20253045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.410281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:121.98, Y:7.26, Z:-0.32 [[ 9.73507215e-01 -2.28656092e-01 -3.07007913e-04 1.21982208e+02] [ 2.28656082e-01 9.73507263e-01 -6.78699309e-05 7.26012476e+00] [ 3.14393307e-04 -4.12735906e-06 9.99999951e-01 -3.20621342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.440281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:122.01, Y:7.27, Z:-0.32 [[ 9.73219434e-01 -2.29878014e-01 1.77252578e-04 1.22009764e+02] [ 2.29878010e-01 9.73219450e-01 3.91040668e-05 7.26523126e+00] [-1.81494822e-04 2.68963231e-06 9.99999984e-01 -3.21063079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.470281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:122.04, Y:7.27, Z:-0.32 [[ 9.72904669e-01 -2.31205454e-01 7.36539223e-04 1.22037520e+02] [ 2.31205397e-01 9.72904948e-01 1.62900316e-04 7.27083083e+00] [-7.54246095e-04 1.18053659e-05 9.99999715e-01 -3.21346204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.500281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:122.07, Y:7.28, Z:-0.32 [[ 9.72258661e-01 -2.33907955e-01 4.06573343e-04 1.22065158e+02] [ 2.33907938e-01 9.72258746e-01 8.99531949e-05 7.27610500e+00] [-4.16335256e-04 7.64295927e-06 9.99999913e-01 -3.21272296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.530281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:122.09, Y:7.28, Z:-0.32 [[ 9.71824952e-01 -2.35703753e-01 5.99162754e-05 1.22093033e+02] [ 2.35703752e-01 9.71824954e-01 1.31862808e-05 7.28185700e+00] [-6.13361874e-05 1.30773423e-06 9.99999998e-01 -3.21742298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.560281693 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:122.12, Y:7.29, Z:-0.32 [[ 9.71131338e-01 -2.38545155e-01 -3.65569270e-04 1.22121110e+02] [ 2.38545141e-01 9.71131407e-01 -8.11993072e-05 7.28642193e+00] [ 3.74385500e-04 -8.34958120e-06 9.99999930e-01 -3.21480729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.590281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:122.15, Y:7.29, Z:-0.32 [[ 9.70909970e-01 -2.39444602e-01 -3.34499934e-04 1.22148070e+02] [ 2.39444591e-01 9.70910028e-01 -7.42801198e-05 7.29160026e+00] [ 3.42555314e-04 -7.97489084e-06 9.99999941e-01 -3.20736944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.620281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:122.17, Y:7.30, Z:-0.32 [[ 9.70656077e-01 -2.40471115e-01 6.50174578e-04 1.22174977e+02] [ 2.40471072e-01 9.70656295e-01 1.44328236e-04 7.29742671e+00] [-6.65802819e-04 1.62550981e-05 9.99999778e-01 -3.20556088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.650281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:122.20, Y:7.30, Z:-0.32 [[ 9.70395108e-01 -2.41518707e-01 1.43111224e-03 1.22202367e+02] [ 2.41518501e-01 9.70396163e-01 3.18067010e-04 7.30292247e+00] [-1.46556496e-03 3.69894124e-05 9.99998925e-01 -3.20078295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.680281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:122.23, Y:7.30, Z:-0.32 [[ 9.69624154e-01 -2.44593639e-01 1.71784865e-03 1.22230149e+02] [ 2.44593345e-01 9.69625675e-01 3.82137371e-04 7.30477034e+00] [-1.75913853e-03 4.96447231e-05 9.99998451e-01 -3.21392519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.710281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:122.26, Y:7.30, Z:-0.32 [[ 9.68747254e-01 -2.48048601e-01 8.06279135e-04 1.22257616e+02] [ 2.48048537e-01 9.68747589e-01 1.79426929e-04 7.30412957e+00] [-8.25587567e-04 2.61770153e-05 9.99999659e-01 -3.22254692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.74028169300001 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:122.29, Y:7.31, Z:-0.32 [[ 9.68169849e-01 -2.50293342e-01 6.22064023e-04 1.22285282e+02] [ 2.50293304e-01 9.68170048e-01 1.38486407e-04 7.30691092e+00] [-6.36925981e-04 2.16200956e-05 9.99999797e-01 -3.21852205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.770281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:122.31, Y:7.31, Z:-0.32 [[ 9.67669094e-01 -2.52223149e-01 9.15935871e-05 1.22313545e+02] [ 2.52223148e-01 9.67669098e-01 2.03297794e-05 7.30908940e+00] [-9.37599248e-05 3.42952369e-06 9.99999996e-01 -3.22319137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.800281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:122.34, Y:7.31, Z:-0.32 [[ 9.67182879e-01 -2.54079967e-01 -8.05760586e-04 1.22341379e+02] [ 2.54079906e-01 9.67183214e-01 -1.79887548e-04 7.31096748e+00] [ 8.25023936e-04 -3.07434167e-05 9.99999659e-01 -3.22066311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.830281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:122.37, Y:7.31, Z:-0.32 [[ 9.66802143e-01 -2.55517659e-01 -2.08367616e-03 1.22369875e+02] [ 2.55517249e-01 9.66804385e-01 -4.65154571e-04 7.30828022e+00] [ 2.13336246e-03 -8.27027653e-05 9.99997721e-01 -3.21135736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.860281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:122.40, Y:7.31, Z:-0.32 [[ 9.66800554e-01 -2.55526655e-01 -1.67865414e-03 1.22398479e+02] [ 2.55526389e-01 9.66802009e-01 -3.75102376e-04 7.31060399e+00] [ 1.71877485e-03 -6.62912461e-05 9.99998521e-01 -3.21123002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.890281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:122.43, Y:7.31, Z:-0.32 [[ 9.67120678e-01 -2.54317665e-01 3.44682723e-04 1.22427283e+02] [ 2.54317654e-01 9.67120740e-01 7.69741737e-05 7.30808679e+00] [-3.52925703e-04 1.32155865e-05 9.99999938e-01 -3.21187369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.920281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:122.46, Y:7.31, Z:-0.32 [[ 9.67305591e-01 -2.53612070e-01 9.01047820e-04 1.22455646e+02] [ 2.53611992e-01 9.67306010e-01 2.01530510e-04 7.30913282e+00] [-9.22699541e-04 3.35749430e-05 9.99999574e-01 -3.21291831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.950281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:122.48, Y:7.31, Z:-0.32 [[ 9.67920006e-01 -2.51257727e-01 6.44777813e-04 1.22483563e+02] [ 2.51257687e-01 9.67920221e-01 1.44288735e-04 7.30572071e+00] [-6.60347142e-04 2.23454288e-05 9.99999782e-01 -3.20953654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.980281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:122.51, Y:7.31, Z:-0.32 [[ 9.68376398e-01 -2.49493789e-01 -1.69788422e-05 1.22511267e+02] [ 2.49493789e-01 9.68376398e-01 -3.89772123e-06 7.30900913e+00] [ 1.74143673e-05 -4.61654418e-07 1.00000000e+00 -3.20652161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.010281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:122.54, Y:7.31, Z:-0.32 [[ 9.68883466e-01 -2.47516230e-01 -7.38333857e-04 1.22538003e+02] [ 2.47516176e-01 9.68883747e-01 -1.65567898e-04 7.31293985e+00] [ 7.56340416e-04 -2.23335741e-05 9.99999714e-01 -3.19981890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.040281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:122.57, Y:7.32, Z:-0.32 [[ 9.69928469e-01 -2.43390110e-01 1.40647962e-04 1.22566368e+02] [ 2.43390108e-01 9.69928479e-01 3.14627963e-05 7.31583000e+00] [-1.44076198e-04 3.71566089e-06 9.99999990e-01 -3.19193789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.070281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:122.59, Y:7.32, Z:-0.32 [[ 9.70417573e-01 -2.41430634e-01 9.91707536e-04 1.22592980e+02] [ 2.41430533e-01 9.70418079e-01 2.22519790e-04 7.32052651e+00] [-1.01609402e-03 2.34913641e-05 9.99999484e-01 -3.19493650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.100281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:122.62, Y:7.33, Z:-0.32 [[ 9.70807650e-01 -2.39854194e-01 1.57214129e-03 1.22620712e+02] [ 2.39853937e-01 9.70808923e-01 3.53024993e-04 7.32548257e+00] [-1.61092332e-03 3.43649141e-05 9.99998702e-01 -3.19272998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.130281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:122.65, Y:7.33, Z:-0.32 [[ 9.71087146e-01 -2.38717841e-01 1.88366350e-03 1.22648173e+02] [ 2.38717469e-01 9.71088972e-01 4.23353671e-04 7.33055475e+00] [-1.93026693e-03 3.85500754e-05 9.99998136e-01 -3.19640442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.160281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:122.68, Y:7.33, Z:-0.32 [[ 9.71493520e-01 -2.37064474e-01 8.81432298e-04 1.22675459e+02] [ 2.37064391e-01 9.71493919e-01 1.98178435e-04 7.33354881e+00] [-9.03287184e-04 1.64271460e-05 9.99999592e-01 -3.19849697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.190281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:122.70, Y:7.34, Z:-0.32 [[ 9.71486421e-01 -2.37095131e-01 1.79827248e-04 1.22702936e+02] [ 2.37095127e-01 9.71486438e-01 4.03796789e-05 7.33795962e+00] [-1.84273558e-04 3.40785466e-06 9.99999983e-01 -3.19513687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.220281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:122.73, Y:7.34, Z:-0.32 [[ 9.71486271e-01 -2.37095653e-01 2.74961995e-04 1.22730955e+02] [ 2.37095645e-01 9.71486310e-01 6.18444214e-05 7.34146669e+00] [-2.81784857e-04 5.11128514e-06 9.99999960e-01 -3.18523225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.250281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:122.76, Y:7.35, Z:-0.32 [[ 9.71452556e-01 -2.37231639e-01 1.04011843e-03 1.22757396e+02] [ 2.37231524e-01 9.71453112e-01 2.34344166e-04 7.34680754e+00] [-1.06602013e-03 1.90946407e-05 9.99999432e-01 -3.19131803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.280281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:122.79, Y:7.35, Z:-0.32 [[ 9.71442552e-01 -2.37268660e-01 1.71782158e-03 1.22785270e+02] [ 2.37268346e-01 9.71444070e-01 3.87321562e-04 7.35151283e+00] [-1.76066686e-03 3.13240380e-05 9.99998450e-01 -3.18864352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.310281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:122.81, Y:7.36, Z:-0.32 [[ 9.71371226e-01 -2.37562048e-01 1.48832787e-03 1.22813151e+02] [ 2.37561813e-01 9.71372365e-01 3.35838122e-04 7.35727343e+00] [-1.52550296e-03 2.73463787e-05 9.99998836e-01 -3.18483879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.340281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:122.84, Y:7.36, Z:-0.32 [[ 9.71372143e-01 -2.37561601e-01 8.03801720e-04 1.22840269e+02] [ 2.37561532e-01 9.71372475e-01 1.81486733e-04 7.36312049e+00] [-8.23905145e-04 1.46612110e-05 9.99999660e-01 -3.18632419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.370281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:122.87, Y:7.37, Z:-0.32 [[ 9.71467641e-01 -2.37166674e-01 -1.60945347e-03 1.22866883e+02] [ 2.37166397e-01 9.71468974e-01 -3.63772122e-04 7.36960608e+00] [ 1.64980874e-03 -2.83154359e-05 9.99998639e-01 -3.19314485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.400281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:122.89, Y:7.38, Z:-0.32 [[ 9.71534944e-01 -2.36884629e-01 -2.35039442e-03 1.22894396e+02] [ 2.36884036e-01 9.71537787e-01 -5.31700444e-04 7.37616417e+00] [ 2.40944865e-03 -4.02053546e-05 9.99997096e-01 -3.19628039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.430281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:122.92, Y:7.38, Z:-0.32 [[ 9.72031563e-01 -2.34834917e-01 -2.68367921e-03 1.22920777e+02] [ 2.34834135e-01 9.72035267e-01 -6.07244025e-04 7.38302066e+00] [ 2.75123294e-03 -3.99591278e-05 9.99996215e-01 -3.18970414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.460281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:122.95, Y:7.39, Z:-0.32 [[ 9.72347309e-01 -2.33529227e-01 -2.19323138e-03 1.22946810e+02] [ 2.33528701e-01 9.72349782e-01 -4.96448643e-04 7.39031731e+00] [ 2.24852333e-03 -2.94619739e-05 9.99997472e-01 -3.18960152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.49028169300001 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:122.97, Y:7.40, Z:-0.32 [[ 9.72588233e-01 -2.32526971e-01 -1.82662763e-03 1.22974134e+02] [ 2.32526604e-01 9.72589948e-01 -4.13859372e-04 7.39802464e+00] [ 1.87279313e-03 -2.22247628e-05 9.99998246e-01 -3.19090872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.520281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:123.00, Y:7.41, Z:-0.32 [[ 9.72805961e-01 -2.31613869e-01 -1.89140855e-03 1.23000017e+02] [ 2.31613473e-01 9.72807800e-01 -4.28632672e-04 7.40511016e+00] [ 1.93925426e-03 -2.10992867e-05 9.99998119e-01 -3.19202876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.550281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:123.03, Y:7.41, Z:-0.32 [[ 9.73268234e-01 -2.29657034e-01 -2.56731689e-03 1.23025606e+02] [ 2.29656297e-01 9.73271620e-01 -5.81994574e-04 7.41414099e+00] [ 2.63235582e-03 -2.31636599e-05 9.99996535e-01 -3.19156820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.580281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:123.05, Y:7.42, Z:-0.32 [[ 9.73488440e-01 -2.28726750e-01 -2.08120453e-03 1.23051562e+02] [ 2.28726263e-01 9.73490664e-01 -4.72267601e-04 7.42433854e+00] [ 2.13405341e-03 -1.62790849e-05 9.99997723e-01 -3.19095534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.610281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:123.08, Y:7.43, Z:-0.32 [[ 9.73452469e-01 -2.28885910e-01 -1.23719038e-03 1.23077834e+02] [ 2.28885738e-01 9.73453255e-01 -2.80833140e-04 7.43169437e+00] [ 1.26862575e-03 -9.79751984e-06 9.99999195e-01 -3.19096015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.640281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:123.11, Y:7.44, Z:-0.32 [[ 9.73231302e-01 -2.29827757e-01 -1.87269284e-04 1.23105339e+02] [ 2.29827753e-01 9.73231320e-01 -4.26256338e-05 7.43885977e+00] [ 1.92052887e-04 -1.55507776e-06 9.99999982e-01 -3.18961670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.670281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:123.13, Y:7.45, Z:-0.32 [[ 9.72893434e-01 -2.31253538e-01 4.08681915e-04 1.23132501e+02] [ 2.31253519e-01 9.72893520e-01 9.28097989e-05 7.44584200e+00] [-4.19066582e-04 4.21508703e-06 9.99999912e-01 -3.18877106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.700281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:123.16, Y:7.45, Z:-0.32 [[ 9.71879178e-01 -2.35480031e-01 1.32855903e-04 1.23158727e+02] [ 2.35480029e-01 9.71879187e-01 3.01716691e-05 7.45359951e+00] [-1.36224713e-04 1.96169495e-06 9.99999991e-01 -3.19215002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.730281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:123.18, Y:7.46, Z:-0.32 [[ 9.71417625e-01 -2.37375761e-01 -7.39425534e-04 1.23184979e+02] [ 2.37375702e-01 9.71417906e-01 -1.68260370e-04 7.45952632e+00] [ 7.58232137e-04 -1.20705662e-05 9.99999712e-01 -3.18966847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:123.21, Y:7.46, Z:-0.32 [[ 9.70406660e-01 -2.41474127e-01 -1.07709234e-03 1.23212700e+02] [ 2.41474004e-01 9.70407257e-01 -2.45348906e-04 7.46306725e+00] [ 1.10446364e-03 -2.20015878e-05 9.99999390e-01 -3.18971596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.790281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:123.24, Y:7.47, Z:-0.32 [[ 9.69768962e-01 -2.44023900e-01 -7.05267572e-04 1.23239444e+02] [ 2.44023848e-01 9.69769218e-01 -1.60690007e-04 7.46719398e+00] [ 7.23158984e-04 -1.62699251e-05 9.99999738e-01 -3.18252520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.820281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:123.27, Y:7.47, Z:-0.32 [[ 9.69015400e-01 -2.47000167e-01 -2.68190928e-04 1.23266716e+02] [ 2.47000160e-01 9.69015437e-01 -6.12339664e-05 7.47163910e+00] [ 2.75005950e-04 -6.90654573e-06 9.99999962e-01 -3.17986953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.850281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:123.30, Y:7.47, Z:-0.32 [[ 9.67916030e-01 -2.51273833e-01 -1.40320067e-04 1.23295100e+02] [ 2.51273831e-01 9.67916040e-01 -3.21095679e-05 7.47279702e+00] [ 1.43886338e-04 -4.17939541e-06 9.99999990e-01 -3.17532420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.880281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:123.32, Y:7.48, Z:-0.32 [[ 9.67659802e-01 -2.52258644e-01 2.88366640e-04 1.23321971e+02] [ 2.52258636e-01 9.67659845e-01 6.57765104e-05 7.47577640e+00] [-2.95633512e-04 9.09369013e-06 9.99999956e-01 -3.16955879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.910281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:123.35, Y:7.48, Z:-0.32 [[ 9.67560982e-01 -2.52632677e-01 1.57364521e-03 1.23350008e+02] [ 2.52632426e-01 9.67562261e-01 3.59381442e-04 7.47913756e+00] [-1.61339122e-03 4.98303473e-05 9.99998697e-01 -3.16735305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.940281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:123.38, Y:7.48, Z:-0.32 [[ 9.67522984e-01 -2.52770197e-01 2.55021878e-03 1.23378582e+02] [ 2.52769538e-01 9.67526341e-01 5.82972125e-04 7.47899134e+00] [-2.61476182e-03 8.05786911e-05 9.99996578e-01 -3.16075856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.970281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:123.41, Y:7.48, Z:-0.32 [[ 9.67513550e-01 -2.52812853e-01 1.78666013e-03 1.23405311e+02] [ 2.52812529e-01 9.67515198e-01 4.08605696e-04 7.48116836e+00] [-1.83192160e-03 5.63585190e-05 9.99998320e-01 -3.16209623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.000281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:123.43, Y:7.48, Z:-0.32 [[ 9.67581544e-01 -2.52558769e-01 -1.58111834e-04 1.23434544e+02] [ 2.52558766e-01 9.67581556e-01 -3.62877778e-05 7.48090349e+00] [ 1.62150891e-04 -4.82114555e-06 9.99999987e-01 -3.16286503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.030281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:123.46, Y:7.48, Z:-0.32 [[ 9.67730015e-01 -2.51988496e-01 -6.45134277e-04 1.23461825e+02] [ 2.51988453e-01 9.67730230e-01 -1.47772872e-04 7.48424734e+00] [ 6.61553005e-04 -1.95621446e-05 9.99999781e-01 -3.16246512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.060281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:123.49, Y:7.49, Z:-0.32 [[ 9.67901209e-01 -2.51330583e-01 -4.33481664e-04 1.23488855e+02] [ 2.51330564e-01 9.67901306e-01 -9.93408511e-05 7.48819281e+00] [ 4.44534863e-04 -1.27950610e-05 9.99999901e-01 -3.15995320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.090281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:123.52, Y:7.49, Z:-0.32 [[ 9.68294503e-01 -2.49811230e-01 3.24759138e-04 1.23516256e+02] [ 2.49811219e-01 9.68294557e-01 7.43802359e-05 7.48959158e+00] [-3.33043524e-04 9.10650261e-06 9.99999945e-01 -3.15253486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.120281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:123.54, Y:7.49, Z:-0.32 [[ 9.68522821e-01 -2.48924753e-01 1.09714749e-04 1.23544117e+02] [ 2.48924752e-01 9.68522827e-01 2.50665864e-05 7.49370431e+00] [-1.12500933e-04 3.03315568e-06 9.99999994e-01 -3.15683077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.150281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.57, Y:7.50, Z:-0.32 [[ 9.68786015e-01 -2.47897735e-01 -6.07940755e-04 1.23570370e+02] [ 2.47897696e-01 9.68786206e-01 -1.39524727e-04 7.49816325e+00] [ 6.23552482e-04 -1.55375082e-05 9.99999805e-01 -3.15991599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.180281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:123.60, Y:7.50, Z:-0.32 [[ 9.68745279e-01 -2.48056879e-01 -6.07908178e-04 1.23598094e+02] [ 2.48056840e-01 9.68745470e-01 -1.39666647e-04 7.50472753e+00] [ 6.23553566e-04 -1.54943763e-05 9.99999805e-01 -3.16006167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.210281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:123.63, Y:7.51, Z:-0.32 [[ 9.69253463e-01 -2.46062173e-01 -1.06316928e-03 1.23625785e+02] [ 2.46062053e-01 9.69254046e-01 -2.44410946e-04 7.50802155e+00] [ 1.09062142e-03 -2.47094609e-05 9.99999405e-01 -3.16398965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.24028169300001 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:123.65, Y:7.51, Z:-0.32 [[ 9.69408083e-01 -2.45452670e-01 -9.76970679e-04 1.23652696e+02] [ 2.45452568e-01 9.69408575e-01 -2.24699011e-04 7.51345023e+00] [ 1.00223673e-03 -2.19749250e-05 9.99999498e-01 -3.15376137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.270281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:123.68, Y:7.52, Z:-0.31 [[ 9.69892430e-01 -2.43532095e-01 -8.91002477e-04 1.23680599e+02] [ 2.43532009e-01 9.69892839e-01 -2.05129328e-04 7.51878171e+00] [ 9.14132496e-04 -1.80342416e-05 9.99999582e-01 -3.14856726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.300281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:123.71, Y:7.52, Z:-0.32 [[ 9.70293671e-01 -2.41927269e-01 -1.17855292e-03 1.23706869e+02] [ 2.41927118e-01 9.70294386e-01 -2.71342760e-04 7.52407931e+00] [ 1.20918849e-03 -2.18417478e-05 9.99999269e-01 -3.15470511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.330281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:123.73, Y:7.53, Z:-0.32 [[ 9.70682736e-01 -2.40360469e-01 -1.36794891e-03 1.23734396e+02] [ 2.40360263e-01 9.70683700e-01 -3.15262976e-04 7.52995906e+00] [ 1.40362247e-03 -2.27802322e-05 9.99999015e-01 -3.15114396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:123.76, Y:7.54, Z:-0.32 [[ 9.70986791e-01 -2.39130993e-01 -1.00966101e-03 1.23761946e+02] [ 2.39130880e-01 9.70987316e-01 -2.32912363e-04 7.53693419e+00] [ 1.03606460e-03 -1.52862968e-05 9.99999463e-01 -3.15849725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.390281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:123.79, Y:7.54, Z:-0.32 [[ 9.71585947e-01 -2.36685459e-01 -8.60973468e-04 1.23788849e+02] [ 2.36685376e-01 9.71586328e-01 -1.98802382e-04 7.54423958e+00] [ 8.83563684e-04 -1.06262283e-05 9.99999610e-01 -3.15362646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.420281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:123.81, Y:7.55, Z:-0.32 [[ 9.71727362e-01 -2.36103768e-01 -9.71669572e-04 1.23814898e+02] [ 2.36103662e-01 9.71727848e-01 -2.24378010e-04 7.54999216e+00] [ 9.97174876e-04 -1.13804918e-05 9.99999503e-01 -3.15189413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.450281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:123.84, Y:7.55, Z:-0.32 [[ 9.71731484e-01 -2.36080853e-01 -1.93762432e-03 1.23842515e+02] [ 2.36080429e-01 9.71733415e-01 -4.47833342e-04 7.55374539e+00] [ 1.98857918e-03 -2.22614248e-05 9.99998023e-01 -3.15683535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.480281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:123.87, Y:7.56, Z:-0.32 [[ 9.71584651e-01 -2.36677165e-01 -2.68062543e-03 1.23868723e+02] [ 2.36676356e-01 9.71588348e-01 -6.19696439e-04 7.55885851e+00] [ 2.75113243e-03 -3.23531094e-05 9.99996215e-01 -3.15893664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.510281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:123.90, Y:7.56, Z:-0.32 [[ 9.71453482e-01 -2.37218923e-01 -2.30540263e-03 1.23896555e+02] [ 2.37218325e-01 9.71456217e-01 -5.33488941e-04 7.56452211e+00] [ 2.36615139e-03 -2.86240598e-05 9.99997200e-01 -3.15180426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.540281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:123.92, Y:7.57, Z:-0.32 [[ 9.71457456e-01 -2.37212268e-01 -8.66200262e-04 1.23923200e+02] [ 2.37212183e-01 9.71457843e-01 -2.00528765e-04 7.57021228e+00] [ 8.89044921e-04 -1.06680910e-05 9.99999605e-01 -3.15175216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.570281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:123.95, Y:7.58, Z:-0.31 [[ 9.71388597e-01 -2.37495389e-01 3.65318069e-04 1.23950206e+02] [ 2.37495374e-01 9.71388666e-01 8.45298689e-05 7.57572183e+00] [-3.74941286e-04 4.65000084e-06 9.99999930e-01 -3.14229141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.600281693 meters Centerline goodness : 0.999591 Centerline is valid? [True, True] Translation: X:123.98, Y:7.58, Z:-0.31 [[ 9.71351187e-01 -2.37646348e-01 1.04167213e-03 1.23977670e+02] [ 2.37646225e-01 9.71351745e-01 2.41394983e-04 7.58109568e+00] [-1.06919668e-03 1.30701472e-05 9.99999428e-01 -3.13798953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.630281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:124.00, Y:7.58, Z:-0.31 [[ 9.71661205e-01 -2.36377867e-01 -8.18381515e-05 1.24004186e+02] [ 2.36377866e-01 9.71661209e-01 -1.90226894e-05 7.58484979e+00] [ 8.40155000e-05 -8.61118345e-07 9.99999996e-01 -3.14280304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.660281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:124.03, Y:7.59, Z:-0.31 [[ 9.71890590e-01 -2.35427021e-01 -1.67293002e-03 1.24031971e+02] [ 2.35426701e-01 9.71892030e-01 -3.88390037e-04 7.59076039e+00] [ 1.71734486e-03 -1.63797725e-05 9.99998525e-01 -3.14736330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.690281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:124.06, Y:7.60, Z:-0.32 [[ 9.72600021e-01 -2.32453808e-01 -3.79820053e-03 1.24059826e+02] [ 2.32452134e-01 9.72607437e-01 -8.82404417e-04 7.59601849e+00] [ 3.89927635e-03 -2.46732635e-05 9.99992397e-01 -3.15333221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.720281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:124.09, Y:7.60, Z:-0.31 [[ 9.72934391e-01 -2.31054498e-01 -3.53416123e-03 1.24087427e+02] [ 2.31053037e-01 9.72940809e-01 -8.21763525e-04 7.60228348e+00] [ 3.62840185e-03 -1.70566930e-05 9.99993417e-01 -3.14741295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.750281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:124.11, Y:7.61, Z:-0.31 [[ 9.73238242e-01 -2.29787584e-01 -2.23397005e-03 1.24114096e+02] [ 2.29786997e-01 9.73240806e-01 -5.19613547e-04 7.60838133e+00] [ 2.29359155e-03 -7.62949410e-06 9.99997370e-01 -3.13673848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.780281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:124.14, Y:7.62, Z:-0.31 [[ 9.73485219e-01 -2.28749846e-01 1.92755104e-04 1.24141210e+02] [ 2.28749842e-01 9.73485238e-01 4.47720565e-05 7.61559588e+00] [-1.97885849e-04 5.07764425e-07 9.99999980e-01 -3.12242462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.810281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:124.17, Y:7.62, Z:-0.31 [[ 9.73497854e-01 -2.28693284e-01 1.14433266e-03 1.24167257e+02] [ 2.28693129e-01 9.73498527e-01 2.66419072e-04 7.62225581e+00] [-1.17493441e-03 2.34262080e-06 9.99999310e-01 -3.11897586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.840281693 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:124.19, Y:7.63, Z:-0.31 [[ 9.73396463e-01 -2.29119711e-01 1.86629223e-03 1.24194532e+02] [ 2.29119299e-01 9.73398253e-01 4.34834002e-04 7.62890327e+00] [-1.91627464e-03 4.33768764e-06 9.99998164e-01 -3.12650976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.870281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:124.22, Y:7.64, Z:-0.31 [[ 9.73272821e-01 -2.29647922e-01 1.35915755e-03 1.24222227e+02] [ 2.29647703e-01 9.73273770e-01 3.16909877e-04 7.63525399e+00] [-1.39561009e-03 3.68764041e-06 9.99999026e-01 -3.12827852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.900281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:124.25, Y:7.64, Z:-0.31 [[ 9.73043907e-01 -2.30619646e-01 3.65431975e-04 1.24248575e+02] [ 2.30619630e-01 9.73043976e-01 8.52210992e-05 7.64130655e+00] [-3.75235041e-04 1.35191547e-06 9.99999930e-01 -3.13267070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.930281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:124.28, Y:7.65, Z:-0.31 [[ 9.72230826e-01 -2.34016165e-01 -1.91198638e-03 1.24276259e+02] [ 2.34015739e-01 9.72232706e-01 -4.46572025e-04 7.64702214e+00] [ 1.96340077e-03 -1.32638186e-05 9.99998072e-01 -3.14250872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.960281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:124.30, Y:7.65, Z:-0.31 [[ 9.71645008e-01 -2.36430596e-01 -2.55948168e-03 1.24302622e+02] [ 2.36429841e-01 9.71648379e-01 -5.97932093e-04 7.65295563e+00] [ 2.62828567e-03 -2.41601135e-05 9.99996546e-01 -3.14692236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.99028169300001 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:124.33, Y:7.66, Z:-0.31 [[ 9.71053335e-01 -2.38842840e-01 -3.08507329e-03 1.24329288e+02] [ 2.38841755e-01 9.71058235e-01 -7.20968178e-04 7.65861081e+00] [ 3.16798391e-03 -3.67457658e-05 9.99994981e-01 -3.14908342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.020281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:124.36, Y:7.66, Z:-0.32 [[ 9.70096752e-01 -2.42701947e-01 -2.83843245e-03 1.24355866e+02] [ 2.42701044e-01 9.70100903e-01 -6.63567325e-04 7.66216241e+00] [ 2.91461497e-03 -4.51660131e-05 9.99995751e-01 -3.15051588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.050281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:124.38, Y:7.67, Z:-0.31 [[ 9.69816714e-01 -2.43824063e-01 -2.31655487e-03 1.24383113e+02] [ 2.43823464e-01 9.69819480e-01 -5.42064387e-04 7.66726775e+00] [ 2.37880838e-03 -3.91273298e-05 9.99997170e-01 -3.14588770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.080281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:124.41, Y:7.67, Z:-0.31 [[ 9.70086449e-01 -2.42752922e-01 -1.81693017e-03 1.24410565e+02] [ 2.42752550e-01 9.70088150e-01 -4.25523065e-04 7.67298109e+00] [ 1.86587940e-03 -2.82702746e-05 9.99998259e-01 -3.12932344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.110281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:124.44, Y:7.68, Z:-0.31 [[ 9.70687883e-01 -2.40328922e-01 -2.65389607e-03 1.24436692e+02] [ 2.40311199e-01 9.70679191e-01 -5.69530473e-03 7.68223047e+00] [ 3.94482814e-03 4.89060235e-03 9.99980260e-01 -3.11949153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.140281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:124.47, Y:7.68, Z:-0.31 [[ 9.71323899e-01 -2.37724201e-01 -4.13373280e-03 1.24465606e+02] [ 2.37740501e-01 9.71320321e-01 4.03581556e-03 7.68454394e+00] [ 3.05576764e-03 -4.90283981e-03 9.99983312e-01 -3.12286201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.170281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:124.49, Y:7.70, Z:-0.31 [[ 9.73059794e-01 -2.30537711e-01 -2.64595996e-03 1.24490921e+02] [ 2.30536876e-01 9.73063391e-01 -6.20456878e-04 7.69512771e+00] [ 2.71772548e-03 -6.24970050e-06 9.99996307e-01 -3.13288469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.200281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:124.52, Y:7.70, Z:-0.31 [[ 9.73882888e-01 -2.27036814e-01 -2.53096455e-03 1.24518012e+02] [ 2.27036037e-01 9.73886177e-01 -5.94023850e-04 7.70331921e+00] [ 2.59973667e-03 3.88950174e-06 9.99996621e-01 -3.13533758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.230281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:124.54, Y:7.71, Z:-0.31 [[ 9.74560900e-01 -2.24102626e-01 -3.01091907e-03 1.24543411e+02] [ 2.24101511e-01 9.74565551e-01 -7.07018132e-04 7.71151601e+00] [ 3.09278262e-03 1.42807144e-05 9.99995217e-01 -3.13824677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.260281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:124.57, Y:7.72, Z:-0.31 [[ 9.75628785e-01 -2.19397751e-01 -3.61944282e-03 1.24569556e+02] [ 2.19396105e-01 9.75635498e-01 -8.50607751e-04 7.72219608e+00] [ 3.71787833e-03 3.57857503e-05 9.99993088e-01 -3.13679561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.290281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:124.60, Y:7.73, Z:-0.31 [[ 9.75934400e-01 -2.18034557e-01 -3.60266621e-03 1.24595873e+02] [ 2.18032915e-01 9.75941048e-01 -8.47384184e-04 7.73077186e+00] [ 3.70074887e-03 4.14915615e-05 9.99993151e-01 -3.12812272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.320281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:124.62, Y:7.74, Z:-0.31 [[ 9.76205672e-01 -2.16827563e-01 -2.87987814e-03 1.24621329e+02] [ 2.16826508e-01 9.76209919e-01 -6.77592080e-04 7.73948709e+00] [ 2.95828624e-03 3.70353122e-05 9.99995624e-01 -3.12564774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.350281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:124.65, Y:7.75, Z:-0.31 [[ 9.76170977e-01 -2.16985295e-01 -2.75781136e-03 1.24648234e+02] [ 2.16984326e-01 9.76174872e-01 -6.49465657e-04 7.74746083e+00] [ 2.83303064e-03 3.55876872e-05 9.99995986e-01 -3.12453876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.380281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:124.67, Y:7.76, Z:-0.31 [[ 9.76254736e-01 -2.16607391e-01 -2.81592691e-03 1.24673711e+02] [ 2.16606378e-01 9.76258796e-01 -6.63338307e-04 7.75537958e+00] [ 2.89275739e-03 3.76394336e-05 9.99995815e-01 -3.12873878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.410281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:124.70, Y:7.77, Z:-0.31 [[ 9.76785524e-01 -2.14204438e-01 -2.54907762e-03 1.24700228e+02] [ 2.14203599e-01 9.76788850e-01 -6.01027246e-04 7.76570032e+00] [ 2.61865330e-03 4.10531132e-05 9.99996570e-01 -3.12851492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.440281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:124.73, Y:7.77, Z:-0.31 [[ 9.77220702e-01 -2.12209492e-01 -2.61358141e-03 1.24726203e+02] [ 2.12208602e-01 9.77224196e-01 -6.16404026e-04 7.77442558e+00] [ 2.68486178e-03 4.77383176e-05 9.99996395e-01 -3.12136035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.470281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:124.75, Y:7.78, Z:-0.31 [[ 9.77759310e-01 -2.09714981e-01 -2.52164350e-03 1.24751987e+02] [ 2.09714144e-01 9.77762560e-01 -5.94932799e-04 7.78282472e+00] [ 2.59033493e-03 5.28767741e-05 9.99996644e-01 -3.12155343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.500281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:124.78, Y:7.79, Z:-0.31 [[ 9.78280668e-01 -2.07262993e-01 -2.99780294e-03 1.24778220e+02] [ 2.07261796e-01 9.78285258e-01 -7.07892835e-04 7.79147348e+00] [ 3.07942641e-03 7.11878554e-05 9.99995256e-01 -3.11891679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.530281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:124.80, Y:7.80, Z:-0.31 [[ 9.79029876e-01 -2.03688251e-01 -3.40568437e-03 1.24803202e+02] [ 2.03686683e-01 9.79035795e-01 -8.04616123e-04 7.80302702e+00] [ 3.49817775e-03 9.40506705e-05 9.99993877e-01 -3.11658240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.560281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:124.83, Y:7.81, Z:-0.31 [[ 9.79177613e-01 -2.02982263e-01 -3.06654647e-03 1.24828256e+02] [ 2.02980988e-01 9.79182411e-01 -7.24730510e-04 7.81254649e+00] [ 3.14981580e-03 8.71892581e-05 9.99995036e-01 -3.11845983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.590281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:124.85, Y:7.83, Z:-0.31 [[ 9.79149296e-01 -2.03129601e-01 -2.24067109e-03 1.24854097e+02] [ 2.03128920e-01 9.79151858e-01 -5.30028322e-04 7.82506829e+00] [ 2.30162170e-03 6.38317610e-05 9.99997349e-01 -3.10984254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.620281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:124.88, Y:7.83, Z:-0.31 [[ 9.79051190e-01 -2.03603599e-01 -2.08369635e-03 1.24880556e+02] [ 2.03603010e-01 9.79053406e-01 -4.93298845e-04 7.83397040e+00] [ 2.14048743e-03 5.87179723e-05 9.99997707e-01 -3.11200567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.650281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:124.91, Y:7.85, Z:-0.31 [[ 9.79051014e-01 -2.03612736e-01 -9.82591786e-04 1.24906657e+02] [ 2.03612605e-01 9.79051507e-01 -2.32864988e-04 7.84665387e+00] [ 1.00942225e-03 2.79186294e-05 9.99999490e-01 -3.09371027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.680281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:124.93, Y:7.86, Z:-0.31 [[ 9.79149677e-01 -2.03140093e-01 -1.13077121e-04 1.24932306e+02] [ 2.03140091e-01 9.79149684e-01 -2.69006092e-05 7.85646192e+00] [ 1.16184019e-04 3.36922624e-06 9.99999993e-01 -3.09385256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.710281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:124.96, Y:7.87, Z:-0.31 [[ 9.79199876e-01 -2.02897851e-01 2.54581795e-04 1.24959201e+02] [ 2.02897842e-01 9.79199909e-01 6.03207736e-05 7.86646112e+00] [-2.61525426e-04 -7.41199723e-06 9.99999966e-01 -3.08673723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.74028169300001 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:124.98, Y:7.88, Z:-0.31 [[ 9.79194124e-01 -2.02925662e-01 -2.08113174e-04 1.24984743e+02] [ 2.02925656e-01 9.79194146e-01 -4.94351573e-05 7.87514279e+00] [ 2.13814864e-04 6.17511312e-06 9.99999977e-01 -3.08614018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.770281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:125.01, Y:7.89, Z:-0.31 [[ 9.78776993e-01 -2.04922518e-01 -1.53602782e-03 1.25010901e+02] [ 2.04922197e-01 9.78778198e-01 -3.64981349e-04 7.88516790e+00] [ 1.57822344e-03 4.24691510e-05 9.99998754e-01 -3.10479971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.800281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:125.04, Y:7.89, Z:-0.31 [[ 9.78393684e-01 -2.06741599e-01 -1.92616437e-03 1.25038036e+02] [ 2.06741097e-01 9.78395579e-01 -4.58034143e-04 7.89372238e+00] [ 1.97924542e-03 4.99203765e-05 9.99998040e-01 -3.10511711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.830281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:125.06, Y:7.90, Z:-0.31 [[ 9.77945958e-01 -2.08852865e-01 -1.47747971e-03 1.25063407e+02] [ 2.08852573e-01 9.77947074e-01 -3.51434057e-04 7.90246977e+00] [ 1.51829497e-03 3.51080779e-05 9.99998847e-01 -3.10158900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.860281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:125.09, Y:7.91, Z:-0.31 [[ 9.77794070e-01 -2.09562028e-01 -1.58510666e-03 1.25090014e+02] [ 2.09561691e-01 9.77795354e-01 -3.77385524e-04 7.91006007e+00] [ 1.62899561e-03 3.68276947e-05 9.99998673e-01 -3.09620570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.890281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:125.12, Y:7.92, Z:-0.31 [[ 9.77766316e-01 -2.09692565e-01 -1.43505800e-03 1.25115506e+02] [ 2.09692289e-01 9.77767369e-01 -3.41739973e-04 7.91781629e+00] [ 1.47481322e-03 3.32212367e-05 9.99998912e-01 -3.10053413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.920281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:125.14, Y:7.93, Z:-0.31 [[ 9.77881520e-01 -2.09138094e-01 -2.99853511e-03 1.25140508e+02] [ 2.09136887e-01 9.77886114e-01 -7.14253305e-04 7.92955753e+00] [ 3.08160342e-03 7.13508090e-05 9.99995249e-01 -3.09745220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.950281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:125.17, Y:7.94, Z:-0.31 [[ 9.78031370e-01 -2.08420357e-01 -3.94886514e-03 1.25167298e+02] [ 2.08418254e-01 9.78039337e-01 -9.41416201e-04 7.93933782e+00] [ 4.05835575e-03 9.77190000e-05 9.99991760e-01 -3.09279753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.980281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:125.19, Y:7.95, Z:-0.31 [[ 9.78315754e-01 -2.07076630e-01 -4.18974950e-03 1.25193889e+02] [ 2.07074247e-01 9.78324720e-01 -9.99635873e-04 7.94869235e+00] [ 4.30593673e-03 1.10370300e-04 9.99990723e-01 -3.09830455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.010281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:125.22, Y:7.96, Z:-0.31 [[ 9.78832357e-01 -2.04627343e-01 -3.85581484e-03 1.25218618e+02] [ 2.04625304e-01 9.78839945e-01 -9.20237782e-04 7.96080340e+00] [ 3.96253140e-03 1.11761232e-04 9.99992143e-01 -3.10161470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.040281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:125.25, Y:7.97, Z:-0.31 [[ 9.78809608e-01 -2.04736135e-01 -3.85570889e-03 1.25246287e+02] [ 2.04734096e-01 9.78817196e-01 -9.20681604e-04 7.96757895e+00] [ 3.96253096e-03 1.11776928e-04 9.99992143e-01 -3.10175037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.070281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:125.27, Y:7.98, Z:-0.31 [[ 9.78887045e-01 -2.04362919e-01 -3.99381833e-03 1.25273017e+02] [ 2.04360725e-01 9.78895185e-01 -9.54447045e-04 7.97789227e+00] [ 4.10458312e-03 1.18116239e-04 9.99991569e-01 -3.09571044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.100281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:125.30, Y:7.99, Z:-0.31 [[ 9.78857105e-01 -2.04488037e-01 -4.83841820e-03 1.25298217e+02] [ 2.04484812e-01 9.78869053e-01 -1.15723041e-03 7.99169796e+00] [ 4.97281761e-03 1.43380172e-04 9.99987625e-01 -3.09794764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.130281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:125.32, Y:8.00, Z:-0.31 [[ 9.78656403e-01 -2.05445990e-01 -4.85704109e-03 1.25323604e+02] [ 2.05442749e-01 9.78668445e-01 -1.16230650e-03 8.00146916e+00] [ 4.99222406e-03 1.39654823e-04 9.99987529e-01 -3.09908204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.160281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:125.35, Y:8.01, Z:-0.31 [[ 9.78397169e-01 -2.06695655e-01 -3.98570353e-03 1.25349500e+02] [ 2.06693482e-01 9.78405281e-01 -9.54114602e-04 8.01096686e+00] [ 4.09684472e-03 1.09684086e-04 9.99991602e-01 -3.09894713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.190281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:125.38, Y:8.02, Z:-0.31 [[ 9.78108988e-01 -2.08074270e-01 -2.81168501e-03 1.25376478e+02] [ 2.08073192e-01 9.78113027e-01 -6.73682928e-04 8.02027620e+00] [ 2.89032181e-03 7.38990520e-05 9.99995820e-01 -3.09615401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.220281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:125.40, Y:8.03, Z:-0.31 [[ 9.77637487e-01 -2.10291348e-01 -1.57871552e-03 1.25402815e+02] [ 2.10291011e-01 9.77638761e-01 -3.78608446e-04 8.03211927e+00] [ 1.62303157e-03 3.81521277e-05 9.99998682e-01 -3.08533539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.250281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:125.43, Y:8.04, Z:-0.31 [[ 9.77521374e-01 -2.10829195e-01 -1.73612364e-03 1.25428856e+02] [ 2.10828787e-01 9.77522915e-01 -4.16700114e-04 8.04148671e+00] [ 1.78495319e-03 4.13084271e-05 9.99998406e-01 -3.08581018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.280281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:125.45, Y:8.05, Z:-0.31 [[ 9.77423376e-01 -2.11279035e-01 -2.17124770e-03 1.25453504e+02] [ 2.11278397e-01 9.77425786e-01 -5.21545745e-04 8.05375691e+00] [ 2.23242517e-03 5.10332684e-05 9.99997507e-01 -3.08351247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.310281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:125.48, Y:8.06, Z:-0.31 [[ 9.77271083e-01 -2.11981433e-01 -2.25876273e-03 1.25479370e+02] [ 2.11980744e-01 9.77273692e-01 -5.42698769e-04 8.06343208e+00] [ 2.32247146e-03 5.15496088e-05 9.99997302e-01 -3.08066011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.340281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:125.50, Y:8.08, Z:-0.31 [[ 9.76646245e-01 -2.14841198e-01 -2.31783135e-03 1.25504415e+02] [ 2.14840480e-01 9.76648994e-01 -5.57385734e-04 8.07695657e+00] [ 2.38345707e-03 4.64046852e-05 9.99997158e-01 -3.07957355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.370281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:125.53, Y:8.09, Z:-0.31 [[ 9.76268318e-01 -2.16546439e-01 -2.79496892e-03 1.25529491e+02] [ 2.16545401e-01 9.76272317e-01 -6.72290881e-04 8.08622835e+00] [ 2.87423298e-03 5.10986221e-05 9.99995868e-01 -3.08216022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.400281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:125.56, Y:8.10, Z:-0.31 [[ 9.75943345e-01 -2.17999589e-01 -3.28134896e-03 1.25555458e+02] [ 2.17998167e-01 9.75948859e-01 -7.89548120e-04 8.09510832e+00] [ 3.37454994e-03 5.52261754e-05 9.99994305e-01 -3.08467229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.430281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:125.58, Y:8.11, Z:-0.31 [[ 9.75228175e-01 -2.21170253e-01 -3.70478908e-03 1.25580207e+02] [ 2.21168461e-01 9.75235211e-01 -8.91731939e-04 8.10631757e+00] [ 3.81026534e-03 5.02596125e-05 9.99992740e-01 -3.09026816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.460281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:125.61, Y:8.12, Z:-0.31 [[ 9.74655641e-01 -2.23681715e-01 -3.58775919e-03 1.25607177e+02] [ 2.23680049e-01 9.74662243e-01 -8.64290095e-04 8.11565674e+00] [ 3.69017931e-03 3.98750643e-05 9.99993190e-01 -3.09066036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.49028169300001 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:125.63, Y:8.12, Z:-0.31 [[ 9.74012763e-01 -2.26470173e-01 -3.22448244e-03 1.25634230e+02] [ 2.26468841e-01 9.74018100e-01 -7.77449760e-04 8.12477776e+00] [ 3.31677345e-03 2.70011879e-05 9.99994499e-01 -3.08886411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.520281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:125.66, Y:8.14, Z:-0.31 [[ 9.72941016e-01 -2.31042024e-01 -2.31576595e-03 1.25659421e+02] [ 2.31041349e-01 9.72943772e-01 -5.58526936e-04 8.13500034e+00] [ 2.38215325e-03 8.37607515e-06 9.99997163e-01 -3.09083341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.550281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:125.69, Y:8.14, Z:-0.31 [[ 9.72473803e-01 -2.33001270e-01 -2.26058038e-03 1.25686397e+02] [ 2.33000631e-01 9.72476431e-01 -5.45720943e-04 8.14327876e+00] [ 2.32551481e-03 3.98266571e-06 9.99997296e-01 -3.08116337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.580281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.71, Y:8.15, Z:-0.31 [[ 9.72065883e-01 -2.34694039e-01 -2.57428857e-03 1.25712645e+02] [ 2.34693216e-01 9.72069292e-01 -6.21609602e-04 8.15096851e+00] [ 2.64827494e-03 7.74229647e-08 9.99996493e-01 -3.08214562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.610281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:125.74, Y:8.16, Z:-0.31 [[ 9.71261670e-01 -2.37994901e-01 -3.03229756e-03 1.25740011e+02] [ 2.37993773e-01 9.71266404e-01 -7.32785314e-04 8.15711362e+00] [ 3.11956792e-03 -9.94164822e-06 9.99995134e-01 -3.07791939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.640281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:125.77, Y:8.16, Z:-0.31 [[ 9.70747432e-01 -2.40084686e-01 -2.96094222e-03 1.25766914e+02] [ 2.40083618e-01 9.70751947e-01 -7.16138392e-04 8.16271372e+00] [ 3.04627429e-03 -1.56842176e-05 9.99995360e-01 -3.07782187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:125.79, Y:8.17, Z:-0.31 [[ 9.70209688e-01 -2.42251441e-01 -2.72048694e-03 1.25793224e+02] [ 2.42250547e-01 9.70213502e-01 -6.58169511e-04 8.16784205e+00] [ 2.79889567e-03 -2.04770147e-05 9.99996083e-01 -3.08064508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.700281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.82, Y:8.17, Z:-0.31 [[ 9.69730353e-01 -2.44164720e-01 -2.57517860e-03 1.25819652e+02] [ 2.44163926e-01 9.69733772e-01 -6.23233772e-04 8.17263868e+00] [ 2.64940935e-03 -2.43970113e-05 9.99996490e-01 -3.07972205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.730281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:125.85, Y:8.18, Z:-0.31 [[ 9.68842112e-01 -2.47675234e-01 -1.39288344e-03 1.25847527e+02] [ 2.47675004e-01 9.68843113e-01 -3.37442857e-04 8.17514295e+00] [ 1.43306176e-03 -1.80535605e-05 9.99998973e-01 -3.08336671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.760281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:125.87, Y:8.18, Z:-0.31 [[ 9.68451295e-01 -2.49199122e-01 -1.37377257e-03 1.25873851e+02] [ 2.49198901e-01 9.68452269e-01 -3.32879954e-04 8.17899138e+00] [ 1.41338655e-03 -1.99645922e-05 9.99999001e-01 -3.08247025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.790281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:125.90, Y:8.18, Z:-0.31 [[ 9.67917366e-01 -2.51240398e-01 -3.77284013e-03 1.25902347e+02] [ 2.51238740e-01 9.67924717e-01 -9.14888927e-04 8.18061038e+00] [ 3.88168228e-03 -6.23467211e-05 9.99992464e-01 -3.08243728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.820281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:125.93, Y:8.18, Z:-0.31 [[ 9.67814326e-01 -2.51619586e-01 -4.79727106e-03 1.25928662e+02] [ 2.51616908e-01 9.67826212e-01 -1.16362750e-03 8.18463899e+00] [ 4.93571615e-03 -8.08991433e-05 9.99987816e-01 -3.08730266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.850281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:125.96, Y:8.19, Z:-0.31 [[ 9.67833949e-01 -2.51541079e-01 -4.95298839e-03 1.25956229e+02] [ 2.51538219e-01 9.67846619e-01 -1.20238059e-03 8.18900488e+00] [ 5.09618118e-03 -8.21611206e-05 9.99987011e-01 -3.08713670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.880281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:125.98, Y:8.19, Z:-0.31 [[ 9.67954438e-01 -2.51110957e-01 -2.73728169e-03 1.25984465e+02] [ 2.51110080e-01 9.67958308e-01 -6.65073386e-04 8.19130804e+00] [ 2.81658177e-03 -4.35982879e-05 9.99996032e-01 -3.07684614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.910281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.01, Y:8.20, Z:-0.31 [[ 9.68063946e-01 -2.50697851e-01 -1.66859633e-03 1.26011226e+02] [ 2.50697524e-01 9.68065384e-01 -4.05541998e-04 8.19575667e+00] [ 1.71697885e-03 -2.57223816e-05 9.99998526e-01 -3.07386746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.940281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:126.04, Y:8.20, Z:-0.31 [[ 9.68484088e-01 -2.49069290e-01 -1.74903477e-03 1.26038615e+02] [ 2.49068928e-01 9.68485667e-01 -4.25484392e-04 8.19974429e+00] [ 1.79989021e-03 -2.35553520e-05 9.99998380e-01 -3.07237714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.970281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.06, Y:8.21, Z:-0.31 [[ 9.68680381e-01 -2.48301179e-01 -2.20083289e-03 1.26064879e+02] [ 2.48300603e-01 9.68682881e-01 -5.35504446e-04 8.20520729e+00] [ 2.26487553e-03 -2.77354839e-05 9.99997435e-01 -3.07296421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.000281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:126.09, Y:8.21, Z:-0.31 [[ 9.68896541e-01 -2.47456302e-01 -2.20697133e-03 1.26092268e+02] [ 2.47455719e-01 9.68899055e-01 -5.37481391e-04 8.21121521e+00] [ 2.27133559e-03 -2.53638167e-05 9.99997420e-01 -3.06899683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.030281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.12, Y:8.22, Z:-0.31 [[ 9.69151568e-01 -2.46456676e-01 -2.08433217e-03 1.26119003e+02] [ 2.46456153e-01 9.69153810e-01 -5.07868708e-04 8.21742316e+00] [ 2.14520610e-03 -2.14947342e-05 9.99997699e-01 -3.06431575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:126.15, Y:8.22, Z:-0.31 [[ 9.69536178e-01 -2.44945563e-01 -1.12760649e-03 1.26146346e+02] [ 2.44945409e-01 9.69536833e-01 -2.75024268e-04 8.22161051e+00] [ 1.16062200e-03 -9.55605623e-06 9.99999326e-01 -3.06385863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.090281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.17, Y:8.23, Z:-0.31 [[ 9.69425406e-01 -2.45378268e-01 -1.97183153e-03 1.26173745e+02] [ 2.45377797e-01 9.69427411e-01 -4.80979013e-04 8.22515861e+00] [ 2.02956933e-03 -1.75704015e-05 9.99997940e-01 -3.06876042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.120281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.20, Y:8.23, Z:-0.31 [[ 9.69314588e-01 -2.45805313e-01 -2.99620668e-03 1.26201026e+02] [ 2.45804226e-01 9.69319219e-01 -7.31452677e-04 8.23062424e+00] [ 3.08407567e-03 -2.74725124e-05 9.99995244e-01 -3.07586314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.150281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:126.23, Y:8.24, Z:-0.31 [[ 9.69366381e-01 -2.45586917e-01 -3.98579764e-03 1.26228944e+02] [ 2.45584990e-01 9.69374574e-01 -9.73458629e-04 8.23561705e+00] [ 4.10279960e-03 -3.52140069e-05 9.99991583e-01 -3.07951635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.180281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.26, Y:8.24, Z:-0.31 [[ 9.69670932e-01 -2.44355241e-01 -5.36646062e-03 1.26255732e+02] [ 2.44351725e-01 9.69685781e-01 -1.31135953e-03 8.23885504e+00] [ 5.52421813e-03 -3.97166949e-05 9.99984741e-01 -3.07851427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.210281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:126.28, Y:8.24, Z:-0.31 [[ 9.69863963e-01 -2.43598188e-01 -4.88021685e-03 1.26282252e+02] [ 2.43595268e-01 9.69876240e-01 -1.19318842e-03 8.24454198e+00] [ 5.02386491e-03 -3.15672783e-05 9.99987380e-01 -3.07595135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.24028169300001 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:126.31, Y:8.25, Z:-0.31 [[ 9.70051118e-01 -2.42872232e-01 -3.72924918e-03 1.26309392e+02] [ 2.42870518e-01 9.70058286e-01 -9.12526668e-04 8.25074644e+00] [ 3.83921646e-03 -2.05271669e-05 9.99992630e-01 -3.06990373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.270281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:126.34, Y:8.26, Z:-0.31 [[ 9.70713629e-01 -2.40226866e-01 -2.47066445e-03 1.26336819e+02] [ 2.40226104e-01 9.70716773e-01 -6.05059525e-04 8.25589807e+00] [ 2.54366698e-03 -6.17856747e-06 9.99996765e-01 -3.05617945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.300281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:126.36, Y:8.26, Z:-0.31 [[ 9.71015798e-01 -2.38998801e-01 -2.80936909e-03 1.26363885e+02] [ 2.38997809e-01 9.71019862e-01 -6.88533758e-04 8.26207043e+00] [ 2.89251193e-03 -2.85589997e-06 9.99995817e-01 -3.05244838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.330281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.39, Y:8.27, Z:-0.31 [[ 9.71242167e-01 -2.38068249e-01 -3.48728384e-03 1.26391293e+02] [ 2.38066713e-01 9.71248428e-01 -8.55322163e-04 8.26918758e+00] [ 3.59064400e-03 5.18750981e-07 9.99993554e-01 -3.05842129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.360281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:126.42, Y:8.28, Z:-0.31 [[ 9.71565898e-01 -2.36726354e-01 -4.50991739e-03 1.26417372e+02] [ 2.36723768e-01 9.71576365e-01 -1.10644178e-03 8.27624068e+00] [ 4.64365308e-03 7.37646581e-06 9.99989218e-01 -3.06840755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.390281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:126.44, Y:8.28, Z:-0.31 [[ 9.71594912e-01 -2.36603675e-01 -4.69330771e-03 1.26444919e+02] [ 2.36600869e-01 9.71606248e-01 -1.15240403e-03 8.28312192e+00] [ 4.83271012e-03 9.22920729e-06 9.99988322e-01 -3.06887009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.420281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:126.47, Y:8.29, Z:-0.31 [[ 9.71496921e-01 -2.37013428e-01 -4.28564245e-03 1.26471197e+02] [ 2.37011090e-01 9.71506374e-01 -1.05285559e-03 8.28953401e+00] [ 4.41306987e-03 7.10117637e-06 9.99990262e-01 -3.06158044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.450281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.50, Y:8.30, Z:-0.31 [[ 9.71374602e-01 -2.37545717e-01 -1.84778057e-03 1.26498535e+02] [ 2.37547265e-01 9.71375753e-01 6.66178913e-04 8.29629131e+00] [ 1.63664130e-03 -1.08604450e-03 9.99998071e-01 -3.05063477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.480281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.53, Y:8.31, Z:-0.30 [[ 9.71295145e-01 -2.37877395e-01 -2.94602394e-04 1.26525848e+02] [ 2.37876906e-01 9.71294602e-01 -1.17206382e-03 8.30506395e+00] [ 5.64953204e-04 1.06834080e-03 9.99999270e-01 -3.04391968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.510281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:126.55, Y:8.31, Z:-0.30 [[ 9.71280292e-01 -2.37938188e-01 1.11024472e-04 1.26553150e+02] [ 2.37938186e-01 9.71280299e-01 2.72383669e-05 8.31181314e+00] [-1.14316930e-04 -3.91275562e-08 9.99999993e-01 -3.04428744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.540281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.58, Y:8.32, Z:-0.30 [[ 9.71334512e-01 -2.37716728e-01 -1.53454809e-04 1.26578680e+02] [ 2.37716725e-01 9.71334524e-01 -3.78322528e-05 8.31930032e+00] [ 1.58049314e-04 2.68998027e-07 9.99999988e-01 -3.04575115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.570281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:126.60, Y:8.33, Z:-0.30 [[ 9.71324642e-01 -2.37756419e-01 -5.70605230e-04 1.26604823e+02] [ 2.37756377e-01 9.71324809e-01 -1.40659882e-04 8.32668383e+00] [ 5.87685806e-04 9.61376858e-07 9.99999827e-01 -3.04450878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.63, Y:8.33, Z:-0.30 [[ 9.71432131e-01 -2.37310265e-01 -1.85831393e-03 1.26632155e+02] [ 2.37309823e-01 9.71433908e-01 -4.58345312e-04 8.33423630e+00] [ 1.91399922e-03 4.25521268e-06 9.99998168e-01 -3.04048614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:126.66, Y:8.34, Z:-0.30 [[ 9.71486344e-01 -2.37085637e-01 -2.16449368e-03 1.26658124e+02] [ 2.37085035e-01 9.71488755e-01 -5.33977445e-04 8.34040995e+00] [ 2.22937965e-03 5.58273492e-06 9.99997515e-01 -3.04059874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.660281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:126.68, Y:8.35, Z:-0.30 [[ 9.71527586e-01 -2.36920030e-01 -1.74590358e-03 1.26684887e+02] [ 2.36919638e-01 9.71529155e-01 -4.31109385e-04 8.34688253e+00] [ 1.79833468e-03 5.19581656e-06 9.99998383e-01 -3.04102752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.71, Y:8.35, Z:-0.30 [[ 9.71669140e-01 -2.36343865e-01 -8.12710900e-04 1.26710469e+02] [ 2.36343780e-01 9.71669480e-01 -2.00745572e-04 8.35471255e+00] [ 8.37131362e-04 2.97911131e-06 9.99999650e-01 -3.04540802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.720281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:126.74, Y:8.36, Z:-0.30 [[ 9.71718906e-01 -2.36136643e-01 -1.36117764e-03 1.26736123e+02] [ 2.36136403e-01 9.71719860e-01 -3.36306942e-04 8.36279387e+00] [ 1.40209774e-03 5.37222227e-06 9.99999017e-01 -3.04873679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.750281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:126.76, Y:8.37, Z:-0.31 [[ 9.71849522e-01 -2.35578798e-01 -3.33716876e-03 1.26761972e+02] [ 2.35577355e-01 9.71855251e-01 -8.24881103e-04 8.37272057e+00] [ 3.43756948e-03 1.54989172e-05 9.99994091e-01 -3.05456492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.780281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.79, Y:8.38, Z:-0.31 [[ 9.71953515e-01 -2.35135455e-01 -4.20504304e-03 1.26789045e+02] [ 2.35133155e-01 9.71962611e-01 -1.04026955e-03 8.38125594e+00] [ 4.33174887e-03 2.23486105e-05 9.99990618e-01 -3.05056862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.810281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:126.81, Y:8.39, Z:-0.30 [[ 9.72035109e-01 -2.34793341e-01 -4.45353629e-03 1.26814992e+02] [ 2.34790755e-01 9.72045311e-01 -1.10231687e-03 8.38950468e+00] [ 4.58785572e-03 2.58415515e-05 9.99989475e-01 -3.04911390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.840281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.84, Y:8.40, Z:-0.30 [[ 9.72422305e-01 -2.33212147e-01 -2.63717977e-03 1.26840361e+02] [ 2.33211234e-01 9.72425881e-01 -6.52971727e-04 8.40047522e+00] [ 2.71674280e-03 1.99443244e-05 9.99996309e-01 -3.04223485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:126.87, Y:8.41, Z:-0.30 [[ 9.72558713e-01 -2.32651354e-01 -1.70222527e-03 1.26866914e+02] [ 2.32650972e-01 9.72560202e-01 -4.21875589e-04 8.40977863e+00] [ 1.75366648e-03 1.42744155e-05 9.99998462e-01 -3.04369938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.900281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:126.89, Y:8.42, Z:-0.30 [[ 9.72654125e-01 -2.32255783e-01 -1.09737218e-03 1.26892975e+02] [ 2.32255624e-01 9.72654744e-01 -2.72226687e-04 8.41896613e+00] [ 1.13059048e-03 9.91155049e-06 9.99999361e-01 -3.04778262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:126.92, Y:8.43, Z:-0.30 [[ 9.72466587e-01 -2.33040450e-01 -9.41525372e-04 1.26917466e+02] [ 2.33040333e-01 9.72467042e-01 -2.33607227e-04 8.43046055e+00] [ 9.70042327e-04 7.76183666e-06 9.99999529e-01 -3.04117839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.960281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.94, Y:8.44, Z:-0.30 [[ 9.72251352e-01 -2.33937168e-01 -8.42144057e-04 1.26943574e+02] [ 2.33937075e-01 9.72251717e-01 -2.09023341e-04 8.43924351e+00] [ 8.67674334e-04 6.21450801e-06 9.99999624e-01 -3.03856556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 135.99028169300001 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:126.97, Y:8.45, Z:-0.30 [[ 9.72211646e-01 -2.34102126e-01 -8.42097831e-04 1.26971160e+02] [ 2.34102032e-01 9.72212011e-01 -2.09209541e-04 8.44629048e+00] [ 8.67674024e-04 6.25913835e-06 9.99999624e-01 -3.03870675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.020281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.00, Y:8.46, Z:-0.30 [[ 9.71994663e-01 -2.35001744e-01 -7.45046632e-04 1.26997613e+02] [ 2.35001671e-01 9.71994949e-01 -1.85257764e-04 8.45509403e+00] [ 7.67717460e-04 4.98235448e-06 9.99999705e-01 -3.03666092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.02, Y:8.47, Z:-0.30 [[ 9.71798243e-01 -2.35813567e-01 -3.68029186e-04 1.27023767e+02] [ 2.35813549e-01 9.71798313e-01 -9.16321561e-05 8.46605675e+00] [ 3.79258248e-04 2.26169968e-06 9.99999928e-01 -3.02970022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.080281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.05, Y:8.47, Z:-0.30 [[ 9.71686521e-01 -2.36273313e-01 -4.75469799e-04 1.27048903e+02] [ 2.36273283e-01 9.71686638e-01 -1.18342391e-04 8.47477779e+00] [ 4.89968799e-04 2.65089558e-06 9.99999880e-01 -3.03391491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.08, Y:8.48, Z:-0.30 [[ 9.71508646e-01 -2.37003715e-01 -4.34972204e-04 1.27075970e+02] [ 2.37003690e-01 9.71508744e-01 -1.08398940e-04 8.48388483e+00] [ 4.48270251e-04 2.22048985e-06 9.99999900e-01 -3.03929688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.140281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.10, Y:8.50, Z:-0.30 [[ 9.70979514e-01 -2.39162468e-01 -3.12363714e-04 1.27101585e+02] [ 2.39162455e-01 9.70979564e-01 -7.79359009e-05 8.49522615e+00] [ 3.21938125e-04 9.68490466e-07 9.99999948e-01 -3.04682164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.170281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.13, Y:8.50, Z:-0.30 [[ 9.70521870e-01 -2.41012034e-01 -7.06680982e-04 1.27127002e+02] [ 2.41011969e-01 9.70522127e-01 -1.76263783e-04 8.50435212e+00] [ 7.28331223e-04 7.49280899e-07 9.99999735e-01 -3.04659372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.200281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.15, Y:8.51, Z:-0.30 [[ 9.69942139e-01 -2.43333101e-01 -1.11785749e-03 1.27153535e+02] [ 2.43332941e-01 9.69942783e-01 -2.79042107e-04 8.51373632e+00] [ 1.15215798e-03 -1.35685182e-06 9.99999336e-01 -3.04907230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.230281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.18, Y:8.52, Z:-0.31 [[ 9.69228982e-01 -2.46152612e-01 -2.01819159e-03 1.27178833e+02] [ 2.46152096e-01 9.69231083e-01 -5.03829559e-04 8.52185484e+00] [ 2.08011298e-03 -8.45588045e-06 9.99997837e-01 -3.05018496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.260281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.21, Y:8.53, Z:-0.31 [[ 9.67462326e-01 -2.53007891e-01 -1.91161009e-03 1.27205573e+02] [ 2.53007441e-01 9.67464215e-01 -4.77647808e-04 8.52851843e+00] [ 1.97026302e-03 -2.15453159e-05 9.99998059e-01 -3.05957504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.290281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.23, Y:8.53, Z:-0.31 [[ 9.66391030e-01 -2.57073826e-01 -1.19370154e-03 1.27232988e+02] [ 2.57073653e-01 9.66391767e-01 -2.98531798e-04 8.53461483e+00] [ 1.23032805e-03 -1.83707635e-05 9.99999243e-01 -3.05609693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.320281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.26, Y:8.54, Z:-0.31 [[ 9.64665513e-01 -2.63474154e-01 1.34827458e-03 1.27260972e+02] [ 2.63473940e-01 9.64666455e-01 3.37263622e-04 8.53925405e+00] [-1.38949550e-03 2.98886291e-05 9.99999034e-01 -3.05524350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.350281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.29, Y:8.54, Z:-0.31 [[ 9.63976151e-01 -2.65981963e-01 1.89096914e-03 1.27287063e+02] [ 2.65981546e-01 9.63978005e-01 4.73282065e-04 8.54444952e+00] [-1.94873715e-03 4.67302714e-05 9.99998100e-01 -3.05294935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.31, Y:8.55, Z:-0.31 [[ 9.63414690e-01 -2.68010344e-01 1.60931960e-03 1.27313933e+02] [ 2.68010044e-01 9.63416034e-01 4.02919246e-04 8.54945640e+00] [-1.65843083e-03 4.31354964e-05 9.99998624e-01 -3.05236319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.410281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.34, Y:8.55, Z:-0.31 [[ 9.62694204e-01 -2.70591583e-01 -2.54569556e-04 1.27341607e+02] [ 2.70591575e-01 9.62694238e-01 -6.38798719e-05 8.55226257e+00] [ 2.62358000e-04 -7.38759467e-06 9.99999966e-01 -3.06010445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.37, Y:8.56, Z:-0.31 [[ 9.62532171e-01 -2.71162543e-01 -1.64146858e-03 1.27369143e+02] [ 2.71162235e-01 9.62533570e-01 -4.11727181e-04 8.55715180e+00] [ 1.69161360e-03 -4.88036328e-05 9.99998568e-01 -3.06784744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.470281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.40, Y:8.56, Z:-0.31 [[ 9.62472367e-01 -2.71363943e-01 -2.92467021e-03 1.27396508e+02] [ 2.71362966e-01 9.62476806e-01 -7.33711137e-04 8.55995488e+00] [ 3.01402999e-03 -8.74704861e-05 9.99995454e-01 -3.07032479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.42, Y:8.56, Z:-0.31 [[ 9.62414623e-01 -2.71576034e-01 -2.13313068e-03 1.27423869e+02] [ 2.71575513e-01 9.62416985e-01 -5.35630405e-04 8.56483137e+00] [ 2.19842558e-03 -6.38075259e-05 9.99997581e-01 -3.06444206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.530281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.45, Y:8.57, Z:-0.31 [[ 9.62282336e-01 -2.72051641e-01 -7.80745900e-04 1.27450553e+02] [ 2.72051572e-01 9.62282653e-01 -1.96120044e-04 8.56908100e+00] [ 8.04653015e-04 -2.36802949e-05 9.99999676e-01 -3.05759173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.48, Y:8.57, Z:-0.30 [[ 9.62014879e-01 -2.72996692e-01 4.22364654e-04 1.27478320e+02] [ 2.72996672e-01 9.62014972e-01 1.06062517e-04 8.57310766e+00] [-4.35275837e-04 1.32704251e-05 9.99999905e-01 -3.04782080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.590281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:127.51, Y:8.57, Z:-0.31 [[ 9.61411955e-01 -2.75111416e-01 8.72575350e-04 1.27507641e+02] [ 2.75111330e-01 9.61412351e-01 2.19381750e-04 8.57264978e+00] [-8.99259143e-04 2.91391278e-05 9.99999595e-01 -3.05494397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.620281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:127.54, Y:8.58, Z:-0.31 [[ 9.61097987e-01 -2.76207626e-01 8.72220160e-05 1.27535194e+02] [ 2.76207625e-01 9.61097991e-01 2.18611517e-05 8.57577690e+00] [-8.98671211e-05 3.08067695e-06 9.99999996e-01 -3.06140115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.650281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.56, Y:8.58, Z:-0.31 [[ 9.60854377e-01 -2.77052081e-01 -1.00506387e-03 1.27563396e+02] [ 2.77051968e-01 9.60854902e-01 -2.53286721e-04 8.57575015e+00] [ 1.03589416e-03 -3.50832692e-05 9.99999463e-01 -3.06257471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:127.59, Y:8.58, Z:-0.31 [[ 9.60899407e-01 -2.76897591e-01 -2.30718104e-04 1.27591146e+02] [ 2.76897585e-01 9.60899435e-01 -5.82583021e-05 8.57858513e+00] [ 2.37828479e-04 -7.90491787e-06 9.99999972e-01 -3.05268753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.710281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:127.62, Y:8.58, Z:-0.30 [[ 9.60977227e-01 -2.76624446e-01 1.29828399e-03 1.27620406e+02] [ 2.76625719e-01 9.60977288e-01 -9.29189791e-04 8.58220767e+00] [-9.90584813e-04 1.25206897e-03 9.99998726e-01 -3.03994833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.74028169300001 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:127.65, Y:8.58, Z:-0.30 [[ 9.61652577e-01 -2.74256918e-01 2.73212602e-03 1.27649242e+02] [ 2.74252396e-01 9.61655834e-01 1.91863294e-03 8.57892855e+00] [-3.15356329e-03 -1.09576620e-03 9.99994427e-01 -3.03694603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.770281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:127.68, Y:8.58, Z:-0.30 [[ 9.61890303e-01 -2.73426159e-01 2.27617050e-03 1.27675933e+02] [ 2.73425563e-01 9.61892993e-01 5.74852468e-04 8.58202995e+00] [-2.34661216e-03 6.94181861e-05 9.99997244e-01 -3.04607791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.800281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:127.70, Y:8.58, Z:-0.31 [[ 9.62168448e-01 -2.72452597e-01 1.20802385e-03 1.27703807e+02] [ 2.72452428e-01 9.62169206e-01 3.05278205e-04 8.58457400e+00] [-1.24549719e-03 3.53999750e-05 9.99999224e-01 -3.05001020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.830281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:127.73, Y:8.59, Z:-0.30 [[ 9.62597602e-01 -2.70934364e-01 6.52726495e-04 1.27731549e+02] [ 2.70934315e-01 9.62597824e-01 1.65033344e-04 8.58718453e+00] [-6.73026308e-04 1.79853042e-05 9.99999773e-01 -3.04893102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.860281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:127.76, Y:8.59, Z:-0.30 [[ 9.63973260e-01 -2.65994803e-01 1.52273766e-03 1.27760005e+02] [ 2.65994526e-01 9.63974462e-01 3.85397060e-04 8.58709119e+00] [-1.57039383e-03 3.35274226e-05 9.99998766e-01 -3.03280178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.890281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.79, Y:8.59, Z:-0.30 [[ 9.64786375e-01 -2.63030082e-01 1.55751030e-03 1.27787752e+02] [ 2.63029788e-01 9.64787632e-01 3.94488964e-04 8.59211686e+00] [-1.60642913e-03 2.90740260e-05 9.99998709e-01 -3.03465986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:127.82, Y:8.60, Z:-0.30 [[ 9.66833044e-01 -2.55408617e-01 5.50858037e-04 1.27815513e+02] [ 2.55408579e-01 9.66833201e-01 1.39570171e-04 8.59601972e+00] [-5.68235263e-04 5.75281535e-06 9.99999839e-01 -3.04585273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.950281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:127.84, Y:8.60, Z:-0.31 [[ 9.67859409e-01 -2.51491826e-01 -1.58522980e-04 1.27842825e+02] [ 2.51491822e-01 9.67859422e-01 -4.03175406e-05 8.60166433e+00] [ 1.63567492e-04 -8.45522123e-07 9.99999987e-01 -3.05176126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 136.980281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:127.87, Y:8.61, Z:-0.30 [[ 9.69855017e-01 -2.43681208e-01 -8.45184389e-04 1.27868829e+02] [ 2.43681114e-01 9.69855385e-01 -2.14569251e-04 8.60692695e+00] [ 8.71993126e-04 2.14559133e-06 9.99999620e-01 -3.04382548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.010281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:127.90, Y:8.61, Z:-0.30 [[ 9.70699966e-01 -2.40294565e-01 -3.13667423e-04 1.27895831e+02] [ 2.40294552e-01 9.70700016e-01 -7.97604636e-05 8.61391362e+00] [ 3.23642978e-04 2.05090654e-06 9.99999948e-01 -3.04824926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.040281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.92, Y:8.62, Z:-0.31 [[ 9.71424689e-01 -2.37347823e-01 -2.92571707e-04 1.27923547e+02] [ 2.37347811e-01 9.71424733e-01 -7.44563045e-05 8.62033622e+00] [ 3.01883434e-04 2.88743827e-06 9.99999954e-01 -3.05212220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.070281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:127.95, Y:8.63, Z:-0.31 [[ 9.71947380e-01 -2.35197575e-01 -6.25758074e-04 1.27950664e+02] [ 2.35197521e-01 9.71947581e-01 -1.59267360e-04 8.62672876e+00] [ 6.45663343e-04 7.62274532e-06 9.99999792e-01 -3.05401264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.100281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:127.98, Y:8.63, Z:-0.31 [[ 9.72525403e-01 -2.32789320e-01 -1.86359552e-03 1.27978277e+02] [ 2.32788838e-01 9.72527188e-01 -4.74498923e-04 8.63354496e+00] [ 1.92285560e-03 2.76380199e-05 9.99998151e-01 -3.05657304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.130281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.01, Y:8.64, Z:-0.31 [[ 9.72581368e-01 -2.32547736e-01 -2.65187150e-03 1.28005492e+02] [ 2.32546758e-01 9.72584983e-01 -6.75683772e-04 8.64117829e+00] [ 2.73629912e-03 4.04733285e-05 9.99996256e-01 -3.06013571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.160281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:128.03, Y:8.65, Z:-0.31 [[ 9.72312374e-01 -2.33672817e-01 -2.37968100e-03 1.28032025e+02] [ 2.33672032e-01 9.72315285e-01 -6.06488688e-04 8.64779555e+00] [ 2.45552013e-03 3.36315599e-05 9.99996985e-01 -3.06294613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:128.06, Y:8.65, Z:-0.31 [[ 9.72210629e-01 -2.34101014e-01 -1.79124826e-03 1.28059708e+02] [ 2.34100569e-01 9.72212279e-01 -4.56919354e-04 8.65393735e+00] [ 1.84843884e-03 2.48896148e-05 9.99998291e-01 -3.06158427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.220281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:128.09, Y:8.66, Z:-0.31 [[ 9.72143448e-01 -2.34382337e-01 -1.42682914e-03 1.28086811e+02] [ 2.34382055e-01 9.72144495e-01 -3.64267254e-04 8.66053177e+00] [ 1.47246190e-03 1.96968790e-05 9.99998916e-01 -3.05965072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.250281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:128.11, Y:8.67, Z:-0.31 [[ 9.72184459e-01 -2.34215010e-01 -8.40835663e-04 1.28113134e+02] [ 2.34214912e-01 9.72184822e-01 -2.14722683e-04 8.66745060e+00] [ 8.67738945e-04 1.18138038e-05 9.99999623e-01 -3.05798650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.280281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.14, Y:8.67, Z:-0.31 [[ 9.72278304e-01 -2.33826202e-01 -4.54200403e-04 1.28139806e+02] [ 2.33826173e-01 9.72278410e-01 -1.16147628e-04 8.67473970e+00] [ 4.68767604e-04 6.72387726e-06 9.99999890e-01 -3.05639391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.310281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:128.17, Y:8.68, Z:-0.31 [[ 9.72461947e-01 -2.33061694e-01 9.60027490e-05 1.28166928e+02] [ 2.33061693e-01 9.72461951e-01 2.44576343e-05 8.68219720e+00] [-9.90591583e-05 -1.40955550e-06 9.99999995e-01 -3.05034501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.340281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:128.19, Y:8.69, Z:-0.30 [[ 9.73047921e-01 -2.30596317e-01 1.75583471e-03 1.28193873e+02] [ 2.30595881e-01 9.73049504e-01 4.49252627e-04 8.69131791e+00] [-1.81211009e-03 -3.22560820e-05 9.99998358e-01 -3.04909731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.370281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:128.22, Y:8.70, Z:-0.30 [[ 9.73171013e-01 -2.30074511e-01 1.97463865e-03 1.28220505e+02] [ 2.30080129e-01 9.73165852e-01 -3.37032020e-03 8.70195599e+00] [-1.14622614e-03 3.73422304e-03 9.99992371e-01 -3.04047730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.400281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:128.25, Y:8.71, Z:-0.31 [[ 9.73419791e-01 -2.29025567e-01 1.09530543e-03 1.28245756e+02] [ 2.29019210e-01 9.73412850e-01 4.19813327e-03 8.70649884e+00] [-2.02766424e-03 -3.83570002e-03 9.99990588e-01 -3.05175313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:128.27, Y:8.72, Z:-0.31 [[ 9.73223418e-01 -2.29859588e-01 8.64670315e-04 1.28271910e+02] [ 2.29859482e-01 9.73223802e-01 2.21591753e-04 8.71906373e+00] [-8.92452721e-04 -1.69056133e-05 9.99999602e-01 -3.05909838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.460281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:128.30, Y:8.73, Z:-0.31 [[ 9.72941835e-01 -2.31049716e-01 4.62457983e-04 1.28297190e+02] [ 2.31049686e-01 9.72941945e-01 1.18564604e-04 8.72728449e+00] [-4.77339088e-04 -8.50569229e-06 9.99999886e-01 -3.06683612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.49028169300001 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:128.32, Y:8.74, Z:-0.31 [[ 9.72312373e-01 -2.33684934e-01 -7.68564511e-06 1.28323096e+02] [ 2.33684934e-01 9.72312373e-01 -2.06625074e-06 8.73734170e+00] [ 7.95569952e-06 2.13021692e-07 1.00000000e+00 -3.07117181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.520281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:128.35, Y:8.75, Z:-0.31 [[ 9.72192881e-01 -2.34181417e-01 -2.55433232e-04 1.28349232e+02] [ 2.34181408e-01 9.72192915e-01 -6.57033093e-05 8.74685614e+00] [ 2.63716872e-04 4.05857573e-06 9.99999965e-01 -3.06238025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.38, Y:8.76, Z:-0.31 [[ 9.72332519e-01 -2.33600766e-01 -3.92809625e-04 1.28375556e+02] [ 2.33600744e-01 9.72332599e-01 -1.01071389e-04 8.75721119e+00] [ 4.05551957e-04 6.51437812e-06 9.99999918e-01 -3.06216606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.580281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:128.40, Y:8.77, Z:-0.31 [[ 9.72686484e-01 -2.32120208e-01 -1.10117205e-03 1.28401982e+02] [ 2.32120036e-01 9.72687107e-01 -2.83378651e-04 8.76840081e+00] [ 1.13687376e-03 2.00344885e-05 9.99999354e-01 -3.05440964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.610281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:128.43, Y:8.78, Z:-0.31 [[ 9.73586691e-01 -2.28314189e-01 -1.25949864e-03 1.28425317e+02] [ 2.28313961e-01 9.73587505e-01 -3.24163040e-04 8.78427598e+00] [ 1.30024316e-03 2.80396995e-05 9.99999154e-01 -3.05698779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.640281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:128.45, Y:8.80, Z:-0.31 [[ 9.73839883e-01 -2.27233110e-01 -9.97636483e-04 1.28450794e+02] [ 2.27232965e-01 9.73840394e-01 -2.57017963e-04 8.79637104e+00] [ 1.02994170e-03 2.35984471e-05 9.99999469e-01 -3.05852817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.670281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:128.48, Y:8.81, Z:-0.31 [[ 9.73961918e-01 -2.26709561e-01 -9.78284358e-04 1.28475619e+02] [ 2.26709422e-01 9.73962409e-01 -2.52062461e-04 8.80842780e+00] [ 1.00995716e-03 2.37129572e-05 9.99999490e-01 -3.06179315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.700281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:128.50, Y:8.83, Z:-0.31 [[ 9.73849924e-01 -2.27185027e-01 -1.81352090e-03 1.28499991e+02] [ 2.27184549e-01 9.73851612e-01 -4.67643899e-04 8.82568134e+00] [ 1.87234194e-03 4.34110476e-05 9.99998246e-01 -3.06805708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.730281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:128.52, Y:8.84, Z:-0.31 [[ 9.73670890e-01 -2.27945588e-01 -2.40981953e-03 1.28524691e+02] [ 2.27944747e-01 9.73673870e-01 -6.21528211e-04 8.83789423e+00] [ 2.48805292e-03 5.58582230e-05 9.99996903e-01 -3.06928728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.760281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:128.55, Y:8.86, Z:-0.31 [[ 9.73109257e-01 -2.30338473e-01 -1.60031823e-03 1.28549100e+02] [ 2.30338105e-01 9.73110573e-01 -4.13123646e-04 8.85617227e+00] [ 1.65244486e-03 3.34001766e-05 9.99998634e-01 -3.06218847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.790281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:128.57, Y:8.87, Z:-0.31 [[ 9.72694615e-01 -2.32087475e-01 -7.68265237e-04 1.28573465e+02] [ 2.32087390e-01 9.72694918e-01 -1.98389033e-04 8.86815990e+00] [ 7.93331301e-04 1.46672697e-05 9.99999685e-01 -3.05407911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.820281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:128.60, Y:8.88, Z:-0.31 [[ 9.72188001e-01 -2.34201614e-01 3.09035780e-04 1.28599282e+02] [ 2.34201600e-01 9.72188050e-01 7.97503602e-05 8.87999575e+00] [-3.19118555e-04 -5.15566896e-06 9.99999949e-01 -3.05407031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.850281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:128.63, Y:8.89, Z:-0.31 [[ 9.72148216e-01 -2.34366703e-01 3.09020744e-04 1.28626797e+02] [ 2.34366690e-01 9.72148265e-01 7.98085663e-05 8.88731066e+00] [-3.19118451e-04 -5.16158652e-06 9.99999949e-01 -3.05421475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.880281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:128.65, Y:8.90, Z:-0.31 [[ 9.71146112e-01 -2.38482146e-01 1.22279519e-03 1.28651134e+02] [ 2.38481937e-01 9.71146882e-01 3.16215969e-04 8.90218862e+00] [-1.26292560e-03 -1.54773435e-05 9.99999202e-01 -3.05688400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.910281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:128.68, Y:8.91, Z:-0.31 [[ 9.70625371e-01 -2.40590772e-01 1.57169551e-03 1.28677715e+02] [ 2.40590429e-01 9.70626643e-01 4.06710216e-04 8.91303220e+00] [-1.62338026e-03 -1.66283568e-05 9.99998682e-01 -3.05636020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:128.70, Y:8.92, Z:-0.31 [[ 9.70039664e-01 -2.42939326e-01 1.88003015e-03 1.28703389e+02] [ 2.42938839e-01 9.70041486e-01 4.86804282e-04 8.92314150e+00] [-1.94197114e-03 -1.54871216e-05 9.99998114e-01 -3.06037012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 137.970281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:128.73, Y:8.93, Z:-0.31 [[ 9.69369870e-01 -2.45598126e-01 1.90158324e-03 1.28729406e+02] [ 2.45597632e-01 9.69371735e-01 4.92733658e-04 8.93270993e+00] [-1.96435550e-03 -1.06168214e-05 9.99998071e-01 -3.06656514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.000281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:128.76, Y:8.94, Z:-0.31 [[ 9.67951060e-01 -2.51138101e-01 6.31814370e-04 1.28755125e+02] [ 2.51138048e-01 9.67951266e-01 1.63758936e-04 8.94253849e+00] [-6.52691628e-04 1.61991521e-07 9.99999787e-01 -3.07387624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.030281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:128.78, Y:8.95, Z:-0.31 [[ 9.67217444e-01 -2.53948952e-01 5.88642148e-04 1.28781150e+02] [ 2.53948906e-01 9.67217623e-01 1.52617257e-04 8.95057886e+00] [-6.08102051e-04 1.87095623e-06 9.99999815e-01 -3.07220168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.060281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:128.81, Y:8.96, Z:-0.31 [[ 9.65694395e-01 -2.59676986e-01 1.48272363e-03 1.28807453e+02] [ 2.59676701e-01 9.65695533e-01 3.84722543e-04 8.95979788e+00] [-1.53176317e-03 1.35043776e-05 9.99998827e-01 -3.06658937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.090281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:128.83, Y:8.97, Z:-0.31 [[ 9.65038362e-01 -2.62102830e-01 1.75118129e-03 1.28834425e+02] [ 2.62102437e-01 9.65039950e-01 4.54735980e-04 8.96732283e+00] [-1.80914749e-03 2.01512185e-05 9.99998363e-01 -3.05955798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.120281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:128.86, Y:8.97, Z:-0.31 [[ 9.64076739e-01 -2.65614805e-01 2.19483335e-03 1.28860657e+02] [ 2.65614195e-01 9.64079236e-01 5.70204043e-04 8.97250210e+00] [-2.26744789e-03 3.32584384e-05 9.99997429e-01 -3.07151408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.150281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:128.89, Y:8.98, Z:-0.31 [[ 9.63743320e-01 -2.66825683e-01 1.69367673e-03 1.28886870e+02] [ 2.66825322e-01 9.63744808e-01 4.40138739e-04 8.97881395e+00] [-1.74971247e-03 2.77350680e-05 9.99998469e-01 -3.07354401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:128.91, Y:8.99, Z:-0.31 [[ 9.63497249e-01 -2.67717302e-01 7.05375316e-04 1.28913667e+02] [ 2.67717240e-01 9.63497507e-01 1.83365717e-04 8.98554729e+00] [-7.28717533e-04 1.21687692e-05 9.99999734e-01 -3.08008180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.210281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:128.94, Y:8.99, Z:-0.31 [[ 9.63347979e-01 -2.68254382e-01 -5.08628187e-04 1.28940188e+02] [ 2.68254350e-01 9.63348113e-01 -1.32373101e-04 8.99212977e+00] [ 5.25495669e-04 -8.92036391e-06 9.99999862e-01 -3.07737219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.24028169300001 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:128.97, Y:9.00, Z:-0.31 [[ 9.63100376e-01 -2.69134279e-01 -2.09883005e-03 1.28968187e+02] [ 2.69133727e-01 9.63102662e-01 -5.46562112e-04 8.99740359e+00] [ 2.16848741e-03 -3.84717781e-05 9.99997648e-01 -3.08225536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.270281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:128.99, Y:9.00, Z:-0.31 [[ 9.63100237e-01 -2.69135144e-01 -2.05138124e-03 1.28994820e+02] [ 2.69134616e-01 9.63102421e-01 -5.34327124e-04 9.00303910e+00] [ 2.11949644e-03 -3.74871227e-05 9.99997753e-01 -3.08472115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.300281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:129.02, Y:9.01, Z:-0.31 [[ 9.63306284e-01 -2.68404476e-01 -2.00612453e-04 1.29022112e+02] [ 2.68404471e-01 9.63306305e-01 -5.23863511e-05 9.00807754e+00] [ 2.07311972e-04 -3.38117809e-06 9.99999979e-01 -3.07746493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.330281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:129.05, Y:9.01, Z:-0.31 [[ 9.63501563e-01 -2.67701870e-01 6.68009817e-04 1.29048946e+02] [ 2.67701814e-01 9.63501795e-01 1.74131441e-04 9.01362918e+00] [-6.90243970e-04 1.10515241e-05 9.99999762e-01 -3.06689246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.360281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:129.08, Y:9.02, Z:-0.31 [[ 9.63683460e-01 -2.67039050e-01 2.08199938e-03 1.29076325e+02] [ 2.67038500e-01 9.63685708e-01 5.43166567e-04 9.01919046e+00] [-2.15143973e-03 3.25333537e-05 9.99997685e-01 -3.06581205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.390281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:129.10, Y:9.02, Z:-0.31 [[ 9.64336871e-01 -2.64669937e-01 2.05491390e-03 1.29104369e+02] [ 2.64669395e-01 9.64339060e-01 5.36506668e-04 9.02378848e+00] [-2.12363093e-03 2.64996579e-05 9.99997745e-01 -3.06893211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.420281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:129.13, Y:9.03, Z:-0.31 [[ 9.64780408e-01 -2.63053085e-01 1.35589332e-03 1.29131946e+02] [ 2.63052847e-01 9.64781361e-01 3.54239318e-04 9.02983247e+00] [-1.40132435e-03 1.49084447e-05 9.99999018e-01 -3.07691513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.450281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:129.16, Y:9.04, Z:-0.31 [[ 9.65356822e-01 -2.60933312e-01 1.17007394e-04 1.29159532e+02] [ 2.60933310e-01 9.65356829e-01 3.05033829e-05 9.03560493e+00] [-1.20913235e-04 1.08447778e-06 9.99999993e-01 -3.07842061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.480281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:129.19, Y:9.04, Z:-0.31 [[ 9.66093690e-01 -2.58191033e-01 -6.10468880e-04 1.29185845e+02] [ 2.58190983e-01 9.66093883e-01 -1.59873512e-04 9.04132306e+00] [ 6.31048158e-04 -3.16476900e-06 9.99999801e-01 -3.07887415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.510281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:129.21, Y:9.05, Z:-0.31 [[ 9.67783435e-01 -2.51783426e-01 -5.73859171e-04 1.29212131e+02] [ 2.51783382e-01 9.67783605e-01 -1.50286512e-04 9.04751111e+00] [ 5.93211150e-04 9.56594400e-07 9.99999824e-01 -3.07003643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.540281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:129.24, Y:9.05, Z:-0.31 [[ 9.68615806e-01 -2.48562525e-01 -3.02953475e-04 1.29239333e+02] [ 2.48562513e-01 9.68615853e-01 -7.94756601e-05 9.05479471e+00] [ 3.13200210e-04 1.67850356e-06 9.99999951e-01 -3.07637854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.570281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:129.27, Y:9.06, Z:-0.31 [[ 9.70039346e-01 -2.42945079e-01 -1.16436106e-03 1.29266800e+02] [ 2.42944887e-01 9.70040045e-01 -3.05389243e-04 9.06157146e+00] [ 1.20366967e-03 1.33640154e-05 9.99999276e-01 -3.08666558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.600281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:129.29, Y:9.07, Z:-0.31 [[ 9.70555576e-01 -2.40872772e-01 -1.47690720e-03 1.29292698e+02] [ 2.40872461e-01 9.70556700e-01 -3.87419463e-04 9.06836836e+00] [ 1.52674098e-03 2.02658461e-05 9.99998834e-01 -3.08833966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.630281693 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:129.32, Y:9.08, Z:-0.31 [[ 9.70941088e-01 -2.39315204e-01 -1.27908154e-03 1.29319081e+02] [ 2.39314969e-01 9.70941931e-01 -3.35840972e-04 9.07640117e+00] [ 1.32228575e-03 1.99784398e-05 9.99999126e-01 -3.08353944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.660281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:129.34, Y:9.08, Z:-0.31 [[ 9.71509930e-01 -2.36997780e-01 -7.13363483e-04 1.29344522e+02] [ 2.36997706e-01 9.71510191e-01 -1.87353298e-04 9.08494023e+00] [ 7.37442210e-04 1.29500807e-05 9.99999728e-01 -3.08284965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.690281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:129.37, Y:9.09, Z:-0.31 [[ 9.71566255e-01 -2.36766972e-01 -6.42070880e-04 1.29370389e+02] [ 2.36766912e-01 9.71566468e-01 -1.68687069e-04 9.09240619e+00] [ 6.63754063e-04 1.18695240e-05 9.99999780e-01 -3.08306969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.720281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:129.40, Y:9.10, Z:-0.31 [[ 9.71301262e-01 -2.37850966e-01 -8.80898363e-04 1.29396472e+02] [ 2.37850854e-01 9.71301662e-01 -2.31653364e-04 9.10154507e+00] [ 9.10717020e-04 1.54827775e-05 9.99999585e-01 -3.09747757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:129.42, Y:9.11, Z:-0.31 [[ 9.71215738e-01 -2.38196558e-01 -1.54567966e-03 1.29422655e+02] [ 2.38196213e-01 9.71216968e-01 -4.06477956e-04 9.10996541e+00] [ 1.59801196e-03 2.66027472e-05 9.99998723e-01 -3.10224706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.780281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:129.45, Y:9.12, Z:-0.31 [[ 9.71149586e-01 -2.38462676e-01 -2.00851246e-03 1.29449530e+02] [ 2.38462093e-01 9.71151662e-01 -5.28637862e-04 9.11856684e+00] [ 2.07663062e-03 3.44323545e-05 9.99997843e-01 -3.09780005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.810281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:129.48, Y:9.13, Z:-0.31 [[ 9.71190580e-01 -2.38299669e-01 -1.45790083e-03 1.29475472e+02] [ 2.38299362e-01 9.71191674e-01 -3.83815818e-04 9.12674289e+00] [ 1.50736433e-03 2.53414693e-05 9.99998864e-01 -3.09447915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.840281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:129.50, Y:9.14, Z:-0.31 [[ 9.71396117e-01 -2.37461489e-01 1.27493109e-03 1.29500609e+02] [ 2.37461252e-01 9.71396953e-01 3.35715116e-04 9.13535174e+00] [-1.31818359e-03 -2.33656258e-05 9.99999131e-01 -3.08530121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:129.53, Y:9.14, Z:-0.31 [[ 9.71497720e-01 -2.37042972e-01 1.67614478e-03 1.29526138e+02] [ 2.37042563e-01 9.71499165e-01 4.41548959e-04 9.14256326e+00] [-1.73303933e-03 -3.16461521e-05 9.99998498e-01 -3.08539351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.900281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:129.55, Y:9.15, Z:-0.31 [[ 9.71701636e-01 -2.36210845e-01 6.06534563e-04 1.29552456e+02] [ 2.36210791e-01 9.71701825e-01 1.59817836e-04 9.15129518e+00] [-6.27121448e-04 -1.20252433e-05 9.99999803e-01 -3.10001036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.930281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:129.58, Y:9.16, Z:-0.31 [[ 9.71895242e-01 -2.35412244e-01 -8.45354982e-04 1.29578310e+02] [ 2.35412139e-01 9.71895609e-01 -2.22994325e-04 9.15985655e+00] [ 8.74092390e-04 1.77202987e-05 9.99999618e-01 -3.09471299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.960281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:129.60, Y:9.17, Z:-0.31 [[ 9.72164151e-01 -2.34294133e-01 -1.76710673e-03 1.29604718e+02] [ 2.34293672e-01 9.72165756e-01 -4.66488752e-04 9.16882141e+00] [ 1.82721623e-03 3.94817170e-05 9.99998330e-01 -3.09796546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 138.990281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:129.63, Y:9.18, Z:-0.31 [[ 9.72761407e-01 -2.31797273e-01 -2.29561892e-03 1.29630607e+02] [ 2.31796487e-01 9.72764114e-01 -6.06420614e-04 9.17976346e+00] [ 2.37366235e-03 5.77861674e-05 9.99997181e-01 -3.09518263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.020281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:129.66, Y:9.19, Z:-0.31 [[ 9.72994967e-01 -2.30823029e-01 -1.23413259e-03 1.29657300e+02] [ 2.30822800e-01 9.72995749e-01 -3.26293910e-04 9.18894087e+00] [ 1.27612191e-03 3.26163913e-05 9.99999185e-01 -3.09740410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.050281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:129.68, Y:9.20, Z:-0.31 [[ 9.73073734e-01 -2.30494021e-01 1.19812095e-04 1.29682807e+02] [ 2.30494019e-01 9.73073741e-01 3.16196035e-05 9.19798234e+00] [-1.23874133e-04 -3.15223432e-06 9.99999992e-01 -3.09419909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.080281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:129.71, Y:9.21, Z:-0.31 [[ 9.72981275e-01 -2.30882539e-01 8.31415312e-04 1.29708948e+02] [ 2.30882436e-01 9.72981630e-01 2.19930485e-04 9.20745671e+00] [-8.59729934e-04 -2.20290520e-05 9.99999630e-01 -3.08883654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.110281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:129.73, Y:9.22, Z:-0.31 [[ 9.72400367e-01 -2.33315889e-01 1.10557781e-03 1.29733788e+02] [ 2.33315707e-01 9.72400995e-01 2.92630927e-04 9.21905822e+00] [-1.14334041e-03 -2.66057514e-05 9.99999346e-01 -3.09273095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.140281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:129.76, Y:9.23, Z:-0.31 [[ 9.71958831e-01 -2.35147618e-01 1.27630017e-03 1.29760594e+02] [ 2.35147377e-01 9.71959668e-01 3.38013368e-04 9.22781013e+00] [-1.31999532e-03 -2.84164418e-05 9.99999128e-01 -3.09294687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.170281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:129.79, Y:9.24, Z:-0.31 [[ 9.71418159e-01 -2.37362356e-01 2.42314010e-03 1.29786583e+02] [ 2.37361492e-01 9.71421180e-01 6.42280353e-04 9.23813210e+00] [-2.50634280e-03 -4.87626474e-05 9.99996858e-01 -3.08089659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.200281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:129.81, Y:9.25, Z:-0.31 [[ 9.71293590e-01 -2.37863411e-01 3.12400256e-03 1.29812469e+02] [ 2.37861976e-01 9.71298612e-01 8.28666790e-04 9.24785357e+00] [-3.23144886e-03 -6.17973203e-05 9.99994777e-01 -3.08242550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.230281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:129.84, Y:9.26, Z:-0.31 [[ 9.71277097e-01 -2.37936835e-01 2.61992546e-03 1.29837983e+02] [ 2.37935824e-01 9.71280629e-01 6.95441789e-04 9.26078472e+00] [-2.71015407e-03 -5.20925576e-05 9.99996326e-01 -3.08414312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.260281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:129.86, Y:9.27, Z:-0.31 [[ 9.71191943e-01 -2.38291625e-01 1.81965976e-03 1.29864167e+02] [ 2.38291138e-01 9.71193647e-01 4.83340093e-04 9.27013462e+00] [-1.88241789e-03 -3.58072098e-05 9.99998228e-01 -3.09362264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.290281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:129.89, Y:9.28, Z:-0.31 [[ 9.71027171e-01 -2.38968355e-01 5.99086157e-04 1.29890847e+02] [ 2.38968302e-01 9.71027356e-01 1.59182870e-04 9.27873639e+00] [-6.19768715e-04 -1.14082905e-05 9.99999808e-01 -3.09942552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.320281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:129.92, Y:9.29, Z:-0.31 [[ 9.70693747e-01 -2.40319070e-01 -6.27417322e-04 1.29916692e+02] [ 2.40319012e-01 9.70693950e-01 -1.66908738e-04 9.28683724e+00] [ 6.49141551e-04 1.12369574e-05 9.99999789e-01 -3.10907503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.350281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:129.94, Y:9.29, Z:-0.31 [[ 9.69588880e-01 -2.44722897e-01 -2.84748881e-03 1.29943759e+02] [ 2.44721726e-01 9.69593060e-01 -7.57965631e-04 9.29455572e+00] [ 2.94639694e-03 3.80726706e-05 9.99995659e-01 -3.12578258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:129.97, Y:9.30, Z:-0.31 [[ 9.68938987e-01 -2.47282050e-01 -2.97112135e-03 1.29969746e+02] [ 2.47280787e-01 9.68943542e-01 -7.91069368e-04 9.30103591e+00] [ 3.07446610e-03 3.17967259e-05 9.99995273e-01 -3.12820628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.410281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:130.00, Y:9.31, Z:-0.31 [[ 9.68149595e-01 -2.50363791e-01 -2.08184974e-03 1.29997207e+02] [ 2.50363177e-01 9.68151833e-01 -5.54747017e-04 9.30839699e+00] [ 2.15443521e-03 1.58595834e-05 9.99997679e-01 -3.12210355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.440281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:130.02, Y:9.31, Z:-0.31 [[ 9.66858325e-01 -2.55312078e-01 8.49263879e-04 1.30023655e+02] [ 2.55311978e-01 9.66858698e-01 2.26310182e-04 9.31486126e+00] [-8.78897891e-04 -1.98264308e-06 9.99999614e-01 -3.10486616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.470281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:130.05, Y:9.32, Z:-0.31 [[ 9.66548108e-01 -2.56479593e-01 1.72445179e-03 1.30050824e+02] [ 2.56479181e-01 9.66549646e-01 4.59879252e-04 9.32159954e+00] [-1.78471791e-03 -2.20943785e-06 9.99998407e-01 -3.10479802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.500281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:130.08, Y:9.33, Z:-0.31 [[ 9.66485028e-01 -2.56715889e-01 1.90847778e-03 1.30078069e+02] [ 2.56715384e-01 9.66486913e-01 5.09312825e-04 9.32666775e+00] [-1.97526749e-03 -2.30761586e-06 9.99998049e-01 -3.10417672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:130.11, Y:9.33, Z:-0.31 [[ 9.66527588e-01 -2.56555950e-01 1.86186322e-03 1.30105520e+02] [ 2.56555468e-01 9.66529381e-01 4.97218360e-04 9.33251467e+00] [-1.92710983e-03 -2.90407262e-06 9.99998143e-01 -3.11364150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.560281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:130.13, Y:9.34, Z:-0.31 [[ 9.66635328e-01 -2.56153520e-01 1.23146425e-03 1.30133365e+02] [ 2.56153308e-01 9.66636113e-01 3.29068564e-04 9.33790597e+00] [-1.27466988e-03 -2.64565863e-06 9.99999188e-01 -3.11596073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.590281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:130.16, Y:9.34, Z:-0.31 [[ 9.66789782e-01 -2.55570926e-01 1.00978961e-03 1.30160845e+02] [ 2.55570784e-01 9.66790309e-01 2.69951596e-04 9.34054762e+00] [-1.04524659e-03 -2.91372170e-06 9.99999454e-01 -3.11629510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.620281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:130.19, Y:9.35, Z:-0.31 [[ 9.66675370e-01 -2.56001225e-01 1.44995486e-03 1.30187829e+02] [ 2.56000932e-01 9.66676457e-01 3.87859740e-04 9.34664463e+00] [-1.50092979e-03 -3.74466344e-06 9.99998874e-01 -3.11256734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.650281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:130.21, Y:9.35, Z:-0.31 [[ 9.66525166e-01 -2.56566967e-01 1.57924754e-03 1.30214866e+02] [ 2.56566619e-01 9.66526457e-01 4.22748665e-04 9.35218670e+00] [-1.63484787e-03 -3.41502202e-06 9.99998664e-01 -3.11153676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.680281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:130.24, Y:9.35, Z:-0.31 [[ 9.65935504e-01 -2.58781820e-01 7.55774806e-04 1.30243342e+02] [ 2.58781741e-01 9.65935800e-01 2.02410600e-04 9.35316841e+00] [-7.82410126e-04 6.51358136e-08 9.99999694e-01 -3.12433309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.710281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:130.27, Y:9.36, Z:-0.31 [[ 9.65628959e-01 -2.59924406e-01 1.30462082e-04 1.30270214e+02] [ 2.59924404e-01 9.65628968e-01 3.49081394e-05 9.35610115e+00] [-1.35051443e-04 2.01968721e-07 9.99999991e-01 -3.13079152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:130.30, Y:9.36, Z:-0.31 [[ 9.65446407e-01 -2.60600351e-01 8.32022744e-04 1.30299021e+02] [ 2.60600256e-01 9.65446765e-01 2.23121347e-04 9.35747325e+00] [-8.61419169e-04 1.41363667e-06 9.99999629e-01 -3.13295565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.770281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:130.33, Y:9.37, Z:-0.31 [[ 9.65400919e-01 -2.60768812e-01 8.31982268e-04 1.30326468e+02] [ 2.60768716e-01 9.65401278e-01 2.23272197e-04 9.36502500e+00] [-8.61419170e-04 1.40776440e-06 9.99999629e-01 -3.13310009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.800281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:130.35, Y:9.37, Z:-0.31 [[ 9.65631672e-01 -2.59909803e-01 1.53894015e-03 1.30354209e+02] [ 2.59909474e-01 9.65632898e-01 4.13370890e-04 9.37010082e+00] [-1.59349039e-03 8.21101939e-07 9.99998730e-01 -3.12391471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.830281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:130.38, Y:9.37, Z:-0.31 [[ 9.66009070e-01 -2.58499509e-01 2.11689631e-03 1.30380397e+02] [ 2.58498883e-01 9.66011389e-01 5.68889409e-04 9.37488776e+00] [-2.19200358e-03 -2.33699668e-06 9.99997598e-01 -3.12089421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.860281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:130.41, Y:9.38, Z:-0.31 [[ 9.66412708e-01 -2.56986092e-01 2.15098731e-03 1.30408286e+02] [ 2.56985441e-01 9.66415102e-01 5.78397446e-04 9.38000518e+00] [-2.22738672e-03 -6.19821945e-06 9.99997519e-01 -3.12598966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.890281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:130.44, Y:9.38, Z:-0.31 [[ 9.67132476e-01 -2.54272771e-01 3.63108776e-04 1.30436100e+02] [ 2.54272753e-01 9.67132544e-01 9.76300904e-05 9.38250484e+00] [-3.75998988e-04 -2.09256313e-06 9.99999929e-01 -3.13737199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.920281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:130.46, Y:9.39, Z:-0.31 [[ 9.67383438e-01 -2.53316289e-01 -3.75634414e-04 1.30463166e+02] [ 2.53316269e-01 9.67383511e-01 -1.01271127e-04 9.38805889e+00] [ 3.89036165e-04 2.81370261e-06 9.99999924e-01 -3.14035558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.950281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:130.49, Y:9.39, Z:-0.31 [[ 9.67956337e-01 -2.51118478e-01 -2.01761545e-04 1.30491202e+02] [ 2.51118472e-01 9.67956358e-01 -5.44728710e-05 9.39288408e+00] [ 2.08975514e-04 2.06130997e-06 9.99999978e-01 -3.13362248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 139.980281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:130.52, Y:9.40, Z:-0.31 [[ 9.68166101e-01 -2.50307459e-01 7.58896433e-04 1.30517086e+02] [ 2.50307376e-01 9.68166399e-01 2.04565968e-04 9.39909537e+00] [-7.85942415e-04 -8.09646054e-06 9.99999691e-01 -3.13097387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.010281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:130.54, Y:9.41, Z:-0.31 [[ 9.68301586e-01 -2.49778959e-01 1.58450106e-03 1.30543677e+02] [ 2.49778594e-01 9.68302882e-01 4.27297483e-04 9.40523718e+00] [-1.64100687e-03 -1.79783831e-05 9.99998653e-01 -3.12816680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.040281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:130.57, Y:9.41, Z:-0.31 [[ 9.68478753e-01 -2.49087548e-01 2.07305702e-03 1.30571183e+02] [ 2.49086921e-01 9.68480972e-01 5.59423249e-04 9.41241463e+00] [-2.14706164e-03 -2.54181410e-05 9.99997695e-01 -3.12723745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.070281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:130.60, Y:9.42, Z:-0.31 [[ 9.68607582e-01 -2.48587369e-01 1.91610129e-03 1.30597064e+02] [ 2.48586832e-01 9.68609477e-01 5.17357081e-04 9.42047315e+00] [-1.98456231e-03 -2.47984413e-05 9.99998030e-01 -3.13313554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.100281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:130.62, Y:9.43, Z:-0.31 [[ 9.68769005e-01 -2.47962825e-01 1.02621778e-03 1.30623827e+02] [ 2.47962670e-01 9.68769548e-01 2.77226790e-04 9.42816191e+00] [-1.06291047e-03 -1.41050210e-05 9.99999435e-01 -3.13114883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.130281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:130.65, Y:9.44, Z:-0.31 [[ 9.68800978e-01 -2.47838046e-01 9.84317269e-04 1.30650918e+02] [ 2.47837903e-01 9.68801478e-01 2.66099784e-04 9.43562553e+00] [-1.01955768e-03 -1.38466030e-05 9.99999480e-01 -3.14343989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.160281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:130.68, Y:9.44, Z:-0.31 [[ 9.68595814e-01 -2.48635414e-01 1.60645668e-03 1.30678022e+02] [ 2.48635035e-01 9.68597146e-01 4.34678940e-04 9.44389022e+00] [-1.66408593e-03 -2.16067890e-05 9.99998615e-01 -3.13542576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.190281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:130.70, Y:9.45, Z:-0.31 [[ 9.68423660e-01 -2.49298561e-01 2.41710870e-03 1.30704131e+02] [ 2.49297704e-01 9.68426676e-01 6.54351232e-04 9.45200484e+00] [-2.50392136e-03 -3.11095648e-05 9.99996865e-01 -3.13197701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.220281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:130.73, Y:9.46, Z:-0.31 [[ 9.68255145e-01 -2.49947146e-01 2.89820326e-03 1.30730709e+02] [ 2.49945915e-01 9.68259481e-01 7.85123060e-04 9.46065561e+00] [-3.00245205e-03 -3.58053764e-05 9.99995492e-01 -3.13026202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.250281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:130.76, Y:9.47, Z:-0.31 [[ 9.68028618e-01 -2.50829098e-01 2.31484878e-03 1.30757421e+02] [ 2.50828314e-01 9.68031385e-01 6.27536119e-04 9.46824690e+00] [-2.39825059e-03 -2.68433045e-05 9.99997124e-01 -3.13286092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.280281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:130.78, Y:9.48, Z:-0.31 [[ 9.67673176e-01 -2.52201227e-01 1.77899764e-03 1.30782730e+02] [ 2.52200766e-01 9.67674811e-01 4.82459129e-04 9.47667143e+00] [-1.84316799e-03 -1.81981898e-05 9.99998301e-01 -3.13191949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.310281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:130.81, Y:9.49, Z:-0.31 [[ 9.67433996e-01 -2.53114160e-01 2.16459227e-03 1.30809864e+02] [ 2.53113479e-01 9.67436417e-01 5.87408233e-04 9.48530021e+00] [-2.24278674e-03 -2.03912135e-05 9.99997485e-01 -3.13508230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.340281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:130.84, Y:9.49, Z:-0.31 [[ 9.67247283e-01 -2.53819486e-01 2.89169304e-03 1.30837050e+02] [ 2.53818273e-01 9.67251605e-01 7.85313487e-04 9.49303506e+00] [-2.99632260e-03 -2.56278035e-05 9.99995511e-01 -3.13753843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.370281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:130.86, Y:9.50, Z:-0.31 [[ 9.67036042e-01 -2.54610466e-01 3.84750706e-03 1.30863589e+02] [ 2.54608322e-01 9.67043696e-01 1.04529703e-03 9.49934522e+00] [-3.98685102e-03 -3.12325840e-05 9.99992052e-01 -3.13618228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.400281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:130.89, Y:9.51, Z:-0.31 [[ 9.66950707e-01 -2.54930633e-01 4.08688042e-03 1.30889289e+02] [ 2.54928216e-01 9.66959343e-01 1.11067389e-03 9.50648838e+00] [-4.23499201e-03 -3.21057649e-05 9.99991032e-01 -3.13165359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.430281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:130.92, Y:9.51, Z:-0.31 [[ 9.66815628e-01 -2.55441146e-01 4.16680466e-03 1.30916347e+02] [ 2.55438634e-01 9.66824607e-01 1.13316670e-03 9.51418108e+00] [-4.31802668e-03 -3.12003791e-05 9.99990677e-01 -3.13459516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.460281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:130.94, Y:9.52, Z:-0.31 [[ 9.66649348e-01 -2.56090803e-01 2.55710271e-03 1.30942665e+02] [ 2.56089858e-01 9.66652730e-01 6.95645091e-04 9.52143158e+00] [-2.64997862e-03 -1.75968029e-05 9.99996489e-01 -3.14489772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.490281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:130.97, Y:9.53, Z:-0.32 [[ 9.66583460e-01 -2.56343764e-01 2.07107996e-03 1.30969229e+02] [ 2.56343144e-01 9.66585679e-01 5.63765087e-04 9.52869648e+00] [-2.14639389e-03 -1.40188594e-05 9.99997696e-01 -3.15034842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.520281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:131.00, Y:9.54, Z:-0.32 [[ 9.66479049e-01 -2.56740229e-01 1.64408014e-03 1.30996099e+02] [ 2.56739839e-01 9.66480447e-01 4.47832651e-04 9.53605989e+00] [-1.70394796e-03 -1.07200050e-05 9.99998548e-01 -3.15050621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.550281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:131.02, Y:9.54, Z:-0.32 [[ 9.66212122e-01 -2.57743186e-01 1.60807725e-03 1.31022920e+02] [ 2.57742814e-01 9.66213460e-01 4.38214259e-04 9.54149600e+00] [-1.66669262e-03 -8.93757336e-06 9.99998611e-01 -3.15326376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.580281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:131.05, Y:9.55, Z:-0.32 [[ 9.65899497e-01 -2.58912299e-01 1.60698925e-03 1.31049819e+02] [ 2.58911928e-01 9.65900834e-01 4.38052621e-04 9.54723342e+00] [-1.66560946e-03 -7.04612204e-06 9.99998613e-01 -3.15648646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.610281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:131.08, Y:9.55, Z:-0.32 [[ 9.65480192e-01 -2.60474305e-01 1.06496256e-03 1.31077431e+02] [ 2.60474144e-01 9.65480780e-01 2.90434206e-04 9.55276747e+00] [-1.10385153e-03 -3.01326257e-06 9.99999391e-01 -3.16077283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.640281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:131.11, Y:9.56, Z:-0.32 [[ 9.64639316e-01 -2.63573500e-01 -1.48356163e-05 1.31105282e+02] [ 2.63573500e-01 9.64639316e-01 -4.14282403e-06 9.55675547e+00] [ 1.54029574e-05 8.60556329e-08 1.00000000e+00 -3.17131733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.670281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:131.13, Y:9.56, Z:-0.32 [[ 9.64302367e-01 -2.64803597e-01 -1.33910619e-05 1.31132555e+02] [ 2.64803597e-01 9.64302367e-01 -3.75050734e-06 9.56257207e+00] [ 1.39061805e-05 7.06217430e-08 1.00000000e+00 -3.17031228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.700281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:131.16, Y:9.57, Z:-0.32 [[ 9.63895590e-01 -2.66279599e-01 6.82602091e-04 1.31159520e+02] [ 2.66279534e-01 9.63895832e-01 1.86490091e-04 9.56583377e+00] [-7.07615818e-04 2.00599058e-06 9.99999750e-01 -3.16447578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.730281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:131.19, Y:9.57, Z:-0.32 [[ 9.63727092e-01 -2.66886960e-01 1.20120850e-03 1.31187393e+02] [ 2.66886758e-01 9.63727841e-01 3.28375848e-04 9.57057069e+00] [-1.24527731e-03 4.12194166e-06 9.99999225e-01 -3.16562668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.760281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:131.22, Y:9.58, Z:-0.32 [[ 9.63550690e-01 -2.67523188e-01 1.18813653e-03 1.31215188e+02] [ 2.67522991e-01 9.63551422e-01 3.25018926e-04 9.57565095e+00] [-1.23178074e-03 4.68162829e-06 9.99999241e-01 -3.16034751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.790281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:131.24, Y:9.58, Z:-0.32 [[ 9.63232848e-01 -2.68667598e-01 4.49801132e-04 1.31243447e+02] [ 2.68667570e-01 9.63232953e-01 1.23071534e-04 9.57863211e+00] [-4.66328606e-04 2.30043292e-06 9.99999891e-01 -3.16133773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.820281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:131.27, Y:9.58, Z:-0.32 [[ 9.62975859e-01 -2.69587174e-01 5.01125460e-04 1.31270982e+02] [ 2.69587139e-01 9.62975989e-01 1.37217565e-04 9.58383842e+00] [-5.19563881e-04 2.95977691e-06 9.99999865e-01 -3.15749586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.850281693 meters Centerline goodness : 0.999547 Centerline is valid? [True, True] Translation: X:131.30, Y:9.59, Z:-0.32 [[ 9.62732035e-01 -2.70453659e-01 1.35932290e-03 1.31298596e+02] [ 2.70453403e-01 9.62732994e-01 3.72628813e-04 9.58888477e+00] [-1.40944383e-03 8.89180858e-06 9.99999007e-01 -3.15544814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.880281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:131.33, Y:9.59, Z:-0.31 [[ 9.62178484e-01 -2.72407798e-01 2.56067660e-03 1.31325232e+02] [ 2.72406893e-01 9.62181891e-01 7.02320733e-04 9.59253346e+00] [-2.65515429e-03 2.17880584e-05 9.99996475e-01 -3.14217604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.910281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:131.35, Y:9.60, Z:-0.31 [[ 9.61984168e-01 -2.73088491e-01 3.02270044e-03 1.31352727e+02] [ 2.73087233e-01 9.61988916e-01 8.29554493e-04 9.59874772e+00] [-3.13434610e-03 2.74426096e-05 9.99995088e-01 -3.14273303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.940281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:131.38, Y:9.60, Z:-0.31 [[ 9.62349163e-01 -2.71799641e-01 3.00725192e-03 1.31380431e+02] [ 2.71798387e-01 9.62353862e-01 8.25894847e-04 9.60369400e+00] [-3.11851842e-03 2.25670039e-05 9.99995137e-01 -3.14570599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 140.970281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:131.41, Y:9.61, Z:-0.31 [[ 9.62777222e-01 -2.70284906e-01 2.46770334e-03 1.31406225e+02] [ 2.70284056e-01 9.62780385e-01 6.77963074e-04 9.61042150e+00] [-2.55909955e-03 1.42534625e-05 9.99996725e-01 -3.14614494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.000281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:131.43, Y:9.62, Z:-0.31 [[ 9.63267274e-01 -2.68538068e-01 1.86148767e-03 1.31432732e+02] [ 2.68537581e-01 9.63269072e-01 5.11713270e-04 9.61843886e+00] [-1.93052800e-03 6.96275041e-06 9.99998137e-01 -3.14691111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.030281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:131.46, Y:9.63, Z:-0.31 [[ 9.64518729e-01 -2.64012908e-01 8.97260680e-04 1.31459025e+02] [ 2.64012792e-01 9.64519147e-01 2.46778363e-04 9.62815010e+00] [-9.30577778e-04 -1.13405539e-06 9.99999567e-01 -3.14389120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.060281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:131.49, Y:9.64, Z:-0.31 [[ 9.65022694e-01 -2.62165031e-01 8.35041276e-04 1.31485238e+02] [ 2.62164930e-01 9.65023055e-01 2.29784814e-04 9.63636825e+00] [-8.66075626e-04 -2.82902297e-06 9.99999625e-01 -3.14811289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.090281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:131.51, Y:9.64, Z:-0.31 [[ 9.65412663e-01 -2.60725665e-01 7.18826233e-04 1.31510750e+02] [ 2.60725590e-01 9.65412931e-01 1.97860317e-04 9.64466116e+00] [-7.45551404e-04 -3.60046221e-06 9.99999722e-01 -3.14870731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.120281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:131.54, Y:9.66, Z:-0.32 [[ 9.65995787e-01 -2.58555540e-01 1.08298143e-03 1.31536291e+02] [ 2.58555368e-01 9.65996394e-01 2.98272024e-04 9.65579040e+00] [-1.12327604e-03 -8.11885572e-06 9.99999369e-01 -3.15347681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.150281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:131.56, Y:9.67, Z:-0.31 [[ 9.66305520e-01 -2.57391760e-01 1.76760641e-03 1.31561668e+02] [ 2.57391300e-01 9.66307136e-01 4.87090863e-04 9.66526965e+00] [-1.83342386e-03 -1.57120776e-05 9.99998319e-01 -3.14652309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.180281693 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:131.59, Y:9.68, Z:-0.32 [[ 9.66716240e-01 -2.55841062e-01 2.24976966e-03 1.31587294e+02] [ 2.55840311e-01 9.66718858e-01 6.20346164e-04 9.67672116e+00] [-2.33360478e-03 -2.41169415e-05 9.99997277e-01 -3.15233477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.210281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:131.61, Y:9.69, Z:-0.32 [[ 9.66893746e-01 -2.55173445e-01 1.73096154e-03 1.31614011e+02] [ 2.55172999e-01 9.66895296e-01 4.77600965e-04 9.68688308e+00] [-1.79552966e-03 -2.00947380e-05 9.99998388e-01 -3.15726746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.240281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:131.64, Y:9.70, Z:-0.32 [[ 9.67292218e-01 -2.53661101e-01 1.34598351e-03 1.31639917e+02] [ 2.53660830e-01 9.67293154e-01 3.71620532e-04 9.70000948e+00] [-1.39622631e-03 -1.80423540e-05 9.99999025e-01 -3.17139317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.270281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:131.66, Y:9.71, Z:-0.32 [[ 9.67388788e-01 -2.53294693e-01 8.55044583e-04 1.31664884e+02] [ 2.53294583e-01 9.67389166e-01 2.36166766e-04 9.70922997e+00] [-8.86980655e-04 -1.18869200e-05 9.99999607e-01 -3.16977296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.300281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:131.69, Y:9.72, Z:-0.32 [[ 9.67359486e-01 -2.53407998e-01 1.08073223e-04 1.31690986e+02] [ 2.53407997e-01 9.67359492e-01 2.97810816e-05 9.71847585e+00] [-1.12092422e-04 -1.42239294e-06 9.99999994e-01 -3.16912919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.330281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:131.72, Y:9.73, Z:-0.32 [[ 9.67305316e-01 -2.53614307e-01 -4.57693634e-04 1.31717284e+02] [ 2.53614276e-01 9.67305424e-01 -1.26720832e-04 9.72736377e+00] [ 4.74867750e-04 6.50009487e-06 9.99999887e-01 -3.17082240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.360281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:131.74, Y:9.74, Z:-0.32 [[ 9.67410554e-01 -2.53211239e-01 -9.42609909e-04 1.31741854e+02] [ 2.53211105e-01 9.67411013e-01 -2.60900310e-04 9.73841221e+00] [ 9.77954098e-04 1.37184161e-05 9.99999522e-01 -3.16758319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.390281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:131.77, Y:9.75, Z:-0.32 [[ 9.67586111e-01 -2.52541039e-01 -3.75295323e-04 1.31767131e+02] [ 2.52541018e-01 9.67586184e-01 -1.03934580e-04 9.74833712e+00] [ 3.89378317e-04 5.78819286e-06 9.99999924e-01 -3.16288163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.420281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:131.79, Y:9.76, Z:-0.32 [[ 9.67724063e-01 -2.52011977e-01 3.18252706e-04 1.31793214e+02] [ 2.52011962e-01 9.67724115e-01 8.80661828e-05 9.75897664e+00] [-3.30174551e-04 -5.02027554e-06 9.99999945e-01 -3.16709975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.450281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:131.82, Y:9.77, Z:-0.32 [[ 9.67782614e-01 -2.51786362e-01 6.63378763e-04 1.31818067e+02] [ 2.51786296e-01 9.67782841e-01 1.83800501e-04 9.77153016e+00] [-6.88285043e-04 -1.08492478e-05 9.99999763e-01 -3.17192566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.480281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:131.84, Y:9.78, Z:-0.32 [[ 9.67614605e-01 -2.52430220e-01 9.80323088e-04 1.31843666e+02] [ 2.52430074e-01 9.67615101e-01 2.71758663e-04 9.78192179e+00] [-1.01717552e-03 -1.54946211e-05 9.99999483e-01 -3.17037658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.510281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:131.87, Y:9.79, Z:-0.32 [[ 9.67410555e-01 -2.53209803e-01 1.27058942e-03 1.31870260e+02] [ 2.53209559e-01 9.67411389e-01 3.52438369e-04 9.79220293e+00] [-1.31842352e-03 -1.92272124e-05 9.99999131e-01 -3.16820953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.540281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:131.90, Y:9.80, Z:-0.32 [[ 9.66833991e-01 -2.55402730e-01 1.21616437e-03 1.31895241e+02] [ 2.55402507e-01 9.66834756e-01 3.37500591e-04 9.80285756e+00] [-1.26202856e-03 -1.56956137e-05 9.99999204e-01 -3.16509491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.570281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:131.92, Y:9.81, Z:-0.32 [[ 9.66381911e-01 -2.57108318e-01 1.14637861e-03 1.31921830e+02] [ 2.57108121e-01 9.66382591e-01 3.18304751e-04 9.81169791e+00] [-1.18967913e-03 -1.28607043e-05 9.99999292e-01 -3.16958656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.600281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:131.95, Y:9.82, Z:-0.32 [[ 9.65842778e-01 -2.59127482e-01 8.22167248e-04 1.31948060e+02] [ 2.59127381e-01 9.65843128e-01 2.28419412e-04 9.82016677e+00] [-8.53274334e-04 -7.57119371e-06 9.99999636e-01 -3.17077201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.630281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:131.97, Y:9.83, Z:-0.32 [[ 9.64420232e-01 -2.64373578e-01 4.75877722e-04 1.31973322e+02] [ 2.64373545e-01 9.64420350e-01 1.32266232e-04 9.82979083e+00] [-4.93913856e-04 -1.75075013e-06 9.99999878e-01 -3.17236423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.660281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:132.00, Y:9.84, Z:-0.32 [[ 9.64375207e-01 -2.64537774e-01 4.75867462e-04 1.32000696e+02] [ 2.64537741e-01 9.64375324e-01 1.32303133e-04 9.83760137e+00] [-4.93914015e-04 -1.70495743e-06 9.99999878e-01 -3.17250862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.690281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:132.03, Y:9.85, Z:-0.32 [[ 9.63629850e-01 -2.67238552e-01 1.03370974e-03 1.32027416e+02] [ 2.67238397e-01 9.63630404e-01 2.87704390e-04 9.84560039e+00] [-1.07299984e-03 -9.93605465e-07 9.99999424e-01 -3.17089738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.720281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:132.05, Y:9.85, Z:-0.32 [[ 9.62453768e-01 -2.71441756e-01 1.45508448e-03 1.32053223e+02] [ 2.71441453e-01 9.62454868e-01 4.05210245e-04 9.85207190e+00] [-1.51044412e-03 4.97411863e-06 9.99998859e-01 -3.17578513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.750281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:132.08, Y:9.86, Z:-0.32 [[ 9.61797473e-01 -2.73760577e-01 8.76679344e-04 1.32080502e+02] [ 2.73760468e-01 9.61797872e-01 2.44241603e-04 9.85906362e+00] [-9.10052049e-04 5.08919077e-06 9.99999586e-01 -3.18222135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.780281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:132.11, Y:9.87, Z:-0.32 [[ 9.61160854e-01 -2.75988756e-01 1.40025458e-04 1.32106830e+02] [ 2.75988754e-01 9.61160864e-01 3.89959961e-05 9.86573416e+00] [-1.45349447e-04 1.16402672e-06 9.99999989e-01 -3.18370323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.810281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:132.13, Y:9.87, Z:-0.32 [[ 9.59822273e-01 -2.80608365e-01 -3.86767443e-04 1.32133917e+02] [ 2.80608344e-01 9.59822351e-01 -1.08005804e-04 9.87102131e+00] [ 4.01535369e-04 -4.86379538e-06 9.99999919e-01 -3.18120357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.840281693 meters Centerline goodness : 0.998463 Centerline is valid? [True, True] Translation: X:132.16, Y:9.88, Z:-0.31 [[ 9.59298161e-01 -2.82395163e-01 -1.04151314e-04 1.32161125e+02] [ 2.82395162e-01 9.59298166e-01 -2.91820272e-05 9.87783356e+00] [ 1.08153028e-04 -1.41756234e-06 9.99999994e-01 -3.09771700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.870281693 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:132.19, Y:9.88, Z:-0.32 [[ 9.58192724e-01 -2.86122589e-01 7.53555904e-04 1.32187558e+02] [ 2.86122512e-01 9.58193020e-01 2.10423540e-04 9.88187839e+00] [-7.82258935e-04 1.39830032e-05 9.99999694e-01 -3.18172507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.900281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:132.21, Y:9.89, Z:-0.32 [[ 9.57847572e-01 -2.87274855e-01 1.08932149e-03 1.32213982e+02] [ 2.87274695e-01 9.57848191e-01 3.04300537e-04 9.88781450e+00] [-1.13082252e-03 2.14609695e-05 9.99999360e-01 -3.17722678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.930281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:132.24, Y:9.89, Z:-0.32 [[ 9.57968929e-01 -2.86869657e-01 1.15378860e-03 1.32240860e+02] [ 2.86869476e-01 9.57969624e-01 3.22413146e-04 9.89182250e+00] [-1.19778498e-03 2.21249562e-05 9.99999282e-01 -3.17474953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.960281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:132.27, Y:9.90, Z:-0.32 [[ 9.58304585e-01 -2.85748652e-01 1.74363159e-04 1.32268088e+02] [ 2.85748648e-01 9.58304601e-01 4.86678379e-05 9.89826723e+00] [-1.80999786e-04 3.18542464e-06 9.99999984e-01 -3.18145718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 141.990281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:132.30, Y:9.91, Z:-0.32 [[ 9.58777108e-01 -2.84157697e-01 -9.27607655e-04 1.32295039e+02] [ 2.84157579e-01 9.58777556e-01 -2.59711266e-04 9.90536637e+00] [ 9.63168357e-04 -1.45815289e-05 9.99999536e-01 -3.18134184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.020281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:132.32, Y:9.91, Z:-0.32 [[ 9.59103459e-01 -2.83049365e-01 -1.90026346e-03 1.32321592e+02] [ 2.83048866e-01 9.59105342e-01 -5.32312127e-04 9.91267811e+00] [ 1.97322345e-03 -2.73250144e-05 9.99998053e-01 -3.18528480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.050281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:132.35, Y:9.92, Z:-0.32 [[ 9.59085559e-01 -2.83103416e-01 -2.71026708e-03 1.32349763e+02] [ 2.83102399e-01 9.59089388e-01 -7.59716904e-04 9.91708159e+00] [ 2.81446685e-03 -3.86496010e-05 9.99996039e-01 -3.19640678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.080281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:132.38, Y:9.92, Z:-0.32 [[ 9.58654392e-01 -2.84556717e-01 -3.03842923e-03 1.32377386e+02] [ 2.84555445e-01 9.58659206e-01 -8.52304449e-04 9.92230497e+00] [ 3.15534710e-03 -4.75361769e-05 9.99995021e-01 -3.20061393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.110281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:132.41, Y:9.92, Z:-0.32 [[ 9.57567311e-01 -2.88201594e-01 -2.16465007e-03 1.32405720e+02] [ 2.88200956e-01 9.57569757e-01 -6.07674388e-04 9.92441104e+00] [ 2.24793617e-03 -4.19650892e-05 9.99997473e-01 -3.20047194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.140281693 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:132.43, Y:9.93, Z:-0.32 [[ 9.57134394e-01 -2.89643175e-01 -7.63707767e-04 1.32433665e+02] [ 2.89643096e-01 9.57134698e-01 -2.14615443e-04 9.92927859e+00] [ 7.93133102e-04 -1.57868603e-05 9.99999685e-01 -3.18978080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.170281693 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:132.46, Y:9.93, Z:-0.32 [[ 9.56810313e-01 -2.90712461e-01 5.38136692e-04 1.32460702e+02] [ 2.90712422e-01 9.56810464e-01 1.51162108e-04 9.93443685e+00] [-5.58839527e-04 1.18095571e-05 9.99999844e-01 -3.17742076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.200281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:132.49, Y:9.94, Z:-0.32 [[ 9.57179653e-01 -2.89492821e-01 1.00928544e-03 1.32487624e+02] [ 2.89492682e-01 9.57180185e-01 2.83681317e-04 9.93769208e+00] [-1.04819173e-03 2.06467648e-05 9.99999450e-01 -3.17327001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.230281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:132.51, Y:9.94, Z:-0.32 [[ 9.57928555e-01 -2.87006008e-01 6.59815742e-04 1.32514093e+02] [ 2.87005948e-01 9.57928782e-01 1.85498799e-04 9.94453306e+00] [-6.85295760e-04 1.16764464e-05 9.99999765e-01 -3.17310694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.260281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:132.54, Y:9.95, Z:-0.32 [[ 9.60199325e-01 -2.79314606e-01 -7.78955091e-04 1.32540315e+02] [ 2.79314520e-01 9.60199641e-01 -2.19155011e-04 9.95250780e+00] [ 8.09165594e-04 -7.14097381e-06 9.99999673e-01 -3.17306825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.290281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:132.57, Y:9.96, Z:-0.32 [[ 9.61299965e-01 -2.75502349e-01 -9.13041446e-04 1.32566826e+02] [ 2.75502229e-01 9.61300398e-01 -2.57103713e-04 9.96071573e+00] [ 9.48539782e-04 -4.39116396e-06 9.99999550e-01 -3.17042878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.320281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:132.59, Y:9.97, Z:-0.32 [[ 9.62308749e-01 -2.71958986e-01 -4.25498716e-04 1.32593471e+02] [ 2.71958960e-01 9.62308843e-01 -1.19955751e-04 9.96837751e+00] [ 4.42084221e-04 -2.83719437e-07 9.99999902e-01 -3.16883478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.350281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:132.62, Y:9.97, Z:-0.32 [[ 9.63514891e-01 -2.67652520e-01 1.08734565e-03 1.32619938e+02] [ 2.67652345e-01 9.63515505e-01 3.06343631e-04 9.97450672e+00] [-1.12966804e-03 -4.13603621e-06 9.99999362e-01 -3.16921647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.380281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:132.65, Y:9.98, Z:-0.32 [[ 9.63548707e-01 -2.67532047e-01 7.01799289e-04 1.32646415e+02] [ 2.67531973e-01 9.63548963e-01 1.97767846e-04 9.98161048e+00] [-7.29127214e-04 -2.80520403e-06 9.99999734e-01 -3.17148064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.410281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:132.67, Y:9.99, Z:-0.32 [[ 9.63069803e-01 -2.69249555e-01 -1.10969023e-03 1.32672361e+02] [ 2.69249373e-01 9.63070442e-01 -3.12996502e-04 9.98830853e+00] [ 1.15298403e-03 2.65408041e-06 9.99999335e-01 -3.18766754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.440281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:132.70, Y:10.00, Z:-0.32 [[ 9.62741468e-01 -2.70418128e-01 -1.70319007e-03 1.32699399e+02] [ 2.70417701e-01 9.62742975e-01 -4.80752452e-04 9.99574942e+00] [ 1.76973846e-03 2.26757745e-06 9.99998434e-01 -3.18967435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.470281693 meters Centerline goodness : 0.999376 Centerline is valid? [True, True] Translation: X:132.73, Y:10.00, Z:-0.32 [[ 9.62723990e-01 -2.70478360e-01 -1.99406529e-03 1.32725262e+02] [ 2.70477774e-01 9.62726055e-01 -5.62962587e-04 1.00025533e+01] [ 2.07200781e-03 2.62724687e-06 9.99997853e-01 -3.18038235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.500281693 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:132.75, Y:10.01, Z:-0.32 [[ 9.63877106e-01 -2.66335044e-01 -2.56309787e-03 1.32752482e+02] [ 2.66334060e-01 9.63880514e-01 -7.24155361e-04 1.00099804e+01] [ 2.66338804e-03 1.53565137e-05 9.99996453e-01 -3.16798403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.530281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:132.78, Y:10.02, Z:-0.32 [[ 9.64651008e-01 -2.63514718e-01 -2.90283183e-03 1.32777941e+02] [ 2.63513442e-01 9.64655375e-01 -8.20486749e-04 1.00174178e+01] [ 3.01644266e-03 2.65481638e-05 9.99995450e-01 -3.16582997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.560281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:132.80, Y:10.03, Z:-0.32 [[ 9.65445767e-01 -2.60589238e-01 -2.77860146e-03 1.32804693e+02] [ 2.60588055e-01 9.65449765e-01 -7.85946400e-04 1.00252418e+01] [ 2.88740930e-03 3.47182745e-05 9.99995831e-01 -3.16753520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.590281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:132.83, Y:10.03, Z:-0.32 [[ 9.66746829e-01 -2.55732665e-01 -1.17156553e-03 1.32830447e+02] [ 2.55732451e-01 9.66747539e-01 -3.31486201e-04 1.00332801e+01] [ 1.21737995e-03 2.08559092e-05 9.99999259e-01 -3.16524950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.620281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:132.86, Y:10.04, Z:-0.32 [[ 9.67185659e-01 -2.54070178e-01 -4.94627154e-04 1.32856213e+02] [ 2.54070140e-01 9.67185786e-01 -1.40016895e-04 1.00412750e+01] [ 5.13970470e-04 9.75234306e-06 9.99999868e-01 -3.15944805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.650281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:132.88, Y:10.05, Z:-0.32 [[ 9.67570384e-01 -2.52600410e-01 -7.64200847e-04 1.32882003e+02] [ 2.52600318e-01 9.67570686e-01 -2.16513186e-04 1.00514283e+01] [ 7.94109657e-04 1.64543694e-05 9.99999685e-01 -3.16049100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.680281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:132.91, Y:10.06, Z:-0.32 [[ 9.67716557e-01 -2.52038752e-01 -1.06434792e-03 1.32907447e+02] [ 2.52038573e-01 9.67717142e-01 -3.01549959e-04 1.00609083e+01] [ 1.10599000e-03 2.35581564e-05 9.99999388e-01 -3.15710595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.710281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:132.93, Y:10.07, Z:-0.32 [[ 9.67859194e-01 -2.51490710e-01 -1.00176698e-03 1.32934349e+02] [ 2.51490550e-01 9.67859712e-01 -2.84081010e-04 1.00702787e+01] [ 1.04101363e-03 2.30154888e-05 9.99999458e-01 -3.15967197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.740281693 meters Centerline goodness : 0.999482 Centerline is valid? [True, True] Translation: X:132.96, Y:10.08, Z:-0.32 [[ 9.67980817e-01 -2.51024118e-01 1.74301539e-04 1.32960066e+02] [ 2.51024113e-01 9.67980832e-01 4.93681191e-05 1.00802628e+01] [-1.81113138e-04 -4.03350294e-06 9.99999984e-01 -3.16015331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.770281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:132.99, Y:10.09, Z:-0.32 [[ 9.67919798e-01 -2.51259329e-01 1.14950243e-04 1.32985588e+02] [ 2.51259327e-01 9.67919805e-01 3.25695965e-05 1.00892313e+01] [-1.19446032e-04 -2.64243668e-06 9.99999993e-01 -3.16072051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.800281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:133.01, Y:10.10, Z:-0.32 [[ 9.67646690e-01 -2.52308251e-01 -6.55247441e-04 1.33012062e+02] [ 2.52308182e-01 9.67646912e-01 -1.86133365e-04 1.00993588e+01] [ 6.81011147e-04 1.47870441e-05 9.99999768e-01 -3.16334759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.830281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:133.04, Y:10.11, Z:-0.32 [[ 9.66867195e-01 -2.55268494e-01 -2.41323522e-03 1.33036821e+02] [ 2.55267578e-01 9.66870205e-01 -6.85554577e-04 1.01105248e+01] [ 2.50828572e-03 4.68195206e-05 9.99996853e-01 -3.17904412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.860281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:133.06, Y:10.12, Z:-0.32 [[ 9.66152748e-01 -2.57957292e-01 -2.62717732e-03 1.33063193e+02] [ 2.57916739e-01 9.66108905e-01 -1.06084893e-02 1.01244240e+01] [ 5.27467657e-03 9.57182806e-03 9.99940277e-01 -3.15708264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.890281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:133.09, Y:10.12, Z:-0.32 [[ 9.64895816e-01 -2.62600353e-01 -4.13746291e-03 1.33091009e+02] [ 2.62627612e-01 9.64856880e-01 8.82827568e-03 1.01242883e+01] [ 1.67375124e-03 -9.60497827e-03 9.99952470e-01 -3.18322645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.920281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:133.12, Y:10.14, Z:-0.32 [[ 9.64338134e-01 -2.64671460e-01 -9.91163881e-04 1.33115467e+02] [ 2.64671310e-01 9.64338643e-01 -2.81896435e-04 1.01376701e+01] [ 1.03042757e-03 9.51083943e-06 9.99999469e-01 -3.16959268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.950281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:133.14, Y:10.15, Z:-0.32 [[ 9.63978509e-01 -2.65978475e-01 -9.40603336e-04 1.33142066e+02] [ 2.65978340e-01 9.63978968e-01 -2.67776230e-04 1.01464934e+01] [ 9.77944546e-04 7.95041641e-06 9.99999522e-01 -3.16975443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.980281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:133.17, Y:10.16, Z:-0.32 [[ 9.63793263e-01 -2.66648378e-01 -1.08993855e-03 1.33167711e+02] [ 2.66648198e-01 9.63793880e-01 -3.10298594e-04 1.01551321e+01] [ 1.13321672e-03 8.43354382e-06 9.99999358e-01 -3.17478838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.010281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:133.19, Y:10.16, Z:-0.32 [[ 9.63438074e-01 -2.67928342e-01 -1.21701251e-03 1.33194267e+02] [ 2.67928118e-01 9.63438843e-01 -3.46775871e-04 1.01646560e+01] [ 1.26542821e-03 8.02520616e-06 9.99999199e-01 -3.17310240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.040281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:133.22, Y:10.17, Z:-0.32 [[ 9.63149815e-01 -2.68965475e-01 8.04224631e-05 1.33221244e+02] [ 2.68965474e-01 9.63149819e-01 2.28072883e-05 1.01729951e+01] [-8.35932538e-05 -3.35969605e-07 9.99999997e-01 -3.17180075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.070281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:133.25, Y:10.18, Z:-0.32 [[ 9.62528793e-01 -2.71174601e-01 1.63063375e-03 1.33247042e+02] [ 2.71174202e-01 9.62530174e-01 4.64935761e-04 1.01800093e+01] [-1.69561296e-03 -5.32824949e-06 9.99998562e-01 -3.15928108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.100281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:133.27, Y:10.19, Z:-0.32 [[ 9.62324752e-01 -2.71897949e-01 1.60516590e-03 1.33274512e+02] [ 2.71897564e-01 9.62326091e-01 4.57948429e-04 1.01864602e+01] [-1.66920827e-03 -4.25441025e-06 9.99998607e-01 -3.16369177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.130281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:133.30, Y:10.19, Z:-0.32 [[ 9.62223974e-01 -2.72258292e-01 6.68270593e-04 1.33301588e+02] [ 2.72258225e-01 9.62224206e-01 1.90713170e-04 1.01905518e+01] [-6.94949383e-04 -1.56661851e-06 9.99999759e-01 -3.16333916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.160281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:133.33, Y:10.20, Z:-0.32 [[ 9.62259136e-01 -2.72134679e-01 2.66589569e-04 1.33328344e+02] [ 2.72134668e-01 9.62259173e-01 7.60484537e-05 1.01971170e+01] [-2.77223680e-04 -6.30055610e-07 9.99999962e-01 -3.15650870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.190281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:133.35, Y:10.20, Z:-0.32 [[ 9.62356761e-01 -2.71789365e-01 7.76361537e-05 1.33354530e+02] [ 2.71789364e-01 9.62356764e-01 2.21123736e-05 1.02034415e+01] [-8.07235856e-05 -1.79311408e-07 9.99999997e-01 -3.15606897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.220281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:133.38, Y:10.21, Z:-0.32 [[ 9.62495652e-01 -2.71297105e-01 -3.74248302e-05 1.33381634e+02] [ 2.71297105e-01 9.62495652e-01 -1.08228294e-05 1.02093808e+01] [ 3.89574387e-05 2.63678144e-07 9.99999999e-01 -3.16016455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.250281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:133.41, Y:10.21, Z:-0.32 [[ 9.63347493e-01 -2.68253070e-01 -1.37778344e-03 1.33408212e+02] [ 2.68252780e-01 9.63348478e-01 -3.94251352e-04 1.02133335e+01] [ 1.43304471e-03 1.02068134e-05 9.99998973e-01 -3.16521193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.280281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:133.44, Y:10.22, Z:-0.32 [[ 9.63919386e-01 -2.66188023e-01 -1.83137904e-03 1.33435673e+02] [ 2.66187507e-01 9.63921125e-01 -5.24453571e-04 1.02205923e+01] [ 1.90490820e-03 1.80407442e-05 9.99998186e-01 -3.15892669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.310281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:133.46, Y:10.23, Z:-0.31 [[ 9.65262297e-01 -2.61280208e-01 -1.16204816e-03 1.33461968e+02] [ 2.61279997e-01 9.65262997e-01 -3.32853047e-04 1.02272666e+01] [ 1.20865001e-03 1.76705564e-05 9.99999269e-01 -3.14784806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.340281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:133.49, Y:10.23, Z:-0.31 [[ 9.65806124e-01 -2.59265350e-01 -9.75711949e-05 1.33489255e+02] [ 2.59265349e-01 9.65806129e-01 -2.80773970e-05 1.02346577e+01] [ 1.01514354e-04 1.82049207e-06 9.99999995e-01 -3.14769162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.370281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:133.52, Y:10.24, Z:-0.31 [[ 9.66230593e-01 -2.57677675e-01 8.10143000e-04 1.33515368e+02] [ 2.57677571e-01 9.66230933e-01 2.32194777e-04 1.02416320e+01] [-8.42616637e-04 -1.55980163e-05 9.99999645e-01 -3.14569592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.400281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:133.54, Y:10.25, Z:-0.32 [[ 9.66709526e-01 -2.55874375e-01 9.98162409e-04 1.33542593e+02] [ 2.55874216e-01 9.66710041e-01 2.86222861e-04 1.02497042e+01] [-1.03817072e-03 -2.12903434e-05 9.99999461e-01 -3.15015357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.430281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:133.57, Y:10.26, Z:-0.32 [[ 9.66687406e-01 -2.55959776e-01 2.26868623e-04 1.33569524e+02] [ 2.55959768e-01 9.66687433e-01 6.50103466e-05 1.02587033e+01] [-2.35951081e-04 -4.77544310e-06 9.99999972e-01 -3.15440346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.460281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:133.60, Y:10.27, Z:-0.32 [[ 9.66601403e-01 -2.56284319e-01 -2.75525657e-04 1.33595680e+02] [ 2.56284307e-01 9.66601442e-01 -7.92579419e-05 1.02672303e+01] [ 2.86636065e-04 5.99793569e-06 9.99999959e-01 -3.16110085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.490281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:133.62, Y:10.28, Z:-0.32 [[ 9.65921242e-01 -2.58835038e-01 7.59932339e-04 1.33622061e+02] [ 2.58834947e-01 9.65921541e-01 2.18322624e-04 1.02750011e+01] [-7.90544560e-04 -1.41854138e-05 9.99999687e-01 -3.16364155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.520281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:133.65, Y:10.28, Z:-0.32 [[ 9.65212823e-01 -2.61462591e-01 1.23309977e-03 1.33648961e+02] [ 2.61462351e-01 9.65213610e-01 3.54582657e-04 1.02819154e+01] [-1.28291478e-03 -1.98385609e-05 9.99999177e-01 -3.16313068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.550281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:133.68, Y:10.29, Z:-0.32 [[ 9.63551744e-01 -2.67521974e-01 1.72723600e-04 1.33676141e+02] [ 2.67521969e-01 9.63551760e-01 4.96467121e-05 1.02860908e+01] [-1.79709715e-04 -1.62981848e-06 9.99999984e-01 -3.17329456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.580281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:133.70, Y:10.29, Z:-0.32 [[ 9.63505352e-01 -2.67689013e-01 1.72730317e-04 1.33703449e+02] [ 2.67689008e-01 9.63505367e-01 4.96233898e-05 1.02941463e+01] [-1.79710224e-04 -1.57439430e-06 9.99999984e-01 -3.17346991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.610281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:133.73, Y:10.30, Z:-0.32 [[ 9.62561593e-01 -2.71061708e-01 -8.54984058e-04 1.33729565e+02] [ 2.71061596e-01 9.62561972e-01 -2.46302607e-04 1.02992636e+01] [ 8.89738346e-04 5.32808705e-06 9.99999604e-01 -3.17666877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.640281693 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:133.76, Y:10.30, Z:-0.32 [[ 9.61629819e-01 -2.74345596e-01 -1.60796459e-03 1.33756665e+02] [ 2.74345205e-01 9.61631163e-01 -4.63586779e-04 1.03048488e+01] [ 1.67345185e-03 4.66149513e-06 9.99998600e-01 -3.18302839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.670281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:133.78, Y:10.31, Z:-0.32 [[ 9.60206369e-01 -2.79285830e-01 -1.77624562e-03 1.33783693e+02] [ 2.79285360e-01 9.60208011e-01 -5.12182303e-04 1.03081156e+01] [ 1.84861054e-03 -4.27868900e-06 9.99998291e-01 -3.18931150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.700281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:133.81, Y:10.31, Z:-0.32 [[ 9.59773484e-01 -2.80773265e-01 -1.11007846e-03 1.33810875e+02] [ 2.80773082e-01 9.59774126e-01 -3.20404829e-04 1.03139140e+01] [ 1.15538570e-03 -4.16409255e-06 9.99999333e-01 -3.18414556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.730281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:133.84, Y:10.32, Z:-0.32 [[ 9.59758026e-01 -2.80827382e-01 -7.16577036e-04 1.33836951e+02] [ 2.80827306e-01 9.59758293e-01 -2.06865070e-04 1.03194739e+01] [ 7.45834129e-04 -2.69398729e-06 9.99999722e-01 -3.18040711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.760281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:133.86, Y:10.32, Z:-0.32 [[ 9.59979002e-01 -2.80070552e-01 -8.95084548e-04 1.33863861e+02] [ 2.80070433e-01 9.59979419e-01 -2.58457541e-04 1.03249598e+01] [ 9.31649092e-04 -2.57290425e-06 9.99999566e-01 -3.17736952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.790281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:133.89, Y:10.33, Z:-0.32 [[ 9.60807005e-01 -2.77215734e-01 -1.15621441e-03 1.33891903e+02] [ 2.77215533e-01 9.60807700e-01 -3.34148145e-04 1.03293319e+01] [ 1.20353084e-03 5.31283303e-07 9.99999276e-01 -3.16433954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.820281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:133.92, Y:10.34, Z:-0.32 [[ 9.61273969e-01 -2.75592867e-01 -9.63712851e-04 1.33918370e+02] [ 2.75592726e-01 9.61274452e-01 -2.78729603e-04 1.03367801e+01] [ 1.00320843e-03 2.34325988e-06 9.99999497e-01 -3.16314085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.850281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:133.94, Y:10.34, Z:-0.32 [[ 9.61943180e-01 -2.73243012e-01 -1.89064496e-03 1.33944695e+02] [ 2.73242465e-01 9.61945038e-01 -5.46805366e-04 1.03443039e+01] [ 1.96810729e-03 9.39120228e-06 9.99998063e-01 -3.17317493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.880281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:133.97, Y:10.35, Z:-0.32 [[ 9.62016669e-01 -2.72979696e-01 -2.45233123e-03 1.33971844e+02] [ 2.72978773e-01 9.62019795e-01 -7.09772964e-04 1.03515641e+01] [ 2.55294479e-03 1.33790522e-05 9.99996741e-01 -3.17613661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.910281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:134.00, Y:10.36, Z:-0.32 [[ 9.61905977e-01 -2.73370053e-01 -2.38848494e-03 1.33998686e+02] [ 2.73369178e-01 9.61908943e-01 -6.91794123e-04 1.03590438e+01] [ 2.48662082e-03 1.25027381e-05 9.99996908e-01 -3.17985434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.940281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:134.03, Y:10.37, Z:-0.32 [[ 9.61553143e-01 -2.74617560e-01 -8.65967863e-04 1.34025785e+02] [ 2.74617445e-01 9.61553533e-01 -2.51068329e-04 1.03674872e+01] [ 9.01622229e-04 3.60565915e-06 9.99999594e-01 -3.16841451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.970281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:134.05, Y:10.38, Z:-0.32 [[ 9.61398046e-01 -2.75161397e-01 4.48945539e-05 1.34052005e+02] [ 2.75161397e-01 9.61398047e-01 1.29616046e-05 1.03750166e+01] [-4.67280697e-05 -1.08013177e-07 9.99999999e-01 -3.15844965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.000281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:134.08, Y:10.38, Z:-0.32 [[ 9.61161595e-01 -2.75985880e-01 4.26283420e-04 1.34078618e+02] [ 2.75985852e-01 9.61161690e-01 1.23555727e-04 1.03818877e+01] [-4.43826929e-04 -1.10882634e-06 9.99999902e-01 -3.16040826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.030281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:134.11, Y:10.39, Z:-0.32 [[ 9.60611751e-01 -2.77888682e-01 -1.71585450e-03 1.34106452e+02] [ 2.77888236e-01 9.60613283e-01 -4.97994429e-04 1.03861623e+01] [ 1.78665964e-03 1.56352059e-06 9.99998404e-01 -3.17245132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.060281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:134.13, Y:10.39, Z:-0.32 [[ 9.60399256e-01 -2.78609001e-01 -3.20847451e-03 1.34133326e+02] [ 2.78607443e-01 9.60404615e-01 -9.31739409e-04 1.03933719e+01] [ 3.34102471e-03 9.36956829e-07 9.99994419e-01 -3.17886199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.090281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:134.16, Y:10.40, Z:-0.32 [[ 9.60575678e-01 -2.77987250e-01 -4.17803431e-03 1.34159148e+02] [ 2.77984599e-01 9.60584764e-01 -1.21408881e-03 1.04004462e+01] [ 4.35085732e-03 4.79498758e-06 9.99990535e-01 -3.17732909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.120281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:134.19, Y:10.41, Z:-0.32 [[ 9.60789924e-01 -2.77256109e-01 -3.43117040e-03 1.34185763e+02] [ 2.77254313e-01 9.60796050e-01 -9.97746760e-04 1.04078133e+01] [ 3.57328635e-03 7.31824063e-06 9.99993616e-01 -3.17361083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.150281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:134.21, Y:10.42, Z:-0.32 [[ 9.61090282e-01 -2.76228816e-01 -1.76375533e-03 1.34212576e+02] [ 2.76228339e-01 9.61091901e-01 -5.13281524e-04 1.04151061e+01] [ 1.83691411e-03 6.11067801e-06 9.99998313e-01 -3.16398507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.180281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:134.24, Y:10.42, Z:-0.31 [[ 9.61646611e-01 -2.74286130e-01 1.70738673e-03 1.34239215e+02] [ 2.74285680e-01 9.61648126e-01 4.96985200e-04 1.04219037e+01] [-1.77822140e-03 -9.61240179e-06 9.99998419e-01 -3.14963382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.210281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:134.27, Y:10.43, Z:-0.32 [[ 9.61749791e-01 -2.73919697e-01 2.31079218e-03 1.34265060e+02] [ 2.73918871e-01 9.61752567e-01 6.72928678e-04 1.04290341e+01] [-2.40673873e-03 -1.42194302e-05 9.99997104e-01 -3.15496538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.240281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:134.29, Y:10.44, Z:-0.32 [[ 9.61715048e-01 -2.74042389e-01 2.22181286e-03 1.34291623e+02] [ 2.74041625e-01 9.61717614e-01 6.47202680e-04 1.04358216e+01] [-2.31411753e-03 -1.35553500e-05 9.99997322e-01 -3.15601171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.270281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:134.32, Y:10.44, Z:-0.32 [[ 9.61511758e-01 -2.74758759e-01 1.66223486e-03 1.34318850e+02] [ 2.74758332e-01 9.61513195e-01 4.84442858e-04 1.04407098e+01] [-1.73136567e-03 -9.08462549e-06 9.99998501e-01 -3.17075722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.300281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:134.35, Y:10.45, Z:-0.32 [[ 9.61396196e-01 -2.75166247e-01 9.43531358e-04 1.34346471e+02] [ 2.75166110e-01 9.61396659e-01 2.75120646e-04 1.04475984e+01] [-9.82811811e-04 -4.87208980e-06 9.99999517e-01 -3.17694695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.330281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:134.37, Y:10.45, Z:-0.32 [[ 9.61267329e-01 -2.75617691e-01 9.94603441e-05 1.34372681e+02] [ 2.75617689e-01 9.61267335e-01 2.89698818e-05 1.04540336e+01] [-1.03592592e-04 -4.34770679e-07 9.99999995e-01 -3.18020278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.360281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:134.40, Y:10.46, Z:-0.32 [[ 9.60729294e-01 -2.77487279e-01 -1.84136604e-04 1.34400709e+02] [ 2.77487274e-01 9.60729311e-01 -5.38787968e-05 1.04577880e+01] [ 1.91856114e-04 6.67374036e-07 9.99999982e-01 -3.17987975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.390281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:134.43, Y:10.46, Z:-0.32 [[ 9.60368638e-01 -2.78732989e-01 -7.33894170e-06 1.34428844e+02] [ 2.78732989e-01 9.60368638e-01 -2.26063983e-06 1.04628684e+01] [ 7.67820435e-06 1.25442438e-07 1.00000000e+00 -3.17555635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.420281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:134.46, Y:10.46, Z:-0.32 [[ 9.59939710e-01 -2.80206513e-01 2.53018788e-04 1.34456378e+02] [ 2.80206503e-01 9.59939743e-01 7.39010996e-05 1.04631256e+01] [-2.63590360e-04 -4.30901042e-08 9.99999965e-01 -3.17756561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.450281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:134.48, Y:10.47, Z:-0.32 [[ 9.59902936e-01 -2.80332499e-01 2.10002290e-04 1.34483600e+02] [ 2.80332492e-01 9.59902959e-01 6.13464246e-05 1.04673694e+01] [-2.18779216e-04 -1.61476175e-08 9.99999976e-01 -3.18454132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.480281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:134.51, Y:10.47, Z:-0.32 [[ 9.59924936e-01 -2.80257168e-01 -1.94591059e-04 1.34511341e+02] [ 2.80257162e-01 9.59924955e-01 -5.70442254e-05 1.04723499e+01] [ 2.02779866e-04 2.22636568e-07 9.99999979e-01 -3.18634643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.510281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:134.54, Y:10.48, Z:-0.32 [[ 9.60069834e-01 -2.79759502e-01 -7.31837412e-04 1.34537998e+02] [ 2.79759420e-01 9.60070113e-01 -2.14216949e-04 1.04766607e+01] [ 7.62544453e-04 9.24821132e-07 9.99999709e-01 -3.19311539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.540281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:134.57, Y:10.48, Z:-0.32 [[ 9.60075126e-01 -2.79739626e-01 -1.22252781e-03 1.34566952e+02] [ 2.79739397e-01 9.60075904e-01 -3.58090180e-04 1.04775779e+01] [ 1.27389150e-03 1.80428177e-06 9.99999189e-01 -3.19200324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.570281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:134.59, Y:10.48, Z:-0.32 [[ 9.60021266e-01 -2.79922248e-01 -1.64404148e-03 1.34594398e+02] [ 2.79921834e-01 9.60022674e-01 -4.81846032e-04 1.04822725e+01] [ 1.71319652e-03 2.37933179e-06 9.99998532e-01 -3.19013784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.600281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:134.62, Y:10.48, Z:-0.32 [[ 9.60219323e-01 -2.79237228e-01 -2.32862863e-03 1.34621709e+02] [ 2.79236393e-01 9.60222146e-01 -6.82712362e-04 1.04833415e+01] [ 2.42663949e-03 5.31574227e-06 9.99997056e-01 -3.19395427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.630281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:134.65, Y:10.49, Z:-0.32 [[ 9.60352358e-01 -2.78781485e-01 -2.05743151e-03 1.34649892e+02] [ 2.78780831e-01 9.60354561e-01 -6.03652798e-04 1.04883006e+01] [ 2.14415095e-03 6.14692221e-06 9.99997701e-01 -3.19655119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.660281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:134.68, Y:10.49, Z:-0.32 [[ 9.60566632e-01 -2.78043513e-01 -1.88407565e-03 1.34676253e+02] [ 2.78042964e-01 9.60568480e-01 -5.53015609e-04 1.04931924e+01] [ 1.96354609e-03 7.35436385e-06 9.99998072e-01 -3.18838624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.690281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:134.70, Y:10.50, Z:-0.32 [[ 9.61353180e-01 -2.75311716e-01 -1.87703015e-03 1.34704195e+02] [ 2.75311164e-01 9.61355012e-01 -5.51346819e-04 1.04984071e+01] [ 1.95628458e-03 1.32716621e-05 9.99998086e-01 -3.19229925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.720281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:134.73, Y:10.50, Z:-0.32 [[ 9.61880673e-01 -2.73464190e-01 -1.70533662e-03 1.34730655e+02] [ 2.73463731e-01 9.61882184e-01 -5.01004341e-04 1.05043698e+01] [ 1.77733966e-03 1.55586766e-05 9.99998420e-01 -3.20148905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.750281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:134.76, Y:10.51, Z:-0.32 [[ 9.62316788e-01 -2.71928133e-01 -1.22090257e-03 1.34758712e+02] [ 2.71927896e-01 9.62317562e-01 -3.58987173e-04 1.05097016e+01] [ 1.27251470e-03 1.34619157e-05 9.99999190e-01 -3.20702369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.780281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:134.79, Y:10.51, Z:-0.32 [[ 9.63045228e-01 -2.69338861e-01 -6.83383845e-04 1.34787117e+02] [ 2.69338786e-01 9.63045470e-01 -2.01119368e-04 1.05129807e+01] [ 7.12298978e-04 9.62527251e-06 9.99999746e-01 -3.18857748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.810281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:134.81, Y:10.52, Z:-0.32 [[ 9.63241454e-01 -2.68635626e-01 -8.95120435e-04 1.34814558e+02] [ 2.68635497e-01 9.63241870e-01 -2.63566760e-04 1.05202006e+01] [ 9.33020903e-04 1.34173061e-05 9.99999565e-01 -3.19308129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.840281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:134.84, Y:10.53, Z:-0.32 [[ 9.63252971e-01 -2.68589940e-01 -1.77707214e-03 1.34840769e+02] [ 2.68589432e-01 9.63254610e-01 -5.23339212e-04 1.05258214e+01] [ 1.85233657e-03 2.68052556e-05 9.99998284e-01 -3.19911774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.870281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:134.87, Y:10.53, Z:-0.32 [[ 9.63059477e-01 -2.69281556e-01 -1.97138004e-03 1.34867459e+02] [ 2.69280931e-01 9.63061495e-01 -5.80968824e-04 1.05325306e+01] [ 2.05500440e-03 2.86524796e-05 9.99997888e-01 -3.19908745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.900281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:134.89, Y:10.54, Z:-0.32 [[ 9.62870203e-01 -2.69958200e-01 -1.88211837e-03 1.34893758e+02] [ 2.69957631e-01 9.62872042e-01 -5.54760566e-04 1.05397821e+01] [ 1.96200132e-03 2.60702011e-05 9.99998075e-01 -3.19601691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.930281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:134.92, Y:10.55, Z:-0.32 [[ 9.62620793e-01 -2.70849260e-01 -1.37361612e-03 1.34920696e+02] [ 2.70848957e-01 9.62621773e-01 -4.05253024e-04 1.05483906e+01] [ 1.43203527e-03 1.80624918e-05 9.99998974e-01 -3.19198854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.960281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:134.95, Y:10.56, Z:-0.32 [[ 9.62627055e-01 -2.70829020e-01 -8.91292050e-04 1.34946415e+02] [ 2.70828892e-01 9.62627468e-01 -2.63009739e-04 1.05559863e+01] [ 9.29212879e-04 1.17926517e-05 9.99999568e-01 -3.18965439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.990281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:134.97, Y:10.56, Z:-0.32 [[ 9.62657203e-01 -2.70723135e-01 -3.06510654e-04 1.34973471e+02] [ 2.70723120e-01 9.62657252e-01 -9.06116260e-05 1.05640036e+01] [ 3.19595367e-04 4.24841394e-06 9.99999949e-01 -3.18926826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.020281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:135.00, Y:10.57, Z:-0.32 [[ 9.62891101e-01 -2.69889411e-01 6.57956165e-04 1.34999957e+02] [ 2.69889341e-01 9.62891326e-01 1.94263020e-04 1.05737425e+01] [-6.85969816e-04 -9.47877801e-06 9.99999765e-01 -3.19605085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.050281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:135.03, Y:10.58, Z:-0.32 [[ 9.63027075e-01 -2.69403625e-01 7.33869676e-04 1.35025061e+02] [ 2.69403538e-01 9.63027355e-01 2.16825005e-04 1.05823885e+01] [-7.65150016e-04 -1.11012630e-05 9.99999707e-01 -3.19470771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.080281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:135.05, Y:10.59, Z:-0.32 [[ 9.62999283e-01 -2.69503520e-01 4.82987273e-04 1.35051564e+02] [ 2.69503482e-01 9.62999404e-01 1.42715488e-04 1.05930037e+01] [-5.03578782e-04 -7.26816043e-06 9.99999873e-01 -3.19846258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.110281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:135.08, Y:10.60, Z:-0.32 [[ 9.62902931e-01 -2.69847751e-01 -3.70155391e-04 1.35077722e+02] [ 2.69847729e-01 9.62903002e-01 -1.09645069e-04 1.06021636e+01] [ 3.86011213e-04 5.69196692e-06 9.99999925e-01 -3.19903659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.140281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:135.10, Y:10.61, Z:-0.32 [[ 9.62567914e-01 -2.71038784e-01 -9.94452307e-04 1.35103669e+02] [ 2.71038625e-01 9.62568427e-01 -2.94588909e-04 1.06117885e+01] [ 1.03707341e-03 1.40268462e-05 9.99999462e-01 -3.20681698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.170281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:135.13, Y:10.62, Z:-0.32 [[ 9.62188664e-01 -2.72382286e-01 -9.30300567e-04 1.35130232e+02] [ 2.72382146e-01 9.62189114e-01 -2.75782706e-04 1.06206012e+01] [ 9.70243402e-04 1.19577282e-05 9.99999529e-01 -3.20174243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.200281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:135.16, Y:10.63, Z:-0.32 [[ 9.61734473e-01 -2.73982722e-01 -5.21042617e-04 1.35156792e+02] [ 2.73982678e-01 9.61734614e-01 -1.54623090e-04 1.06292878e+01] [ 5.43468776e-04 5.94970418e-06 9.99999852e-01 -3.20179460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.230281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:135.18, Y:10.64, Z:-0.32 [[ 9.61219791e-01 -2.75782905e-01 -5.50436292e-04 1.35181954e+02] [ 2.75782857e-01 9.61219948e-01 -1.63319353e-04 1.06377756e+01] [ 5.74131030e-04 5.18490149e-06 9.99999835e-01 -3.19896110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.260281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:135.21, Y:10.65, Z:-0.32 [[ 9.60198700e-01 -2.79317617e-01 3.55101745e-04 1.35207803e+02] [ 2.79317597e-01 9.60198765e-01 1.05279711e-04 1.06473355e+01] [-3.70374735e-04 -1.90327571e-06 9.99999931e-01 -3.19918562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.290281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:135.23, Y:10.66, Z:-0.32 [[ 9.59723856e-01 -2.80943640e-01 8.89698592e-04 1.35233546e+02] [ 2.80943516e-01 9.59724268e-01 2.64103051e-04 1.06561467e+01] [-9.28063402e-04 -3.51094717e-06 9.99999569e-01 -3.19794165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.320281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:135.26, Y:10.66, Z:-0.32 [[ 9.59240669e-01 -2.82585054e-01 1.73950886e-03 1.35260457e+02] [ 2.82584582e-01 9.59242246e-01 5.16700908e-04 1.06648111e+01] [-1.81462234e-03 -4.08214190e-06 9.99998354e-01 -3.19685410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.350281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:135.29, Y:10.67, Z:-0.32 [[ 9.58498569e-01 -2.85093209e-01 1.53464044e-03 1.35287476e+02] [ 2.85092845e-01 9.58499798e-01 4.56144788e-04 1.06724068e+01] [-1.60099633e-03 3.00880884e-07 9.99998718e-01 -3.20129207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.380281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:135.31, Y:10.68, Z:-0.32 [[ 9.58095217e-01 -2.86449673e-01 3.73136907e-04 1.35314232e+02] [ 2.86449652e-01 9.58095290e-01 1.10893279e-04 1.06799607e+01] [-3.89266057e-04 6.38617006e-07 9.99999924e-01 -3.20195185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.410281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:135.34, Y:10.69, Z:-0.32 [[ 9.57733853e-01 -2.87655527e-01 -4.05125179e-04 1.35341614e+02] [ 2.87655501e-01 9.57733939e-01 -1.20733487e-04 1.06870162e+01] [ 4.22731788e-04 -9.05938438e-07 9.99999911e-01 -3.21089976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.440281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:135.37, Y:10.69, Z:-0.32 [[ 9.56930798e-01 -2.90316009e-01 -2.49325291e-04 1.35367768e+02] [ 2.90315999e-01 9.56930831e-01 -7.43029550e-05 1.06929308e+01] [ 2.60158395e-04 -1.28033504e-06 9.99999966e-01 -3.20591933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.470281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:135.39, Y:10.70, Z:-0.32 [[ 9.56525672e-01 -2.91646838e-01 8.72201194e-04 1.35394917e+02] [ 2.91646722e-01 9.56526070e-01 2.59804584e-04 1.07004440e+01] [-9.10054365e-04 5.86486481e-06 9.99999586e-01 -3.20490429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.500281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:135.42, Y:10.71, Z:-0.32 [[ 9.56474783e-01 -2.91813689e-01 8.72153788e-04 1.35422165e+02] [ 2.91813574e-01 9.56475180e-01 2.59963643e-04 1.07087625e+01] [-9.10054401e-04 5.85764519e-06 9.99999586e-01 -3.20507967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.530281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:135.45, Y:10.72, Z:-0.32 [[ 9.56071607e-01 -2.93127313e-01 1.86032585e-03 1.35449309e+02] [ 2.93126788e-01 9.56073417e-01 5.55006384e-04 1.07153492e+01] [-1.94129563e-03 1.46854974e-05 9.99998116e-01 -3.20160558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.560281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:135.48, Y:10.72, Z:-0.32 [[ 9.56052471e-01 -2.93190242e-01 1.77611305e-03 1.35475507e+02] [ 2.93189763e-01 9.56054121e-01 5.30161232e-04 1.07220244e+01] [-1.85349830e-03 1.38762084e-05 9.99998282e-01 -3.20583034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.590281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:135.50, Y:10.73, Z:-0.32 [[ 9.56131292e-01 -2.92933805e-01 1.65504047e-03 1.35501669e+02] [ 2.92933388e-01 9.56132724e-01 4.94243883e-04 1.07290689e+01] [-1.72721909e-03 1.22545694e-05 9.99998508e-01 -3.20544534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.620281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:135.53, Y:10.74, Z:-0.32 [[ 9.56452460e-01 -2.91886231e-01 1.05821293e-03 1.35528778e+02] [ 2.91886060e-01 9.56453045e-01 3.16162737e-04 1.07360347e+01] [-1.10441453e-03 6.48297466e-06 9.99999390e-01 -3.20200553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.650281693 meters Centerline goodness : 0.999611 Centerline is valid? [True, True] Translation: X:135.55, Y:10.74, Z:-0.32 [[ 9.56752023e-01 -2.90901704e-01 1.32825665e-03 1.35554908e+02] [ 2.90901433e-01 9.56752945e-01 3.97064832e-04 1.07427181e+01] [-1.38632030e-03 6.49918155e-06 9.99999039e-01 -3.20386768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.680281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:135.58, Y:10.75, Z:-0.32 [[ 9.57089255e-01 -2.89786709e-01 1.95483773e-03 1.35579923e+02] [ 2.89793259e-01 9.57071018e-01 -5.91046112e-03 1.07522132e+01] [-1.58145462e-04 6.22333763e-03 9.99980622e-01 -3.19390569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.710281693 meters Centerline goodness : 0.999652 Centerline is valid? [True, True] Translation: X:135.61, Y:10.75, Z:-0.32 [[ 9.57534907e-01 -2.88317329e-01 1.36831022e-04 1.35609825e+02] [ 2.88310473e-01 9.57515204e-01 6.45800827e-03 1.07524750e+01] [-1.99297348e-03 -6.14431853e-03 9.99979137e-01 -3.20752874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.740281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:135.64, Y:10.76, Z:-0.32 [[ 9.57813102e-01 -2.87391141e-01 6.27412095e-04 1.35635297e+02] [ 2.87391768e-01 9.57812014e-01 -1.45487333e-03 1.07631805e+01] [-1.82825135e-04 1.57380981e-03 9.99998745e-01 -3.20891776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.770281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:135.66, Y:10.77, Z:-0.32 [[ 9.57958795e-01 -2.86904738e-01 -7.86913033e-04 1.35662666e+02] [ 2.86905609e-01 9.57957799e-01 1.42356883e-03 1.07676019e+01] [ 3.45400834e-04 -1.58949005e-03 9.99998677e-01 -3.21556401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.800281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:135.69, Y:10.78, Z:-0.32 [[ 9.58041935e-01 -2.86627840e-01 -3.62230981e-04 1.35689501e+02] [ 2.86627820e-01 9.58042004e-01 -1.08667143e-04 1.07756427e+01] [ 3.78179523e-04 2.82203958e-07 9.99999928e-01 -3.21390590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.830281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:135.72, Y:10.78, Z:-0.32 [[ 9.58557412e-01 -2.84899330e-01 -2.44337626e-04 1.35716886e+02] [ 2.84899321e-01 9.58557443e-01 -7.33885836e-05 1.07828030e+01] [ 2.55120008e-04 7.35547150e-07 9.99999967e-01 -3.21295223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.860281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:135.74, Y:10.79, Z:-0.32 [[ 9.58868013e-01 -2.83852224e-01 -2.19728955e-04 1.35742619e+02] [ 2.83852216e-01 9.58868038e-01 -6.59673730e-05 1.07899765e+01] [ 2.29416058e-04 8.83452999e-07 9.99999974e-01 -3.21230446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.890281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:135.77, Y:10.80, Z:-0.32 [[ 9.58876349e-01 -2.83824121e-01 1.26303712e-04 1.35769225e+02] [ 2.83824118e-01 9.58876357e-01 3.78190151e-05 1.07981574e+01] [-1.31843592e-04 -4.15719434e-07 9.99999991e-01 -3.21436968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.920281693 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:135.80, Y:10.81, Z:-0.32 [[ 9.58681204e-01 -2.84480582e-01 1.07095116e-03 1.35796312e+02] [ 2.84480400e-01 9.58681802e-01 3.21619219e-04 1.08060589e+01] [-1.11819581e-03 -3.66568403e-06 9.99999375e-01 -3.21529607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.950281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:135.82, Y:10.81, Z:-0.32 [[ 9.57709505e-01 -2.87731548e-01 1.74921889e-03 1.35821924e+02] [ 2.87731068e-01 9.57711103e-01 5.25605309e-04 1.08135243e+01] [-1.82647958e-03 -7.25803832e-08 9.99998332e-01 -3.21242364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.980281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:135.85, Y:10.82, Z:-0.32 [[ 9.56980078e-01 -2.90151148e-01 1.20096136e-03 1.35848481e+02] [ 2.90150923e-01 9.56980831e-01 3.61040755e-04 1.08211735e+01] [-1.25405339e-03 2.95123734e-06 9.99999214e-01 -3.21457672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.010281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:135.88, Y:10.83, Z:-0.32 [[ 9.55696817e-01 -2.94352171e-01 -6.27669313e-04 1.35876054e+02] [ 2.94352110e-01 9.55697023e-01 -1.88989122e-04 1.08266360e+01] [ 6.55491052e-04 -4.13948425e-06 9.99999785e-01 -3.22306040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.040281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:135.90, Y:10.83, Z:-0.32 [[ 9.55285432e-01 -2.95683469e-01 -1.01475158e-03 1.35902432e+02] [ 2.95683311e-01 9.55285971e-01 -3.05503703e-04 1.08328415e+01] [ 1.05971035e-03 -8.20187218e-06 9.99999438e-01 -3.22539283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.070281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:135.93, Y:10.84, Z:-0.32 [[ 9.54835644e-01 -2.97130562e-01 -1.52410195e-03 1.35929326e+02] [ 2.97130207e-01 9.54836860e-01 -4.59209420e-04 1.08398329e+01] [ 1.59171387e-03 -1.43872053e-05 9.99998733e-01 -3.22276943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.100281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:135.96, Y:10.85, Z:-0.32 [[ 9.53933812e-01 -3.00010244e-01 -2.03360713e-03 1.35955522e+02] [ 3.00009619e-01 9.53935980e-01 -6.12811984e-04 1.08462506e+01] [ 2.12378088e-03 -2.55196277e-05 9.99997744e-01 -3.22181952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.130281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:135.98, Y:10.85, Z:-0.32 [[ 9.53360301e-01 -3.01830222e-01 -1.62887094e-03 1.35983105e+02] [ 3.01829823e-01 9.53361692e-01 -4.91230751e-04 1.08534407e+01] [ 1.70117144e-03 -2.33219293e-05 9.99998553e-01 -3.22432421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.160281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:136.01, Y:10.86, Z:-0.32 [[ 9.52326073e-01 -3.05080936e-01 -8.20611936e-04 1.36010018e+02] [ 3.05080836e-01 9.52326426e-01 -2.47541102e-04 1.08565347e+01] [ 8.57010504e-04 -1.46131300e-05 9.99999633e-01 -3.23005135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.190281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:136.04, Y:10.86, Z:-0.32 [[ 9.51922452e-01 -3.06338426e-01 -6.43561765e-04 1.36037462e+02] [ 3.06338364e-01 9.51922670e-01 -1.94337253e-04 1.08614226e+01] [ 6.72154001e-04 -1.21536640e-05 9.99999774e-01 -3.22880033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.220281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:136.06, Y:10.87, Z:-0.32 [[ 9.51774989e-01 -3.06795903e-01 -8.03212368e-04 1.36063794e+02] [ 3.06795807e-01 9.51775327e-01 -2.42533334e-04 1.08660673e+01] [ 8.38885948e-04 -1.55850259e-05 9.99999648e-01 -3.22862658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.250281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:136.09, Y:10.87, Z:-0.32 [[ 9.52042610e-01 -3.05965314e-01 -3.09096509e-04 1.36092732e+02] [ 3.05965299e-01 9.52042660e-01 -9.34821002e-05 1.08683991e+01] [ 3.22875343e-04 -5.57386322e-06 9.99999948e-01 -3.22035230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.280281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:136.12, Y:10.87, Z:-0.32 [[ 9.52344639e-01 -3.05022546e-01 9.66603781e-04 1.36120114e+02] [ 3.05022406e-01 9.52345130e-01 2.92104571e-04 1.08740936e+01] [-1.00963888e-03 1.66515891e-05 9.99999490e-01 -3.21458834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.310281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:136.15, Y:10.88, Z:-0.32 [[ 9.52746143e-01 -3.03758448e-01 2.36469619e-03 1.36146431e+02] [ 3.03757609e-01 9.52749077e-01 7.15025153e-04 1.08794815e+01] [-2.47015705e-03 3.70570048e-05 9.99996948e-01 -3.20826854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.340281693 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:136.18, Y:10.88, Z:-0.32 [[ 9.53558961e-01 -3.01186889e-01 3.43015469e-03 1.36175185e+02] [ 3.01185104e-01 9.53565129e-01 1.03786002e-03 1.08826626e+01] [-3.58346573e-03 4.34507724e-05 9.99993578e-01 -3.21631050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.370281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:136.20, Y:10.88, Z:-0.32 [[ 9.54439763e-01 -2.98402256e-01 9.12747498e-04 1.36203679e+02] [ 2.98402128e-01 9.54440199e-01 2.76279878e-04 1.08846799e+01] [-9.53605442e-04 8.67329485e-06 9.99999545e-01 -3.22159477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.400281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:136.23, Y:10.89, Z:-0.32 [[ 9.54906399e-01 -2.96906893e-01 -2.58239359e-04 1.36230298e+02] [ 2.96906883e-01 9.54906433e-01 -7.83043033e-05 1.08896662e+01] [ 2.69843512e-04 -1.89976278e-06 9.99999964e-01 -3.22336892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.430281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:136.26, Y:10.90, Z:-0.32 [[ 9.54951384e-01 -2.96761932e-01 -4.57665784e-04 1.36257980e+02] [ 2.96761900e-01 9.54951494e-01 -1.38846201e-04 1.08950076e+01] [ 4.78252891e-04 -3.22639587e-06 9.99999886e-01 -3.22907338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.460281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:136.28, Y:10.90, Z:-0.32 [[ 9.54852274e-01 -2.97080823e-01 -3.45083202e-04 1.36284673e+02] [ 2.97080805e-01 9.54852337e-01 -1.04731804e-04 1.09005182e+01] [ 3.60617312e-04 -2.51419398e-06 9.99999935e-01 -3.22399701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.490281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:136.31, Y:10.91, Z:-0.32 [[ 9.54625651e-01 -2.97805596e-01 1.30116082e-03 1.36311966e+02] [ 2.97805335e-01 9.54626538e-01 3.94790621e-04 1.09056171e+01] [-1.35969350e-03 1.06153783e-05 9.99999076e-01 -3.22346350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.520281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:136.34, Y:10.91, Z:-0.32 [[ 9.54749480e-01 -2.97406673e-01 1.64359419e-03 1.36338910e+02] [ 2.97406255e-01 9.54750895e-01 4.99055936e-04 1.09126474e+01] [-1.71764559e-03 1.23417956e-05 9.99998525e-01 -3.22340103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.550281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:136.37, Y:10.92, Z:-0.32 [[ 9.56041858e-01 -2.93230223e-01 5.55976104e-05 1.36365167e+02] [ 2.93230222e-01 9.56041859e-01 1.68439775e-05 1.09178030e+01] [-5.80928060e-05 1.99352149e-07 9.99999998e-01 -3.22870352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.580281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:136.39, Y:10.93, Z:-0.32 [[ 9.56735152e-01 -2.90960214e-01 -4.42466119e-05 1.36391841e+02] [ 2.90960214e-01 9.56735154e-01 -1.35543352e-05 1.09260700e+01] [ 4.62760613e-05 9.39052539e-08 9.99999999e-01 -3.22444387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.610281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:136.42, Y:10.94, Z:-0.32 [[ 9.57345596e-01 -2.88943832e-01 9.33662395e-04 1.36417979e+02] [ 2.88943692e-01 9.57346051e-01 2.83913682e-04 1.09351478e+01] [-9.75873114e-04 -2.02765309e-06 9.99999524e-01 -3.22220097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.640281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:136.44, Y:10.94, Z:-0.32 [[ 9.58376585e-01 -2.85500396e-01 1.96068432e-03 1.36443140e+02] [ 2.85499773e-01 9.58378591e-01 5.96561955e-04 1.09442940e+01] [-2.04939655e-03 -1.19560819e-05 9.99997900e-01 -3.22150382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.670281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:136.47, Y:10.95, Z:-0.32 [[ 9.58627082e-01 -2.84660995e-01 1.49494044e-03 1.36469618e+02] [ 2.84660631e-01 9.58628248e-01 4.55090095e-04 1.09531047e+01] [-1.56263853e-03 -1.07110012e-05 9.99998779e-01 -3.22857127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.700281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:136.50, Y:10.96, Z:-0.32 [[ 9.58956311e-01 -2.83552375e-01 9.18827968e-04 1.36495081e+02] [ 2.83552237e-01 9.58956751e-01 2.79810767e-04 1.09627855e+01] [-9.60457291e-04 -7.79057540e-06 9.99999539e-01 -3.22828582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.730281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:136.52, Y:10.97, Z:-0.32 [[ 9.58880104e-01 -2.83809463e-01 1.06529641e-03 1.36521431e+02] [ 2.83809278e-01 9.58880696e-01 3.24580170e-04 1.09723444e+01] [-1.11361108e-03 -8.89246286e-06 9.99999380e-01 -3.23085128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.760281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:136.55, Y:10.98, Z:-0.32 [[ 9.58678992e-01 -2.84487232e-01 1.26700489e-03 1.36547612e+02] [ 2.84486969e-01 9.58679829e-01 3.86321228e-04 1.09816538e+01] [-1.32455548e-03 -9.91166511e-06 9.99999123e-01 -3.23097636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.790281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:136.57, Y:10.99, Z:-0.32 [[ 9.57905399e-01 -2.87082400e-01 9.71031876e-04 1.36573516e+02] [ 2.87082247e-01 9.57905891e-01 2.96257937e-04 1.09915929e+01] [-1.01520759e-03 -5.02106437e-06 9.99999485e-01 -3.23758680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.820281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:136.60, Y:11.00, Z:-0.32 [[ 9.57483376e-01 -2.88485388e-01 1.32858365e-03 1.36599057e+02] [ 2.88485103e-01 9.57484298e-01 4.05571723e-04 1.10010167e+01] [-1.38909950e-03 -5.05159164e-06 9.99999035e-01 -3.23277493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.850281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:136.62, Y:11.01, Z:-0.32 [[ 9.57084685e-01 -2.89803025e-01 1.76433776e-03 1.36624917e+02] [ 2.89802524e-01 9.57086311e-01 5.38909932e-04 1.10107633e+01] [-1.84480125e-03 -4.47290655e-06 9.99998298e-01 -3.22571932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.880281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:136.65, Y:11.02, Z:-0.32 [[ 9.56858302e-01 -2.90542529e-01 2.68842649e-03 1.36651466e+02] [ 2.90541367e-01 9.56862079e-01 8.21783885e-04 1.10210072e+01] [-2.81121652e-03 -5.23162718e-06 9.99996049e-01 -3.21892039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.910281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:136.68, Y:11.03, Z:-0.32 [[ 9.56948904e-01 -2.90243341e-01 2.75648664e-03 1.36677161e+02] [ 2.90242117e-01 9.56952874e-01 8.42902520e-04 1.10296774e+01] [-2.88247466e-03 -6.56612362e-06 9.99995846e-01 -3.22364991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.940281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:136.70, Y:11.04, Z:-0.32 [[ 9.57244850e-01 -2.89258761e-01 3.41550374e-03 1.36702858e+02] [ 2.89256873e-01 9.57250944e-01 1.04507973e-03 1.10411684e+01] [-3.57179264e-03 -1.24392550e-05 9.99993621e-01 -3.22565229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.970281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:136.73, Y:11.05, Z:-0.32 [[ 9.57307792e-01 -2.89053279e-01 3.16129498e-03 1.36728827e+02] [ 2.89051658e-01 9.57313011e-01 9.67951843e-04 1.10506163e+01] [-3.30613847e-03 -1.28502851e-05 9.99994535e-01 -3.22641580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.000281693 meters Centerline goodness : 0.999431 Centerline is valid? [True, True] Translation: X:136.75, Y:11.06, Z:-0.32 [[ 9.57205995e-01 -2.89400487e-01 2.01037383e-03 1.36754331e+02] [ 2.89399832e-01 9.57208106e-01 6.15758727e-04 1.10593949e+01] [-2.10254700e-03 -7.60609837e-06 9.99997790e-01 -3.23015623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.030281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:136.78, Y:11.07, Z:-0.32 [[ 9.56635012e-01 -2.91287340e-01 1.06773418e-03 1.36780743e+02] [ 2.91287157e-01 9.56635607e-01 3.27176082e-04 1.10685008e+01] [-1.11673479e-03 -1.97084164e-06 9.99999376e-01 -3.23785726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.060281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:136.81, Y:11.08, Z:-0.32 [[ 9.56150206e-01 -2.92873118e-01 1.45583733e-03 1.36807193e+02] [ 2.92872778e-01 9.56151315e-01 4.46438311e-04 1.10779303e+01] [-1.52275056e-03 -4.86958726e-07 9.99998841e-01 -3.23707335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.090281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:136.83, Y:11.09, Z:-0.32 [[ 9.55770377e-01 -2.94102984e-01 2.53402501e-03 1.36832720e+02] [ 2.94101956e-01 9.55773736e-01 7.77540284e-04 1.10869674e+01] [-2.65063146e-03 2.11174070e-06 9.99996487e-01 -3.23791028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.120281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:136.86, Y:11.10, Z:-0.32 [[ 9.55202935e-01 -2.95930138e-01 3.56452059e-03 1.36859666e+02] [ 2.95928114e-01 9.55209586e-01 1.09446656e-03 1.10961186e+01] [-3.72874988e-03 9.40418827e-06 9.99993048e-01 -3.22696702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.150281693 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:136.89, Y:11.10, Z:-0.32 [[ 9.54958425e-01 -2.96723964e-01 3.04885976e-03 1.36885708e+02] [ 2.96722487e-01 9.54963292e-01 9.36452379e-04 1.11045161e+01] [-3.18941702e-03 1.03921621e-05 9.99994914e-01 -3.23257537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.180281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:136.91, Y:11.11, Z:-0.32 [[ 9.54579132e-01 -2.97953519e-01 1.54333610e-03 1.36912166e+02] [ 2.97953142e-01 9.54580379e-01 4.74272064e-04 1.11144767e+01] [-1.61454939e-03 7.11162380e-06 9.99998697e-01 -3.23942941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.210281693 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:136.94, Y:11.12, Z:-0.32 [[ 9.54572917e-01 -2.97974483e-01 1.32446209e-03 1.36938324e+02] [ 2.97974205e-01 9.54573836e-01 4.07275207e-04 1.11241327e+01] [-1.38565448e-03 5.88165623e-06 9.99999040e-01 -3.24166203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.240281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:136.96, Y:11.13, Z:-0.32 [[ 9.54624583e-01 -2.97808348e-01 1.44655400e-03 1.36964088e+02] [ 2.97808016e-01 9.54625679e-01 4.45022995e-04 1.11336849e+01] [-1.51344916e-03 5.96548641e-06 9.99998855e-01 -3.23839270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.270281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:136.99, Y:11.14, Z:-0.32 [[ 9.54700950e-01 -2.97563670e-01 1.39952156e-03 1.36989469e+02] [ 2.97563358e-01 9.54701976e-01 4.30678565e-04 1.11432384e+01] [-1.46428030e-03 5.27710208e-06 9.99998928e-01 -3.23382532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.300281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:137.02, Y:11.15, Z:-0.32 [[ 9.54770465e-01 -2.97340708e-01 1.36460512e-03 1.37015293e+02] [ 2.97340411e-01 9.54771440e-01 4.20052988e-04 1.11520792e+01] [-1.42778485e-03 4.69806195e-06 9.99998981e-01 -3.23242656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.330281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:137.04, Y:11.16, Z:-0.32 [[ 9.54930384e-01 -2.96828091e-01 1.02269155e-03 1.37040919e+02] [ 2.96827924e-01 9.54930932e-01 3.14883224e-04 1.11602879e+01] [-1.07006598e-03 2.87185216e-06 9.99999427e-01 -3.23395312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.360281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:137.07, Y:11.17, Z:-0.32 [[ 9.54919835e-01 -2.96862191e-01 9.73342684e-04 1.37067784e+02] [ 2.96862040e-01 9.54920331e-01 2.99824630e-04 1.11688445e+01] [-1.01847132e-03 2.64000879e-06 9.99999481e-01 -3.23118530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.390281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:137.09, Y:11.18, Z:-0.32 [[ 9.54868287e-01 -2.97027957e-01 9.73288903e-04 1.37094959e+02] [ 2.97027805e-01 9.54868783e-01 2.99999139e-04 1.11774237e+01] [-1.01847132e-03 2.63420283e-06 9.99999481e-01 -3.23133744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.420281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:137.12, Y:11.19, Z:-0.32 [[ 9.54663465e-01 -2.97684131e-01 1.35172161e-03 1.37121389e+02] [ 2.97683839e-01 9.54664422e-01 4.16954973e-04 1.11857117e+01] [-1.41456141e-03 4.33399742e-06 9.99999000e-01 -3.23216079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.450281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:137.15, Y:11.19, Z:-0.32 [[ 9.54067832e-01 -2.99576544e-01 2.90961516e-03 1.37147062e+02] [ 2.99575198e-01 9.54072269e-01 8.98077506e-04 1.11927438e+01] [-3.04502609e-03 1.48216798e-05 9.99995364e-01 -3.23597762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.480281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:137.17, Y:11.20, Z:-0.32 [[ 9.53752154e-01 -3.00574655e-01 3.42140391e-03 1.37174316e+02] [ 3.00572798e-01 9.53758290e-01 1.05672328e-03 1.11997406e+01] [-3.58081658e-03 2.05288384e-05 9.99993589e-01 -3.23461346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.510281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:137.20, Y:11.20, Z:-0.32 [[ 9.53473805e-01 -3.01457590e-01 3.32049422e-03 1.37201992e+02] [ 3.01455844e-01 9.53479586e-01 1.02623414e-03 1.12049591e+01] [-3.47538952e-03 2.24950174e-05 9.99993961e-01 -3.23742921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.540281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:137.23, Y:11.21, Z:-0.32 [[ 9.53608924e-01 -3.01036753e-01 2.62549262e-03 1.37228869e+02] [ 3.01035658e-01 9.53612538e-01 8.11953416e-04 1.12121088e+01] [-2.74813050e-03 1.60808756e-05 9.99996224e-01 -3.24645947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.570281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:137.25, Y:11.22, Z:-0.32 [[ 9.53830080e-01 -3.00338033e-01 2.29013316e-03 1.37254708e+02] [ 3.00337197e-01 9.53832829e-01 7.08581785e-04 1.12192301e+01] [-2.39721825e-03 1.19455543e-05 9.99997127e-01 -3.24989739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.600281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:137.28, Y:11.22, Z:-0.32 [[ 9.54709776e-01 -2.97523334e-01 3.01807863e-03 1.37280895e+02] [ 2.97521867e-01 9.54714547e-01 9.34129158e-04 1.12244158e+01] [-3.15932880e-03 6.12215145e-06 9.99995009e-01 -3.23983562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.630281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:137.31, Y:11.23, Z:-0.32 [[ 9.55184335e-01 -2.95991825e-01 3.42428035e-03 1.37307877e+02] [ 2.95989925e-01 9.55190473e-01 1.06049473e-03 1.12309474e+01] [-3.58473774e-03 5.84531774e-07 9.99993575e-01 -3.24025935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.660281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:137.33, Y:11.24, Z:-0.32 [[ 9.56186973e-01 -2.92740318e-01 3.09505030e-03 1.37334157e+02] [ 2.92738748e-01 9.56191982e-01 9.58853627e-04 1.12373465e+01] [-3.24015740e-03 -1.08021962e-05 9.99994751e-01 -3.24473007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.690281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:137.36, Y:11.25, Z:-0.33 [[ 9.56660873e-01 -2.91192682e-01 2.60685362e-03 1.37361336e+02] [ 2.91191562e-01 9.56664425e-01 8.08066624e-04 1.12455912e+01] [-2.72918721e-03 -1.39519446e-05 9.99996276e-01 -3.25310475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.720281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:137.39, Y:11.25, Z:-0.33 [[ 9.57192646e-01 -2.89442156e-01 2.34007671e-03 1.37387563e+02] [ 2.89441247e-01 9.57195507e-01 7.25622718e-04 1.12532478e+01] [-2.44993671e-03 -1.72460092e-05 9.99996999e-01 -3.25987956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.750281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:137.41, Y:11.26, Z:-0.33 [[ 9.58065153e-01 -2.86539981e-01 2.45003140e-03 1.37413642e+02] [ 2.86538974e-01 9.58068285e-01 7.60027000e-04 1.12608695e+01] [-2.56507550e-03 -2.61259000e-05 9.99996710e-01 -3.25638446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.780281693 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:137.44, Y:11.27, Z:-0.33 [[ 9.58393486e-01 -2.85442864e-01 2.07291042e-03 1.37439770e+02] [ 2.85442140e-01 9.58395728e-01 6.43407510e-04 1.12696447e+01] [-2.17032458e-03 -2.49415792e-05 9.99997645e-01 -3.25543019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.810281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:137.47, Y:11.28, Z:-0.33 [[ 9.58636158e-01 -2.84629795e-01 1.61126267e-03 1.37466452e+02] [ 2.84629356e-01 9.58637512e-01 5.00412808e-04 1.12790986e+01] [-1.68704923e-03 -2.11011559e-05 9.99998577e-01 -3.26398004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.840281693 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:137.49, Y:11.29, Z:-0.33 [[ 9.58628856e-01 -2.84657321e-01 9.62610034e-04 1.37491529e+02] [ 2.84657164e-01 9.58629339e-01 2.99058322e-04 1.12882497e+01] [-1.00791536e-03 -1.26720944e-05 9.99999492e-01 -3.26619540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.870281693 meters Centerline goodness : 0.998876 Centerline is valid? [True, True] Translation: X:137.52, Y:11.30, Z:-0.33 [[ 9.58114802e-01 -2.86383047e-01 8.81440724e-04 1.37516946e+02] [ 2.86382916e-01 9.58115207e-01 2.73912265e-04 1.12968158e+01] [-9.22965591e-04 -1.00098311e-05 9.99999574e-01 -3.27559169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.900281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:137.54, Y:11.31, Z:-0.33 [[ 9.57649263e-01 -2.87933538e-01 1.47179308e-03 1.37543380e+02] [ 2.87933174e-01 9.57650394e-01 4.57624646e-04 1.13058122e+01] [-1.54122871e-03 -1.44658505e-05 9.99998812e-01 -3.27052682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.930281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:137.57, Y:11.32, Z:-0.33 [[ 9.56765674e-01 -2.90848548e-01 2.56264274e-03 1.37569287e+02] [ 2.90847456e-01 9.56769106e-01 7.97381786e-04 1.13157200e+01] [-2.68377474e-03 -1.75694012e-05 9.99996399e-01 -3.27375360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.960281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:137.60, Y:11.32, Z:-0.33 [[ 9.56301142e-01 -2.92371391e-01 2.66391641e-03 1.37596179e+02] [ 2.92370215e-01 9.56304852e-01 8.29442410e-04 1.13247510e+01] [-2.79002142e-03 -1.43469101e-05 9.99996108e-01 -3.28248557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.990281693 meters Centerline goodness : 0.998845 Centerline is valid? [True, True] Translation: X:137.62, Y:11.33, Z:-0.33 [[ 9.55543718e-01 -2.94845282e-01 1.56925716e-03 1.37621574e+02] [ 2.94844877e-01 9.55545007e-01 4.88763794e-04 1.13324798e+01] [-1.64360554e-03 -4.34773950e-06 9.99998649e-01 -3.28410256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.020281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:137.65, Y:11.34, Z:-0.33 [[ 9.54832424e-01 -2.97142524e-01 1.16701553e-03 1.37647477e+02] [ 2.97142302e-01 9.54833137e-01 3.63570364e-04 1.13409258e+01] [-1.22233731e-03 -3.79092612e-07 9.99999253e-01 -3.27841944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.050281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:137.67, Y:11.35, Z:-0.33 [[ 9.54078705e-01 -2.99552249e-01 1.50862774e-03 1.37673503e+02] [ 2.99551880e-01 9.54079897e-01 4.70133922e-04 1.13491905e+01] [-1.58018107e-03 3.36751267e-06 9.99998752e-01 -3.27568961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.080281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:137.70, Y:11.36, Z:-0.33 [[ 9.53188153e-01 -3.02373797e-01 1.55920628e-03 1.37702740e+02] [ 3.02374503e-01 9.53189176e-01 -2.33171761e-04 1.13581029e+01] [-1.41571352e-03 6.93720785e-04 9.99998757e-01 -3.27720108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.110281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:137.73, Y:11.36, Z:-0.33 [[ 9.52333468e-01 -3.05054368e-01 1.67270074e-03 1.37728081e+02] [ 3.05052593e-01 9.52334704e-01 1.23553407e-03 1.13616766e+01] [-1.96987602e-03 -6.66378744e-04 9.99997838e-01 -3.27910578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.140281693 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:137.75, Y:11.37, Z:-0.33 [[ 9.51920323e-01 -3.06337706e-01 2.21568497e-03 1.37754765e+02] [ 3.06336926e-01 9.51922901e-01 6.91445889e-04 1.13691145e+01] [-2.32097721e-03 2.05447308e-05 9.99997306e-01 -3.27825690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.170281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:137.78, Y:11.38, Z:-0.33 [[ 9.51686199e-01 -3.07058737e-01 2.88281379e-03 1.37781400e+02] [ 3.07057419e-01 9.51690565e-01 8.99978816e-04 1.13750425e+01] [-3.01989305e-03 2.86919447e-05 9.99995440e-01 -3.28011706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.200281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:137.81, Y:11.38, Z:-0.33 [[ 9.51712556e-01 -3.06977665e-01 2.81479921e-03 1.37808625e+02] [ 3.06976407e-01 9.51716719e-01 8.79264479e-04 1.13814054e+01] [-2.94880603e-03 2.72699043e-05 9.99995652e-01 -3.28657304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.230281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:137.84, Y:11.39, Z:-0.33 [[ 9.51819040e-01 -3.06650249e-01 2.47778832e-03 1.37835157e+02] [ 3.06649272e-01 9.51822265e-01 7.74260031e-04 1.13873333e+01] [-2.59584112e-03 2.28565442e-05 9.99996631e-01 -3.28412819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.260281693 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:137.86, Y:11.39, Z:-0.33 [[ 9.52623358e-01 -3.04143854e-01 2.29228361e-03 1.37862990e+02] [ 3.04143010e-01 9.52626116e-01 7.16690250e-04 1.13923349e+01] [-2.40166617e-03 1.44461641e-05 9.99997116e-01 -3.28818066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.290281693 meters Centerline goodness : 0.998881 Centerline is valid? [True, True] Translation: X:137.89, Y:11.40, Z:-0.33 [[ 9.53198669e-01 -3.02338690e-01 1.90091456e-03 1.37889679e+02] [ 3.02338105e-01 9.53200565e-01 5.94686575e-04 1.13999500e+01] [-1.99174959e-03 7.86445345e-06 9.99998016e-01 -3.28989194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.320281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:137.92, Y:11.41, Z:-0.33 [[ 9.54939569e-01 -2.96798196e-01 1.11827071e-03 1.37916124e+02] [ 2.96797990e-01 9.54940224e-01 3.49953886e-04 1.14072385e+01] [-1.17174737e-03 -2.28431342e-06 9.99999314e-01 -3.29470535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.350281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:137.94, Y:11.42, Z:-0.33 [[ 9.55907219e-01 -2.93667506e-01 8.85608056e-04 1.37941428e+02] [ 2.93667376e-01 9.55907629e-01 2.77228661e-04 1.14154295e+01] [-9.27972546e-04 -4.93068464e-06 9.99999569e-01 -3.29635763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.380281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:137.97, Y:11.42, Z:-0.33 [[ 9.56921521e-01 -2.90345862e-01 6.95569427e-04 1.37968099e+02] [ 2.90345781e-01 9.56921773e-01 2.17828657e-04 1.14248626e+01] [-7.28851179e-04 -6.48928126e-06 9.99999734e-01 -3.29813155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.410281693 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:137.99, Y:11.44, Z:-0.33 [[ 9.58990267e-01 -2.83434673e-01 1.56665417e-03 1.37993898e+02] [ 2.83434249e-01 9.58991546e-01 4.91060004e-04 1.14374167e+01] [-1.64159153e-03 -2.68783175e-05 9.99998652e-01 -3.29447176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.440281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:138.02, Y:11.45, Z:-0.33 [[ 9.59859402e-01 -2.80473739e-01 2.09991651e-03 1.38020460e+02] [ 2.80472969e-01 9.59861698e-01 6.58677821e-04 1.14478968e+01] [-2.20037126e-03 -4.32682823e-05 9.99997578e-01 -3.29249974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.470281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:138.05, Y:11.46, Z:-0.33 [[ 9.60382089e-01 -2.78669522e-01 3.08884444e-03 1.38046135e+02] [ 2.78667845e-01 9.60387053e-01 9.69568877e-04 1.14583965e+01] [-3.23667550e-03 -7.03949621e-05 9.99994759e-01 -3.29439796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.500281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:138.07, Y:11.47, Z:-0.33 [[ 9.60691118e-01 -2.77579374e-01 4.71885873e-03 1.38070673e+02] [ 2.77575441e-01 9.60702700e-01 1.48198417e-03 1.14706001e+01] [-4.94478856e-03 -1.13889730e-04 9.99987768e-01 -3.28142642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.530281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:138.10, Y:11.48, Z:-0.33 [[ 9.60471916e-01 -2.78321855e-01 5.53571557e-03 1.38095857e+02] [ 2.78316452e-01 9.60487860e-01 1.73905256e-03 1.14812309e+01] [-5.80100393e-03 -1.29630431e-04 9.99983166e-01 -3.28784926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.560281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:138.12, Y:11.49, Z:-0.33 [[ 9.60063722e-01 -2.79720959e-01 5.81671135e-03 1.38121411e+02] [ 2.79715013e-01 9.60081334e-01 1.82836814e-03 1.14918913e+01] [-6.09594888e-03 -1.28328434e-04 9.99981411e-01 -3.29526753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.590281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:138.15, Y:11.50, Z:-0.33 [[ 9.59149647e-01 -2.82825173e-01 6.47118354e-03 1.38146282e+02] [ 2.82817875e-01 9.59171469e-01 2.03541486e-03 1.15048878e+01] [-6.78264118e-03 -1.22101070e-04 9.99976990e-01 -3.29515643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.620281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:138.17, Y:11.52, Z:-0.33 [[ 9.58741981e-01 -2.84216045e-01 5.92053160e-03 1.38171024e+02] [ 2.84209959e-01 9.58760256e-01 1.86279449e-03 1.15157049e+01] [-6.20580648e-03 -1.03265236e-04 9.99980738e-01 -3.29498673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.650281693 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:138.20, Y:11.53, Z:-0.33 [[ 9.57996741e-01 -2.86749604e-01 4.11194844e-03 1.38196715e+02] [ 2.86746689e-01 9.58005564e-01 1.29452062e-03 1.15287202e+01] [-4.31047276e-03 -6.10589300e-05 9.99990708e-01 -3.30896687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.680281693 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:138.22, Y:11.54, Z:-0.33 [[ 9.57538684e-01 -2.88288520e-01 3.06563554e-03 1.38221839e+02] [ 2.88286906e-01 9.57543590e-01 9.65554782e-04 1.15388113e+01] [-3.21383802e-03 -4.07734721e-05 9.99994835e-01 -3.30972594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.710281693 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:138.25, Y:11.55, Z:-0.33 [[ 9.56952149e-01 -2.90230616e-01 2.96209344e-03 1.38248034e+02] [ 2.90229117e-01 9.56956733e-01 9.33512642e-04 1.15493304e+01] [-3.10552921e-03 -3.36411644e-05 9.99995177e-01 -3.31469735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.740281693 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:138.27, Y:11.56, Z:-0.33 [[ 9.55664121e-01 -2.94443820e-01 2.98748425e-03 1.38272731e+02] [ 2.94442314e-01 9.55668790e-01 9.41963523e-04 1.15608537e+01] [-3.13240080e-03 -2.05589660e-05 9.99995094e-01 -3.31405963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.770281693 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:138.30, Y:11.57, Z:-0.33 [[ 9.55102037e-01 -2.96268476e-01 2.25581139e-03 1.38298126e+02] [ 2.96267622e-01 9.55104701e-01 7.11469199e-04 1.15703834e+01] [-2.36532196e-03 -1.12018058e-05 9.99997203e-01 -3.31619615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.800281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:138.32, Y:11.58, Z:-0.33 [[ 9.54396367e-01 -2.98541323e-01 8.07762570e-04 1.38324190e+02] [ 2.98541215e-01 9.54396709e-01 2.54841899e-04 1.15793190e+01] [-8.47006776e-04 -2.06976371e-06 9.99999641e-01 -3.32101032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.830281693 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:138.35, Y:11.59, Z:-0.33 [[ 9.54112178e-01 -2.99449023e-01 4.83315905e-04 1.38350886e+02] [ 2.99448984e-01 9.54112301e-01 1.52540295e-04 1.15880515e+01] [-5.06815693e-04 -8.12096068e-07 9.99999872e-01 -3.31859872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.860281693 meters Centerline goodness : 0.998447 Centerline is valid? [True, True] Translation: X:138.38, Y:11.60, Z:-0.33 [[ 9.53956815e-01 -2.99943901e-01 -2.25957388e-04 1.38376790e+02] [ 2.99943892e-01 9.53956842e-01 -7.14713473e-05 1.15971888e+01] [ 2.36990991e-04 4.06040366e-07 9.99999972e-01 -3.31793436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.890281693 meters Centerline goodness : 0.998147 Centerline is valid? [True, True] Translation: X:138.40, Y:11.61, Z:-0.33 [[ 9.53877821e-01 -3.00192601e-01 -1.22701677e-03 1.38403104e+02] [ 3.00192350e-01 9.53878610e-01 -3.88086439e-04 1.16082490e+01] [ 1.28692572e-03 1.84599942e-06 9.99999172e-01 -3.32861182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.920281693 meters Centerline goodness : 0.998319 Centerline is valid? [True, True] Translation: X:138.43, Y:11.62, Z:-0.33 [[ 9.53852245e-01 -3.00272634e-01 -1.49692623e-03 1.38429003e+02] [ 3.00272260e-01 9.53853419e-01 -4.73509223e-04 1.16167952e+01] [ 1.57003007e-03 2.17241190e-06 9.99998768e-01 -3.33310301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.950281693 meters Centerline goodness : 0.998294 Centerline is valid? [True, True] Translation: X:138.46, Y:11.62, Z:-0.33 [[ 9.53755400e-01 -3.00581349e-01 -1.22072273e-03 1.38456010e+02] [ 3.00581100e-01 9.53756181e-01 -3.86473478e-04 1.16247619e+01] [ 1.28043857e-03 1.67498376e-06 9.99999180e-01 -3.33136259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.980281693 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:138.48, Y:11.63, Z:-0.33 [[ 9.53772737e-01 -3.00527051e-01 -1.02880076e-03 1.38482504e+02] [ 3.00526874e-01 9.53773292e-01 -3.25764022e-04 1.16318370e+01] [ 1.07914359e-03 1.52256500e-06 9.99999418e-01 -3.32901384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.010281693 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:138.51, Y:11.64, Z:-0.33 [[ 9.53829122e-01 -3.00349291e-01 -5.55679340e-04 1.38508244e+02] [ 3.00349239e-01 9.53829284e-01 -1.76022533e-04 1.16396561e+01] [ 5.82891470e-04 9.97550761e-07 9.99999830e-01 -3.33236119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.040281693 meters Centerline goodness : 0.998595 Centerline is valid? [True, True] Translation: X:138.54, Y:11.65, Z:-0.33 [[ 9.53923152e-01 -3.00050999e-01 1.35415669e-04 1.38535422e+02] [ 3.00050996e-01 9.53923161e-01 4.28081477e-05 1.16479333e+01] [-1.42020771e-04 -2.04076796e-07 9.99999990e-01 -3.33123826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.070281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:138.56, Y:11.65, Z:-0.33 [[ 9.54227034e-01 -2.99080234e-01 1.33479618e-03 1.38562367e+02] [ 2.99079935e-01 9.54227967e-01 4.23165348e-04 1.16546070e+01] [-1.40026024e-03 -4.58505952e-06 9.99999020e-01 -3.32801807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.100281693 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:138.59, Y:11.66, Z:-0.33 [[ 9.54385539e-01 -2.98572533e-01 1.63878519e-03 1.38587716e+02] [ 2.98572080e-01 9.54386946e-01 5.19778062e-04 1.16623408e+01] [-1.71922664e-03 -6.77316356e-06 9.99998522e-01 -3.33454945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.130281693 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:138.61, Y:11.67, Z:-0.33 [[ 9.54521399e-01 -2.98137594e-01 1.69544779e-03 1.38613356e+02] [ 2.98137109e-01 9.54522904e-01 5.37906280e-04 1.16696716e+01] [-1.77871383e-03 -7.96715313e-06 9.99998418e-01 -3.33521261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.160281693 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:138.64, Y:11.68, Z:-0.33 [[ 9.54181475e-01 -2.99224870e-01 1.48018441e-03 1.38641040e+02] [ 2.99224501e-01 9.54182623e-01 4.69836395e-04 1.16757074e+01] [-1.55295298e-03 -5.40174233e-06 9.99998794e-01 -3.34105963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.190281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:138.67, Y:11.68, Z:-0.33 [[ 9.53777302e-01 -3.00512803e-01 9.56253155e-04 1.38668032e+02] [ 3.00512649e-01 9.53777781e-01 3.03685235e-04 1.16821628e+01] [-1.00331431e-03 -2.28191543e-06 9.99999497e-01 -3.34542797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.220281693 meters Centerline goodness : 0.998548 Centerline is valid? [True, True] Translation: X:138.70, Y:11.69, Z:-0.33 [[ 9.53214860e-01 -3.02293165e-01 5.21818591e-04 1.38695799e+02] [ 3.02293119e-01 9.53215003e-01 1.65777477e-04 1.16884978e+01] [-5.47518708e-04 -2.79385346e-07 9.99999850e-01 -3.34816081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.250281693 meters Centerline goodness : 0.998549 Centerline is valid? [True, True] Translation: X:138.72, Y:11.69, Z:-0.34 [[ 9.51598777e-01 -3.07342306e-01 6.88317540e-04 1.38724292e+02] [ 3.07342228e-01 9.51599026e-01 2.18849743e-04 1.16926762e+01] [-7.22264086e-04 3.29189833e-06 9.99999739e-01 -3.35236461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.280281693 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:138.75, Y:11.70, Z:-0.34 [[ 9.50674183e-01 -3.10190854e-01 4.81310830e-04 1.38751179e+02] [ 3.10190817e-01 9.50674305e-01 1.53103791e-04 1.16986792e+01] [-5.05061234e-04 3.74637753e-06 9.99999872e-01 -3.35976204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.310281693 meters Centerline goodness : 0.998336 Centerline is valid? [True, True] Translation: X:138.78, Y:11.71, Z:-0.34 [[ 9.50619720e-01 -3.10357723e-01 4.81299039e-04 1.38778277e+02] [ 3.10357685e-01 9.50619842e-01 1.53140847e-04 1.17075041e+01] [-5.05060861e-04 3.79614671e-06 9.99999872e-01 -3.35991389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.340281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:138.81, Y:11.71, Z:-0.34 [[ 9.49028808e-01 -3.15189051e-01 4.29002165e-04 1.38806662e+02] [ 3.15189022e-01 9.49028905e-01 1.36571749e-04 1.17109007e+01] [-4.50181375e-04 5.60624830e-06 9.99999899e-01 -3.35470527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.370281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:138.83, Y:11.72, Z:-0.33 [[ 9.48668878e-01 -3.16268249e-01 1.32472641e-03 1.38832815e+02] [ 3.16267968e-01 9.48669803e-01 4.22129627e-04 1.17176716e+01] [-1.39023414e-03 1.85072883e-05 9.99999033e-01 -3.34078082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.400281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:138.86, Y:11.73, Z:-0.33 [[ 9.48745423e-01 -3.16032516e-01 2.36046278e-03 1.38858695e+02] [ 3.16031622e-01 9.48748359e-01 7.52419962e-04 1.17253658e+01] [-2.47727436e-03 3.21258858e-05 9.99996931e-01 -3.33268130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.430281693 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:138.89, Y:11.73, Z:-0.33 [[ 9.50140227e-01 -3.11789647e-01 4.55690944e-03 1.38885487e+02] [ 3.11786261e-01 9.50151154e-01 1.45347124e-03 1.17331357e+01] [-4.78293005e-03 3.97802666e-05 9.99988561e-01 -3.32559218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.460281693 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:138.91, Y:11.74, Z:-0.33 [[ 9.51011948e-01 -3.09124384e-01 4.28830141e-03 1.38910990e+02] [ 3.09121357e-01 9.51021616e-01 1.36822882e-03 1.17413995e+01] [-4.50122023e-03 2.44035937e-05 9.99989869e-01 -3.32216019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.490281693 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:138.94, Y:11.75, Z:-0.33 [[ 9.52609739e-01 -3.04176734e-01 3.34641304e-03 1.38937348e+02] [ 3.04174858e-01 9.52615617e-01 1.06832007e-03 1.17514842e+01] [-3.51280343e-03 2.02612811e-07 9.99993830e-01 -3.32918560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.520281693 meters Centerline goodness : 0.998533 Centerline is valid? [True, True] Translation: X:138.96, Y:11.76, Z:-0.33 [[ 9.53021380e-01 -3.02885413e-01 3.26736684e-03 1.38963818e+02] [ 3.02883614e-01 9.53026981e-01 1.04374762e-03 1.17608339e+01] [-3.43002468e-03 -5.08191718e-06 9.99994117e-01 -3.32853979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.550281693 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:138.99, Y:11.77, Z:-0.33 [[ 9.53153353e-01 -3.02471509e-01 3.10991844e-03 1.38990180e+02] [ 3.02469876e-01 9.53158426e-01 9.94082724e-04 1.17689807e+01] [-3.26492667e-03 -6.85663590e-06 9.99994670e-01 -3.33445060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.580281693 meters Centerline goodness : 0.998523 Centerline is valid? [True, True] Translation: X:139.02, Y:11.78, Z:-0.33 [[ 9.52609423e-01 -3.04189975e-01 1.93567461e-03 1.39017110e+02] [ 3.04189345e-01 9.52611389e-01 6.19097835e-04 1.17751021e+01] [-2.03226903e-03 -9.46841040e-07 9.99997935e-01 -3.33816978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.610281693 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:139.04, Y:11.78, Z:-0.33 [[ 9.52092043e-01 -3.05809343e-01 1.17836607e-03 1.39044247e+02] [ 3.05809110e-01 9.52092772e-01 3.77091469e-04 1.17832610e+01] [-1.23723191e-03 1.32929162e-06 9.99999235e-01 -3.34969113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.640281693 meters Centerline goodness : 0.998201 Centerline is valid? [True, True] Translation: X:139.07, Y:11.79, Z:-0.33 [[ 9.51559664e-01 -3.07464145e-01 6.91033635e-05 1.39069879e+02] [ 3.07464144e-01 9.51559667e-01 2.20564487e-05 1.17918023e+01] [-7.25375406e-05 2.58779558e-07 9.99999997e-01 -3.34929789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.670281693 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:139.10, Y:11.80, Z:-0.34 [[ 9.51068020e-01 -3.08981270e-01 -4.44145374e-04 1.39095667e+02] [ 3.08981237e-01 9.51068123e-01 -1.42320042e-04 1.17996000e+01] [ 4.66386734e-04 -1.87654652e-06 9.99999891e-01 -3.35601093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.700281693 meters Centerline goodness : 0.998299 Centerline is valid? [True, True] Translation: X:139.12, Y:11.81, Z:-0.34 [[ 9.51094696e-01 -3.08899451e-01 -8.97694225e-05 1.39122971e+02] [ 3.08899450e-01 9.51094700e-01 -2.88807213e-05 1.18074955e+01] [ 9.43004610e-05 -2.61424350e-07 9.99999996e-01 -3.35640941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.730281693 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:139.15, Y:11.81, Z:-0.34 [[ 9.51536652e-01 -3.07534589e-01 6.90284363e-04 1.39149825e+02] [ 3.07534509e-01 9.51536902e-01 2.21305446e-04 1.18143536e+01] [-7.24890124e-04 1.70601927e-06 9.99999737e-01 -3.35378656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.760281693 meters Centerline goodness : 0.998190 Centerline is valid? [True, True] Translation: X:139.18, Y:11.82, Z:-0.34 [[ 9.51778276e-01 -3.06785440e-01 8.98799673e-04 1.39175684e+02] [ 3.06785304e-01 9.51778700e-01 2.88330030e-04 1.18217637e+01] [-9.43913840e-04 1.31227232e-06 9.99999555e-01 -3.35845699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.790281693 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:139.20, Y:11.83, Z:-0.34 [[ 9.51919493e-01 -3.06347971e-01 4.46040699e-04 1.39202259e+02] [ 3.06347938e-01 9.51919598e-01 1.43097576e-04 1.18295590e+01] [-4.68432535e-04 4.26276314e-07 9.99999890e-01 -3.35486757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.820281693 meters Centerline goodness : 0.998269 Centerline is valid? [True, True] Translation: X:139.23, Y:11.84, Z:-0.34 [[ 9.52334111e-01 -3.05056012e-01 -7.55549509e-04 1.39229792e+02] [ 3.05055916e-01 9.52334410e-01 -2.42834967e-04 1.18350353e+01] [ 7.93614063e-04 7.75175507e-07 9.99999685e-01 -3.36419172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.850281693 meters Centerline goodness : 0.998306 Centerline is valid? [True, True] Translation: X:139.26, Y:11.84, Z:-0.34 [[ 9.52350513e-01 -3.05004280e-01 -9.42810363e-04 1.39256296e+02] [ 3.05004129e-01 9.52350980e-01 -3.03094367e-04 1.18423451e+01] [ 9.90331453e-04 1.09102236e-06 9.99999510e-01 -3.36451299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.880281693 meters Centerline goodness : 0.998217 Centerline is valid? [True, True] Translation: X:139.28, Y:11.85, Z:-0.34 [[ 9.52453058e-01 -3.04684850e-01 -5.60690902e-04 1.39282524e+02] [ 3.04684797e-01 9.52453223e-01 -1.80303713e-04 1.18489234e+01] [ 5.88967667e-04 8.96829256e-07 9.99999827e-01 -3.36847071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.910281693 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:139.31, Y:11.86, Z:-0.34 [[ 9.52535199e-01 -3.04427923e-01 -5.78496699e-04 1.39309579e+02] [ 3.04427866e-01 9.52535374e-01 -1.86206071e-04 1.18558118e+01] [ 6.07724898e-04 1.25732041e-06 9.99999815e-01 -3.37256795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.940281693 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:139.34, Y:11.86, Z:-0.34 [[ 9.52581287e-01 -3.04283850e-01 -4.80287964e-04 1.39335824e+02] [ 3.04283811e-01 9.52581408e-01 -1.54596285e-04 1.18621305e+01] [ 5.04554538e-04 1.12167582e-06 9.99999873e-01 -3.36934788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.970281693 meters Centerline goodness : 0.998612 Centerline is valid? [True, True] Translation: X:139.36, Y:11.87, Z:-0.34 [[ 9.52918101e-01 -3.03224665e-01 1.37649027e-03 1.39363524e+02] [ 3.03224341e-01 9.52919096e-01 4.43112601e-04 1.18660470e+01] [-1.44604653e-03 -4.86466226e-06 9.99998954e-01 -3.36654096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.000281693 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:139.39, Y:11.87, Z:-0.34 [[ 9.53107782e-01 -3.02615830e-01 3.03559299e-03 1.39390798e+02] [ 3.02614250e-01 9.53112616e-01 9.77941796e-04 1.18727615e+01] [-3.18920265e-03 -1.34702412e-05 9.99994914e-01 -3.35890788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.030281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:139.42, Y:11.88, Z:-0.33 [[ 9.53307608e-01 -3.01967688e-01 4.48550444e-03 1.39417633e+02] [ 3.01964227e-01 9.53318160e-01 1.44600528e-03 1.18791934e+01] [-4.71275971e-03 -2.40259491e-05 9.99988895e-01 -3.34697710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.060281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:139.44, Y:11.88, Z:-0.34 [[ 9.53346981e-01 -3.01829208e-01 5.35378301e-03 1.39444759e+02] [ 3.01824271e-01 9.53362013e-01 1.72670834e-03 1.18837760e+01] [-5.62526436e-03 -3.02505311e-05 9.99984178e-01 -3.35777295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.090281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:139.47, Y:11.89, Z:-0.34 [[ 9.53106875e-01 -3.02599826e-01 4.54198963e-03 1.39471839e+02] [ 3.02596277e-01 9.53117697e-01 1.46576474e-03 1.18899414e+01] [-4.77259085e-03 -2.26413000e-05 9.99988611e-01 -3.36609118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.120281693 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:139.50, Y:11.90, Z:-0.34 [[ 9.52814729e-01 -3.03533873e-01 3.35868371e-03 1.39497906e+02] [ 3.03531937e-01 9.52820648e-01 1.08422293e-03 1.18954861e+01] [-3.52932157e-03 -1.35958059e-05 9.99993772e-01 -3.37386312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.150281693 meters Centerline goodness : 0.998561 Centerline is valid? [True, True] Translation: X:139.53, Y:11.90, Z:-0.34 [[ 9.51904816e-01 -3.06390015e-01 1.54288995e-03 1.39526852e+02] [ 3.06389610e-01 9.51906066e-01 4.98288416e-04 1.18976595e+01] [-1.62135690e-03 -1.59769244e-06 9.99998686e-01 -3.38211501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.180281693 meters Centerline goodness : 0.998566 Centerline is valid? [True, True] Translation: X:139.55, Y:11.90, Z:-0.34 [[ 9.51446399e-01 -3.07812354e-01 1.14203282e-03 1.39554384e+02] [ 3.07812133e-01 9.51447085e-01 3.69032421e-04 1.19030083e+01] [-1.20017653e-03 4.16988264e-07 9.99999280e-01 -3.38191948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.210281693 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:139.58, Y:11.91, Z:-0.34 [[ 9.51429955e-01 -3.07862827e-01 1.23303098e-03 1.39581522e+02] [ 3.07862569e-01 9.51430754e-01 3.98613895e-04 1.19082296e+01] [-1.29586200e-03 3.50885422e-07 9.99999160e-01 -3.37874893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.240281693 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:139.61, Y:11.91, Z:-0.34 [[ 9.52262059e-01 -3.05272736e-01 2.35113500e-03 1.39609571e+02] [ 3.05271789e-01 9.52264961e-01 7.60535139e-04 1.19122418e+01] [-2.47107413e-03 -6.49356894e-06 9.99996947e-01 -3.37271931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.270281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:139.64, Y:11.92, Z:-0.34 [[ 9.52921984e-01 -3.03208979e-01 2.00184430e-03 1.39636762e+02] [ 3.03208287e-01 9.52924087e-01 6.47938015e-04 1.19202234e+01] [-2.10406627e-03 -1.04585982e-05 9.99997786e-01 -3.37140230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.300281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:139.66, Y:11.93, Z:-0.34 [[ 9.53695671e-01 -3.00768170e-01 1.75365668e-03 1.39663741e+02] [ 3.00767634e-01 9.53697283e-01 5.67950290e-04 1.19289977e+01] [-1.84327898e-03 -1.42085621e-05 9.99998301e-01 -3.37604970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.330281693 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:139.69, Y:11.94, Z:-0.34 [[ 9.55722547e-01 -2.94262899e-01 1.93905842e-03 1.39690127e+02] [ 2.94262229e-01 9.55724513e-01 6.28401705e-04 1.19382319e+01] [-2.03812097e-03 -2.99860248e-05 9.99997923e-01 -3.37556683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.360281693 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:139.72, Y:11.95, Z:-0.34 [[ 9.56757860e-01 -2.90878575e-01 2.01316860e-03 1.39715983e+02] [ 2.90877845e-01 9.56759977e-01 6.52658703e-04 1.19469211e+01] [-2.11596357e-03 -3.88502006e-05 9.99997761e-01 -3.37940047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.390281693 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:139.74, Y:11.96, Z:-0.34 [[ 9.57715563e-01 -2.87711812e-01 1.67722582e-03 1.39741963e+02] [ 2.87711301e-01 9.57717031e-01 5.43886379e-04 1.19558103e+01] [-1.76279027e-03 -3.83316266e-05 9.99998446e-01 -3.37440387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.420281693 meters Centerline goodness : 0.998856 Centerline is valid? [True, True] Translation: X:139.77, Y:11.97, Z:-0.34 [[ 9.58917753e-01 -2.83678662e-01 1.77732712e-03 1.39767837e+02] [ 2.83678080e-01 9.58919399e-01 5.76642409e-04 1.19655001e+01] [-1.86789460e-03 -4.87638991e-05 9.99998254e-01 -3.37278901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.450281693 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:139.79, Y:11.97, Z:-0.34 [[ 9.58994179e-01 -2.83418344e-01 2.05097924e-03 1.39794221e+02] [ 2.83417567e-01 9.58996371e-01 6.65850815e-04 1.19745095e+01] [-2.15559598e-03 -5.72635100e-05 9.99997675e-01 -3.37600505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.480281693 meters Centerline goodness : 0.998800 Centerline is valid? [True, True] Translation: X:139.82, Y:11.98, Z:-0.34 [[ 9.58892702e-01 -2.83762259e-01 1.94053808e-03 1.39820211e+02] [ 2.83761564e-01 9.58894665e-01 6.30387525e-04 1.19835650e+01] [-2.03965180e-03 -5.38238768e-05 9.99997918e-01 -3.38035276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.510281693 meters Centerline goodness : 0.998538 Centerline is valid? [True, True] Translation: X:139.85, Y:11.99, Z:-0.34 [[ 9.58608393e-01 -2.84723024e-01 1.65812614e-03 1.39845103e+02] [ 2.84722518e-01 9.58609826e-01 5.38837952e-04 1.19937338e+01] [-1.74291558e-03 -4.44287355e-05 9.99998480e-01 -3.38121708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.540281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:139.87, Y:12.00, Z:-0.34 [[ 9.58315700e-01 -2.85706722e-01 1.63927582e-03 1.39870858e+02] [ 2.85706228e-01 9.58317101e-01 5.32980209e-04 1.20041785e+01] [-1.72322208e-03 -4.24119911e-05 9.99998514e-01 -3.37749934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.570281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:139.90, Y:12.02, Z:-0.34 [[ 9.57847022e-01 -2.87270076e-01 2.23272882e-03 1.39897090e+02] [ 2.87269163e-01 9.57849623e-01 7.26414706e-04 1.20155436e+01] [-2.34729567e-03 -5.44000243e-05 9.99997244e-01 -3.38199570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.600281693 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:139.92, Y:12.02, Z:-0.34 [[ 9.57716714e-01 -2.87705964e-01 1.99360171e-03 1.39923249e+02] [ 2.87705235e-01 9.57718788e-01 6.49006953e-04 1.20247843e+01] [-2.09603298e-03 -4.79951583e-05 9.99997802e-01 -3.38273470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.630281693 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:139.95, Y:12.03, Z:-0.34 [[ 9.57706422e-01 -2.87743538e-01 1.43748855e-03 1.39948150e+02] [ 2.87743159e-01 9.57707500e-01 4.68169158e-04 1.20340295e+01] [-1.51140622e-03 -3.47411111e-05 9.99998857e-01 -3.37795692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.660281693 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:139.97, Y:12.05, Z:-0.34 [[ 9.58337987e-01 -2.85636300e-01 4.55799435e-04 1.39973372e+02] [ 2.85636261e-01 9.58338095e-01 1.48459377e-04 1.20474804e+01] [-4.79215349e-04 -1.20814139e-05 9.99999885e-01 -3.38112791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.690281693 meters Centerline goodness : 0.998181 Centerline is valid? [True, True] Translation: X:140.00, Y:12.06, Z:-0.34 [[ 9.58764639e-01 -2.84201178e-01 2.37975410e-04 1.39997476e+02] [ 2.84201168e-01 9.58764669e-01 7.75404420e-05 1.20594205e+01] [-2.50199500e-04 -6.71014456e-06 9.99999969e-01 -3.38400757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.720281693 meters Centerline goodness : 0.998487 Centerline is valid? [True, True] Translation: X:140.02, Y:12.07, Z:-0.34 [[ 9.59467346e-01 -2.81815546e-01 1.55248441e-03 1.40021265e+02] [ 2.81815096e-01 9.59468601e-01 5.06220447e-04 1.20747764e+01] [-1.63222084e-03 -4.81884459e-05 9.99998667e-01 -3.38454656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.750281693 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:140.05, Y:12.09, Z:-0.34 [[ 9.59542112e-01 -2.81545939e-01 3.28927861e-03 1.40046214e+02] [ 2.81543913e-01 9.59547744e-01 1.07318792e-03 1.20873125e+01] [-3.45837157e-03 -1.03692634e-04 9.99994014e-01 -3.38137415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.780281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:140.07, Y:12.10, Z:-0.34 [[ 9.59462559e-01 -2.81803169e-01 4.30943537e-03 1.40070246e+02] [ 2.81799691e-01 9.59472228e-01 1.40668896e-03 1.20996946e+01] [-4.53119296e-03 -1.35267836e-04 9.99989725e-01 -3.37772309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.810281693 meters Centerline goodness : 0.998560 Centerline is valid? [True, True] Translation: X:140.10, Y:12.11, Z:-0.34 [[ 9.59288939e-01 -2.82403482e-01 3.60611411e-03 1.40095534e+02] [ 2.82401048e-01 9.59295711e-01 1.17778686e-03 1.21115524e+01] [-3.79194091e-03 -1.11467501e-04 9.99992804e-01 -3.37939034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.840281693 meters Centerline goodness : 0.997817 Centerline is valid? [True, True] Translation: X:140.12, Y:12.13, Z:-0.34 [[ 9.58677557e-01 -2.84494609e-01 4.00072394e-04 1.40119716e+02] [ 2.84494579e-01 9.58677640e-01 1.30656994e-04 1.21256481e+01] [-4.20711669e-04 -1.14395006e-05 9.99999911e-01 -3.39434428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.870281693 meters Centerline goodness : 0.997599 Centerline is valid? [True, True] Translation: X:140.14, Y:12.14, Z:-0.34 [[ 9.57374475e-01 -2.88849606e-01 1.42254827e-04 1.40144784e+02] [ 2.88849602e-01 9.57374485e-01 4.64215234e-05 1.21385218e+01] [-1.49599981e-04 -3.35253138e-06 9.99999989e-01 -3.40438392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.900281693 meters Centerline goodness : 0.997856 Centerline is valid? [True, True] Translation: X:140.17, Y:12.15, Z:-0.34 [[ 9.56499415e-01 -2.91732571e-01 9.87802782e-04 1.40170897e+02] [ 2.91732393e-01 9.56499925e-01 3.23140062e-04 1.21480656e+01] [-1.03910377e-03 -2.09092107e-05 9.99999460e-01 -3.39901937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.930281693 meters Centerline goodness : 0.997650 Centerline is valid? [True, True] Translation: X:140.20, Y:12.16, Z:-0.34 [[ 9.55761554e-01 -2.94138884e-01 1.47281649e-03 1.40195921e+02] [ 2.94138491e-01 9.55762688e-01 4.82035154e-04 1.21571764e+01] [-1.54944833e-03 -2.74986487e-05 9.99998799e-01 -3.39656234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.960281693 meters Centerline goodness : 0.997716 Centerline is valid? [True, True] Translation: X:140.22, Y:12.17, Z:-0.34 [[ 9.55169004e-01 -2.96058534e-01 1.23193398e-03 1.40222028e+02] [ 2.96058260e-01 9.55169799e-01 4.03376570e-04 1.21673431e+01] [-1.29612921e-03 -2.05685656e-05 9.99999160e-01 -3.39220787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.990281693 meters Centerline goodness : 0.997668 Centerline is valid? [True, True] Translation: X:140.25, Y:12.18, Z:-0.34 [[ 9.54654084e-01 -2.97716333e-01 -7.52171331e-04 1.40247338e+02] [ 2.97716231e-01 9.54654380e-01 -2.46596145e-04 1.21810907e+01] [ 7.91479355e-04 1.14804031e-05 9.99999687e-01 -3.39700020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.020281693 meters Centerline goodness : 0.996959 Centerline is valid? [True, True] Translation: X:140.27, Y:12.19, Z:-0.34 [[ 9.54454971e-01 -2.98345659e-01 -2.36135281e-03 1.40273117e+02] [ 2.98344656e-01 9.54457891e-01 -7.74416419e-04 1.21928073e+01] [ 2.48485560e-03 3.46486083e-05 9.99996912e-01 -3.40276025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.050281693 meters Centerline goodness : 0.997193 Centerline is valid? [True, True] Translation: X:140.30, Y:12.20, Z:-0.34 [[ 9.54201266e-01 -2.99147678e-01 -3.25734367e-03 1.40297174e+02] [ 2.99145773e-01 9.54206825e-01 -1.06863278e-03 1.22049533e+01] [ 3.42785858e-03 4.52701593e-05 9.99994124e-01 -3.41640099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.080281693 meters Centerline goodness : 0.997361 Centerline is valid? [True, True] Translation: X:140.32, Y:12.21, Z:-0.34 [[ 9.53751512e-01 -3.00584732e-01 -2.62161357e-03 1.40322132e+02] [ 3.00583503e-01 9.53755114e-01 -8.60283690e-04 1.22146823e+01] [ 2.75896549e-03 3.24830791e-05 9.99996194e-01 -3.41427925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.110281693 meters Centerline goodness : 0.997285 Centerline is valid? [True, True] Translation: X:140.35, Y:12.22, Z:-0.34 [[ 9.53022566e-01 -3.02893089e-01 -1.94036755e-03 1.40348063e+02] [ 3.02892419e-01 9.53024541e-01 -6.37186546e-04 1.22244050e+01] [ 2.04221729e-03 1.95305372e-05 9.99997914e-01 -3.41333420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.140281693 meters Centerline goodness : 0.997213 Centerline is valid? [True, True] Translation: X:140.37, Y:12.23, Z:-0.34 [[ 9.50784899e-01 -3.09849319e-01 -1.21501962e-03 1.40374888e+02] [ 3.09849061e-01 9.50785675e-01 -3.99284305e-04 1.22340115e+01] [ 1.27894122e-03 3.16079811e-06 9.99999182e-01 -3.40398973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.170281693 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:140.40, Y:12.24, Z:-0.34 [[ 9.49354551e-01 -3.14205876e-01 -7.77753964e-04 1.40401863e+02] [ 3.14205771e-01 9.49354869e-01 -2.55803724e-04 1.22420965e+01] [ 8.18739546e-04 -1.52635447e-06 9.99999665e-01 -3.40558749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.200281693 meters Centerline goodness : 0.997513 Centerline is valid? [True, True] Translation: X:140.43, Y:12.25, Z:-0.34 [[ 9.49315622e-01 -3.14323472e-01 -7.77734642e-04 1.40428890e+02] [ 3.14323368e-01 9.49315940e-01 -2.55862465e-04 1.22511416e+01] [ 8.18739472e-04 -1.56593770e-06 9.99999665e-01 -3.40573930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.230281693 meters Centerline goodness : 0.997460 Centerline is valid? [True, True] Translation: X:140.45, Y:12.26, Z:-0.34 [[ 9.47817627e-01 -3.18812556e-01 -5.48099969e-04 1.40454590e+02] [ 3.18812505e-01 9.47817785e-01 -1.80425306e-04 1.22584178e+01] [ 5.77020752e-04 -3.73083867e-06 9.99999834e-01 -3.40486822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.260281693 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:140.48, Y:12.26, Z:-0.34 [[ 9.45503955e-01 -3.25610171e-01 5.37077573e-04 1.40482672e+02] [ 3.25610123e-01 9.45504107e-01 1.76728936e-04 1.22641017e+01] [-5.65353791e-04 7.77998635e-06 9.99999840e-01 -3.39314351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.290281693 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:140.51, Y:12.27, Z:-0.34 [[ 9.45008452e-01 -3.27043782e-01 1.17934650e-03 1.40508404e+02] [ 3.27043552e-01 9.45009187e-01 3.88361687e-04 1.22710579e+01] [-1.24150456e-03 1.86925928e-05 9.99999229e-01 -3.38877039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.320281693 meters Centerline goodness : 0.997307 Centerline is valid? [True, True] Translation: X:140.54, Y:12.28, Z:-0.34 [[ 9.44994102e-01 -3.27083803e-01 1.52737655e-03 1.40535797e+02] [ 3.27083416e-01 9.44995336e-01 5.03235573e-04 1.22768576e+01] [-1.60796392e-03 2.40248905e-05 9.99998707e-01 -3.38631345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.350281693 meters Centerline goodness : 0.997479 Centerline is valid? [True, True] Translation: X:140.56, Y:12.28, Z:-0.34 [[ 9.45229078e-01 -3.26406692e-01 8.12817365e-04 1.40562546e+02] [ 3.26406582e-01 9.45229428e-01 2.67922551e-04 1.22836972e+01] [-8.55750607e-04 1.20607516e-05 9.99999634e-01 -3.38922869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.380281693 meters Centerline goodness : 0.997330 Centerline is valid? [True, True] Translation: X:140.59, Y:12.29, Z:-0.34 [[ 9.45691985e-01 -3.25064021e-01 -2.25606071e-04 1.40589591e+02] [ 3.25064013e-01 9.45692012e-01 -7.45439987e-05 1.22902666e+01] [ 2.37585431e-04 -2.84075273e-06 9.99999972e-01 -3.38968071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.410281693 meters Centerline goodness : 0.997087 Centerline is valid? [True, True] Translation: X:140.62, Y:12.29, Z:-0.34 [[ 9.46850302e-01 -3.21669486e-01 -1.80178387e-03 1.40616462e+02] [ 3.21668936e-01 9.46852017e-01 -5.94832452e-04 1.22947665e+01] [ 1.89736214e-03 -1.63606145e-05 9.99998200e-01 -3.39247349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.440281693 meters Centerline goodness : 0.996993 Centerline is valid? [True, True] Translation: X:140.64, Y:12.30, Z:-0.34 [[ 9.47446467e-01 -3.19906176e-01 -2.28696762e-03 1.40643705e+02] [ 3.19905285e-01 9.47449227e-01 -7.55501678e-04 1.23019222e+01] [ 2.40847536e-03 -1.58156324e-05 9.99997100e-01 -3.38844195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.470281693 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:140.67, Y:12.31, Z:-0.34 [[ 9.48055448e-01 -3.18098756e-01 -2.01200336e-03 1.40670119e+02] [ 3.18098061e-01 9.48057583e-01 -6.64933913e-04 1.23095995e+01] [ 2.11900970e-03 -9.62015027e-06 9.99997755e-01 -3.39512660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.500281693 meters Centerline goodness : 0.997412 Centerline is valid? [True, True] Translation: X:140.70, Y:12.32, Z:-0.34 [[ 9.49073769e-01 -3.15053231e-01 -6.65961618e-04 1.40697340e+02] [ 3.15053153e-01 9.49074002e-01 -2.20314460e-04 1.23172335e+01] [ 7.01457640e-04 -7.18632442e-07 9.99999754e-01 -3.39630504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.530281693 meters Centerline goodness : 0.997375 Centerline is valid? [True, True] Translation: X:140.72, Y:12.32, Z:-0.34 [[ 9.49508143e-01 -3.13742290e-01 2.49738460e-04 1.40723165e+02] [ 3.13742280e-01 9.49508175e-01 8.25415724e-05 1.23249716e+01] [-2.63025492e-04 -2.03812890e-08 9.99999965e-01 -3.39172966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.560281693 meters Centerline goodness : 0.997563 Centerline is valid? [True, True] Translation: X:140.75, Y:12.33, Z:-0.34 [[ 9.50454278e-01 -3.10864181e-01 3.54876178e-04 1.40749977e+02] [ 3.10864159e-01 9.50454344e-01 1.17363033e-04 1.23334908e+01] [-3.73777568e-04 -1.22991160e-06 9.99999930e-01 -3.39035631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.590281693 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:140.78, Y:12.34, Z:-0.34 [[ 9.50824648e-01 -3.09729647e-01 -1.84668863e-04 1.40775757e+02] [ 3.09729641e-01 9.50824666e-01 -6.11901449e-05 1.23417073e+01] [ 1.94540112e-04 9.83677289e-07 9.99999981e-01 -3.39290150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.620281693 meters Centerline goodness : 0.997450 Centerline is valid? [True, True] Translation: X:140.80, Y:12.35, Z:-0.34 [[ 9.51116823e-01 -3.08830783e-01 -5.80379202e-04 1.40802570e+02] [ 3.08830723e-01 9.51117000e-01 -1.92384922e-04 1.23498391e+01] [ 6.11422912e-04 3.74160699e-06 9.99999813e-01 -3.39756168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.650281693 meters Centerline goodness : 0.997623 Centerline is valid? [True, True] Translation: X:140.83, Y:12.36, Z:-0.34 [[ 9.51306980e-01 -3.08242693e-01 -1.21310918e-03 1.40830233e+02] [ 3.08242431e-01 9.51307753e-01 -4.02256536e-04 1.23567262e+01] [ 1.27803281e-03 8.73772684e-06 9.99999183e-01 -3.39835381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.680281693 meters Centerline goodness : 0.997421 Centerline is valid? [True, True] Translation: X:140.86, Y:12.36, Z:-0.34 [[ 9.51323501e-01 -3.08188095e-01 -1.92219400e-03 1.40856045e+02] [ 3.08187436e-01 9.51325443e-01 -6.37554268e-04 1.23644922e+01] [ 2.02511870e-03 1.41243160e-05 9.99997949e-01 -3.39853247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.710281693 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:140.88, Y:12.37, Z:-0.34 [[ 9.51369732e-01 -3.08040714e-01 -2.55977252e-03 1.40883011e+02] [ 3.08039543e-01 9.51373175e-01 -8.49543871e-04 1.23735500e+01] [ 2.69699301e-03 1.97191665e-05 9.99996363e-01 -3.40137526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.740281693 meters Centerline goodness : 0.996925 Centerline is valid? [True, True] Translation: X:140.91, Y:12.38, Z:-0.34 [[ 9.51701006e-01 -3.07017529e-01 -2.33068321e-03 1.40909204e+02] [ 3.07016554e-01 9.51703860e-01 -7.73986185e-04 1.23822482e+01] [ 2.45574753e-03 2.10451045e-05 9.99996984e-01 -3.41194037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.770281693 meters Centerline goodness : 0.997220 Centerline is valid? [True, True] Translation: X:140.94, Y:12.39, Z:-0.34 [[ 9.51963899e-01 -3.06206920e-01 -1.43415092e-03 1.40935300e+02] [ 3.06206549e-01 9.51964979e-01 -4.76593844e-04 1.23913334e+01] [ 1.51119779e-03 1.45537283e-05 9.99998858e-01 -3.40663312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.800281693 meters Centerline goodness : 0.997306 Centerline is valid? [True, True] Translation: X:140.96, Y:12.40, Z:-0.34 [[ 9.52612258e-01 -3.04186904e-01 4.61111135e-04 1.40961423e+02] [ 3.04186866e-01 9.52612370e-01 1.53192913e-04 1.24030914e+01] [-4.85859449e-04 -5.66949556e-06 9.99999882e-01 -3.38873236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.830281693 meters Centerline goodness : 0.997569 Centerline is valid? [True, True] Translation: X:140.99, Y:12.41, Z:-0.34 [[ 9.53067031e-01 -3.02759195e-01 3.22341927e-04 1.40986393e+02] [ 3.02759176e-01 9.53067086e-01 1.07147901e-04 1.24133455e+01] [-3.39653493e-04 -4.52715543e-06 9.99999942e-01 -3.38919910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.860281693 meters Centerline goodness : 0.997222 Centerline is valid? [True, True] Translation: X:141.01, Y:12.42, Z:-0.34 [[ 9.53406276e-01 -3.01689355e-01 -7.89291435e-05 1.41012386e+02] [ 3.01689354e-01 9.53406279e-01 -2.63659336e-05 1.24237501e+01] [ 8.32058626e-05 1.32536421e-06 9.99999997e-01 -3.39522950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.890281693 meters Centerline goodness : 0.997113 Centerline is valid? [True, True] Translation: X:141.04, Y:12.44, Z:-0.34 [[ 9.53866538e-01 -3.00227610e-01 -1.41800837e-03 1.41038080e+02] [ 3.00227239e-01 9.53867591e-01 -4.72244062e-04 1.24355586e+01] [ 1.49437293e-03 2.47330712e-05 9.99998883e-01 -3.39954748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.920281693 meters Centerline goodness : 0.997205 Centerline is valid? [True, True] Translation: X:141.06, Y:12.45, Z:-0.34 [[ 9.54077285e-01 -2.99553660e-01 -2.03452911e-03 1.41062655e+02] [ 2.99552896e-01 9.54079453e-01 -6.77644807e-04 1.24460950e+01] [ 2.14409340e-03 3.70764324e-05 9.99997701e-01 -3.40474234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.950281693 meters Centerline goodness : 0.996806 Centerline is valid? [True, True] Translation: X:141.09, Y:12.46, Z:-0.34 [[ 9.54112976e-01 -2.99438309e-01 -2.26441513e-03 1.41088044e+02] [ 2.99437361e-01 9.54115662e-01 -7.54713723e-04 1.24572770e+01] [ 2.38650414e-03 4.20316666e-05 9.99997151e-01 -3.41276655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.980281693 meters Centerline goodness : 0.997253 Centerline is valid? [True, True] Translation: X:141.11, Y:12.47, Z:-0.34 [[ 9.54074362e-01 -2.99562180e-01 -2.14759866e-03 1.41113798e+02] [ 2.99561326e-01 9.54076778e-01 -7.16228451e-04 1.24697876e+01] [ 2.26352897e-03 3.99977003e-05 9.99997437e-01 -3.41344523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.010281693 meters Centerline goodness : 0.996639 Centerline is valid? [True, True] Translation: X:141.14, Y:12.48, Z:-0.34 [[ 9.54023627e-01 -2.99719542e-01 -2.66736877e-03 1.41138930e+02] [ 2.99718226e-01 9.54027355e-01 -8.89727281e-04 1.24799831e+01] [ 2.81141142e-03 4.93618139e-05 9.99996047e-01 -3.41531570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.040281693 meters Centerline goodness : 0.996331 Centerline is valid? [True, True] Translation: X:141.16, Y:12.49, Z:-0.34 [[ 9.53592120e-01 -3.01066244e-01 -4.60276267e-03 1.41162768e+02] [ 3.01062337e-01 9.53603225e-01 -1.53567186e-03 1.24926029e+01] [ 4.85154828e-03 7.86860973e-05 9.99988228e-01 -3.43031686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.070281693 meters Centerline goodness : 0.995810 Centerline is valid? [True, True] Translation: X:141.19, Y:12.50, Z:-0.34 [[ 9.53256323e-01 -3.02119024e-01 -5.14565781e-03 1.41187944e+02] [ 3.02114155e-01 9.53270207e-01 -1.71724798e-03 1.25028800e+01] [ 5.42401558e-03 8.24014319e-05 9.99985287e-01 -3.42949700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.100281693 meters Centerline goodness : 0.996561 Centerline is valid? [True, True] Translation: X:141.21, Y:12.51, Z:-0.34 [[ 9.52981910e-01 -3.02992244e-01 -4.60215711e-03 1.41214157e+02] [ 3.02988354e-01 9.52993019e-01 -1.53686475e-03 1.25128371e+01] [ 4.85148171e-03 7.02042978e-05 9.99988229e-01 -3.42986025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.130281693 meters Centerline goodness : 0.996879 Centerline is valid? [True, True] Translation: X:141.24, Y:12.52, Z:-0.34 [[ 9.52812220e-01 -3.03541017e-01 -3.42413606e-03 1.41239127e+02] [ 3.03538867e-01 9.52818371e-01 -1.14374147e-03 1.25221806e+01] [ 3.60975219e-03 5.04124702e-05 9.99993484e-01 -3.41739626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.160281693 meters Centerline goodness : 0.996971 Centerline is valid? [True, True] Translation: X:141.26, Y:12.54, Z:-0.34 [[ 9.52625553e-01 -3.04139852e-01 -1.87227430e-03 1.41264514e+02] [ 3.04139209e-01 9.52627393e-01 -6.25834834e-04 1.25351591e+01] [ 1.97392110e-03 2.67542293e-05 9.99998051e-01 -3.40154049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.190281693 meters Centerline goodness : 0.996770 Centerline is valid? [True, True] Translation: X:141.29, Y:12.55, Z:-0.34 [[ 9.52589768e-01 -3.04253383e-01 -1.61616539e-03 1.41289976e+02] [ 3.04252904e-01 9.52591139e-01 -5.40584227e-04 1.25474471e+01] [ 1.70401941e-03 2.32319917e-05 9.99998548e-01 -3.40049474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.220281693 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:141.31, Y:12.56, Z:-0.34 [[ 9.52714629e-01 -3.03864078e-01 -1.20743782e-03 1.41313591e+02] [ 3.03863810e-01 9.52715394e-01 -4.03947182e-04 1.25630209e+01] [ 1.27308963e-03 1.79497346e-05 9.99999189e-01 -3.40395970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.250281693 meters Centerline goodness : 0.997366 Centerline is valid? [True, True] Translation: X:141.34, Y:12.58, Z:-0.34 [[ 9.52831489e-01 -3.03498111e-01 -1.02464712e-03 1.41339262e+02] [ 3.03497917e-01 9.52832040e-01 -3.43039232e-04 1.25760825e+01] [ 1.08042837e-03 1.58803147e-05 9.99999416e-01 -3.39966941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.280281693 meters Centerline goodness : 0.997106 Centerline is valid? [True, True] Translation: X:141.36, Y:12.59, Z:-0.34 [[ 9.53046491e-01 -3.02821754e-01 -1.17097369e-03 1.41363846e+02] [ 3.02821500e-01 9.53047210e-01 -3.92065339e-04 1.25887437e+01] [ 1.23471912e-03 1.90604857e-05 9.99999238e-01 -3.40313747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.310281693 meters Centerline goodness : 0.997093 Centerline is valid? [True, True] Translation: X:141.39, Y:12.60, Z:-0.34 [[ 9.53011139e-01 -3.02931674e-01 -1.47310094e-03 1.41387199e+02] [ 3.02931273e-01 9.53012277e-01 -4.93433221e-04 1.26028638e+01] [ 1.55335984e-03 2.39990119e-05 9.99998793e-01 -3.40175255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.340281693 meters Centerline goodness : 0.997445 Centerline is valid? [True, True] Translation: X:141.41, Y:12.61, Z:-0.34 [[ 9.52541515e-01 -3.04405296e-01 -1.44161367e-03 1.41412863e+02] [ 3.04404914e-01 9.52542605e-01 -4.83200140e-04 1.26132370e+01] [ 1.52028713e-03 2.14339072e-05 9.99998844e-01 -3.40443583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.370281693 meters Centerline goodness : 0.997432 Centerline is valid? [True, True] Translation: X:141.44, Y:12.62, Z:-0.34 [[ 9.51767551e-01 -3.06817372e-01 -1.27633001e-03 1.41439207e+02] [ 3.06817073e-01 9.51768407e-01 -4.28083487e-04 1.26234879e+01] [ 1.34611403e-03 1.58361333e-05 9.99999094e-01 -3.40166299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.400281693 meters Centerline goodness : 0.997750 Centerline is valid? [True, True] Translation: X:141.47, Y:12.63, Z:-0.34 [[ 9.49557016e-01 -3.13593793e-01 -6.37343810e-04 1.41465387e+02] [ 3.13593721e-01 9.49557230e-01 -2.13953399e-04 1.26343342e+01] [ 6.72288881e-04 3.29393479e-06 9.99999774e-01 -3.40414783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.430281693 meters Centerline goodness : 0.997399 Centerline is valid? [True, True] Translation: X:141.49, Y:12.64, Z:-0.34 [[ 9.48504767e-01 -3.16762295e-01 -5.96969679e-04 1.41491244e+02] [ 3.16762231e-01 9.48504955e-01 -2.00401531e-04 1.26431896e+01] [ 6.29708347e-04 9.84360079e-07 9.99999802e-01 -3.40721846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.460281693 meters Centerline goodness : 0.997774 Centerline is valid? [True, True] Translation: X:141.52, Y:12.65, Z:-0.34 [[ 9.47421768e-01 -3.19983074e-01 -1.68070402e-03 1.41518133e+02] [ 3.19982576e-01 9.47423259e-01 -5.64556453e-04 1.26524696e+01] [ 1.77298659e-03 -2.92292940e-06 9.99998428e-01 -3.40867862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.490281693 meters Centerline goodness : 0.997332 Centerline is valid? [True, True] Translation: X:141.54, Y:12.66, Z:-0.34 [[ 9.47343148e-01 -3.20214531e-01 -1.90133000e-03 1.41544144e+02] [ 3.20213894e-01 9.47345056e-01 -6.38769377e-04 1.26611961e+01] [ 2.00575881e-03 -3.69849088e-06 9.99997988e-01 -3.40590857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.520281693 meters Centerline goodness : 0.997110 Centerline is valid? [True, True] Translation: X:141.57, Y:12.67, Z:-0.34 [[ 9.47388376e-01 -3.20077732e-01 -2.34723907e-03 1.41570094e+02] [ 3.20076760e-01 9.47391284e-01 -7.89093167e-04 1.26704191e+01] [ 2.47632499e-03 -3.71898229e-06 9.99996934e-01 -3.40497840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.550281693 meters Centerline goodness : 0.996655 Centerline is valid? [True, True] Translation: X:141.60, Y:12.68, Z:-0.34 [[ 9.47743741e-01 -3.19013855e-01 -3.45856782e-03 1.41596842e+02] [ 3.19011734e-01 9.47750052e-01 -1.16334737e-03 1.26795126e+01] [ 3.64898176e-03 -7.68526165e-07 9.99993342e-01 -3.42116339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.580281693 meters Centerline goodness : 0.997061 Centerline is valid? [True, True] Translation: X:141.62, Y:12.69, Z:-0.34 [[ 9.47792444e-01 -3.18865341e-01 -3.79182952e-03 1.41623408e+02] [ 3.18862787e-01 9.47800029e-01 -1.27625657e-03 1.26870036e+01] [ 4.00085012e-03 5.53003565e-07 9.99991997e-01 -3.42569468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.610281693 meters Centerline goodness : 0.996688 Centerline is valid? [True, True] Translation: X:141.65, Y:12.69, Z:-0.34 [[ 9.47974147e-01 -3.18324057e-01 -3.84859259e-03 1.41649582e+02] [ 3.18321420e-01 9.47981959e-01 -1.29565727e-03 1.26933574e+01] [ 4.06083522e-03 3.16013640e-06 9.99991755e-01 -3.42052286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.640281693 meters Centerline goodness : 0.997228 Centerline is valid? [True, True] Translation: X:141.68, Y:12.70, Z:-0.34 [[ 9.47853029e-01 -3.18701065e-01 -2.06571452e-03 1.41677601e+02] [ 3.18700305e-01 9.47855280e-01 -6.95953444e-04 1.26983938e+01] [ 2.17979952e-03 1.31773004e-06 9.99997624e-01 -3.39976902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.670281693 meters Centerline goodness : 0.997556 Centerline is valid? [True, True] Translation: X:141.70, Y:12.71, Z:-0.34 [[ 9.47667452e-01 -3.19257485e-01 -1.02864407e-03 1.41704377e+02] [ 3.19257297e-01 9.47668011e-01 -3.46829742e-04 1.27065094e+01] [ 1.08554107e-03 2.77131879e-07 9.99999411e-01 -3.39378943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.700281693 meters Centerline goodness : 0.997626 Centerline is valid? [True, True] Translation: X:141.73, Y:12.71, Z:-0.34 [[ 9.47606218e-01 -3.19439088e-01 -1.06020672e-03 1.41730941e+02] [ 3.19438888e-01 9.47606811e-01 -3.57505531e-04 1.27127553e+01] [ 1.11886035e-03 1.03207781e-07 9.99999374e-01 -3.39944027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.730281693 meters Centerline goodness : 0.997579 Centerline is valid? [True, True] Translation: X:141.76, Y:12.72, Z:-0.34 [[ 9.47731590e-01 -3.19065182e-01 -1.49788454e-03 1.41757603e+02] [ 3.19064781e-01 9.47732773e-01 -5.05445146e-04 1.27197776e+01] [ 1.58086422e-03 1.10412738e-06 9.99998750e-01 -3.40153592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.760281693 meters Centerline goodness : 0.997543 Centerline is valid? [True, True] Translation: X:141.78, Y:12.73, Z:-0.34 [[ 9.47969726e-01 -3.18353332e-01 -2.13428846e-03 1.41783594e+02] [ 3.18352517e-01 9.47972128e-01 -7.20282438e-04 1.27269603e+01] [ 2.25255028e-03 3.34984208e-06 9.99997463e-01 -3.40703592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.790281693 meters Centerline goodness : 0.997296 Centerline is valid? [True, True] Translation: X:141.81, Y:12.73, Z:-0.34 [[ 9.48442886e-01 -3.16937774e-01 -2.55730206e-03 1.41810356e+02] [ 3.16936598e-01 9.48446333e-01 -8.63621634e-04 1.27343237e+01] [ 2.69917808e-03 8.59318203e-06 9.99996357e-01 -3.40833109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.820281693 meters Centerline goodness : 0.997031 Centerline is valid? [True, True] Translation: X:141.84, Y:12.74, Z:-0.34 [[ 9.48651739e-01 -3.16313550e-01 -2.36997366e-03 1.41835877e+02] [ 3.16312537e-01 9.48654699e-01 -8.00521876e-04 1.27428758e+01] [ 2.50150257e-03 9.76408787e-06 9.99996871e-01 -3.40830351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.850281693 meters Centerline goodness : 0.997027 Centerline is valid? [True, True] Translation: X:141.86, Y:12.75, Z:-0.34 [[ 9.49056452e-01 -3.15092666e-01 -2.90916149e-03 1.41862287e+02] [ 3.15091132e-01 9.49060910e-01 -9.83311946e-04 1.27532987e+01] [ 3.07080583e-03 1.65675602e-05 9.99995285e-01 -3.41086392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.880281693 meters Centerline goodness : 0.997004 Centerline is valid? [True, True] Translation: X:141.89, Y:12.76, Z:-0.34 [[ 9.49385114e-01 -3.14088180e-01 -4.06447040e-03 1.41887472e+02] [ 3.14085176e-01 9.49393814e-01 -1.37408248e-03 1.27633306e+01] [ 4.29036612e-03 2.79435565e-05 9.99990796e-01 -3.41333590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.910281693 meters Centerline goodness : 0.996972 Centerline is valid? [True, True] Translation: X:141.91, Y:12.77, Z:-0.34 [[ 9.49775781e-01 -3.12896459e-01 -4.66598004e-03 1.41912531e+02] [ 3.12892483e-01 9.49787242e-01 -1.57785466e-03 1.27731003e+01] [ 4.92539344e-03 3.86580657e-05 9.99987869e-01 -3.41701622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.940281693 meters Centerline goodness : 0.997081 Centerline is valid? [True, True] Translation: X:141.94, Y:12.78, Z:-0.34 [[ 9.50308541e-01 -3.11285601e-01 -3.86672823e-03 1.41938245e+02] [ 3.11282855e-01 9.50316407e-01 -1.30793196e-03 1.27826027e+01] [ 4.08175566e-03 3.92927123e-05 9.99991669e-01 -3.41650474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.970281693 meters Centerline goodness : 0.997117 Centerline is valid? [True, True] Translation: X:141.96, Y:12.79, Z:-0.34 [[ 9.50152256e-01 -3.11770284e-01 -3.15922696e-03 1.41964434e+02] [ 3.11768452e-01 9.50157507e-01 -1.06931266e-03 1.27918227e+01] [ 3.33514313e-03 3.10625374e-05 9.99994438e-01 -3.41537761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.000281693 meters Centerline goodness : 0.997503 Centerline is valid? [True, True] Translation: X:141.99, Y:12.80, Z:-0.34 [[ 9.49788342e-01 -3.12875789e-01 -3.29329463e-03 1.41990439e+02] [ 3.12873803e-01 9.49794051e-01 -1.11537801e-03 1.28014902e+01] [ 3.47692642e-03 2.89874153e-05 9.99993955e-01 -3.40847652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.030281693 meters Centerline goodness : 0.997277 Centerline is valid? [True, True] Translation: X:142.02, Y:12.81, Z:-0.34 [[ 9.49445589e-01 -3.13905774e-01 -4.02969984e-03 1.42015878e+02] [ 3.13902808e-01 9.49454140e-01 -1.36506804e-03 1.28109203e+01] [ 4.25451793e-03 3.11237334e-05 9.99990949e-01 -3.40864124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.060281693 meters Centerline goodness : 0.997280 Centerline is valid? [True, True] Translation: X:142.04, Y:12.82, Z:-0.34 [[ 9.49334959e-01 -3.14226164e-01 -5.00524666e-03 1.42040565e+02] [ 3.14221588e-01 9.49348153e-01 -1.69625375e-03 1.28212069e+01] [ 5.28472898e-03 3.75564284e-05 9.99986035e-01 -3.40396564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.090281693 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:142.07, Y:12.83, Z:-0.34 [[ 9.49534238e-01 -3.13627816e-01 -4.72491739e-03 1.42066170e+02] [ 3.13623725e-01 9.49545992e-01 -1.60227176e-03 1.28313400e+01] [ 4.98904336e-03 3.95657049e-05 9.99987554e-01 -3.40163531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.120281693 meters Centerline goodness : 0.996740 Centerline is valid? [True, True] Translation: X:142.09, Y:12.84, Z:-0.34 [[ 9.49479515e-01 -3.13793450e-01 -4.72463988e-03 1.42093095e+02] [ 3.13789357e-01 9.49491269e-01 -1.60308989e-03 1.28406708e+01] [ 4.98904342e-03 3.95592954e-05 9.99987554e-01 -3.40178712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.150281693 meters Centerline goodness : 0.996794 Centerline is valid? [True, True] Translation: X:142.12, Y:12.85, Z:-0.34 [[ 9.50453457e-01 -3.10820753e-01 -5.35581831e-03 1.42117846e+02] [ 3.10815445e-01 9.50468545e-01 -1.81766856e-03 1.28530083e+01] [ 5.65550594e-03 6.29383195e-05 9.99984006e-01 -3.41171623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.180281693 meters Centerline goodness : 0.996836 Centerline is valid? [True, True] Translation: X:142.14, Y:12.86, Z:-0.34 [[ 9.51012993e-01 -3.09099051e-01 -5.66255340e-03 1.42143282e+02] [ 3.09093080e-01 9.51029847e-01 -1.92299652e-03 1.28640038e+01] [ 5.97965370e-03 7.85386067e-05 9.99982119e-01 -3.42368959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.210281693 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:142.17, Y:12.87, Z:-0.34 [[ 9.51692604e-01 -3.06992483e-01 -6.06650110e-03 1.42168588e+02] [ 3.06985583e-01 9.51711934e-01 -2.06065439e-03 1.28745209e+01] [ 6.40616691e-03 9.87811683e-05 9.99979475e-01 -3.42249332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.240281693 meters Centerline goodness : 0.996307 Centerline is valid? [True, True] Translation: X:142.19, Y:12.89, Z:-0.34 [[ 9.52613667e-01 -3.04125157e-01 -5.92374494e-03 1.42192558e+02] [ 3.04118519e-01 9.52632078e-01 -2.01269040e-03 1.28878863e+01] [ 6.25525923e-03 1.15795842e-04 9.99980429e-01 -3.41891568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.270281693 meters Centerline goodness : 0.996462 Centerline is valid? [True, True] Translation: X:142.22, Y:12.90, Z:-0.34 [[ 9.52804371e-01 -3.03545069e-01 -4.92163867e-03 1.42217692e+02] [ 3.03540473e-01 9.52817077e-01 -1.67326759e-03 1.28994422e+01] [ 5.19733350e-03 1.00380142e-04 9.99986489e-01 -3.41694838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.300281693 meters Centerline goodness : 0.997138 Centerline is valid? [True, True] Translation: X:142.24, Y:12.91, Z:-0.34 [[ 9.52765769e-01 -3.03680963e-01 -3.90678458e-03 1.42243389e+02] [ 3.03678065e-01 9.52773775e-01 -1.32909705e-03 1.29108009e+01] [ 4.12590337e-03 7.99133952e-05 9.99991485e-01 -3.41402526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.330281693 meters Centerline goodness : 0.997163 Centerline is valid? [True, True] Translation: X:142.27, Y:12.93, Z:-0.34 [[ 9.52942576e-01 -3.03137495e-01 -2.84718551e-03 1.42267138e+02] [ 3.03135952e-01 9.52946827e-01 -9.69026292e-04 1.29252838e+01] [ 3.00696460e-03 6.03421208e-05 9.99995477e-01 -3.40728839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.360281693 meters Centerline goodness : 0.997215 Centerline is valid? [True, True] Translation: X:142.29, Y:12.94, Z:-0.34 [[ 9.53144752e-01 -3.02501317e-01 -2.83470341e-03 1.42292060e+02] [ 3.02499783e-01 9.53148965e-01 -9.65408091e-04 1.29382025e+01] [ 2.99393184e-03 6.26764903e-05 9.99995516e-01 -3.40784770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.390281693 meters Centerline goodness : 0.997024 Centerline is valid? [True, True] Translation: X:142.32, Y:12.95, Z:-0.34 [[ 9.53713486e-01 -3.00698145e-01 -3.34839847e-03 1.42315056e+02] [ 3.00695993e-01 9.53719361e-01 -1.14058293e-03 1.29542160e+01] [ 3.53640362e-03 8.09393187e-05 9.99993744e-01 -3.41859865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.420281693 meters Centerline goodness : 0.996829 Centerline is valid? [True, True] Translation: X:142.34, Y:12.97, Z:-0.34 [[ 9.53878204e-01 -3.00177324e-01 -3.15359998e-03 1.42339244e+02] [ 3.00175411e-01 9.53883414e-01 -1.07451673e-03 1.29656350e+01] [ 3.33071228e-03 7.83249155e-05 9.99994450e-01 -3.42266711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.450281693 meters Centerline goodness : 0.997067 Centerline is valid? [True, True] Translation: X:142.36, Y:12.98, Z:-0.34 [[ 9.53819056e-01 -3.00372903e-01 -2.30802326e-03 1.42364921e+02] [ 3.00371877e-01 9.53821847e-01 -7.86959872e-04 1.29775858e+01] [ 2.43782443e-03 5.73520429e-05 9.99997027e-01 -3.41945278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.480281693 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:142.39, Y:12.99, Z:-0.34 [[ 9.53207531e-01 -3.02315876e-01 -7.17099133e-04 1.42388339e+02] [ 3.02315777e-01 9.53207800e-01 -2.44585250e-04 1.29931796e+01] [ 7.57486491e-04 1.63501201e-05 9.99999713e-01 -3.41065621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.510281693 meters Centerline goodness : 0.997492 Centerline is valid? [True, True] Translation: X:142.41, Y:13.01, Z:-0.34 [[ 9.52385812e-01 -3.04895307e-01 -3.41895923e-04 1.42413667e+02] [ 3.04895285e-01 9.52385873e-01 -1.16765917e-04 1.30053567e+01] [ 3.61218227e-04 6.96374816e-06 9.99999935e-01 -3.41513939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.540281693 meters Centerline goodness : 0.997489 Centerline is valid? [True, True] Translation: X:142.44, Y:13.02, Z:-0.34 [[ 9.51506295e-01 -3.07626371e-01 -1.33647828e-03 1.42439430e+02] [ 3.07626033e-01 9.51507233e-01 -4.56411979e-04 1.30166194e+01] [ 1.41207311e-03 2.31433587e-05 9.99999003e-01 -3.41587699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.570281693 meters Centerline goodness : 0.997342 Centerline is valid? [True, True] Translation: X:142.46, Y:13.03, Z:-0.34 [[ 9.49928003e-01 -3.12460076e-01 -2.34307539e-03 1.42464562e+02] [ 3.12459051e-01 9.49930892e-01 -8.00586891e-04 1.30283138e+01] [ 2.47591113e-03 2.83847941e-05 9.99996935e-01 -3.41631353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.600281693 meters Centerline goodness : 0.997692 Centerline is valid? [True, True] Translation: X:142.49, Y:13.04, Z:-0.34 [[ 9.49256918e-01 -3.14499380e-01 -1.20178867e-03 1.42489725e+02] [ 3.14499111e-01 9.49257678e-01 -4.10935545e-04 1.30397335e+01] [ 1.27004610e-03 1.21219392e-05 9.99999193e-01 -3.41521104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.630281693 meters Centerline goodness : 0.997875 Centerline is valid? [True, True] Translation: X:142.51, Y:13.05, Z:-0.34 [[ 9.48318744e-01 -3.17318526e-01 7.16555855e-04 1.42513731e+02] [ 3.17318432e-01 9.48319014e-01 2.44972675e-04 1.30544683e+01] [-7.57257910e-04 -4.93579915e-06 9.99999713e-01 -3.40118738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.660281693 meters Centerline goodness : 0.997511 Centerline is valid? [True, True] Translation: X:142.54, Y:13.07, Z:-0.34 [[ 9.47988318e-01 -3.18304668e-01 5.35375506e-04 1.42539757e+02] [ 3.18304615e-01 9.47988469e-01 1.83072604e-04 1.30651690e+01] [-5.65802671e-04 -3.13819552e-06 9.99999840e-01 -3.40032556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.690281693 meters Centerline goodness : 0.997434 Centerline is valid? [True, True] Translation: X:142.57, Y:13.08, Z:-0.34 [[ 9.47549069e-01 -3.19610266e-01 -1.99446576e-04 1.42566191e+02] [ 3.19610258e-01 9.47549090e-01 -6.83830268e-05 1.30752701e+01] [ 2.10841339e-04 1.05110176e-06 9.99999978e-01 -3.41085574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.720281693 meters Centerline goodness : 0.997910 Centerline is valid? [True, True] Translation: X:142.59, Y:13.09, Z:-0.34 [[ 9.46280944e-01 -3.23342617e-01 -1.38805508e-03 1.42591358e+02] [ 3.23342267e-01 9.46281962e-01 -4.75365203e-04 1.30859524e+01] [ 1.46719732e-03 1.01215578e-06 9.99998924e-01 -3.42023533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.750281693 meters Centerline goodness : 0.997786 Centerline is valid? [True, True] Translation: X:142.62, Y:13.10, Z:-0.34 [[ 9.45577920e-01 -3.25391158e-01 -1.72992452e-03 1.42617673e+02] [ 3.25390617e-01 9.45579502e-01 -5.92859142e-04 1.30960350e+01] [ 1.82869229e-03 -2.30669366e-06 9.99998328e-01 -3.42387658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.780281693 meters Centerline goodness : 0.997179 Centerline is valid? [True, True] Translation: X:142.64, Y:13.10, Z:-0.34 [[ 9.44082728e-01 -3.29695785e-01 -2.91408473e-03 1.42642901e+02] [ 3.29694272e-01 9.44087225e-01 -9.98991479e-04 1.31042994e+01] [ 3.08051345e-03 -1.76264423e-05 9.99995255e-01 -3.42606355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.810281693 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:142.67, Y:13.11, Z:-0.34 [[ 9.43283379e-01 -3.31974353e-01 -3.08161167e-03 1.42669293e+02] [ 3.31972671e-01 9.43288412e-01 -1.05707591e-03 1.31134038e+01] [ 3.25777067e-03 -2.58887259e-05 9.99994693e-01 -3.42588634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.840281693 meters Centerline goodness : 0.997393 Centerline is valid? [True, True] Translation: X:142.69, Y:13.12, Z:-0.34 [[ 9.42679087e-01 -3.33685782e-01 -3.15229265e-03 1.42694298e+02] [ 3.33684031e-01 9.42684357e-01 -1.08154055e-03 1.31222194e+01] [ 3.33251168e-03 -3.23240564e-05 9.99994447e-01 -3.42196699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.870281693 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:142.72, Y:13.13, Z:-0.34 [[ 9.42045000e-01 -3.35478676e-01 -2.29682765e-03 1.42720384e+02] [ 3.35477750e-01 9.42047800e-01 -7.88585168e-04 1.31308752e+01] [ 2.42827495e-03 -2.76518596e-05 9.99997051e-01 -3.42605953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.900281693 meters Centerline goodness : 0.997728 Centerline is valid? [True, True] Translation: X:142.75, Y:13.14, Z:-0.34 [[ 9.42072703e-01 -3.35405705e-01 -1.42654180e-03 1.42746458e+02] [ 3.35405348e-01 9.42073783e-01 -4.89893593e-04 1.31379345e+01] [ 1.50822073e-03 -1.69543666e-05 9.99998862e-01 -3.42696732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.930281693 meters Centerline goodness : 0.997789 Centerline is valid? [True, True] Translation: X:142.77, Y:13.15, Z:-0.34 [[ 9.42181374e-01 -3.35102936e-01 -5.29943894e-04 1.42773563e+02] [ 3.35102887e-01 9.42181523e-01 -1.82181393e-04 1.31452325e+01] [ 5.60352865e-04 -5.93781326e-06 9.99999843e-01 -3.42491400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.960281693 meters Centerline goodness : 0.998218 Centerline is valid? [True, True] Translation: X:142.80, Y:13.15, Z:-0.34 [[ 9.42239650e-01 -3.34939450e-01 -8.67817698e-05 1.42801473e+02] [ 3.34939448e-01 9.42239654e-01 -2.99365546e-05 1.31511429e+01] [ 9.17961579e-05 -8.59229356e-07 9.99999996e-01 -3.41978254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.990281693 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:142.83, Y:13.16, Z:-0.34 [[ 9.42345447e-01 -3.34641679e-01 -6.74461275e-05 1.42827886e+02] [ 3.34641678e-01 9.42345450e-01 -2.32662678e-05 1.31585841e+01] [ 7.13434143e-05 -6.45423712e-07 9.99999997e-01 -3.42051446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.020281693 meters Centerline goodness : 0.998153 Centerline is valid? [True, True] Translation: X:142.85, Y:13.16, Z:-0.34 [[ 9.42843320e-01 -3.33236297e-01 2.10388754e-04 1.42854967e+02] [ 3.33236290e-01 9.42843343e-01 7.23323210e-05 1.31629442e+01] [-2.22467391e-04 1.91112207e-06 9.99999975e-01 -3.41801350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.050281693 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:142.88, Y:13.17, Z:-0.34 [[ 9.43037216e-01 -3.32686150e-01 8.56979801e-04 1.42881788e+02] [ 3.32686020e-01 9.43037605e-01 2.94884306e-04 1.31698260e+01] [-9.06268104e-04 7.01832360e-06 9.99999589e-01 -3.41624200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.080281693 meters Centerline goodness : 0.998292 Centerline is valid? [True, True] Translation: X:142.91, Y:13.18, Z:-0.34 [[ 9.43267159e-01 -3.32032250e-01 1.28491079e-03 1.42908265e+02] [ 3.32031956e-01 9.43268034e-01 4.42361822e-04 1.31771787e+01] [-1.35889366e-03 9.36606200e-06 9.99999077e-01 -3.40810270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.110281693 meters Centerline goodness : 0.998474 Centerline is valid? [True, True] Translation: X:142.93, Y:13.18, Z:-0.34 [[ 9.43721545e-01 -3.30739165e-01 1.11801704e-03 1.42934664e+02] [ 3.30738941e-01 9.43722207e-01 3.85027662e-04 1.31844233e+01] [-1.18244124e-03 6.41287177e-06 9.99999301e-01 -3.40626169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.140281693 meters Centerline goodness : 0.998053 Centerline is valid? [True, True] Translation: X:142.96, Y:13.19, Z:-0.34 [[ 9.44834186e-01 -3.27548785e-01 3.93934745e-04 1.42962294e+02] [ 3.27548757e-01 9.44834268e-01 1.35667570e-04 1.31890492e+01] [-4.16640794e-04 8.49478216e-07 9.99999913e-01 -3.40889176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.170281693 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:142.99, Y:13.20, Z:-0.34 [[ 9.45726773e-01 -3.24960954e-01 1.11788214e-03 1.42985164e+02] [ 3.24940946e-01 9.45617389e-01 -1.48706201e-02 1.32022681e+01] [ 3.77528210e-03 1.44267892e-02 9.99888801e-01 -3.38864605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.200281693 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:143.02, Y:13.20, Z:-0.34 [[ 9.46842415e-01 -3.21681043e-01 -3.27833343e-03 1.43018685e+02] [ 3.21694470e-01 9.46737606e-01 1.41623621e-02 1.31950100e+01] [-1.45204187e-03 -1.44641469e-02 9.99894334e-01 -3.40322055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.230281693 meters Centerline goodness : 0.998434 Centerline is valid? [True, True] Translation: X:143.04, Y:13.21, Z:-0.34 [[ 9.47416980e-01 -3.19997496e-01 1.63331528e-03 1.43043296e+02] [ 3.19997000e-01 9.47418388e-01 5.63390246e-04 1.32096192e+01] [-1.72771639e-03 -1.11094969e-05 9.99998507e-01 -3.41339609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.260281693 meters Centerline goodness : 0.998027 Centerline is valid? [True, True] Translation: X:143.07, Y:13.21, Z:-0.34 [[ 9.48189425e-01 -3.17705547e-01 1.02911908e-05 1.43070299e+02] [ 3.17705547e-01 9.48189425e-01 3.50187606e-06 1.32138947e+01] [-1.08705638e-05 -5.08734290e-08 1.00000000e+00 -3.42587282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.290281693 meters Centerline goodness : 0.998055 Centerline is valid? [True, True] Translation: X:143.10, Y:13.22, Z:-0.34 [[ 9.48174076e-01 -3.17750376e-01 -7.87011752e-04 1.43097741e+02] [ 3.17750260e-01 9.48174403e-01 -2.71850387e-04 1.32209725e+01] [ 8.32604960e-04 7.68830090e-06 9.99999653e-01 -3.43196958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.320281693 meters Centerline goodness : 0.998152 Centerline is valid? [True, True] Translation: X:143.13, Y:13.23, Z:-0.34 [[ 9.48037295e-01 -3.18155361e-01 -1.56617736e-03 1.43125100e+02] [ 3.18154901e-01 9.48038589e-01 -5.41210065e-04 1.32284939e+01] [ 1.65698546e-03 1.48003228e-05 9.99998627e-01 -3.43170078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.350281693 meters Centerline goodness : 0.998084 Centerline is valid? [True, True] Translation: X:143.15, Y:13.24, Z:-0.34 [[ 9.47924977e-01 -3.18489731e-01 -1.59008821e-03 1.43151507e+02] [ 3.18489257e-01 9.47926311e-01 -5.49547631e-04 1.32360863e+01] [ 1.68231173e-03 1.45039134e-05 9.99998585e-01 -3.42909345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.380281693 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:143.18, Y:13.24, Z:-0.34 [[ 9.47808831e-01 -3.18837125e-01 1.14384969e-03 1.43179203e+02] [ 3.18836880e-01 9.47809521e-01 3.95408907e-04 1.32427291e+01] [-1.21022266e-03 -1.00705880e-05 9.99999268e-01 -3.42273032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.410281693 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:143.21, Y:13.25, Z:-0.34 [[ 9.47868548e-01 -3.18654643e-01 2.10580818e-03 1.43206081e+02] [ 3.18653811e-01 9.47870887e-01 7.28461620e-04 1.32508929e+01] [-2.22816195e-03 -1.94620563e-05 9.99997517e-01 -3.41311673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.440281693 meters Centerline goodness : 0.998679 Centerline is valid? [True, True] Translation: X:143.23, Y:13.26, Z:-0.34 [[ 9.48422332e-01 -3.17002093e-01 2.18009120e-03 1.43231447e+02] [ 3.17001196e-01 9.48424838e-01 7.54417125e-04 1.32587665e+01] [-2.30680445e-03 -2.44145292e-05 9.99997339e-01 -3.41512314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.470281693 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:143.26, Y:13.27, Z:-0.34 [[ 9.48696925e-01 -3.16184767e-01 1.15627091e-03 1.43258293e+02] [ 3.16184514e-01 9.48697630e-01 4.00272271e-04 1.32682956e+01] [-1.22351147e-03 -1.41421156e-05 9.99999251e-01 -3.42364655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.500281693 meters Centerline goodness : 0.998418 Centerline is valid? [True, True] Translation: X:143.28, Y:13.28, Z:-0.34 [[ 9.48937368e-01 -3.15464514e-01 -1.06298152e-04 1.43284822e+02] [ 3.15464512e-01 9.48937374e-01 -3.69392371e-05 1.32776889e+01] [ 1.12523307e-04 1.51972794e-06 9.99999994e-01 -3.42418479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.530281693 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:143.31, Y:13.29, Z:-0.34 [[ 9.49321879e-01 -3.14305532e-01 5.71362669e-05 1.43310429e+02] [ 3.14305531e-01 9.49321881e-01 1.96961172e-05 1.32879000e+01] [-6.04313069e-05 -7.39710260e-07 9.99999998e-01 -3.42665480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.560281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:143.34, Y:13.30, Z:-0.34 [[ 9.49555896e-01 -3.13596944e-01 7.46067790e-04 1.43336976e+02] [ 3.13596838e-01 9.49556189e-01 2.58680606e-04 1.32981719e+01] [-7.89554735e-04 -1.16671952e-05 9.99999688e-01 -3.42243881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.590281693 meters Centerline goodness : 0.998513 Centerline is valid? [True, True] Translation: X:143.36, Y:13.31, Z:-0.34 [[ 9.49658996e-01 -3.13282867e-01 1.27936909e-03 1.43362518e+02] [ 3.13282553e-01 9.49659857e-01 4.43846445e-04 1.33083639e+01] [-1.35401496e-03 -2.06987532e-05 9.99999083e-01 -3.41917477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.620281693 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:143.39, Y:13.32, Z:-0.34 [[ 9.49784185e-01 -3.12903540e-01 1.17353689e-03 1.43387774e+02] [ 3.12903275e-01 9.49784910e-01 4.07299483e-04 1.33205993e+01] [-1.24205308e-03 -1.96430708e-05 9.99999228e-01 -3.42568524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.650281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:143.41, Y:13.33, Z:-0.34 [[ 9.49649642e-01 -3.13313460e-01 4.83950349e-04 1.43413209e+02] [ 3.13313415e-01 9.49649765e-01 1.67996613e-04 1.33311702e+01] [-5.12218936e-04 -7.90978700e-06 9.99999869e-01 -3.42529037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.680281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:143.44, Y:13.34, Z:-0.34 [[ 9.48294335e-01 -3.17392051e-01 3.74859957e-04 1.43437720e+02] [ 3.17392024e-01 9.48294409e-01 1.30197524e-04 1.33417748e+01] [-3.96801261e-04 -4.48801356e-06 9.99999921e-01 -3.42915637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.710281693 meters Centerline goodness : 0.998617 Centerline is valid? [True, True] Translation: X:143.46, Y:13.35, Z:-0.34 [[ 9.47153543e-01 -3.20779251e-01 9.15867017e-04 1.43463883e+02] [ 3.20779094e-01 9.47153985e-01 3.18295646e-04 1.33508024e+01] [-9.69569734e-04 -7.68385755e-06 9.99999530e-01 -3.42402943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.740281693 meters Centerline goodness : 0.998555 Centerline is valid? [True, True] Translation: X:143.49, Y:13.36, Z:-0.34 [[ 9.45981407e-01 -3.24216444e-01 1.69534520e-03 1.43490706e+02] [ 3.24215908e-01 9.45982927e-01 5.89632084e-04 1.33594256e+01] [-1.79493603e-03 -8.12310537e-06 9.99998389e-01 -3.42391661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.770281693 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:143.52, Y:13.37, Z:-0.34 [[ 9.44221665e-01 -3.29300923e-01 2.51990194e-03 1.43516109e+02] [ 3.29299755e-01 9.44225027e-01 8.76753235e-04 1.33674222e+01] [-2.66807012e-03 1.95369214e-06 9.99996441e-01 -3.41140532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.800281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:143.54, Y:13.38, Z:-0.34 [[ 9.43787272e-01 -3.30542527e-01 2.68777025e-03 1.43542290e+02] [ 3.30541202e-01 9.43791099e-01 9.35664239e-04 1.33772158e+01] [-2.84597046e-03 5.35081137e-06 9.99995950e-01 -3.41250207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.830281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:143.57, Y:13.39, Z:-0.34 [[ 9.43637492e-01 -3.30970617e-01 2.59498740e-03 1.43567119e+02] [ 3.30969384e-01 9.43641060e-01 9.03663730e-04 1.33877246e+01] [-2.74782280e-03 6.13040300e-06 9.99996225e-01 -3.40965378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.860281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:143.59, Y:13.40, Z:-0.34 [[ 9.44022737e-01 -3.29856289e-01 3.98759997e-03 1.43592373e+02] [ 3.29853363e-01 9.44031159e-01 1.38942564e-03 1.34000297e+01] [-4.22272941e-03 3.67386342e-06 9.99991084e-01 -3.40857973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.890281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:143.62, Y:13.41, Z:-0.34 [[ 9.44216826e-01 -3.29298451e-01 4.13698251e-03 1.43617058e+02] [ 3.29295293e-01 9.44225889e-01 1.44211501e-03 1.34098238e+01] [-4.38113223e-03 6.19609850e-07 9.99990403e-01 -3.40863183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.920281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:143.64, Y:13.42, Z:-0.34 [[ 9.43922341e-01 -3.30163029e-01 1.72873422e-03 1.43642907e+02] [ 3.30162479e-01 9.43923924e-01 6.02901419e-04 1.34207072e+01] [-1.83084935e-03 1.67105753e-06 9.99998324e-01 -3.42782137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.950281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:143.67, Y:13.43, Z:-0.34 [[ 9.43620287e-01 -3.31029739e-01 2.55262839e-04 1.43668661e+02] [ 3.31029727e-01 9.43620322e-01 8.90137800e-05 1.34300352e+01] [-2.70337411e-04 5.04379458e-07 9.99999963e-01 -3.43433185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.980281693 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:143.69, Y:13.44, Z:-0.34 [[ 9.43229775e-01 -3.32140495e-01 -5.31677754e-04 1.43694723e+02] [ 3.32140443e-01 9.43229925e-01 -1.85731536e-04 1.34391947e+01] [ 5.63183332e-04 -1.40416987e-06 9.99999841e-01 -3.43786186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.010281693 meters Centerline goodness : 0.998449 Centerline is valid? [True, True] Translation: X:143.72, Y:13.45, Z:-0.34 [[ 9.43191722e-01 -3.32248540e-01 -5.31669801e-04 1.43721570e+02] [ 3.32248488e-01 9.43191872e-01 -1.85754293e-04 1.34487411e+01] [ 5.63183228e-04 -1.44457642e-06 9.99999841e-01 -3.43802812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.040281693 meters Centerline goodness : 0.998357 Centerline is valid? [True, True] Translation: X:143.75, Y:13.46, Z:-0.34 [[ 9.42723827e-01 -3.33572902e-01 -9.51424762e-04 1.43747157e+02] [ 3.33572737e-01 9.42724307e-01 -3.32492025e-04 1.34573354e+01] [ 1.00784158e-03 -3.92120718e-06 9.99999492e-01 -3.43509351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.070281693 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:143.77, Y:13.47, Z:-0.34 [[ 9.41615866e-01 -3.36687919e-01 -8.97963750e-04 1.43773613e+02] [ 3.36687773e-01 9.41616294e-01 -3.14040908e-04 1.34672276e+01] [ 9.51271078e-04 -6.62751398e-06 9.99999548e-01 -3.43627325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.100281693 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:143.80, Y:13.48, Z:-0.34 [[ 9.41319223e-01 -3.37516154e-01 -9.82592377e-04 1.43798884e+02] [ 3.37515979e-01 9.41319736e-01 -3.43650687e-04 1.34772085e+01] [ 1.04092126e-03 -8.15563043e-06 9.99999458e-01 -3.43261260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.130281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:143.82, Y:13.49, Z:-0.34 [[ 9.41444930e-01 -3.37165727e-01 -8.46382278e-04 1.43824403e+02] [ 3.37165597e-01 9.41445310e-01 -2.96151016e-04 1.34897799e+01] [ 8.96674599e-04 -6.56111354e-06 9.99999598e-01 -3.43903271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.160281693 meters Centerline goodness : 0.998628 Centerline is valid? [True, True] Translation: X:143.85, Y:13.50, Z:-0.34 [[ 9.41748062e-01 -3.36318126e-01 -8.39603812e-04 1.43850453e+02] [ 3.36317998e-01 9.41748437e-01 -2.94000966e-04 1.35004942e+01] [ 8.89573432e-04 -5.49903330e-06 9.99999604e-01 -3.43864213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.190281693 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:143.88, Y:13.51, Z:-0.34 [[ 9.42162284e-01 -3.35155005e-01 -1.16351083e-03 1.43876746e+02] [ 3.35154757e-01 9.42163002e-01 -4.07620743e-04 1.35101077e+01] [ 1.23283299e-03 -5.91130017e-06 9.99999240e-01 -3.44185198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.220281693 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:143.90, Y:13.52, Z:-0.34 [[ 9.42730015e-01 -3.33554731e-01 -1.16610017e-03 1.43903183e+02] [ 3.33554480e-01 9.42730736e-01 -4.08775094e-04 1.35199173e+01] [ 1.23566734e-03 -3.59338508e-06 9.99999237e-01 -3.44327895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.250281693 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:143.93, Y:13.53, Z:-0.34 [[ 9.42988590e-01 -3.32822299e-01 -1.35492815e-03 1.43929715e+02] [ 3.32821960e-01 9.42989564e-01 -4.75234359e-04 1.35298982e+01] [ 1.43585170e-03 -2.80926565e-06 9.99998969e-01 -3.43394715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.280281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:143.96, Y:13.54, Z:-0.34 [[ 9.43273687e-01 -3.32015053e-01 -8.69502042e-04 1.43955714e+02] [ 3.32014913e-01 9.43274088e-01 -3.05198968e-04 1.35409989e+01] [ 9.21509397e-04 -8.01489228e-07 9.99999575e-01 -3.44138549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.310281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:143.98, Y:13.55, Z:-0.34 [[ 9.43546154e-01 -3.31240917e-01 -3.32290650e-04 1.43981037e+02] [ 3.31240896e-01 9.43546213e-01 -1.16671720e-04 1.35512361e+01] [ 3.52178032e-04 1.69001935e-08 9.99999938e-01 -3.44155487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.340281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:144.01, Y:13.56, Z:-0.34 [[ 9.44826098e-01 -3.27571780e-01 6.10986362e-04 1.44005160e+02] [ 3.27571710e-01 9.44826296e-01 2.14438486e-04 1.35629719e+01] [-6.47519977e-04 -2.46523070e-06 9.99999790e-01 -3.43900061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.370281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:144.03, Y:13.57, Z:-0.34 [[ 9.45415454e-01 -3.25866868e-01 6.36204543e-04 1.44031182e+02] [ 3.25866791e-01 9.45415668e-01 2.23359437e-04 1.35746370e+01] [-6.74263183e-04 -3.84953030e-06 9.99999773e-01 -3.44250386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.400281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:144.06, Y:13.59, Z:-0.34 [[ 9.45795844e-01 -3.24761335e-01 5.44434626e-04 1.44057207e+02] [ 3.24761278e-01 9.45796001e-01 1.91238251e-04 1.35859977e+01] [-5.77030882e-04 -4.06105737e-06 9.99999834e-01 -3.44436689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.430281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:144.08, Y:13.60, Z:-0.34 [[ 9.45962102e-01 -3.24276626e-01 6.09779219e-04 1.44081918e+02] [ 3.24276555e-01 9.45962298e-01 2.14328329e-04 1.35957582e+01] [-6.46329819e-04 -5.00937242e-06 9.99999791e-01 -3.44301384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.460281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:144.11, Y:13.61, Z:-0.35 [[ 9.45170054e-01 -3.26576876e-01 1.05467297e-03 1.44108301e+02] [ 3.26576665e-01 9.45170643e-01 3.70896930e-04 1.36052194e+01] [-1.11797229e-03 -6.12909092e-06 9.99999375e-01 -3.45032495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.490281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:144.13, Y:13.61, Z:-0.34 [[ 9.44171339e-01 -3.29452714e-01 1.17983240e-03 1.44133923e+02] [ 3.29452452e-01 9.44172076e-01 4.15099977e-04 1.36144700e+01] [-1.25072062e-03 -3.22682302e-06 9.99999218e-01 -3.44948282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.520281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:144.16, Y:13.62, Z:-0.34 [[ 9.42987208e-01 -3.32825671e-01 1.48292580e-03 1.44160747e+02] [ 3.32825262e-01 9.42988374e-01 5.21992981e-04 1.36237594e+01] [-1.57211445e-03 1.32246502e-06 9.99998764e-01 -3.44704049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.550281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:144.19, Y:13.63, Z:-0.34 [[ 9.40683664e-01 -3.39281183e-01 1.58811669e-03 1.44187326e+02] [ 3.39280723e-01 9.40685005e-01 5.59234604e-04 1.36297489e+01] [-1.68365533e-03 1.27545212e-05 9.99998583e-01 -3.44379805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.580281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:144.21, Y:13.64, Z:-0.34 [[ 9.39662026e-01 -3.42102367e-01 1.11673605e-03 1.44214904e+02] [ 3.42102141e-01 9.39662690e-01 3.93396624e-04 1.36366169e+01] [-1.18393712e-03 1.23779248e-05 9.99999299e-01 -3.43981623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.610281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:144.24, Y:13.64, Z:-0.34 [[ 9.38736902e-01 -3.44634532e-01 2.60004637e-04 1.44241701e+02] [ 3.44634520e-01 9.38736938e-01 9.15931643e-05 1.36428525e+01] [-2.75642124e-04 3.62468978e-06 9.99999962e-01 -3.44519980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.640281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:144.27, Y:13.65, Z:-0.35 [[ 9.37501284e-01 -3.47976785e-01 -1.87048348e-03 1.44269119e+02] [ 3.47976162e-01 9.37503150e-01 -6.59620502e-04 1.36451436e+01] [ 1.98311677e-03 -3.24885920e-05 9.99998033e-01 -3.45985982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.670281693 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:144.30, Y:13.65, Z:-0.35 [[ 9.36983869e-01 -3.49364966e-01 -2.31307851e-03 1.44296607e+02] [ 3.49364016e-01 9.36986723e-01 -8.16180949e-04 1.36506814e+01] [ 2.45246888e-03 -4.33580137e-05 9.99996992e-01 -3.45799035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.700281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:144.32, Y:13.66, Z:-0.35 [[ 9.36767114e-01 -3.49944940e-01 -2.43161714e-03 1.44324340e+02] [ 3.49943890e-01 9.36770269e-01 -8.58489056e-04 1.36568292e+01] [ 2.57829055e-03 -4.67252479e-05 9.99996675e-01 -3.45358609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.730281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:144.35, Y:13.66, Z:-0.34 [[ 9.36951162e-01 -3.49453023e-01 -2.25940593e-03 1.44351418e+02] [ 3.49452115e-01 9.36953885e-01 -7.97832315e-04 1.36601750e+01] [ 2.39576407e-03 -4.20242655e-05 9.99997129e-01 -3.44792015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.760281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:144.38, Y:13.67, Z:-0.34 [[ 9.37359905e-01 -3.48351087e-01 -2.81585520e-03 1.44378299e+02] [ 3.48349669e-01 9.37364133e-01 -9.94936567e-04 1.36671205e+01] [ 2.98606890e-03 -4.82885820e-05 9.99995541e-01 -3.44525703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.790281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:144.41, Y:13.67, Z:-0.34 [[ 9.38004588e-01 -3.46608700e-01 -3.13065132e-03 1.44405764e+02] [ 3.46606936e-01 9.38009812e-01 -1.10681248e-03 1.36748831e+01] [ 3.32021249e-03 -4.69102766e-05 9.99994487e-01 -3.44545966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.820281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:144.43, Y:13.68, Z:-0.35 [[ 9.39821423e-01 -3.41647796e-01 -3.53224506e-03 1.44433061e+02] [ 3.41645513e-01 9.39828060e-01 -1.24951177e-03 1.36831038e+01] [ 3.74659597e-03 -3.24577425e-05 9.99992981e-01 -3.45284030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.850281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:144.46, Y:13.69, Z:-0.35 [[ 9.40754549e-01 -3.39074277e-01 -3.08445170e-03 1.44459999e+02] [ 3.39072520e-01 9.40759605e-01 -1.09177136e-03 1.36917216e+01] [ 3.27191915e-03 -1.87639347e-05 9.99994647e-01 -3.45354232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.880281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:144.49, Y:13.70, Z:-0.35 [[ 9.41441992e-01 -3.37167814e-01 -2.20024118e-03 1.44486576e+02] [ 3.37166914e-01 9.41444563e-01 -7.79295231e-04 1.37003856e+01] [ 2.33415837e-03 -8.18727387e-06 9.99997276e-01 -3.45338987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.910281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:144.51, Y:13.71, Z:-0.35 [[ 9.42033138e-01 -3.35516688e-01 -1.45572190e-03 1.44512767e+02] [ 3.35516291e-01 9.42034263e-01 -5.15703337e-04 1.37082529e+01] [ 1.54436698e-03 -2.60877981e-06 9.99998807e-01 -3.45248096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.940281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:144.54, Y:13.72, Z:-0.35 [[ 9.42688062e-01 -3.33674874e-01 -5.44413341e-04 1.44539691e+02] [ 3.33674818e-01 9.42688219e-01 -1.93071305e-04 1.37165056e+01] [ 5.77635087e-04 3.48992204e-07 9.99999833e-01 -3.45792866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.970281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:144.57, Y:13.73, Z:-0.35 [[ 9.42979909e-01 -3.32849487e-01 -3.31799237e-04 1.44565670e+02] [ 3.32849466e-01 9.42979968e-01 -1.17724111e-04 1.37252914e+01] [ 3.52064444e-04 5.72272122e-07 9.99999938e-01 -3.45672532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.000281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:144.59, Y:13.73, Z:-0.35 [[ 9.43598709e-01 -3.31091230e-01 -2.70733386e-04 1.44592006e+02] [ 3.31091216e-01 9.43598748e-01 -9.61617878e-05 1.37348455e+01] [ 2.87302008e-04 1.10069299e-06 9.99999959e-01 -3.45477676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.030281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:144.62, Y:13.74, Z:-0.35 [[ 9.43981379e-01 -3.29997448e-01 -9.16451991e-04 1.44618282e+02] [ 3.29997287e-01 9.43981824e-01 -3.25433369e-04 1.37445631e+01] [ 9.72506203e-04 4.77636912e-06 9.99999527e-01 -3.45278149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.060281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:144.64, Y:13.75, Z:-0.35 [[ 9.44411172e-01 -3.28763027e-01 -1.55284625e-03 1.44644495e+02] [ 3.28762564e-01 9.44412448e-01 -5.51663985e-04 1.37540766e+01] [ 1.64789405e-03 1.04799152e-05 9.99998642e-01 -3.45485161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.090281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:144.67, Y:13.76, Z:-0.35 [[ 9.44793598e-01 -3.27658825e-01 -2.17974483e-03 1.44670420e+02] [ 3.27657910e-01 9.44796112e-01 -7.74600826e-04 1.37629527e+01] [ 2.31321924e-03 1.76272672e-05 9.99997324e-01 -3.46041423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.120281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:144.70, Y:13.77, Z:-0.35 [[ 9.45218039e-01 -3.26436248e-01 -1.49506417e-03 1.44697029e+02] [ 3.26435815e-01 9.45219221e-01 -5.31653574e-04 1.37712941e+01] [ 1.58671438e-03 1.44860589e-05 9.99998741e-01 -3.45493283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.150281693 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:144.72, Y:13.78, Z:-0.34 [[ 9.45333553e-01 -3.26104424e-01 -6.15580415e-04 1.44722905e+02] [ 3.26104350e-01 9.45333753e-01 -2.19109071e-04 1.37806327e+01] [ 6.53381381e-04 6.38770557e-06 9.99999787e-01 -3.44932418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.180281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:144.75, Y:13.79, Z:-0.34 [[ 9.45467809e-01 -3.25715506e-01 -1.73408084e-04 1.44749055e+02] [ 3.25715501e-01 9.45467825e-01 -6.18438452e-05 1.37898435e+01] [ 1.84095264e-04 1.98966392e-06 9.99999983e-01 -3.44631738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.210281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:144.77, Y:13.80, Z:-0.34 [[ 9.46078314e-01 -3.23937582e-01 -5.16735263e-04 1.44774738e+02] [ 3.23937530e-01 9.46078455e-01 -1.84092387e-04 1.37976030e+01] [ 5.48506542e-04 6.77587031e-06 9.99999850e-01 -3.44948506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.240281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:144.80, Y:13.81, Z:-0.34 [[ 9.46467418e-01 -3.22797306e-01 -1.15134618e-03 1.44801157e+02] [ 3.22797046e-01 9.46468118e-01 -4.10361212e-04 1.38071574e+01] [ 1.22217595e-03 1.67423712e-05 9.99999253e-01 -3.44553312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.270281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:144.83, Y:13.82, Z:-0.34 [[ 9.47646616e-01 -3.19315301e-01 -1.90499758e-03 1.44826249e+02] [ 3.19314581e-01 9.47648531e-01 -6.79009265e-04 1.38174515e+01] [ 2.02208621e-03 3.51673287e-05 9.99997955e-01 -3.44085407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.300281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:144.85, Y:13.83, Z:-0.34 [[ 9.48265451e-01 -3.17471590e-01 -2.10342102e-03 1.44851974e+02] [ 3.17470706e-01 9.48267783e-01 -7.50238948e-04 1.38274721e+01] [ 2.23278594e-03 4.36511162e-05 9.99997506e-01 -3.43865099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.330281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:144.88, Y:13.84, Z:-0.34 [[ 9.48743049e-01 -3.16037293e-01 -2.65652868e-03 1.44877375e+02] [ 3.16035877e-01 9.48746766e-01 -9.47833168e-04 1.38378900e+01] [ 2.81992362e-03 5.96917573e-05 9.99996022e-01 -3.44263236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.360281693 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:144.90, Y:13.85, Z:-0.34 [[ 9.48865667e-01 -3.15656093e-01 -3.89568512e-03 1.44902176e+02] [ 3.15653045e-01 9.48873660e-01 -1.39024445e-03 1.38478857e+01] [ 4.13535213e-03 8.94703573e-05 9.99991445e-01 -3.44074123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.390281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:144.93, Y:13.86, Z:-0.35 [[ 9.48011171e-01 -3.18214163e-01 -3.81668761e-03 1.44927294e+02] [ 3.18211256e-01 9.48018850e-01 -1.36239605e-03 1.38581854e+01] [ 4.05182552e-03 7.70537185e-05 9.99991788e-01 -3.45272401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.420281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:144.95, Y:13.87, Z:-0.35 [[ 9.47216266e-01 -3.20586088e-01 -2.43005694e-03 1.44953756e+02] [ 3.20584915e-01 9.47219382e-01 -8.68011403e-04 1.38681226e+01] [ 2.58006942e-03 4.31549201e-05 9.99996671e-01 -3.45009576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.450281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:144.98, Y:13.88, Z:-0.34 [[ 9.46388891e-01 -3.23028334e-01 -8.73157980e-04 1.44979524e+02] [ 3.23028184e-01 9.46389294e-01 -3.12142465e-04 1.38780639e+01] [ 9.27178224e-04 1.33535248e-05 9.99999570e-01 -3.44413152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.480281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:145.00, Y:13.89, Z:-0.34 [[ 9.45075675e-01 -3.26850221e-01 9.49121858e-04 1.45004730e+02] [ 3.26850046e-01 9.45076152e-01 3.39211335e-04 1.38883520e+01] [-1.00786373e-03 -1.03598591e-05 9.99999492e-01 -3.43489269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.510281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:145.03, Y:13.90, Z:-0.34 [[ 9.44617460e-01 -3.28173108e-01 5.15752439e-04 1.45030793e+02] [ 3.28173056e-01 9.44617601e-01 1.84347158e-04 1.38985199e+01] [-5.47686611e-04 -4.88148964e-06 9.99999850e-01 -3.43827158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.540281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:145.06, Y:13.91, Z:-0.34 [[ 9.44391547e-01 -3.28821855e-01 -8.90695217e-04 1.45056760e+02] [ 3.28821701e-01 9.44391967e-01 -3.18851882e-04 1.39091585e+01] [ 9.46010875e-04 8.24110611e-06 9.99999553e-01 -3.43858887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.570281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:145.08, Y:13.92, Z:-0.35 [[ 9.44283635e-01 -3.29112323e-01 -3.67363277e-03 1.45080903e+02] [ 3.29109697e-01 9.44290780e-01 -1.31500267e-03 1.39206519e+01] [ 3.90176114e-03 3.27073364e-05 9.99992388e-01 -3.46054640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.600281693 meters Centerline goodness : 0.998888 Centerline is valid? [True, True] Translation: X:145.11, Y:13.93, Z:-0.35 [[ 9.44173242e-01 -3.29421366e-01 -4.29560277e-03 1.45106894e+02] [ 3.29417775e-01 9.44183013e-01 -1.53856228e-03 1.39308592e+01] [ 4.56267046e-03 3.76214312e-05 9.99989590e-01 -3.45988426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.630281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:145.13, Y:13.94, Z:-0.35 [[ 9.43940225e-01 -3.30096751e-01 -3.60360940e-03 1.45131798e+02] [ 3.30094228e-01 9.43947104e-01 -1.29098153e-03 1.39403445e+01] [ 3.82776546e-03 2.90787371e-05 9.99992674e-01 -3.45268246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.660281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:145.16, Y:13.95, Z:-0.34 [[ 9.43675353e-01 -3.30860291e-01 -2.88016533e-03 1.45158089e+02] [ 3.30858680e-01 9.43679748e-01 -1.03245496e-03 1.39503960e+01] [ 3.05955204e-03 2.13745974e-05 9.99995319e-01 -3.44830481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.690281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:145.18, Y:13.96, Z:-0.34 [[ 9.43197835e-01 -3.32224925e-01 -2.10795105e-03 1.45184662e+02] [ 3.32224065e-01 9.43200190e-01 -7.56125889e-04 1.39605790e+01] [ 2.23942370e-03 1.28642339e-05 9.99997492e-01 -3.44766792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.720281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:145.21, Y:13.97, Z:-0.34 [[ 9.42808088e-01 -3.33334196e-01 -1.10621419e-03 1.45209742e+02] [ 3.33333960e-01 9.42808737e-01 -3.96893456e-04 1.39693386e+01] [ 1.17524657e-03 5.45560373e-06 9.99999309e-01 -3.44932675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.750281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:145.24, Y:13.98, Z:-0.34 [[ 9.42025968e-01 -3.35539222e-01 -7.11491659e-04 1.45235438e+02] [ 3.35539125e-01 9.42026237e-01 -2.55350842e-04 1.39776010e+01] [ 7.55924032e-04 1.81383542e-06 9.99999714e-01 -3.44329800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.780281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:145.26, Y:13.99, Z:-0.34 [[ 9.41798916e-01 -3.36174627e-01 -1.19287956e-03 1.45261071e+02] [ 3.36174354e-01 9.41799671e-01 -4.28188470e-04 1.39870883e+01] [ 1.26739968e-03 2.25191978e-06 9.99999197e-01 -3.44222171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.810281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:145.29, Y:14.00, Z:-0.35 [[ 9.41649317e-01 -3.36593840e-01 -1.07255220e-03 1.45287624e+02] [ 3.36593620e-01 9.41649928e-01 -3.85288184e-04 1.39972468e+01] [ 1.13965433e-03 1.79212808e-06 9.99999351e-01 -3.45092756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.840281693 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:145.31, Y:14.01, Z:-0.34 [[ 9.41626821e-01 -3.36658216e-01 -4.18487504e-04 1.45312956e+02] [ 3.36658182e-01 9.41626914e-01 -1.50374044e-04 1.40055564e+01] [ 4.44683755e-04 7.08990973e-07 9.99999901e-01 -3.44787028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.870281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:145.34, Y:14.01, Z:-0.34 [[ 9.41875514e-01 -3.35961295e-01 7.23484953e-04 1.45339492e+02] [ 3.35961195e-01 9.41875792e-01 2.59918253e-04 1.40146701e+01] [-7.68755436e-04 -1.74776861e-06 9.99999705e-01 -3.44444107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.900281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:145.36, Y:14.02, Z:-0.34 [[ 9.42503259e-01 -3.34193343e-01 1.55452723e-03 1.45364333e+02] [ 3.34192876e-01 9.42504541e-01 5.58806434e-04 1.40240613e+01] [-1.65189837e-03 -7.16495887e-06 9.99998636e-01 -3.43318050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.930281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:145.39, Y:14.03, Z:-0.34 [[ 9.42449340e-01 -3.34345369e-01 1.55445345e-03 1.45391073e+02] [ 3.34344902e-01 9.42450622e-01 5.59011639e-04 1.40338993e+01] [-1.65189857e-03 -7.11656513e-06 9.99998636e-01 -3.43334676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.960281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:145.42, Y:14.04, Z:-0.34 [[ 9.43287957e-01 -3.31972689e-01 1.40133139e-03 1.45417099e+02] [ 3.31972306e-01 9.43288998e-01 5.04211476e-04 1.40442828e+01] [-1.48924492e-03 -1.04134005e-05 9.99998891e-01 -3.42671149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.990281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:145.44, Y:14.06, Z:-0.34 [[ 9.45215359e-01 -3.26446749e-01 6.67741618e-04 1.45441536e+02] [ 3.26446661e-01 9.45215594e-01 2.40323794e-04 1.40562252e+01] [-7.09612712e-04 -9.17572003e-06 9.99999748e-01 -3.43270176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.020281693 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:145.47, Y:14.07, Z:-0.34 [[ 9.46209433e-01 -3.23554735e-01 2.04115134e-04 1.45467474e+02] [ 3.23554726e-01 9.46209455e-01 7.34073706e-05 1.40672536e+01] [-2.16886973e-04 -3.41633006e-06 9.99999976e-01 -3.43518682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.050281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:145.49, Y:14.08, Z:-0.34 [[ 9.46977496e-01 -3.21299693e-01 -3.60585131e-04 1.45492872e+02] [ 3.21299667e-01 9.46977564e-01 -1.30061036e-04 1.40785837e+01] [ 3.83254600e-04 7.30899198e-06 9.99999927e-01 -3.43758276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.080281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:145.52, Y:14.09, Z:-0.34 [[ 9.48166698e-01 -3.17771210e-01 -1.17086618e-03 1.45516232e+02] [ 3.17770931e-01 9.48167420e-01 -4.22113993e-04 1.40933182e+01] [ 1.24431284e-03 2.81671952e-05 9.99999225e-01 -3.43957437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.110281693 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:145.54, Y:14.11, Z:-0.34 [[ 9.48493698e-01 -3.16793288e-01 -1.31047196e-03 1.45541483e+02] [ 3.16792937e-01 9.48494603e-01 -4.72762366e-04 1.41057277e+01] [ 1.39274353e-03 3.32638635e-05 9.99999030e-01 -3.44071842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.140281693 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:145.57, Y:14.12, Z:-0.34 [[ 9.48687983e-01 -3.16212072e-01 -1.01817671e-03 1.45567285e+02] [ 3.16211860e-01 9.48688529e-01 -3.67542012e-04 1.41180125e+01] [ 1.08215379e-03 2.67231378e-05 9.99999414e-01 -3.43898776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.170281693 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:145.59, Y:14.13, Z:-0.34 [[ 9.48626201e-01 -3.16397513e-01 -9.71437533e-04 1.45593179e+02] [ 3.16397320e-01 9.48626698e-01 -3.50870702e-04 1.41296198e+01] [ 1.03254620e-03 2.54849093e-05 9.99999467e-01 -3.44047712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.200281693 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:145.62, Y:14.14, Z:-0.34 [[ 9.48079366e-01 -3.18031879e-01 -1.11302453e-03 1.45617560e+02] [ 3.18031626e-01 9.48080019e-01 -4.02232257e-04 1.41436543e+01] [ 1.18315900e-03 2.73711020e-05 9.99999300e-01 -3.44310784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.230281693 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:145.64, Y:14.16, Z:-0.35 [[ 9.47659758e-01 -3.19280485e-01 -9.77672972e-04 1.45641858e+02] [ 3.19280290e-01 9.47660262e-01 -3.53435745e-04 1.41557741e+01] [ 1.03934696e-03 2.27851225e-05 9.99999460e-01 -3.45135250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.260281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:145.67, Y:14.17, Z:-0.35 [[ 9.46841605e-01 -3.21698758e-01 -9.39991423e-04 1.45665654e+02] [ 3.21698579e-01 9.46842072e-01 -3.39945730e-04 1.41704536e+01] [ 9.99383545e-04 1.94808553e-05 9.99999500e-01 -3.45218914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.290281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:145.69, Y:14.18, Z:-0.35 [[ 9.46283185e-01 -3.23336812e-01 -1.20004598e-03 1.45690585e+02] [ 3.23336521e-01 9.46283946e-01 -4.34250214e-04 1.41826081e+01] [ 1.27599332e-03 2.29049845e-05 9.99999186e-01 -3.45465082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.320281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:145.72, Y:14.19, Z:-0.35 [[ 9.45667619e-01 -3.25131492e-01 -1.50588191e-03 1.45716403e+02] [ 3.25131036e-01 9.45668818e-01 -5.45202841e-04 1.41947954e+01] [ 1.60132818e-03 2.59717264e-05 9.99998718e-01 -3.45767023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.350281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:145.74, Y:14.21, Z:-0.35 [[ 9.44977764e-01 -3.27130555e-01 -1.62059248e-03 1.45741925e+02] [ 3.27130029e-01 9.44979153e-01 -5.87071580e-04 1.42061151e+01] [ 1.72347516e-03 2.46251248e-05 9.99998515e-01 -3.46017778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.380281693 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:145.77, Y:14.22, Z:-0.35 [[ 9.43896887e-01 -3.30236561e-01 -1.57525196e-03 1.45767293e+02] [ 3.30236068e-01 9.43898201e-01 -5.70729775e-04 1.42165605e+01] [ 1.67535333e-03 1.85050439e-05 9.99998596e-01 -3.45987796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.410281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:145.79, Y:14.23, Z:-0.35 [[ 9.43466153e-01 -3.31465225e-01 -1.55655732e-03 1.45792781e+02] [ 3.31464745e-01 9.43467437e-01 -5.64357667e-04 1.42275459e+01] [ 1.65562608e-03 1.65084832e-05 9.99998629e-01 -3.45589598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.440281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:145.82, Y:14.24, Z:-0.35 [[ 9.42927565e-01 -3.32988664e-01 -2.48149169e-03 1.45816366e+02] [ 3.32987449e-01 9.42930830e-01 -8.99804426e-04 1.42413933e+01] [ 2.63949969e-03 2.21448091e-05 9.99996516e-01 -3.46691583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.470281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:145.84, Y:14.25, Z:-0.35 [[ 9.42524990e-01 -3.34120799e-01 -3.15208091e-03 1.45842266e+02] [ 3.34118842e-01 9.42530260e-01 -1.14368134e-03 1.42520166e+01] [ 3.35305936e-03 2.47786236e-05 9.99994378e-01 -3.47857359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.500281693 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:145.87, Y:14.26, Z:-0.35 [[ 9.42040117e-01 -3.35483608e-01 -3.34169073e-03 1.45867647e+02] [ 3.35481417e-01 9.42046043e-01 -1.21271307e-03 1.42618183e+01] [ 3.55487188e-03 2.13492170e-05 9.99993681e-01 -3.48166413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.530281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:145.89, Y:14.27, Z:-0.35 [[ 9.41351897e-01 -3.37415796e-01 -2.68071952e-03 1.45894238e+02] [ 3.37414392e-01 9.41355714e-01 -9.73440277e-04 1.42717994e+01] [ 2.85196477e-03 1.18365034e-05 9.99995933e-01 -3.47629773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.560281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:145.92, Y:14.28, Z:-0.35 [[ 9.39781930e-01 -3.41773581e-01 -8.61640835e-04 1.45920684e+02] [ 3.41773438e-01 9.39782325e-01 -3.13145590e-04 1.42817939e+01] [ 9.16779717e-04 -1.97383416e-07 9.99999580e-01 -3.46220387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.590281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:145.95, Y:14.29, Z:-0.35 [[ 9.39043031e-01 -3.43798369e-01 -9.30944768e-04 1.45946158e+02] [ 3.43798203e-01 9.39043493e-01 -3.38342516e-04 1.42900372e+01] [ 9.90519232e-04 -2.33895645e-06 9.99999509e-01 -3.46587785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.620281693 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:145.97, Y:14.30, Z:-0.35 [[ 9.38293295e-01 -3.45838028e-01 -1.32310265e-03 1.45972996e+02] [ 3.45837693e-01 9.38294228e-01 -4.81186329e-04 1.42980029e+01] [ 1.40787211e-03 -6.08486337e-06 9.99999009e-01 -3.47526028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.650281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:146.00, Y:14.30, Z:-0.35 [[ 9.37710535e-01 -3.47413789e-01 -1.61597491e-03 1.45998881e+02] [ 3.47413292e-01 9.37711928e-01 -5.87754437e-04 1.43048948e+01] [ 1.71951294e-03 -1.02676358e-05 9.99998522e-01 -3.48096453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.680281693 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:146.02, Y:14.31, Z:-0.35 [[ 9.36918306e-01 -3.49546088e-01 -1.27257271e-03 1.46024683e+02] [ 3.49545781e-01 9.36919171e-01 -4.62978326e-04 1.43115129e+01] [ 1.35413003e-03 -1.10495523e-05 9.99999083e-01 -3.47699613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.710281693 meters Centerline goodness : 0.998682 Centerline is valid? [True, True] Translation: X:146.05, Y:14.32, Z:-0.35 [[ 9.36928376e-01 -3.49520091e-01 -9.61591657e-04 1.46049820e+02] [ 3.49519916e-01 9.36928869e-01 -3.49936317e-04 1.43199894e+01] [ 1.02325276e-03 -8.23017046e-06 9.99999476e-01 -3.46483023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.740281693 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:146.08, Y:14.33, Z:-0.35 [[ 9.37521767e-01 -3.47924656e-01 1.17050098e-03 1.46076990e+02] [ 3.47924396e-01 9.37522498e-01 4.26027772e-04 1.43275675e+01] [-1.24559656e-03 7.83553539e-06 9.99999224e-01 -3.45497661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.770281693 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:146.10, Y:14.34, Z:-0.35 [[ 9.38012185e-01 -3.46597183e-01 1.88005510e-03 1.46103885e+02] [ 3.46596506e-01 9.38014069e-01 6.84731334e-04 1.43360676e+01] [-2.00084409e-03 9.33419689e-06 9.99997998e-01 -3.45254342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.800281693 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:146.13, Y:14.34, Z:-0.35 [[ 9.38505025e-01 -3.45262339e-01 1.49482696e-03 1.46129500e+02] [ 3.45261910e-01 9.38506216e-01 5.44599248e-04 1.43446073e+01] [-1.59093401e-03 4.99768020e-06 9.99998734e-01 -3.46220298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.830281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:146.16, Y:14.35, Z:-0.35 [[ 9.39003102e-01 -3.43908307e-01 5.01161414e-04 1.46155509e+02] [ 3.43908258e-01 9.39003236e-01 1.82591105e-04 1.43540454e+01] [-5.33386787e-04 8.99935045e-07 9.99999858e-01 -3.47043070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.860281693 meters Centerline goodness : 0.998480 Centerline is valid? [True, True] Translation: X:146.18, Y:14.36, Z:-0.35 [[ 9.40123768e-01 -3.40832901e-01 -4.84066268e-04 1.46181845e+02] [ 3.40832855e-01 9.40123893e-01 -1.76677733e-04 1.43634553e+01] [ 5.15299849e-04 1.11324805e-06 9.99999867e-01 -3.47878074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.890281693 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:146.21, Y:14.37, Z:-0.35 [[ 9.40842818e-01 -3.38842975e-01 -4.80140165e-04 1.46207751e+02] [ 3.38842930e-01 9.40842940e-01 -1.75341841e-04 1.43731969e+01] [ 5.11149835e-04 2.27701199e-06 9.99999869e-01 -3.46800292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.920281693 meters Centerline goodness : 0.998348 Centerline is valid? [True, True] Translation: X:146.23, Y:14.38, Z:-0.35 [[ 9.41726800e-01 -3.36378324e-01 -5.06128577e-04 1.46233804e+02] [ 3.36378274e-01 9.41726936e-01 -1.84928216e-04 1.43842722e+01] [ 5.38840758e-04 3.90120047e-06 9.99999855e-01 -3.45668912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.950281693 meters Centerline goodness : 0.998373 Centerline is valid? [True, True] Translation: X:146.26, Y:14.40, Z:-0.35 [[ 9.43563793e-01 -3.31190535e-01 -4.45415262e-04 1.46257690e+02] [ 3.31190495e-01 9.43563898e-01 -1.62734848e-04 1.43977234e+01] [ 4.74174002e-04 6.03340872e-06 9.99999888e-01 -3.45014908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.980281693 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:146.28, Y:14.41, Z:-0.35 [[ 9.43961689e-01 -3.30054847e-01 -3.58584485e-04 1.46283406e+02] [ 3.30054821e-01 9.43961757e-01 -1.31152997e-04 1.44095632e+01] [ 3.81777723e-04 5.45086701e-06 9.99999927e-01 -3.45852976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.010281693 meters Centerline goodness : 0.998250 Centerline is valid? [True, True] Translation: X:146.31, Y:14.42, Z:-0.35 [[ 9.44086448e-01 -3.29697966e-01 -1.73027196e-04 1.46307660e+02] [ 3.29697960e-01 9.44086464e-01 -6.32946354e-05 1.44206053e+01] [ 1.84220746e-04 2.70889390e-06 9.99999983e-01 -3.46826321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.040281693 meters Centerline goodness : 0.998159 Centerline is valid? [True, True] Translation: X:146.33, Y:14.44, Z:-0.35 [[ 9.43503950e-01 -3.31360818e-01 5.52413637e-04 1.46331381e+02] [ 3.31360757e-01 9.43504111e-01 2.01926093e-04 1.44354112e+01] [-5.88114933e-04 -7.46986522e-06 9.99999827e-01 -3.46718237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.070281693 meters Centerline goodness : 0.998205 Centerline is valid? [True, True] Translation: X:146.36, Y:14.45, Z:-0.35 [[ 9.43066663e-01 -3.32603422e-01 4.81828392e-04 1.46356218e+02] [ 3.32603376e-01 9.43066786e-01 1.76152883e-04 1.44478545e+01] [-5.12985405e-04 -5.86616213e-06 9.99999868e-01 -3.46314666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.100281693 meters Centerline goodness : 0.998460 Centerline is valid? [True, True] Translation: X:146.38, Y:14.46, Z:-0.35 [[ 9.42558726e-01 -3.34040130e-01 4.90059752e-04 1.46381866e+02] [ 3.34040082e-01 9.42558853e-01 1.79260062e-04 1.44603795e+01] [-5.21790212e-04 -5.26353603e-06 9.99999864e-01 -3.46191713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.130281693 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:146.41, Y:14.47, Z:-0.35 [[ 9.41648195e-01 -3.36598157e-01 5.97376667e-04 1.46406329e+02] [ 3.36598086e-01 9.41648385e-01 2.18656017e-04 1.44737994e+01] [-6.36117986e-04 -4.82120061e-06 9.99999798e-01 -3.47709342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.160281693 meters Centerline goodness : 0.998022 Centerline is valid? [True, True] Translation: X:146.43, Y:14.48, Z:-0.35 [[ 9.41254680e-01 -3.37697537e-01 -8.16080924e-06 1.46430954e+02] [ 3.37697537e-01 9.41254680e-01 -3.03552150e-06 1.44848499e+01] [ 8.70648804e-06 1.01313635e-07 1.00000000e+00 -3.47980602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.190281693 meters Centerline goodness : 0.998136 Centerline is valid? [True, True] Translation: X:146.46, Y:14.50, Z:-0.35 [[ 9.40753846e-01 -3.39089169e-01 -8.58850562e-04 1.46455682e+02] [ 3.39089023e-01 9.40754238e-01 -3.14876997e-04 1.44972588e+01] [ 9.14738685e-04 4.99494825e-06 9.99999582e-01 -3.48462209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.220281693 meters Centerline goodness : 0.997919 Centerline is valid? [True, True] Translation: X:146.48, Y:14.51, Z:-0.35 [[ 9.39849770e-01 -3.41574633e-01 -3.03000695e-03 1.46478799e+02] [ 3.41572827e-01 9.39854654e-01 -1.11080248e-03 1.45127745e+01] [ 3.22718808e-03 9.01941994e-06 9.99994793e-01 -3.49050422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.250281693 meters Centerline goodness : 0.997846 Centerline is valid? [True, True] Translation: X:146.50, Y:14.52, Z:-0.35 [[ 9.38936726e-01 -3.44078105e-01 -2.84294262e-03 1.46504672e+02] [ 3.44076525e-01 9.38941030e-01 -1.04282717e-03 1.45248159e+01] [ 3.02816947e-03 9.58912000e-07 9.99995415e-01 -3.48944597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.280281693 meters Centerline goodness : 0.998252 Centerline is valid? [True, True] Translation: X:146.53, Y:14.54, Z:-0.35 [[ 9.37856672e-01 -3.47016382e-01 -2.11974782e-03 1.46530556e+02] [ 3.47015509e-01 9.37859068e-01 -7.78009818e-04 1.45359304e+01] [ 2.25800687e-03 -5.92367078e-06 9.99997451e-01 -3.48180841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.310281693 meters Centerline goodness : 0.997752 Centerline is valid? [True, True] Translation: X:146.56, Y:14.55, Z:-0.35 [[ 9.35368330e-01 -3.53671956e-01 -1.49509411e-03 1.46555439e+02] [ 3.53671531e-01 9.35369524e-01 -5.48945647e-04 1.45459283e+01] [ 1.59261215e-03 -1.53058500e-05 9.99998732e-01 -3.48230891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.340281693 meters Centerline goodness : 0.998032 Centerline is valid? [True, True] Translation: X:146.58, Y:14.56, Z:-0.35 [[ 9.33756214e-01 -3.57898835e-01 -2.78503294e-03 1.46581626e+02] [ 3.57897375e-01 9.33760367e-01 -1.02312645e-03 1.45556856e+01] [ 2.96672914e-03 -4.14053028e-05 9.99995598e-01 -3.48881909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.370281693 meters Centerline goodness : 0.997909 Centerline is valid? [True, True] Translation: X:146.61, Y:14.57, Z:-0.35 [[ 9.32082641e-01 -3.62220488e-01 -4.27419518e-03 1.46607145e+02] [ 3.62217093e-01 9.32092437e-01 -1.57045632e-03 1.45650866e+01] [ 4.55279646e-03 -8.43914791e-05 9.99989632e-01 -3.49883166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.400281693 meters Centerline goodness : 0.997620 Centerline is valid? [True, True] Translation: X:146.63, Y:14.57, Z:-0.35 [[ 9.30473039e-01 -3.66321677e-01 -5.32471566e-03 1.46633995e+02] [ 3.66316469e-01 9.30488266e-01 -1.95756027e-03 1.45732354e+01] [ 5.67168220e-03 -1.29073991e-04 9.99983908e-01 -3.50846660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.430281693 meters Centerline goodness : 0.997362 Centerline is valid? [True, True] Translation: X:146.66, Y:14.58, Z:-0.35 [[ 9.28151710e-01 -3.72171611e-01 -4.76389060e-03 1.46662410e+02] [ 3.72167515e-01 9.28163924e-01 -1.75235875e-03 1.45783605e+01] [ 5.07384957e-03 -1.46510553e-04 9.99987117e-01 -3.50040022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.460281693 meters Centerline goodness : 0.997877 Centerline is valid? [True, True] Translation: X:146.69, Y:14.59, Z:-0.35 [[ 9.27754530e-01 -3.73166882e-01 -4.24392870e-03 1.46687894e+02] [ 3.73163640e-01 9.27764226e-01 -1.56141835e-03 1.45860687e+01] [ 4.52003485e-03 -1.35066939e-04 9.99989775e-01 -3.48816626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.490281693 meters Centerline goodness : 0.997761 Centerline is valid? [True, True] Translation: X:146.71, Y:14.59, Z:-0.35 [[ 9.27705446e-01 -3.73293654e-01 -3.80171409e-03 1.46714529e+02] [ 3.73291050e-01 9.27713228e-01 -1.39954901e-03 1.45944663e+01] [ 4.04934322e-03 -1.20776605e-04 9.99991794e-01 -3.48007341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.520281693 meters Centerline goodness : 0.997935 Centerline is valid? [True, True] Translation: X:146.74, Y:14.60, Z:-0.35 [[ 9.28046802e-01 -3.72443478e-01 -3.87150751e-03 1.46740878e+02] [ 3.72440769e-01 9.28054870e-01 -1.42551588e-03 1.46020217e+01] [ 4.12389549e-03 -1.18961786e-04 9.99991490e-01 -3.47284811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.550281693 meters Centerline goodness : 0.997834 Centerline is valid? [True, True] Translation: X:146.77, Y:14.61, Z:-0.35 [[ 9.29284914e-01 -3.69348642e-01 -3.33594242e-03 1.46768978e+02] [ 3.69346608e-01 9.29290898e-01 -1.22906981e-03 1.46066901e+01] [ 3.55401619e-03 -8.99629841e-05 9.99993680e-01 -3.46600966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.580281693 meters Centerline goodness : 0.998017 Centerline is valid? [True, True] Translation: X:146.80, Y:14.61, Z:-0.35 [[ 9.29945829e-01 -3.67687829e-01 -2.53295845e-03 1.46796443e+02] [ 3.67686649e-01 9.29949276e-01 -9.33794716e-04 1.46144231e+01] [ 2.69886783e-03 -6.29565041e-05 9.99996356e-01 -3.46226631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.610281693 meters Centerline goodness : 0.998254 Centerline is valid? [True, True] Translation: X:146.82, Y:14.62, Z:-0.35 [[ 9.30646435e-01 -3.65917474e-01 -1.27131174e-03 1.46822130e+02] [ 3.65917174e-01 9.30647302e-01 -4.68883865e-04 1.46220090e+01] [ 1.35471564e-03 -2.88297034e-05 9.99999082e-01 -3.45541533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.640281693 meters Centerline goodness : 0.998007 Centerline is valid? [True, True] Translation: X:146.85, Y:14.63, Z:-0.34 [[ 9.31752998e-01 -3.63092461e-01 4.63970833e-04 1.46849983e+02] [ 3.63092421e-01 9.31753113e-01 1.71075371e-04 1.46265123e+01] [-4.94422446e-04 9.06430355e-06 9.99999878e-01 -3.44874274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.670281693 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:146.88, Y:14.63, Z:-0.35 [[ 9.32158895e-01 -3.62049197e-01 4.17797112e-04 1.46876750e+02] [ 3.62049164e-01 9.32158988e-01 1.54138638e-04 1.46325313e+01] [-4.45259103e-04 7.58139271e-06 9.99999901e-01 -3.45120997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.700281693 meters Centerline goodness : 0.998103 Centerline is valid? [True, True] Translation: X:146.91, Y:14.64, Z:-0.34 [[ 9.32821238e-01 -3.60339254e-01 3.99310380e-04 1.46905508e+02] [ 3.60339224e-01 9.32821324e-01 1.47334428e-04 1.46359618e+01] [-4.25575616e-04 6.45050881e-06 9.99999909e-01 -3.44521148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.730281693 meters Centerline goodness : 0.998341 Centerline is valid? [True, True] Translation: X:146.93, Y:14.64, Z:-0.34 [[ 9.33225438e-01 -3.59289581e-01 1.13061021e-03 1.46933030e+02] [ 3.59289339e-01 9.33226123e-01 4.17597053e-04 1.46426827e+01] [-1.20515326e-03 1.65040034e-05 9.99999274e-01 -3.44681725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.760281693 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:146.96, Y:14.65, Z:-0.34 [[ 9.33583551e-01 -3.58358105e-01 1.10507635e-03 1.46960067e+02] [ 3.58357873e-01 9.33584205e-01 4.08394147e-04 1.46490736e+01] [-1.17803318e-03 1.47427535e-05 9.99999306e-01 -3.44138646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.790281693 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:146.99, Y:14.65, Z:-0.35 [[ 9.34144031e-01 -3.56895596e-01 -6.80864209e-04 1.46988666e+02] [ 3.56895507e-01 9.34144279e-01 -2.51952008e-04 1.46532919e+01] [ 7.25945967e-04 -7.63791279e-06 9.99999736e-01 -3.45542871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.820281693 meters Centerline goodness : 0.997913 Centerline is valid? [True, True] Translation: X:147.02, Y:14.66, Z:-0.35 [[ 9.34081482e-01 -3.57059270e-01 -6.80822259e-04 1.47015320e+02] [ 3.57059181e-01 9.34081730e-01 -2.52065366e-04 1.46633510e+01] [ 7.25945909e-04 -7.64424803e-06 9.99999736e-01 -3.45559494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.850281693 meters Centerline goodness : 0.997971 Centerline is valid? [True, True] Translation: X:147.04, Y:14.67, Z:-0.35 [[ 9.34344028e-01 -3.56369963e-01 -1.29866920e-03 1.47041846e+02] [ 3.56369639e-01 9.34344931e-01 -4.80777466e-04 1.46701742e+01] [ 1.38473963e-03 -1.35947182e-05 9.99999041e-01 -3.45773309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.880281693 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:147.07, Y:14.68, Z:-0.35 [[ 9.34494134e-01 -3.55974951e-01 -1.59637900e-03 1.47068339e+02] [ 3.55974461e-01 9.34495497e-01 -5.91120045e-04 1.46771715e+01] [ 1.70223292e-03 -1.58719392e-05 9.99998551e-01 -3.46084755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.910281693 meters Centerline goodness : 0.998077 Centerline is valid? [True, True] Translation: X:147.09, Y:14.68, Z:-0.35 [[ 9.34674178e-01 -3.55503115e-01 -1.31018041e-03 1.47094839e+02] [ 3.55502784e-01 9.34675096e-01 -4.85267311e-04 1.46844064e+01] [ 1.39710704e-03 -1.22059572e-05 9.99999024e-01 -3.45910125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.940281693 meters Centerline goodness : 0.997726 Centerline is valid? [True, True] Translation: X:147.12, Y:14.69, Z:-0.35 [[ 9.35076773e-01 -3.54443795e-01 -1.01169905e-03 1.47122105e+02] [ 3.54443597e-01 9.35077321e-01 -3.75012047e-04 1.46911674e+01] [ 1.07893753e-03 -7.92519644e-06 9.99999418e-01 -3.46450799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.970281693 meters Centerline goodness : 0.997879 Centerline is valid? [True, True] Translation: X:147.15, Y:14.70, Z:-0.35 [[ 9.35255752e-01 -3.53968860e-01 -1.65057735e-03 1.47147705e+02] [ 3.53968331e-01 9.35257209e-01 -6.11841785e-04 1.46992670e+01] [ 1.76028730e-03 -1.20235596e-05 9.99998451e-01 -3.46605015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.000281693 meters Centerline goodness : 0.997858 Centerline is valid? [True, True] Translation: X:147.17, Y:14.71, Z:-0.35 [[ 9.35292902e-01 -3.53866398e-01 -2.40003993e-03 1.47174222e+02] [ 3.53865279e-01 9.35295981e-01 -8.90199566e-04 1.47078632e+01] [ 2.55975942e-03 -1.66934642e-05 9.99996724e-01 -3.46712018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.030281693 meters Centerline goodness : 0.997944 Centerline is valid? [True, True] Translation: X:147.20, Y:14.72, Z:-0.35 [[ 9.35416961e-01 -3.53537677e-01 -2.49416943e-03 1.47200769e+02] [ 3.53536465e-01 9.35420286e-01 -9.25632951e-04 1.47153902e+01] [ 2.66034281e-03 -1.59270838e-05 9.99996461e-01 -3.47342719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.060281693 meters Centerline goodness : 0.997521 Centerline is valid? [True, True] Translation: X:147.23, Y:14.72, Z:-0.35 [[ 9.35445145e-01 -3.53461037e-01 -2.77079065e-03 1.47226437e+02] [ 3.53459541e-01 9.35449248e-01 -1.02846836e-03 1.47239818e+01] [ 2.95545752e-03 -1.72866570e-05 9.99995632e-01 -3.47422336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.090281693 meters Centerline goodness : 0.997922 Centerline is valid? [True, True] Translation: X:147.25, Y:14.73, Z:-0.35 [[ 9.35246154e-01 -3.53984079e-01 -3.14687832e-03 1.47253753e+02] [ 3.53982150e-01 9.35251448e-01 -1.16877576e-03 1.47318475e+01] [ 3.35685051e-03 -2.08457166e-05 9.99994366e-01 -3.48263535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.120281693 meters Centerline goodness : 0.997851 Centerline is valid? [True, True] Translation: X:147.28, Y:14.74, Z:-0.35 [[ 9.35052042e-01 -3.54494942e-01 -3.31902101e-03 1.47280302e+02] [ 3.54492797e-01 9.35057932e-01 -1.23342304e-03 1.47411628e+01] [ 3.54071915e-03 -2.32543058e-05 9.99993731e-01 -3.48184593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.150281693 meters Centerline goodness : 0.997800 Centerline is valid? [True, True] Translation: X:147.31, Y:14.75, Z:-0.35 [[ 9.34976158e-01 -3.54699202e-01 -2.83897067e-03 1.47306185e+02] [ 3.54697632e-01 9.34980468e-01 -1.05565302e-03 1.47508601e+01] [ 3.02882141e-03 -1.99657617e-05 9.99995413e-01 -3.47727149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.180281693 meters Centerline goodness : 0.997660 Centerline is valid? [True, True] Translation: X:147.33, Y:14.76, Z:-0.35 [[ 9.35456336e-01 -3.53428410e-01 -3.13089764e-03 1.47331512e+02] [ 3.53426491e-01 9.35461575e-01 -1.16461432e-03 1.47604742e+01] [ 3.34044222e-03 -1.70963208e-05 9.99994421e-01 -3.47121765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.210281693 meters Centerline goodness : 0.997574 Centerline is valid? [True, True] Translation: X:147.36, Y:14.77, Z:-0.35 [[ 9.35788223e-01 -3.52543229e-01 -3.69781354e-03 1.47357370e+02] [ 3.52540543e-01 9.35795529e-01 -1.37630972e-03 1.47714099e+01] [ 3.94560605e-03 -1.56947639e-05 9.99992216e-01 -3.46775219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.240281693 meters Centerline goodness : 0.997557 Centerline is valid? [True, True] Translation: X:147.38, Y:14.78, Z:-0.35 [[ 9.36017704e-01 -3.51930112e-01 -4.00664491e-03 1.47382069e+02] [ 3.51926952e-01 9.36026279e-01 -1.49155368e-03 1.47825446e+01] [ 4.27524758e-03 -1.39256775e-05 9.99990861e-01 -3.47515650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.270281693 meters Centerline goodness : 0.997911 Centerline is valid? [True, True] Translation: X:147.41, Y:14.79, Z:-0.35 [[ 9.36018086e-01 -3.51925503e-01 -4.31078337e-03 1.47406360e+02] [ 3.51921842e-01 9.36028012e-01 -1.60542382e-03 1.47942377e+01] [ 4.60000357e-03 -1.43530849e-05 9.99989420e-01 -3.47933165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.300281693 meters Centerline goodness : 0.997586 Centerline is valid? [True, True] Translation: X:147.43, Y:14.81, Z:-0.35 [[ 9.35489632e-01 -3.53333181e-01 -3.84868549e-03 1.47430925e+02] [ 3.53330273e-01 9.35497548e-01 -1.43364804e-03 1.48066751e+01] [ 4.10699126e-03 -1.86942196e-05 9.99991566e-01 -3.48217630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.330281693 meters Centerline goodness : 0.997727 Centerline is valid? [True, True] Translation: X:147.46, Y:14.82, Z:-0.35 [[ 9.34933587e-01 -3.54805245e-01 -3.52510043e-03 1.47456567e+02] [ 3.54802813e-01 9.34940232e-01 -1.31390656e-03 1.48170342e+01] [ 3.76193915e-03 -2.23001789e-05 9.99992924e-01 -3.47655470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.360281693 meters Centerline goodness : 0.997444 Centerline is valid? [True, True] Translation: X:147.48, Y:14.83, Z:-0.35 [[ 9.34328364e-01 -3.56403502e-01 -2.65563937e-03 1.47482898e+02] [ 3.56402126e-01 9.34332138e-01 -9.90414816e-04 1.48274961e+01] [ 2.83423652e-03 -2.11028627e-05 9.99995983e-01 -3.47129390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.390281693 meters Centerline goodness : 0.997973 Centerline is valid? [True, True] Translation: X:147.51, Y:14.84, Z:-0.35 [[ 9.33047563e-01 -3.59747767e-01 -1.94664785e-03 1.47508422e+02] [ 3.59747034e-01 9.33049594e-01 -7.26450250e-04 1.48390790e+01] [ 2.07765784e-03 -2.24881526e-05 9.99997841e-01 -3.46988578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.420281693 meters Centerline goodness : 0.997784 Centerline is valid? [True, True] Translation: X:147.53, Y:14.85, Z:-0.35 [[ 9.32557189e-01 -3.61011493e-01 -2.79124376e-03 1.47533336e+02] [ 3.61009992e-01 9.32561366e-01 -1.04177848e-03 1.48491134e+01] [ 2.97910010e-03 -3.61488739e-05 9.99995562e-01 -3.47362429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.450281693 meters Centerline goodness : 0.997825 Centerline is valid? [True, True] Translation: X:147.56, Y:14.86, Z:-0.35 [[ 9.32210438e-01 -3.61896103e-01 -3.86133474e-03 1.47558325e+02] [ 3.61893236e-01 9.32218433e-01 -1.44149105e-03 1.48583870e+01] [ 4.12127742e-03 -5.36179199e-05 9.99991506e-01 -3.47422376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.480281693 meters Centerline goodness : 0.997940 Centerline is valid? [True, True] Translation: X:147.58, Y:14.87, Z:-0.35 [[ 9.32375826e-01 -3.61469421e-01 -3.89573490e-03 1.47584732e+02] [ 3.61466495e-01 9.32383963e-01 -1.45522362e-03 1.48683976e+01] [ 4.15833959e-03 -5.13623106e-05 9.99991353e-01 -3.47109741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.510281693 meters Centerline goodness : 0.998185 Centerline is valid? [True, True] Translation: X:147.61, Y:14.88, Z:-0.35 [[ 9.32978383e-01 -3.59919223e-01 -3.08059057e-03 1.47609835e+02] [ 3.59917384e-01 9.32983468e-01 -1.15097606e-03 1.48782394e+01] [ 3.28839848e-03 -3.49223205e-05 9.99994593e-01 -3.45837504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.540281693 meters Centerline goodness : 0.997878 Centerline is valid? [True, True] Translation: X:147.64, Y:14.89, Z:-0.34 [[ 9.35260587e-01 -3.53958047e-01 -1.15584306e-03 1.47636266e+02] [ 3.53957783e-01 9.35261301e-01 -4.32200239e-04 1.48871199e+01] [ 1.23399604e-03 -4.89979950e-06 9.99999239e-01 -3.44491116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.570281693 meters Centerline goodness : 0.998219 Centerline is valid? [True, True] Translation: X:147.66, Y:14.90, Z:-0.34 [[ 9.36569995e-01 -3.50479999e-01 -6.43657748e-04 1.47661861e+02] [ 3.50479916e-01 9.36570216e-01 -2.40727370e-04 1.48959478e+01] [ 6.87200804e-04 -1.31082068e-07 9.99999764e-01 -3.44487362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.600281693 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:147.69, Y:14.91, Z:-0.34 [[ 9.37677625e-01 -3.47505475e-01 -7.85111661e-04 1.47688171e+02] [ 3.47505351e-01 9.37677954e-01 -2.93839434e-04 1.49060034e+01] [ 8.38292708e-04 2.69616004e-06 9.99999649e-01 -3.44219654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.630281693 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:147.71, Y:14.92, Z:-0.35 [[ 9.38506363e-01 -3.45260875e-01 -8.57133321e-04 1.47714106e+02] [ 3.45260726e-01 9.38506754e-01 -3.20963531e-04 1.49161572e+01] [ 9.15241561e-04 5.29184366e-06 9.99999581e-01 -3.45098131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.660281693 meters Centerline goodness : 0.997955 Centerline is valid? [True, True] Translation: X:147.74, Y:14.92, Z:-0.35 [[ 9.39486523e-01 -3.42584293e-01 -1.03702575e-03 1.47740110e+02] [ 3.42584073e-01 9.39487095e-01 -3.88331988e-04 1.49225313e+01] [ 1.10730875e-03 9.56416504e-06 9.99999387e-01 -3.46470597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.690281693 meters Centerline goodness : 0.998088 Centerline is valid? [True, True] Translation: X:147.77, Y:14.93, Z:-0.35 [[ 9.39757678e-01 -3.41839990e-01 -9.63483673e-04 1.47767236e+02] [ 3.41839800e-01 9.39758172e-01 -3.61058215e-04 1.49300473e+01] [ 1.02886579e-03 9.95016342e-06 9.99999471e-01 -3.46671921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.720281693 meters Centerline goodness : 0.997937 Centerline is valid? [True, True] Translation: X:147.79, Y:14.94, Z:-0.35 [[ 9.40000165e-01 -3.41168461e-01 -1.94204288e-03 1.47793901e+02] [ 3.41167685e-01 9.40002171e-01 -7.28058265e-04 1.49383339e+01] [ 2.07391504e-03 2.18126148e-05 9.99997849e-01 -3.46603048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.750281693 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:147.82, Y:14.95, Z:-0.35 [[ 9.41101656e-01 -3.38092905e-01 -4.56734937e-03 1.47819440e+02] [ 3.38088575e-01 9.41112737e-01 -1.71246332e-03 1.49472361e+01] [ 4.87736236e-03 6.74334300e-05 9.99988103e-01 -3.47916341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.780281693 meters Centerline goodness : 0.997827 Centerline is valid? [True, True] Translation: X:147.84, Y:14.96, Z:-0.35 [[ 9.41838472e-01 -3.36030560e-01 -4.87392255e-03 1.47844788e+02] [ 3.36025599e-01 9.41851080e-01 -1.82783396e-03 1.49559564e+01] [ 5.20471728e-03 8.37616051e-05 9.99986452e-01 -3.48779980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.810281693 meters Centerline goodness : 0.997564 Centerline is valid? [True, True] Translation: X:147.87, Y:14.96, Z:-0.35 [[ 9.42614461e-01 -3.33849629e-01 -4.73323429e-03 1.47871117e+02] [ 3.33844918e-01 9.42626340e-01 -1.77609167e-03 1.49645810e+01] [ 5.05461885e-03 9.40034772e-05 9.99987221e-01 -3.47323307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.840281693 meters Centerline goodness : 0.997934 Centerline is valid? [True, True] Translation: X:147.90, Y:14.97, Z:-0.35 [[ 9.43535716e-01 -3.31244296e-01 -4.19148032e-03 1.47897379e+02] [ 3.31240572e-01 9.43545021e-01 -1.57365885e-03 1.49734972e+01] [ 4.47611590e-03 9.64149922e-05 9.99989978e-01 -3.46726736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.870281693 meters Centerline goodness : 0.997898 Centerline is valid? [True, True] Translation: X:147.92, Y:14.98, Z:-0.35 [[ 9.45511014e-01 -3.25569335e-01 -3.67829108e-03 1.47922482e+02] [ 3.25566423e-01 9.45518163e-01 -1.38125856e-03 1.49844644e+01] [ 3.92758645e-03 1.08467112e-04 9.99992281e-01 -3.46573100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.900281693 meters Centerline goodness : 0.998065 Centerline is valid? [True, True] Translation: X:147.95, Y:15.00, Z:-0.35 [[ 9.46427769e-01 -3.22900282e-01 -3.14405120e-03 1.47948579e+02] [ 3.22898138e-01 9.46432986e-01 -1.18134671e-03 1.49959366e+01] [ 3.35709095e-03 1.02851057e-04 9.99994360e-01 -3.47645965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.930281693 meters Centerline goodness : 0.997675 Centerline is valid? [True, True] Translation: X:147.97, Y:15.01, Z:-0.35 [[ 9.47036686e-01 -3.21114410e-01 -2.65533604e-03 1.47974591e+02] [ 3.21112872e-01 9.47040404e-01 -9.98281395e-04 1.50072596e+01] [ 2.83527306e-03 9.27465247e-05 9.99995976e-01 -3.48253302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.960281693 meters Centerline goodness : 0.997976 Centerline is valid? [True, True] Translation: X:148.00, Y:15.02, Z:-0.35 [[ 9.47296473e-01 -3.20350418e-01 -2.23636835e-03 1.47999016e+02] [ 3.20349324e-01 9.47299110e-01 -8.40923872e-04 1.50186299e+01] [ 2.38790006e-03 8.01851294e-05 9.99997146e-01 -3.48405235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.990281693 meters Centerline goodness : 0.998091 Centerline is valid? [True, True] Translation: X:148.02, Y:15.03, Z:-0.35 [[ 9.46965898e-01 -3.21328740e-01 -1.85157507e-03 1.48024573e+02] [ 3.21327991e-01 9.46967706e-01 -6.96683465e-04 1.50300797e+01] [ 1.97724622e-03 6.47725848e-05 9.99998043e-01 -3.48398190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.020281693 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:148.05, Y:15.04, Z:-0.35 [[ 9.46097654e-01 -3.23875797e-01 -1.92279628e-03 1.48048851e+02] [ 3.23874994e-01 9.46099606e-01 -7.23585183e-04 1.50427475e+01] [ 2.05350853e-03 6.18366120e-05 9.99997890e-01 -3.47787936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.050281693 meters Centerline goodness : 0.998081 Centerline is valid? [True, True] Translation: X:148.07, Y:15.05, Z:-0.35 [[ 9.45748363e-01 -3.24894317e-01 -1.92772967e-03 1.48074862e+02] [ 3.24893511e-01 9.45750326e-01 -7.25889145e-04 1.50537382e+01] [ 2.05898822e-03 6.02016100e-05 9.99997878e-01 -3.46986499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.080281693 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:148.10, Y:15.06, Z:-0.35 [[ 9.45473375e-01 -3.25695281e-01 -1.63761545e-03 1.48100897e+02] [ 3.25694700e-01 9.45474792e-01 -6.17002085e-04 1.50648356e+01] [ 1.74927879e-03 4.99963716e-05 9.99998469e-01 -3.46772784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.110281693 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:148.13, Y:15.08, Z:-0.35 [[ 9.44691275e-01 -3.27959141e-01 -1.09370555e-03 1.48125578e+02] [ 3.27958883e-01 9.44691908e-01 -4.12334382e-04 1.50786309e+01] [ 1.16844362e-03 3.08382419e-05 9.99999317e-01 -3.46809857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.140281693 meters Centerline goodness : 0.998064 Centerline is valid? [True, True] Translation: X:148.15, Y:15.09, Z:-0.35 [[ 9.44264285e-01 -3.29186772e-01 -1.01391813e-03 1.48150996e+02] [ 3.29186551e-01 9.44264829e-01 -3.82480117e-04 1.50917583e+01] [ 1.08331462e-03 2.73941028e-05 9.99999413e-01 -3.46768256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.170281693 meters Centerline goodness : 0.997932 Centerline is valid? [True, True] Translation: X:148.17, Y:15.10, Z:-0.35 [[ 9.44003291e-01 -3.29934170e-01 -1.10918004e-03 1.48174801e+02] [ 3.29933905e-01 9.44003942e-01 -4.18527493e-04 1.51041466e+01] [ 1.18515685e-03 2.91352300e-05 9.99999297e-01 -3.46946096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.200281693 meters Centerline goodness : 0.998257 Centerline is valid? [True, True] Translation: X:148.20, Y:15.12, Z:-0.35 [[ 9.43480222e-01 -3.31420520e-01 -2.34730832e-03 1.48198733e+02] [ 3.31419342e-01 9.43483140e-01 -8.85800919e-04 1.51185868e+01] [ 2.50821843e-03 5.77922687e-05 9.99996853e-01 -3.46587130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.230281693 meters Centerline goodness : 0.997781 Centerline is valid? [True, True] Translation: X:148.22, Y:15.13, Z:-0.35 [[ 9.42995378e-01 -3.32793249e-01 -2.89316292e-03 1.48224612e+02] [ 3.32791462e-01 9.42999814e-01 -1.09248705e-03 1.51299983e+01] [ 3.09182441e-03 6.73903156e-05 9.99995218e-01 -3.46590447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.260281693 meters Centerline goodness : 0.998004 Centerline is valid? [True, True] Translation: X:148.25, Y:15.14, Z:-0.35 [[ 9.42528995e-01 -3.34103646e-01 -3.72124297e-03 1.48249159e+02] [ 3.34100700e-01 9.42536337e-01 -1.40543200e-03 1.51403013e+01] [ 3.97696668e-03 8.13905320e-05 9.99992089e-01 -3.47007098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.290281693 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:148.28, Y:15.15, Z:-0.35 [[ 9.41108377e-01 -3.38094500e-01 -2.67046794e-03 1.48275543e+02] [ 3.38092997e-01 9.41112165e-01 -1.00923056e-03 1.51510409e+01] [ 2.85442517e-03 4.69288228e-05 9.99995925e-01 -3.46965732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.320281693 meters Centerline goodness : 0.998106 Centerline is valid? [True, True] Translation: X:148.30, Y:15.16, Z:-0.35 [[ 9.40148529e-01 -3.40760680e-01 -1.70368783e-03 1.48300648e+02] [ 3.40760072e-01 9.40150072e-01 -6.44117760e-04 1.51602908e+01] [ 1.82121225e-03 2.50175750e-05 9.99998341e-01 -3.46654257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.350281693 meters Centerline goodness : 0.997848 Centerline is valid? [True, True] Translation: X:148.33, Y:15.17, Z:-0.35 [[ 9.37906014e-01 -3.46886692e-01 -1.38958024e-03 1.48327298e+02] [ 3.46886294e-01 9.37907044e-01 -5.25718045e-04 1.51685056e+01] [ 1.48566169e-03 1.10477758e-05 9.99998896e-01 -3.47271521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.380281693 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:148.35, Y:15.18, Z:-0.35 [[ 9.36913095e-01 -3.49556377e-01 -2.04745949e-03 1.48352620e+02] [ 3.49555518e-01 9.36915332e-01 -7.74683633e-04 1.51770643e+01] [ 2.18909179e-03 1.01104755e-05 9.99997604e-01 -3.47692808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.410281693 meters Centerline goodness : 0.998002 Centerline is valid? [True, True] Translation: X:148.38, Y:15.19, Z:-0.35 [[ 9.36155107e-01 -3.51577615e-01 -2.60682664e-03 1.48379194e+02] [ 3.51576230e-01 9.36158737e-01 -9.86943277e-04 1.51865165e+01] [ 2.78739070e-03 7.43370831e-06 9.99996115e-01 -3.47624902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.440281693 meters Centerline goodness : 0.997921 Centerline is valid? [True, True] Translation: X:148.41, Y:15.20, Z:-0.35 [[ 9.35650131e-01 -3.52919767e-01 -2.54368858e-03 1.48405413e+02] [ 3.52918451e-01 9.35653589e-01 -9.63595559e-04 1.51963748e+01] [ 2.72008327e-03 3.87367780e-06 9.99996301e-01 -3.47183868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.470281693 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:148.43, Y:15.21, Z:-0.35 [[ 9.35234248e-01 -3.54016724e-01 -3.01009870e-03 1.48432067e+02] [ 3.54014885e-01 9.35239092e-01 -1.14091296e-03 1.52050336e+01] [ 3.21906424e-03 1.40112339e-06 9.99994819e-01 -3.47327139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.500281693 meters Centerline goodness : 0.997357 Centerline is valid? [True, True] Translation: X:148.46, Y:15.21, Z:-0.35 [[ 9.35297999e-01 -3.53844021e-01 -3.47294904e-03 1.48458694e+02] [ 3.53841570e-01 9.35304447e-01 -1.31707984e-03 1.52139585e+01] [ 3.71430551e-03 2.98839833e-06 9.99993102e-01 -3.47789094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.530281693 meters Centerline goodness : 0.997631 Centerline is valid? [True, True] Translation: X:148.48, Y:15.22, Z:-0.35 [[ 9.36213110e-01 -3.51414862e-01 -3.55068815e-03 1.48484650e+02] [ 3.51412282e-01 9.36219843e-01 -1.34682715e-03 1.52224489e+01] [ 3.79751978e-03 1.31618130e-05 9.99992789e-01 -3.47659001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.560281693 meters Centerline goodness : 0.997855 Centerline is valid? [True, True] Translation: X:148.51, Y:15.23, Z:-0.35 [[ 9.36699488e-01 -3.50113505e-01 -3.82141125e-03 1.48510820e+02] [ 3.50110501e-01 9.36707283e-01 -1.45043224e-03 1.52329454e+01] [ 4.08735967e-03 2.07029313e-05 9.99991647e-01 -3.47456150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.590281693 meters Centerline goodness : 0.997534 Centerline is valid? [True, True] Translation: X:148.54, Y:15.24, Z:-0.35 [[ 9.37296371e-01 -3.48510708e-01 -3.97487872e-03 1.48535940e+02] [ 3.48507442e-01 9.37304799e-01 -1.50899180e-03 1.52428802e+01] [ 4.25157270e-03 2.90977240e-05 9.99990962e-01 -3.47646713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.620281693 meters Centerline goodness : 0.997625 Centerline is valid? [True, True] Translation: X:148.56, Y:15.25, Z:-0.35 [[ 9.38336032e-01 -3.45707276e-01 -3.45974755e-03 1.48561118e+02] [ 3.45704780e-01 9.38342410e-01 -1.31424347e-03 1.52545228e+01] [ 3.70077138e-03 3.71507339e-05 9.99993151e-01 -3.46858957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.650281693 meters Centerline goodness : 0.997818 Centerline is valid? [True, True] Translation: X:148.59, Y:15.27, Z:-0.35 [[ 9.39015916e-01 -3.43860732e-01 -2.98448922e-03 1.48587066e+02] [ 3.43858863e-01 9.39020658e-01 -1.13435901e-03 1.52662436e+01] [ 3.19255855e-03 3.89380978e-05 9.99994903e-01 -3.46486247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.680281693 meters Centerline goodness : 0.997997 Centerline is valid? [True, True] Translation: X:148.61, Y:15.28, Z:-0.35 [[ 9.39689187e-01 -3.42016198e-01 -3.02519469e-03 1.48612568e+02] [ 3.42014266e-01 9.39694056e-01 -1.15047706e-03 1.52782426e+01] [ 3.23623926e-03 4.64311173e-05 9.99994762e-01 -3.45814496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.710281693 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:148.64, Y:15.29, Z:-0.35 [[ 9.41088389e-01 -3.38143950e-01 -3.36339699e-03 1.48636225e+02] [ 3.38141537e-01 9.41094397e-01 -1.27932883e-03 1.52927665e+01] [ 3.59787136e-03 6.66572792e-05 9.99993525e-01 -3.45932317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.740281693 meters Centerline goodness : 0.997843 Centerline is valid? [True, True] Translation: X:148.66, Y:15.30, Z:-0.35 [[ 9.41050118e-01 -3.38250445e-01 -3.36324558e-03 1.48662798e+02] [ 3.38248031e-01 9.41056126e-01 -1.27972681e-03 1.53030478e+01] [ 3.59787102e-03 6.66758737e-05 9.99993525e-01 -3.45948943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.770281693 meters Centerline goodness : 0.997428 Centerline is valid? [True, True] Translation: X:148.69, Y:15.32, Z:-0.35 [[ 9.41622534e-01 -3.36652794e-01 -3.44960670e-03 1.48687812e+02] [ 3.36650240e-01 9.41628850e-01 -1.31334728e-03 1.53151840e+01] [ 3.69039122e-03 7.53664724e-05 9.99993188e-01 -3.45298862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.800281693 meters Centerline goodness : 0.997860 Centerline is valid? [True, True] Translation: X:148.71, Y:15.33, Z:-0.35 [[ 9.41840441e-01 -3.36046796e-01 -3.02242384e-03 1.48712696e+02] [ 3.36044830e-01 9.41845288e-01 -1.15137056e-03 1.53272879e+01] [ 3.23357004e-03 6.87374504e-05 9.99994770e-01 -3.45526887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.830281693 meters Centerline goodness : 0.998224 Centerline is valid? [True, True] Translation: X:148.74, Y:15.34, Z:-0.35 [[ 9.41699076e-01 -3.36452520e-01 -1.59742497e-03 1.48736168e+02] [ 3.36451971e-01 9.41700430e-01 -6.08665068e-04 1.53423022e+01] [ 1.70908268e-03 3.57225507e-05 9.99998539e-01 -3.45832413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.860281693 meters Centerline goodness : 0.998240 Centerline is valid? [True, True] Translation: X:148.76, Y:15.35, Z:-0.35 [[ 9.41321644e-01 -3.37508201e-01 -1.33337290e-03 1.48760493e+02] [ 3.37507819e-01 9.41322587e-01 -5.08183315e-04 1.53549853e+01] [ 1.42665006e-03 2.83401732e-05 9.99998982e-01 -3.46763720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.890281693 meters Centerline goodness : 0.998093 Centerline is valid? [True, True] Translation: X:148.79, Y:15.37, Z:-0.35 [[ 9.39858865e-01 -3.41560862e-01 -1.22140514e-03 1.48785385e+02] [ 3.41560545e-01 9.39859658e-01 -4.65831803e-04 1.53679615e+01] [ 1.30705933e-03 2.06323457e-05 9.99999146e-01 -3.46526184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.920281693 meters Centerline goodness : 0.998099 Centerline is valid? [True, True] Translation: X:148.81, Y:15.38, Z:-0.35 [[ 9.39028168e-01 -3.43835408e-01 -1.81969030e-03 1.48811982e+02] [ 3.43834708e-01 9.39029931e-01 -6.94335500e-04 1.53779709e+01] [ 1.94748079e-03 2.63279093e-05 9.99998103e-01 -3.46807785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.950281693 meters Centerline goodness : 0.998086 Centerline is valid? [True, True] Translation: X:148.84, Y:15.39, Z:-0.35 [[ 9.38103722e-01 -3.46347844e-01 -2.13962773e-03 1.48838249e+02] [ 3.46346882e-01 9.38106162e-01 -8.16864643e-04 1.53881404e+01] [ 2.29011727e-03 2.52503694e-05 9.99997377e-01 -3.46510222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.980281693 meters Centerline goodness : 0.998406 Centerline is valid? [True, True] Translation: X:148.86, Y:15.40, Z:-0.35 [[ 9.37322973e-01 -3.48455499e-01 -2.09980654e-03 1.48863368e+02] [ 3.48454577e-01 9.37325325e-01 -8.01938549e-04 1.53985828e+01] [ 2.24764174e-03 1.99882270e-05 9.99997474e-01 -3.46642012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.010281693 meters Centerline goodness : 0.998326 Centerline is valid? [True, True] Translation: X:148.89, Y:15.41, Z:-0.35 [[ 9.36399796e-01 -3.50933888e-01 -9.09845457e-04 1.48888335e+02] [ 3.50933716e-01 9.36400238e-01 -3.47757366e-04 1.54108626e+01] [ 9.74019347e-04 6.34447961e-06 9.99999526e-01 -3.45711115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.040281693 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:148.91, Y:15.42, Z:-0.35 [[ 9.36067675e-01 -3.51819780e-01 -3.86525446e-04 1.48913107e+02] [ 3.51819749e-01 9.36067755e-01 -1.47773428e-04 1.54205069e+01] [ 4.13803622e-04 2.33864361e-06 9.99999914e-01 -3.45600041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.070281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:148.94, Y:15.43, Z:-0.34 [[ 9.35914772e-01 -3.52226507e-01 -1.66262549e-04 1.48939244e+02] [ 3.52226501e-01 9.35914787e-01 -6.36893405e-05 1.54313213e+01] [ 1.78040652e-04 1.04571872e-06 9.99999984e-01 -3.44704844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.100281693 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:148.96, Y:15.44, Z:-0.34 [[ 9.36078807e-01 -3.51784803e-01 -1.97953827e-03 1.48964471e+02] [ 3.51783988e-01 9.36080900e-01 -7.57490177e-04 1.54442143e+01] [ 2.11948150e-03 1.27006338e-05 9.99997754e-01 -3.44793182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.130281693 meters Centerline goodness : 0.997893 Centerline is valid? [True, True] Translation: X:148.99, Y:15.45, Z:-0.35 [[ 9.36283982e-01 -3.51229218e-01 -3.21593763e-03 1.48989007e+02] [ 3.51227063e-01 9.36289504e-01 -1.23077105e-03 1.54549837e+01] [ 3.44333140e-03 2.28268888e-05 9.99994071e-01 -3.46013996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.160281693 meters Centerline goodness : 0.998031 Centerline is valid? [True, True] Translation: X:149.01, Y:15.47, Z:-0.35 [[ 9.36440947e-01 -3.50803498e-01 -3.90627221e-03 1.49013697e+02] [ 3.50800313e-01 9.36449093e-01 -1.49531810e-03 1.54650254e+01] [ 4.18258789e-03 2.99555819e-05 9.99991253e-01 -3.47092717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.190281693 meters Centerline goodness : 0.998260 Centerline is valid? [True, True] Translation: X:149.04, Y:15.47, Z:-0.35 [[ 9.36084348e-01 -3.51755860e-01 -3.72937271e-03 1.49039584e+02] [ 3.51752960e-01 9.36091777e-01 -1.42844039e-03 1.54747030e+01] [ 3.99349741e-03 2.53228019e-05 9.99992026e-01 -3.47484299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.220281693 meters Centerline goodness : 0.998012 Centerline is valid? [True, True] Translation: X:149.07, Y:15.49, Z:-0.35 [[ 9.35716440e-01 -3.52730236e-01 -4.01549071e-03 1.49065637e+02] [ 3.52726880e-01 9.35725056e-01 -1.53886951e-03 1.54853092e+01] [ 4.30020107e-03 2.35739956e-05 9.99990754e-01 -3.47005099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.250281693 meters Centerline goodness : 0.997938 Centerline is valid? [True, True] Translation: X:149.09, Y:15.50, Z:-0.35 [[ 9.35356983e-01 -3.53685707e-01 -3.70608494e-03 1.49091234e+02] [ 3.53682853e-01 9.35364325e-01 -1.42109103e-03 1.54957695e+01] [ 3.96915922e-03 1.84487229e-05 9.99992123e-01 -3.46140574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.280281693 meters Centerline goodness : 0.998160 Centerline is valid? [True, True] Translation: X:149.12, Y:15.51, Z:-0.35 [[ 9.35243284e-01 -3.53996389e-01 -2.56039587e-03 1.49117403e+02] [ 3.53995026e-01 9.35246789e-01 -9.82365000e-04 1.55055152e+01] [ 2.74235568e-03 1.23828654e-05 9.99996240e-01 -3.46084025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.310281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:149.14, Y:15.51, Z:-0.35 [[ 9.35443516e-01 -3.53473972e-01 -1.25675574e-03 1.49142920e+02] [ 3.53473643e-01 9.35444360e-01 -4.82299129e-04 1.55144144e+01] [ 1.34610526e-03 6.93356123e-06 9.99999094e-01 -3.46072569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.340281693 meters Centerline goodness : 0.998331 Centerline is valid? [True, True] Translation: X:149.17, Y:15.52, Z:-0.35 [[ 9.35709055e-01 -3.52772212e-01 -5.75361743e-04 1.49169398e+02] [ 3.52772143e-01 9.35709232e-01 -2.21017780e-04 1.55241292e+01] [ 6.16340225e-04 3.83674318e-06 9.99999810e-01 -3.46183412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.370281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:149.19, Y:15.53, Z:-0.35 [[ 9.36765345e-01 -3.49955545e-01 -1.34330140e-03 1.49194335e+02] [ 3.49955165e-01 9.36766308e-01 -5.15916638e-04 1.55339277e+01] [ 1.43890738e-03 1.31975653e-05 9.99998965e-01 -3.46865054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.400281693 meters Centerline goodness : 0.998010 Centerline is valid? [True, True] Translation: X:149.22, Y:15.54, Z:-0.35 [[ 9.37441138e-01 -3.48135288e-01 -2.43598177e-03 1.49220623e+02] [ 3.48134031e-01 9.37444303e-01 -9.36131583e-04 1.55447223e+01] [ 2.60949767e-03 2.95201042e-05 9.99996595e-01 -3.46968208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.430281693 meters Centerline goodness : 0.998082 Centerline is valid? [True, True] Translation: X:149.25, Y:15.56, Z:-0.35 [[ 9.38188592e-01 -3.46112468e-01 -2.88527860e-03 1.49245569e+02] [ 3.46110694e-01 9.38193028e-01 -1.10897664e-03 1.55553451e+01] [ 3.09077891e-03 4.18034564e-05 9.99995223e-01 -3.47312334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.460281693 meters Centerline goodness : 0.998203 Centerline is valid? [True, True] Translation: X:149.27, Y:15.57, Z:-0.35 [[ 9.39834896e-01 -3.41622241e-01 -2.14778391e-03 1.49270135e+02] [ 3.41621245e-01 9.39837349e-01 -8.25867904e-04 1.55663952e+01] [ 2.30070238e-03 4.24508610e-05 9.99997352e-01 -3.46502972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.490281693 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:149.30, Y:15.58, Z:-0.35 [[ 9.40342086e-01 -3.40225099e-01 -1.90854040e-03 1.49296117e+02] [ 3.40224309e-01 9.40344022e-01 -7.34331951e-04 1.55778360e+01] [ 2.04452272e-03 4.11913979e-05 9.99997909e-01 -3.45972382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.520281693 meters Centerline goodness : 0.998313 Centerline is valid? [True, True] Translation: X:149.32, Y:15.59, Z:-0.35 [[ 9.40402233e-01 -3.40060244e-01 -1.63415081e-03 1.49320296e+02] [ 3.40059665e-01 9.40403652e-01 -6.28861510e-04 1.55896880e+01] [ 1.75061219e-03 3.56739924e-05 9.99998467e-01 -3.46437223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.550281693 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:149.35, Y:15.60, Z:-0.35 [[ 9.39765163e-01 -3.41818122e-01 -1.34560671e-03 1.49345933e+02] [ 3.41817730e-01 9.39766126e-01 -5.18166134e-04 1.56013871e+01] [ 1.44167418e-03 2.70022502e-05 9.99998960e-01 -3.46612097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.580281693 meters Centerline goodness : 0.998400 Centerline is valid? [True, True] Translation: X:149.37, Y:15.61, Z:-0.35 [[ 9.38505194e-01 -3.45263903e-01 -9.15472077e-04 1.49369578e+02] [ 3.45263723e-01 9.38505641e-01 -3.52584178e-04 1.56141189e+01] [ 9.80910297e-04 1.48227848e-05 9.99999519e-01 -3.46336544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.610281693 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:149.39, Y:15.63, Z:-0.35 [[ 9.37843042e-01 -3.47057160e-01 -1.32489043e-03 1.49394873e+02] [ 3.47056785e-01 9.37843978e-01 -5.10604719e-04 1.56255923e+01] [ 1.41974954e-03 1.90548694e-05 9.99998992e-01 -3.46200512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.640281693 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:149.42, Y:15.64, Z:-0.35 [[ 9.37091317e-01 -3.49078584e-01 -2.00120381e-03 1.49419941e+02] [ 3.49077733e-01 9.37093454e-01 -7.71450412e-04 1.56363040e+01] [ 2.14461181e-03 2.43437946e-05 9.99997700e-01 -3.46702302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.670281693 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:149.45, Y:15.65, Z:-0.35 [[ 9.36167026e-01 -3.51546204e-01 -2.56224234e-03 1.49445760e+02] [ 3.51544816e-01 9.36170532e-01 -9.88288847e-04 1.56470666e+01] [ 2.74612497e-03 2.44604202e-05 9.99996229e-01 -3.46258258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.700281693 meters Centerline goodness : 0.998543 Centerline is valid? [True, True] Translation: X:149.47, Y:15.66, Z:-0.35 [[ 9.34470120e-01 -3.56028829e-01 -3.01129538e-03 1.49470771e+02] [ 3.56026934e-01 9.34474972e-01 -1.16168883e-03 1.56584873e+01] [ 3.22757488e-03 1.34612350e-05 9.99994791e-01 -3.45749680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.730281693 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:149.50, Y:15.67, Z:-0.35 [[ 9.33620214e-01 -3.58254971e-01 -2.58295296e-03 1.49496800e+02] [ 3.58253583e-01 9.33623787e-01 -9.97060667e-04 1.56697654e+01] [ 2.76870827e-03 5.52383913e-06 9.99996167e-01 -3.45703541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.760281693 meters Centerline goodness : 0.998527 Centerline is valid? [True, True] Translation: X:149.52, Y:15.68, Z:-0.35 [[ 9.32422445e-01 -3.61367473e-01 -1.39033706e-03 1.49522256e+02] [ 3.61367073e-01 9.32423482e-01 -5.37047502e-04 1.56813669e+01] [ 1.49045442e-03 -1.66688857e-06 9.99998889e-01 -3.45583859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.790281693 meters Centerline goodness : 0.998563 Centerline is valid? [True, True] Translation: X:149.55, Y:15.69, Z:-0.35 [[ 9.32147165e-01 -3.62077732e-01 -1.17399632e-03 1.49547348e+02] [ 3.62077448e-01 9.32147905e-01 -4.53542781e-04 1.56912505e+01] [ 1.25855595e-03 -2.30897317e-06 9.99999208e-01 -3.45657037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.820281693 meters Centerline goodness : 0.998642 Centerline is valid? [True, True] Translation: X:149.57, Y:15.70, Z:-0.35 [[ 9.31746570e-01 -3.63105017e-01 -1.75402757e-03 1.49573353e+02] [ 3.63104384e-01 9.31748221e-01 -6.78024722e-04 1.57019328e+01] [ 1.88050625e-03 -5.14789149e-06 9.99998232e-01 -3.45480662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.850281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:149.60, Y:15.71, Z:-0.35 [[ 9.31073684e-01 -3.64809413e-01 -3.98583186e-03 1.49599034e+02] [ 3.64806157e-01 9.31082215e-01 -1.54144198e-03 1.57129786e+01] [ 4.27346970e-03 -1.88599453e-05 9.99990869e-01 -3.45938411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.880281693 meters Centerline goodness : 0.998222 Centerline is valid? [True, True] Translation: X:149.62, Y:15.72, Z:-0.35 [[ 9.31019416e-01 -3.64936874e-01 -4.89125714e-03 1.49624206e+02] [ 3.64931970e-01 9.31032265e-01 -1.89195880e-03 1.57231412e+01] [ 5.24436374e-03 -2.35257284e-05 9.99986248e-01 -3.46387992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.910281693 meters Centerline goodness : 0.998322 Centerline is valid? [True, True] Translation: X:149.65, Y:15.73, Z:-0.35 [[ 9.31075043e-01 -3.64787261e-01 -5.43306212e-03 1.49649860e+02] [ 3.64781202e-01 9.31090894e-01 -2.10270118e-03 1.57335106e+01] [ 5.82571327e-03 -2.41063397e-05 9.99983030e-01 -3.46425693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.940281693 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:149.68, Y:15.74, Z:-0.35 [[ 9.31387360e-01 -3.63975624e-01 -6.27139609e-03 1.49675798e+02] [ 3.63967523e-01 9.31408474e-01 -2.42848186e-03 1.57446135e+01] [ 6.72513966e-03 -2.07271920e-05 9.99977386e-01 -3.46219890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.970281693 meters Centerline goodness : 0.998323 Centerline is valid? [True, True] Translation: X:149.70, Y:15.76, Z:-0.35 [[ 9.31578829e-01 -3.63490171e-01 -5.98181289e-03 1.49701098e+02] [ 3.63482787e-01 9.31598033e-01 -2.31684233e-03 1.57550647e+01] [ 6.41479453e-03 -1.59647584e-05 9.99979425e-01 -3.45829049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.000281693 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:149.73, Y:15.77, Z:-0.34 [[ 9.32530728e-01 -3.61081698e-01 -2.53948860e-03 1.49727110e+02] [ 3.61080357e-01 9.32534186e-01 -9.84207735e-04 1.57660298e+01] [ 2.72353933e-03 8.44504783e-07 9.99996291e-01 -3.42973971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.030281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:149.75, Y:15.78, Z:-0.34 [[ 9.33090895e-01 -3.59637508e-01 -1.49815187e-03 1.49752841e+02] [ 3.59637039e-01 9.33092098e-01 -5.80987161e-04 1.57772481e+01] [ 1.60685844e-03 3.32292895e-06 9.99998709e-01 -3.42097406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.060281693 meters Centerline goodness : 0.998757 Centerline is valid? [True, True] Translation: X:149.78, Y:15.79, Z:-0.34 [[ 9.33625022e-01 -3.58248436e-01 -1.54179515e-03 1.49778801e+02] [ 3.58247936e-01 9.33626295e-01 -5.98237975e-04 1.57886559e+01] [ 1.65377831e-03 6.18501209e-06 9.99998632e-01 -3.42361880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.090281693 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:149.80, Y:15.80, Z:-0.34 [[ 9.34120078e-01 -3.56954545e-01 -1.77015592e-03 1.49803593e+02] [ 3.56953884e-01 9.34121755e-01 -6.86926445e-04 1.57999234e+01] [ 1.89874267e-03 9.80775431e-06 9.99998197e-01 -3.43487529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.120281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:149.83, Y:15.81, Z:-0.34 [[ 9.34553912e-01 -3.55813602e-01 -2.38033656e-03 1.49828703e+02] [ 3.55812402e-01 9.34556943e-01 -9.24283144e-04 1.58121561e+01] [ 2.55343257e-03 1.68391582e-05 9.99996740e-01 -3.43555577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.150281693 meters Centerline goodness : 0.998711 Centerline is valid? [True, True] Translation: X:149.85, Y:15.82, Z:-0.34 [[ 9.34612373e-01 -3.55658571e-01 -2.58733917e-03 1.49853384e+02] [ 3.55657151e-01 9.34615954e-01 -1.00499898e-03 1.58231956e+01] [ 2.77560496e-03 1.90788064e-05 9.99996148e-01 -3.43277990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.180281693 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:149.88, Y:15.83, Z:-0.34 [[ 9.34659218e-01 -3.55531238e-01 -3.11209918e-03 1.49878919e+02] [ 3.55529182e-01 9.34664399e-01 -1.20951083e-03 1.58348063e+01] [ 3.33878719e-03 2.40383758e-05 9.99994426e-01 -3.43120219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.210281693 meters Centerline goodness : 0.998768 Centerline is valid? [True, True] Translation: X:149.90, Y:15.85, Z:-0.34 [[ 9.33867205e-01 -3.57615526e-01 -1.78288362e-03 1.49903168e+02] [ 3.57614855e-01 9.33868907e-01 -6.93062465e-04 1.58464434e+01] [ 1.91282947e-03 9.64264058e-06 9.99998171e-01 -3.42250816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.240281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:149.93, Y:15.86, Z:-0.34 [[ 9.33164266e-01 -3.59449137e-01 -8.78175248e-04 1.49928913e+02] [ 3.59448974e-01 9.33164679e-01 -3.41642544e-04 1.58562150e+01] [ 9.42285241e-04 3.14942187e-06 9.99999556e-01 -3.41989973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.270281693 meters Centerline goodness : 0.998886 Centerline is valid? [True, True] Translation: X:149.96, Y:15.87, Z:-0.34 [[ 9.32383133e-01 -3.61471275e-01 -4.60014426e-04 1.49955126e+02] [ 3.61471231e-01 9.32383246e-01 -1.79122833e-04 1.58657402e+01] [ 4.93657502e-04 7.29127205e-07 9.99999878e-01 -3.42158390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.300281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:149.98, Y:15.87, Z:-0.34 [[ 9.30978318e-01 -3.65074042e-01 -5.62063241e-04 1.49981719e+02] [ 3.65073976e-01 9.30978487e-01 -2.18955356e-04 1.58746571e+01] [ 6.03203702e-04 -1.35197341e-06 9.99999818e-01 -3.42897751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.330281693 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:150.01, Y:15.88, Z:-0.34 [[ 9.30455924e-01 -3.66402148e-01 -1.11343173e-03 1.50007696e+02] [ 3.66401891e-01 9.30456590e-01 -4.33869336e-04 1.58845590e+01] [ 1.19497055e-03 -4.26719931e-06 9.99999286e-01 -3.43910972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.360281693 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:150.03, Y:15.89, Z:-0.34 [[ 9.29746738e-01 -3.68181455e-01 -3.66324059e-03 1.50033343e+02] [ 3.68178688e-01 9.29753954e-01 -1.42768307e-03 1.58921200e+01] [ 3.93155885e-03 -2.13434376e-05 9.99992271e-01 -3.44947465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.390281693 meters Centerline goodness : 0.998437 Centerline is valid? [True, True] Translation: X:150.06, Y:15.90, Z:-0.35 [[ 9.29268444e-01 -3.69376399e-01 -4.60812133e-03 1.50059168e+02] [ 3.69372033e-01 9.29279869e-01 -1.79631565e-03 1.58999297e+01] [ 4.94575099e-03 -3.28516961e-05 9.99987769e-01 -3.45523235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.420281693 meters Centerline goodness : 0.998249 Centerline is valid? [True, True] Translation: X:150.09, Y:15.91, Z:-0.35 [[ 9.28899896e-01 -3.70294948e-01 -5.16082541e-03 1.50086115e+02] [ 3.70289479e-01 9.28914232e-01 -2.01289713e-03 1.59081880e+01] [ 5.53932981e-03 -4.12194177e-05 9.99984657e-01 -3.45728886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.450281693 meters Centerline goodness : 0.998723 Centerline is valid? [True, True] Translation: X:150.11, Y:15.92, Z:-0.34 [[ 9.28609623e-01 -3.71028434e-01 -4.69773178e-03 1.50113323e+02] [ 3.71023907e-01 9.28621505e-01 -1.83329426e-03 1.59163235e+01] [ 5.04261905e-03 -4.05561068e-05 9.99987285e-01 -3.44183456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.480281693 meters Centerline goodness : 0.998286 Centerline is valid? [True, True] Translation: X:150.14, Y:15.92, Z:-0.34 [[ 9.28678101e-01 -3.70861061e-01 -4.36556969e-03 1.50139414e+02] [ 3.70857147e-01 9.28688361e-01 -1.70427503e-03 1.59249349e+01] [ 4.68630301e-03 -3.62798216e-05 9.99989019e-01 -3.44494978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.510281693 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:150.17, Y:15.93, Z:-0.34 [[ 9.28735593e-01 -3.70717373e-01 -4.33918174e-03 1.50166458e+02] [ 3.70713500e-01 9.28745729e-01 -1.69493015e-03 1.59333526e+01] [ 4.65833656e-03 -3.44512908e-05 9.99989149e-01 -3.44122935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.540281693 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:150.19, Y:15.94, Z:-0.34 [[ 9.28613374e-01 -3.71026298e-01 -4.08522684e-03 1.50192643e+02] [ 3.71022865e-01 9.28622359e-01 -1.59629415e-03 1.59416953e+01] [ 4.38590009e-03 -3.33724695e-05 9.99990381e-01 -3.44846807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.570281693 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:150.22, Y:15.95, Z:-0.35 [[ 9.27299602e-01 -3.74307161e-01 -3.09798708e-03 1.50220208e+02] [ 3.74305203e-01 9.27304776e-01 -1.21123946e-03 1.59483626e+01] [ 3.32615382e-03 -3.64108167e-05 9.99994468e-01 -3.46019583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.600281693 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:150.25, Y:15.96, Z:-0.35 [[ 9.26303556e-01 -3.76762440e-01 -3.43295736e-03 1.50246863e+02] [ 3.76760052e-01 9.26309916e-01 -1.34244169e-03 1.59551497e+01] [ 3.68576405e-03 -4.98926818e-05 9.99993206e-01 -3.46378974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.630281693 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:150.27, Y:15.97, Z:-0.35 [[ 9.26240339e-01 -3.76917831e-01 -3.43271331e-03 1.50273318e+02] [ 3.76915442e-01 9.26246698e-01 -1.34306564e-03 1.59657019e+01] [ 3.68576476e-03 -4.98410778e-05 9.99993206e-01 -3.46395596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.660281693 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:150.30, Y:15.97, Z:-0.35 [[ 9.23713706e-01 -3.83049237e-01 -5.12558962e-03 1.50301432e+02] [ 3.83044001e-01 9.23727920e-01 -2.00576328e-03 1.59678357e+01] [ 5.50295633e-03 -1.10575327e-04 9.99984853e-01 -3.47587643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.690281693 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:150.33, Y:15.98, Z:-0.35 [[ 9.22437633e-01 -3.86109669e-01 -5.30435119e-03 1.50328625e+02] [ 3.86074066e-01 9.22443856e-01 -6.64437816e-03 1.59768428e+01] [ 7.45842481e-03 4.08115203e-03 9.99963857e-01 -3.46929690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.720281693 meters Centerline goodness : 0.998583 Centerline is valid? [True, True] Translation: X:150.36, Y:15.98, Z:-0.35 [[ 9.21448892e-01 -3.88423234e-01 -7.70266655e-03 1.50356506e+02] [ 3.88445280e-01 9.21470492e-01 1.54804381e-03 1.59789367e+01] [ 6.49648376e-03 -4.41850771e-03 9.99969136e-01 -3.46763237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.750281693 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:150.39, Y:15.98, Z:-0.35 [[ 9.20766913e-01 -3.90073689e-01 -5.55051630e-03 1.50385378e+02] [ 3.90067661e-01 9.20783628e-01 -2.17476342e-03 1.59829676e+01] [ 5.95914253e-03 -1.62626703e-04 9.99982231e-01 -3.46125262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.780281693 meters Centerline goodness : 0.998360 Centerline is valid? [True, True] Translation: X:150.41, Y:15.99, Z:-0.35 [[ 9.21110943e-01 -3.89266004e-01 -5.15838661e-03 1.50411792e+02] [ 3.89260783e-01 9.21125375e-01 -2.02153288e-03 1.59882967e+01] [ 5.53843483e-03 -1.45901552e-04 9.99984652e-01 -3.45585242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.810281693 meters Centerline goodness : 0.998580 Centerline is valid? [True, True] Translation: X:150.44, Y:15.99, Z:-0.35 [[ 9.21676628e-01 -3.87918801e-01 -5.58547095e-03 1.50437869e+02] [ 3.87912649e-01 9.21693540e-01 -2.18971189e-03 1.59944914e+01] [ 5.99752291e-03 -1.48468562e-04 9.99982004e-01 -3.45546811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.840281693 meters Centerline goodness : 0.998520 Centerline is valid? [True, True] Translation: X:150.47, Y:16.00, Z:-0.35 [[ 9.23528886e-01 -3.83471729e-01 -6.62036037e-03 1.50466681e+02] [ 3.83462962e-01 9.23552604e-01 -2.59679479e-03 1.59988914e+01] [ 7.11004845e-03 -1.40447995e-04 9.99974713e-01 -3.45964254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.870281693 meters Centerline goodness : 0.998359 Centerline is valid? [True, True] Translation: X:150.49, Y:16.01, Z:-0.35 [[ 9.24621125e-01 -3.80833886e-01 -6.42861647e-03 1.50493901e+02] [ 3.80825546e-01 9.24643465e-01 -2.52290633e-03 1.60062114e+01] [ 6.90498643e-03 -1.15448894e-04 9.99976154e-01 -3.45474418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.900281693 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:150.52, Y:16.01, Z:-0.34 [[ 9.25728381e-01 -3.78145072e-01 -5.76795450e-03 1.50520807e+02] [ 3.78138299e-01 9.25746346e-01 -2.26482208e-03 1.60143014e+01] [ 6.19609411e-03 -8.44744220e-05 9.99980800e-01 -3.44916566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.930281693 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:150.55, Y:16.02, Z:-0.34 [[ 9.26866636e-01 -3.75362970e-01 -4.56939273e-03 1.50547349e+02] [ 3.75358681e-01 9.26877898e-01 -1.79521175e-03 1.60231450e+01] [ 4.90912514e-03 -5.12393514e-05 9.99987949e-01 -3.44475837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.960281693 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:150.57, Y:16.03, Z:-0.34 [[ 9.28998582e-01 -3.70070453e-01 -3.08139114e-03 1.50573210e+02] [ 3.70068472e-01 9.29003692e-01 -1.21087013e-03 1.60301786e+01] [ 3.31073100e-03 -1.54290788e-05 9.99994519e-01 -3.44120172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.990281693 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:150.60, Y:16.04, Z:-0.34 [[ 9.29766155e-01 -3.68136697e-01 -3.20458570e-03 1.50598486e+02] [ 3.68134542e-01 9.29771678e-01 -1.25957339e-03 1.60389319e+01] [ 3.44322821e-03 -8.60998547e-06 9.99994072e-01 -3.44780360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.020281693 meters Centerline goodness : 0.998501 Centerline is valid? [True, True] Translation: X:150.62, Y:16.05, Z:-0.35 [[ 9.31115257e-01 -3.64691653e-01 -4.93715188e-03 1.50624102e+02] [ 3.64686487e-01 9.31128347e-01 -1.94127135e-03 1.60481812e+01] [ 5.30508752e-03 7.03479719e-06 9.99985928e-01 -3.45629114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.050281693 meters Centerline goodness : 0.998111 Centerline is valid? [True, True] Translation: X:150.65, Y:16.06, Z:-0.35 [[ 9.31744984e-01 -3.63065324e-01 -5.90386216e-03 1.50650202e+02] [ 3.63057895e-01 9.31763688e-01 -2.32258597e-03 1.60590261e+01] [ 6.34425481e-03 2.06140597e-05 9.99979875e-01 -3.45491895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.080281693 meters Centerline goodness : 0.998228 Centerline is valid? [True, True] Translation: X:150.68, Y:16.07, Z:-0.35 [[ 9.32442272e-01 -3.61261492e-01 -6.44537147e-03 1.50675973e+02] [ 3.61252586e-01 9.32464548e-01 -2.53700676e-03 1.60696488e+01] [ 6.92660324e-03 3.72052434e-05 9.99976010e-01 -3.45355310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.110281693 meters Centerline goodness : 0.998302 Centerline is valid? [True, True] Translation: X:150.70, Y:16.08, Z:-0.34 [[ 9.34099379e-01 -3.56971098e-01 -5.47590818e-03 1.50701440e+02] [ 3.56964589e-01 9.34115427e-01 -2.15664023e-03 1.60812480e+01] [ 5.88498855e-03 5.98109889e-05 9.99982682e-01 -3.44632706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.140281693 meters Centerline goodness : 0.998426 Centerline is valid? [True, True] Translation: X:150.73, Y:16.09, Z:-0.34 [[ 9.34995330e-01 -3.54635340e-01 -4.18429526e-03 1.50726007e+02] [ 3.54631514e-01 9.35004691e-01 -1.64831084e-03 1.60919098e+01] [ 4.49688497e-03 5.72799753e-05 9.99989887e-01 -3.44309460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.170281693 meters Centerline goodness : 0.998593 Centerline is valid? [True, True] Translation: X:150.75, Y:16.10, Z:-0.34 [[ 9.35880710e-01 -3.52303037e-01 -3.14107679e-03 1.50751572e+02] [ 3.52300865e-01 9.35885980e-01 -1.23811827e-03 1.61035103e+01] [ 3.37588256e-03 5.21269333e-05 9.99994300e-01 -3.44673784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.200281693 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:150.78, Y:16.11, Z:-0.35 [[ 9.36687007e-01 -3.50150583e-01 -3.46709014e-03 1.50776674e+02] [ 3.50147921e-01 9.36693421e-01 -1.36687201e-03 1.61144832e+01] [ 3.72621156e-03 6.63368431e-05 9.99993055e-01 -3.45124040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.230281693 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:150.80, Y:16.13, Z:-0.35 [[ 9.36951481e-01 -3.49432511e-01 -4.34087572e-03 1.50800809e+02] [ 3.49428328e-01 9.36961532e-01 -1.71195254e-03 1.61271972e+01] [ 4.66544545e-03 8.71915232e-05 9.99989113e-01 -3.45069040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.260281693 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:150.83, Y:16.14, Z:-0.35 [[ 9.36487216e-01 -3.50681987e-01 -3.72011470e-03 1.50826338e+02] [ 3.50678921e-01 9.36494602e-01 -1.46797292e-03 1.61394602e+01] [ 3.99865899e-03 7.01720590e-05 9.99992003e-01 -3.45078908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.290281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:150.85, Y:16.15, Z:-0.35 [[ 9.35083604e-01 -3.54414412e-01 -3.01311733e-03 1.50851520e+02] [ 3.54412418e-01 9.35088457e-01 -1.18964940e-03 1.61514700e+01] [ 3.23916012e-03 4.45354507e-05 9.99994753e-01 -3.45942860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.320281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:150.88, Y:16.16, Z:-0.35 [[ 9.34251332e-01 -3.56598184e-01 -3.49042032e-03 1.50876618e+02] [ 3.56595522e-01 9.34257852e-01 -1.37855069e-03 1.61612246e+01] [ 3.75254126e-03 4.32445667e-05 9.99992958e-01 -3.46361619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.350281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:150.90, Y:16.17, Z:-0.35 [[ 9.33348622e-01 -3.58939623e-01 -4.76415279e-03 1.50902516e+02] [ 3.58934688e-01 9.33360780e-01 -1.88264467e-03 1.61710163e+01] [ 5.12242913e-03 4.71441069e-05 9.99986879e-01 -3.46631515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.380281693 meters Centerline goodness : 0.998430 Centerline is valid? [True, True] Translation: X:150.93, Y:16.18, Z:-0.35 [[ 9.31989644e-01 -3.62435810e-01 -5.96547380e-03 1.50927016e+02] [ 3.62428142e-01 9.32008735e-01 -2.35783163e-03 1.61815837e+01] [ 6.41443631e-03 3.54190766e-05 9.99979427e-01 -3.45801724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.410281693 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:150.95, Y:16.19, Z:-0.35 [[ 9.31734051e-01 -3.63107167e-01 -4.98432150e-03 1.50951257e+02] [ 3.63101821e-01 9.31747382e-01 -1.97050039e-03 1.61927572e+01] [ 5.35963132e-03 2.61660996e-05 9.99985637e-01 -3.45461839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.440281693 meters Centerline goodness : 0.998808 Centerline is valid? [True, True] Translation: X:150.98, Y:16.21, Z:-0.34 [[ 9.32011412e-01 -3.62415788e-01 -3.08608998e-03 1.50975494e+02] [ 3.62413734e-01 9.32016521e-01 -1.22035157e-03 1.62052393e+01] [ 3.31856152e-03 1.89401952e-05 9.99994493e-01 -3.44450397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.470281693 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:151.00, Y:16.22, Z:-0.34 [[ 9.32302604e-01 -3.61669526e-01 -2.64735630e-03 1.50999951e+02] [ 3.61668010e-01 9.32306363e-01 -1.04710519e-03 1.62160359e+01] [ 2.84685316e-03 1.87548082e-05 9.99995948e-01 -3.44093009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.500281693 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:151.03, Y:16.23, Z:-0.34 [[ 9.32454904e-01 -3.61276034e-01 -2.73488795e-03 1.51025990e+02] [ 3.61274413e-01 9.32458914e-01 -1.08235384e-03 1.62275913e+01] [ 2.94119915e-03 2.12011034e-05 9.99995674e-01 -3.44395655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.530281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:151.05, Y:16.24, Z:-0.34 [[ 9.32541360e-01 -3.61051318e-01 -2.92527432e-03 1.51052031e+02] [ 3.61049460e-01 9.32545948e-01 -1.15830355e-03 1.62383630e+01] [ 3.14615974e-03 2.39972561e-05 9.99995051e-01 -3.44966627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.560281693 meters Centerline goodness : 0.998648 Centerline is valid? [True, True] Translation: X:151.08, Y:16.25, Z:-0.35 [[ 9.32683689e-01 -3.60670231e-01 -4.25680377e-03 1.51077132e+02] [ 3.60666293e-01 9.32693403e-01 -1.68581293e-03 1.62486642e+01] [ 4.57831533e-03 3.70445870e-05 9.99989519e-01 -3.45778116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.590281693 meters Centerline goodness : 0.998407 Centerline is valid? [True, True] Translation: X:151.10, Y:16.26, Z:-0.35 [[ 9.32516979e-01 -3.61092012e-01 -4.96414674e-03 1.51103128e+02] [ 3.61086657e-01 9.32530191e-01 -1.96702359e-03 1.62600507e+01] [ 5.33949321e-03 4.17957444e-05 9.99985744e-01 -3.46396237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.620281693 meters Centerline goodness : 0.998116 Centerline is valid? [True, True] Translation: X:151.13, Y:16.27, Z:-0.35 [[ 9.31937090e-01 -3.62556681e-01 -6.77597161e-03 1.51128450e+02] [ 3.62546732e-01 9.31961722e-01 -2.68631305e-03 1.62708986e+01] [ 7.28888691e-03 4.68684050e-05 9.99973435e-01 -3.46617090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.650281693 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:151.15, Y:16.28, Z:-0.35 [[ 9.31371290e-01 -3.64015184e-01 -6.36123274e-03 1.51154443e+02] [ 3.64006440e-01 9.31393013e-01 -2.52323208e-03 1.62801602e+01] [ 6.84330251e-03 3.45362292e-05 9.99976584e-01 -3.46775813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.680281693 meters Centerline goodness : 0.998344 Centerline is valid? [True, True] Translation: X:151.18, Y:16.29, Z:-0.35 [[ 9.30854873e-01 -3.65350126e-01 -5.33773206e-03 1.51181175e+02] [ 3.65343985e-01 9.30870176e-01 -2.11840809e-03 1.62887529e+01] [ 5.74269625e-03 2.18221898e-05 9.99983510e-01 -3.45220503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.710281693 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:151.21, Y:16.30, Z:-0.35 [[ 9.30231014e-01 -3.66957716e-01 -3.50637448e-03 1.51207618e+02] [ 3.66955076e-01 9.30237623e-01 -1.39188737e-03 1.62963164e+01] [ 3.77252527e-03 8.09488779e-06 9.99992884e-01 -3.45092981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.740281693 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:151.23, Y:16.31, Z:-0.35 [[ 9.30032302e-01 -3.67465248e-01 -3.03446327e-03 1.51233615e+02] [ 3.67463272e-01 9.30037253e-01 -1.20526791e-03 1.63054037e+01] [ 3.26505795e-03 5.88428895e-06 9.99994670e-01 -3.45354982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.770281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:151.26, Y:16.31, Z:-0.35 [[ 9.29942585e-01 -3.67693007e-01 -2.93947013e-03 1.51259541e+02] [ 3.67691153e-01 9.29947231e-01 -1.16774563e-03 1.63134166e+01] [ 3.16292401e-03 5.11922376e-06 9.99994998e-01 -3.45746029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.800281693 meters Centerline goodness : 0.998504 Centerline is valid? [True, True] Translation: X:151.29, Y:16.32, Z:-0.35 [[ 9.29839556e-01 -3.67953362e-01 -2.95363455e-03 1.51286691e+02] [ 3.67951488e-01 9.29844247e-01 -1.17405354e-03 1.63214100e+01] [ 3.17841704e-03 4.88718739e-06 9.99994949e-01 -3.45453872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.830281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:151.31, Y:16.33, Z:-0.34 [[ 9.29845073e-01 -3.67937094e-01 -3.23031754e-03 1.51314241e+02] [ 3.67934851e-01 9.29850684e-01 -1.28472632e-03 1.63278666e+01] [ 3.47641144e-03 6.05003717e-06 9.99993957e-01 -3.44659395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.860281693 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:151.34, Y:16.34, Z:-0.34 [[ 9.30254847e-01 -3.66901276e-01 -3.06166029e-03 1.51339580e+02] [ 3.66899255e-01 9.30259885e-01 -1.21787876e-03 1.63362309e+01] [ 3.29498102e-03 9.61674385e-06 9.99994571e-01 -3.44558672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.890281693 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:151.37, Y:16.34, Z:-0.34 [[ 9.31390315e-01 -3.64004607e-01 -3.56762056e-03 1.51366418e+02] [ 3.64001838e-01 9.31397147e-01 -1.41997496e-03 1.63439099e+01] [ 3.83974904e-03 2.39304824e-05 9.99992628e-01 -3.44092560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.920281693 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:151.39, Y:16.35, Z:-0.34 [[ 9.31843080e-01 -3.62845004e-01 -3.46077769e-03 1.51393103e+02] [ 3.62842388e-01 9.31849506e-01 -1.37820758e-03 1.63526361e+01] [ 3.72499972e-03 2.85563580e-05 9.99993062e-01 -3.44791041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.950281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:151.42, Y:16.36, Z:-0.35 [[ 9.31995407e-01 -3.62457347e-01 -3.03861708e-03 1.51419901e+02] [ 3.62455327e-01 9.32000360e-01 -1.21032223e-03 1.63588887e+01] [ 3.27068239e-03 2.66518085e-05 9.99994651e-01 -3.45574837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.980281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:151.45, Y:16.37, Z:-0.35 [[ 9.31598253e-01 -3.63473397e-01 -3.43273060e-03 1.51446074e+02] [ 3.63470825e-01 9.31604578e-01 -1.36761350e-03 1.63670717e+01] [ 3.69503867e-03 2.63689242e-05 9.99993173e-01 -3.45643704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.010281693 meters Centerline goodness : 0.998915 Centerline is valid? [True, True] Translation: X:151.47, Y:16.38, Z:-0.35 [[ 9.30973110e-01 -3.65065814e-01 -4.00244442e-03 1.51471973e+02] [ 3.65062330e-01 9.30981714e-01 -1.59494864e-03 1.63750436e+01] [ 4.30846379e-03 2.37126101e-05 9.99990718e-01 -3.46356163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.040281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:151.50, Y:16.38, Z:-0.35 [[ 9.30219609e-01 -3.66971631e-01 -4.82705480e-03 1.51498070e+02] [ 3.66966588e-01 9.30232133e-01 -1.92397974e-03 1.63831318e+01] [ 5.19632747e-03 1.83558582e-05 9.99986499e-01 -3.46511062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.070281693 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:151.53, Y:16.39, Z:-0.35 [[ 9.29048869e-01 -3.69890693e-01 -7.00534959e-03 1.51525555e+02] [ 3.69880142e-01 9.29075280e-01 -2.79371645e-03 1.63906372e+01] [ 7.54186685e-03 4.35940599e-06 9.99971560e-01 -3.46269027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.100281693 meters Centerline goodness : 0.998033 Centerline is valid? [True, True] Translation: X:151.55, Y:16.40, Z:-0.35 [[ 9.29083542e-01 -3.69783396e-01 -8.00069530e-03 1.51552220e+02] [ 3.69769617e-01 9.29117990e-01 -3.19231092e-03 1.64005018e+01] [ 8.61405351e-03 7.50950018e-06 9.99962898e-01 -3.46711698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.130281693 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:151.58, Y:16.41, Z:-0.35 [[ 9.29406852e-01 -3.68970940e-01 -7.95921088e-03 1.51577517e+02] [ 3.68957267e-01 9.29440932e-01 -3.17641721e-03 1.64106060e+01] [ 8.56962202e-03 1.55752275e-05 9.99963280e-01 -3.46609765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.160281693 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:151.60, Y:16.42, Z:-0.34 [[ 9.30264225e-01 -3.66856071e-01 -5.00943250e-03 1.51602510e+02] [ 3.66850618e-01 9.30277712e-01 -2.00035444e-03 1.64225033e+01] [ 5.39400557e-03 2.31447608e-05 9.99985452e-01 -3.44967154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.190281693 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:151.63, Y:16.43, Z:-0.35 [[ 9.30410936e-01 -3.66505915e-01 -2.98411991e-03 1.51627865e+02] [ 3.66503976e-01 9.30415721e-01 -1.19231598e-03 1.64341926e+01] [ 3.21346294e-03 1.56520110e-05 9.99994837e-01 -3.45181975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.220281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:151.65, Y:16.44, Z:-0.35 [[ 9.30153164e-01 -3.67167234e-01 -1.82030434e-03 1.51652687e+02] [ 3.67166513e-01 9.30154945e-01 -7.27462363e-04 1.64437561e+01] [ 1.96026543e-03 8.29661948e-06 9.99998079e-01 -3.45860981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.250281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:151.68, Y:16.45, Z:-0.35 [[ 9.29619024e-01 -3.68516046e-01 -2.09634167e-03 1.51679335e+02] [ 3.68515093e-01 9.29621387e-01 -8.38284775e-04 1.64531811e+01] [ 2.25772544e-03 6.75193148e-06 9.99997451e-01 -3.46906534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.280281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:151.70, Y:16.46, Z:-0.35 [[ 9.29086501e-01 -3.69848536e-01 -3.21472733e-03 1.51704949e+02] [ 3.69846301e-01 9.29092062e-01 -1.28567968e-03 1.64623093e+01] [ 3.46228439e-03 5.55262288e-06 9.99994006e-01 -3.46892144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.310281693 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:151.73, Y:16.47, Z:-0.35 [[ 9.27991061e-01 -3.72552815e-01 -6.08199755e-03 1.51731764e+02] [ 3.72544866e-01 9.28010991e-01 -2.43364455e-03 1.64717145e+01] [ 6.55082171e-03 -7.41657542e-06 9.99978543e-01 -3.47627997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.340281693 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:151.76, Y:16.48, Z:-0.35 [[ 9.27496789e-01 -3.73762498e-01 -7.16247789e-03 1.51758211e+02] [ 3.73751499e-01 9.27524444e-01 -2.86747085e-03 1.64817524e+01] [ 7.71512639e-03 -1.74168428e-05 9.99970238e-01 -3.47596678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.370281693 meters Centerline goodness : 0.998750 Centerline is valid? [True, True] Translation: X:151.78, Y:16.49, Z:-0.35 [[ 9.26661807e-01 -3.75847525e-01 -6.04430364e-03 1.51784948e+02] [ 3.75839727e-01 9.26681519e-01 -2.42115284e-03 1.64907505e+01] [ 6.51112878e-03 -2.80995628e-05 9.99978802e-01 -3.46964794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.400281693 meters Centerline goodness : 0.998812 Centerline is valid? [True, True] Translation: X:151.81, Y:16.50, Z:-0.35 [[ 9.26476450e-01 -3.76327382e-01 -4.36909198e-03 1.51811292e+02] [ 3.76323309e-01 9.26486752e-01 -1.75116178e-03 1.65003598e+01] [ 4.70691597e-03 -2.17810055e-05 9.99988922e-01 -3.46626406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.430281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:151.84, Y:16.51, Z:-0.35 [[ 9.26458334e-01 -3.76379244e-01 -3.69053518e-03 1.51836189e+02] [ 3.76376336e-01 9.26465684e-01 -1.47950856e-03 1.65097703e+01] [ 3.97601051e-03 -1.83270720e-05 9.99992095e-01 -3.45968827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.460281693 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:151.86, Y:16.52, Z:-0.35 [[ 9.26553855e-01 -3.76151991e-01 -2.76295547e-03 1.51861959e+02] [ 3.76150358e-01 9.26557974e-01 -1.10833023e-03 1.65201830e+01] [ 2.97693905e-03 -1.23590414e-05 9.99995569e-01 -3.45617320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.490281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:151.89, Y:16.53, Z:-0.35 [[ 9.26745906e-01 -3.75677396e-01 -2.91887616e-03 1.51886794e+02] [ 3.75675571e-01 9.26750503e-01 -1.17108017e-03 1.65311705e+01] [ 3.14501830e-03 -1.12567104e-05 9.99995054e-01 -3.45229536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.520281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:151.91, Y:16.54, Z:-0.35 [[ 9.26682042e-01 -3.75834903e-01 -2.91865810e-03 1.51913166e+02] [ 3.75833077e-01 9.26686638e-01 -1.17162356e-03 1.65419671e+01] [ 3.14501849e-03 -1.12057380e-05 9.99995054e-01 -3.45246000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.550281693 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:151.94, Y:16.55, Z:-0.34 [[ 9.26702900e-01 -3.75788216e-01 -2.22520529e-03 1.51938925e+02] [ 3.75787153e-01 9.26705572e-01 -8.93783928e-04 1.65542891e+01] [ 2.39798361e-03 -7.93140404e-06 9.99997125e-01 -3.44991500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.580281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:151.96, Y:16.57, Z:-0.34 [[ 9.27050796e-01 -3.74935115e-01 -6.93258762e-04 1.51962391e+02] [ 3.74935011e-01 9.27051056e-01 -2.78537962e-04 1.65669653e+01] [ 7.47119930e-04 -1.70814262e-06 9.99999721e-01 -3.43896154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.610281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:151.99, Y:16.58, Z:-0.34 [[ 9.27113382e-01 -3.74780756e-01 4.03474861e-04 1.51987503e+02] [ 3.74780721e-01 9.27113469e-01 1.62048983e-04 1.65794265e+01] [-4.34799819e-04 9.76818907e-07 9.99999905e-01 -3.43865035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.640281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:152.01, Y:16.59, Z:-0.34 [[ 9.27087444e-01 -3.74844771e-01 -5.19277154e-04 1.52010585e+02] [ 3.74844712e-01 9.27087589e-01 -2.08813543e-04 1.65938470e+01] [ 5.59688069e-04 -1.05988111e-06 9.99999843e-01 -3.44048675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.670281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:152.04, Y:16.61, Z:-0.34 [[ 9.26758569e-01 -3.75651479e-01 -2.12616287e-03 1.52035150e+02] [ 3.75650505e-01 9.26761008e-01 -8.55356416e-04 1.66065071e+01] [ 2.29176075e-03 -5.98526883e-06 9.99997374e-01 -3.44612953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.700281693 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:152.06, Y:16.62, Z:-0.34 [[ 9.26417792e-01 -3.76480960e-01 -3.48737807e-03 1.52059625e+02] [ 3.76478345e-01 9.26424356e-01 -1.40316683e-03 1.66189151e+01] [ 3.75905757e-03 -1.30036041e-05 9.99992935e-01 -3.44856681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.730281693 meters Centerline goodness : 0.998568 Centerline is valid? [True, True] Translation: X:152.08, Y:16.63, Z:-0.34 [[ 9.25839548e-01 -3.77899128e-01 -3.65802097e-03 1.52084067e+02] [ 3.77896259e-01 9.25846774e-01 -1.47267263e-03 1.66318460e+01] [ 3.94328862e-03 -1.88938754e-05 9.99992225e-01 -3.44776254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.760281693 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:152.11, Y:16.65, Z:-0.34 [[ 9.24863828e-01 -3.80292295e-01 -2.16089306e-03 1.52107336e+02] [ 3.80291300e-01 9.24866353e-01 -8.70273590e-04 1.66458429e+01] [ 2.32949562e-03 -1.68842644e-05 9.99997287e-01 -3.43695326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.790281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:152.13, Y:16.66, Z:-0.34 [[ 9.24162644e-01 -3.81995108e-01 -1.77332744e-03 1.52132816e+02] [ 3.81994440e-01 9.24164345e-01 -7.14619849e-04 1.66585634e+01] [ 1.91182728e-03 -1.69762546e-05 9.99998172e-01 -3.43749038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.820281693 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:152.16, Y:16.67, Z:-0.34 [[ 9.23448130e-01 -3.83715844e-01 -2.38788053e-03 1.52157032e+02] [ 3.83714638e-01 9.23451217e-01 -9.62391999e-04 1.66703006e+01] [ 2.57437624e-03 -2.75456193e-05 9.99996686e-01 -3.44627564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.850281693 meters Centerline goodness : 0.998613 Centerline is valid? [True, True] Translation: X:152.18, Y:16.68, Z:-0.35 [[ 9.21900432e-01 -3.87408039e-01 -3.82165144e-03 1.52181002e+02] [ 3.87404978e-01 9.21908351e-01 -1.54110806e-03 1.66847161e+01] [ 4.12025003e-03 -5.97786131e-05 9.99991510e-01 -3.45074911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.880281693 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:152.21, Y:16.70, Z:-0.34 [[ 9.21398032e-01 -3.88593137e-01 -4.58702292e-03 1.52206093e+02] [ 3.88588738e-01 9.21409446e-01 -1.85072806e-03 1.66968610e+01] [ 4.94570647e-03 -7.72082506e-05 9.99987767e-01 -3.44609314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.910281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:152.23, Y:16.71, Z:-0.34 [[ 9.21507745e-01 -3.88334225e-01 -4.47273774e-03 1.52230105e+02] [ 3.88330037e-01 9.21518597e-01 -1.80497618e-03 1.67092896e+01] [ 4.82264504e-03 -7.35988878e-05 9.99988368e-01 -3.44635628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.940281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:152.26, Y:16.72, Z:-0.34 [[ 9.21550192e-01 -3.88242015e-01 -3.65812662e-03 1.52255982e+02] [ 3.88239210e-01 9.21557450e-01 -1.47710369e-03 1.67211394e+01] [ 3.94464756e-03 -5.90029986e-05 9.99992218e-01 -3.43988330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.970281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:152.28, Y:16.73, Z:-0.34 [[ 9.21417720e-01 -3.88561001e-01 -3.11994075e-03 1.52281716e+02] [ 3.88558960e-01 9.21423000e-01 -1.26047581e-03 1.67326916e+01] [ 3.36455691e-03 -5.08561905e-05 9.99994339e-01 -3.44140782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.000281693 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:152.31, Y:16.74, Z:-0.35 [[ 9.20782554e-01 -3.90053071e-01 -4.25316331e-03 1.52305932e+02] [ 3.90049292e-01 9.20792374e-01 -1.71859531e-03 1.67435219e+01] [ 4.58662372e-03 -7.64907613e-05 9.99989478e-01 -3.45207899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.030281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:152.33, Y:16.75, Z:-0.35 [[ 9.20284543e-01 -3.91222299e-01 -4.63378212e-03 1.52332054e+02] [ 3.91217824e-01 9.20296205e-01 -1.87343259e-03 1.67532523e+01] [ 4.99738071e-03 -8.87271009e-05 9.99987509e-01 -3.45340885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.060281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:152.36, Y:16.76, Z:-0.34 [[ 9.19868160e-01 -3.92201090e-01 -4.56877754e-03 1.52358629e+02] [ 3.92196747e-01 9.19879501e-01 -1.84812846e-03 1.67629318e+01] [ 4.92756280e-03 -9.18251626e-05 9.99987855e-01 -3.44995030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.090281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:152.38, Y:16.77, Z:-0.34 [[ 9.19981920e-01 -3.91944823e-01 -3.53867957e-03 1.52383825e+02] [ 3.91942213e-01 9.19988723e-01 -1.43194251e-03 1.67712998e+01] [ 3.81678776e-03 -6.95966836e-05 9.99992714e-01 -3.44501506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.120281693 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:152.41, Y:16.78, Z:-0.35 [[ 9.20394346e-01 -3.90973647e-01 -3.72219017e-03 1.52409451e+02] [ 3.90970749e-01 9.20401870e-01 -1.50700436e-03 1.67815363e+01] [ 4.01510979e-03 -6.82291808e-05 9.99991937e-01 -3.45135310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.150281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:152.44, Y:16.79, Z:-0.34 [[ 9.21004171e-01 -3.89534097e-01 -3.80848283e-03 1.52436030e+02] [ 3.89531048e-01 9.21012043e-01 -1.54273136e-03 1.67917252e+01] [ 4.10860502e-03 -6.26602936e-05 9.99991558e-01 -3.44450662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.180281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:152.46, Y:16.80, Z:-0.34 [[ 9.23034528e-01 -3.84711314e-01 -2.11313314e-03 1.52462907e+02] [ 3.84710361e-01 9.23036946e-01 -8.56478352e-04 1.68010629e+01] [ 2.27999687e-03 -2.23851220e-05 9.99997401e-01 -3.43596934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.210281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:152.49, Y:16.81, Z:-0.34 [[ 9.24377355e-01 -3.81476116e-01 -1.57434117e-03 1.52488298e+02] [ 3.81475582e-01 9.24378696e-01 -6.38209119e-04 1.68104749e+01] [ 1.69874897e-03 -1.06266573e-05 9.99998557e-01 -3.42954192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.240281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:152.51, Y:16.82, Z:-0.34 [[ 9.27080860e-01 -3.74860501e-01 -8.26548598e-04 1.52514472e+02] [ 3.74860351e-01 9.27081229e-01 -3.35330780e-04 1.68211634e+01] [ 8.91979954e-04 1.03845036e-06 9.99999602e-01 -3.43653422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.270281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:152.54, Y:16.83, Z:-0.34 [[ 9.28031692e-01 -3.72500125e-01 -9.13755308e-04 1.52540576e+02] [ 3.72499940e-01 9.28032142e-01 -3.70909323e-04 1.68323346e+01] [ 9.86158065e-04 3.84180949e-06 9.99999514e-01 -3.44030887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.300281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:152.57, Y:16.84, Z:-0.34 [[ 9.28815876e-01 -3.70538654e-01 -1.47441110e-03 1.52565132e+02] [ 3.70538171e-01 9.28817046e-01 -5.98603350e-04 1.68423811e+01] [ 1.59126385e-03 9.66670178e-06 9.99998734e-01 -3.44482376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.330281693 meters Centerline goodness : 0.999058 Centerline is valid? [True, True] Translation: X:152.59, Y:16.85, Z:-0.34 [[ 9.29260635e-01 -3.69416529e-01 -2.46989944e-03 1.52590000e+02] [ 3.69415168e-01 9.29263917e-01 -1.00291889e-03 1.68528201e+01] [ 2.66568324e-03 1.95547309e-05 9.99996447e-01 -3.44431975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.360281693 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:152.62, Y:16.86, Z:-0.34 [[ 9.29805864e-01 -3.68040973e-01 -2.62616645e-03 1.52615458e+02] [ 3.68039428e-01 9.29809573e-01 -1.06700725e-03 1.68646792e+01] [ 2.83453709e-03 2.55767983e-05 9.99995982e-01 -3.44231237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.390281693 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:152.64, Y:16.88, Z:-0.34 [[ 9.29907941e-01 -3.67783374e-01 -2.57126697e-03 1.52640617e+02] [ 3.67781890e-01 9.29911495e-01 -1.04488180e-03 1.68756917e+01] [ 2.77534087e-03 2.59784547e-05 9.99996148e-01 -3.44075975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.420281693 meters Centerline goodness : 0.998537 Centerline is valid? [True, True] Translation: X:152.67, Y:16.89, Z:-0.34 [[ 9.29614441e-01 -3.68517152e-01 -3.47842960e-03 1.52666674e+02] [ 3.68514439e-01 9.29620949e-01 -1.41436675e-03 1.68863565e+01] [ 3.75483943e-03 3.29642245e-05 9.99992950e-01 -3.44944194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.450281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:152.69, Y:16.90, Z:-0.35 [[ 9.29267944e-01 -3.69382905e-01 -4.16614461e-03 1.52692315e+02] [ 3.69379021e-01 9.29277283e-01 -1.69431797e-03 1.68959792e+01] [ 4.49735564e-03 3.55889621e-05 9.99989886e-01 -3.45774038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.480281693 meters Centerline goodness : 0.998433 Centerline is valid? [True, True] Translation: X:152.72, Y:16.91, Z:-0.35 [[ 9.28773371e-01 -3.70620415e-01 -4.53132134e-03 1.52717602e+02] [ 3.70615832e-01 9.28784424e-01 -1.84325379e-03 1.69061826e+01] [ 4.89176816e-03 3.25856060e-05 9.99988035e-01 -3.45808557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.510281693 meters Centerline goodness : 0.998641 Centerline is valid? [True, True] Translation: X:152.74, Y:16.92, Z:-0.35 [[ 9.27542694e-01 -3.73699137e-01 -3.67498518e-03 1.52743330e+02] [ 3.73696144e-01 9.27549974e-01 -1.49577225e-03 1.69176080e+01] [ 3.96770121e-03 1.40648292e-05 9.99992129e-01 -3.45395899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.540281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:152.77, Y:16.93, Z:-0.35 [[ 9.26864325e-01 -3.75384000e-01 -3.06183012e-03 1.52768379e+02] [ 3.75381931e-01 9.26869383e-01 -1.24644849e-03 1.69279745e+01] [ 3.30581341e-03 5.93293315e-06 9.99994536e-01 -3.45519010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.570281693 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:152.79, Y:16.94, Z:-0.35 [[ 9.26073649e-01 -3.77333274e-01 -2.68268735e-03 1.52794449e+02] [ 3.77331692e-01 9.26077535e-01 -1.09275370e-03 1.69380124e+01] [ 2.89670882e-03 -2.92546044e-07 9.99995805e-01 -3.46139931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.600281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:152.82, Y:16.95, Z:-0.35 [[ 9.25298636e-01 -3.79231426e-01 -2.44137516e-03 1.52820357e+02] [ 3.79230121e-01 9.25301857e-01 -9.94633622e-04 1.69465836e+01] [ 2.63620529e-03 -5.50986489e-06 9.99996525e-01 -3.45916788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.630281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:152.85, Y:16.96, Z:-0.35 [[ 9.25358538e-01 -3.79083130e-01 -2.74881134e-03 1.52846652e+02] [ 3.79081474e-01 9.25362621e-01 -1.12051374e-03 1.69575303e+01] [ 2.96841513e-03 -5.14650142e-06 9.99995594e-01 -3.46014566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.660281693 meters Centerline goodness : 0.998810 Centerline is valid? [True, True] Translation: X:152.87, Y:16.97, Z:-0.35 [[ 9.25891423e-01 -3.77772907e-01 -3.56416504e-03 1.52872690e+02] [ 3.77770110e-01 9.25898283e-01 -1.45359989e-03 1.69681459e+01] [ 3.84918495e-03 -5.59352446e-07 9.99992592e-01 -3.45913587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.690281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:152.90, Y:16.98, Z:-0.35 [[ 9.25811526e-01 -3.77970141e-01 -3.40457431e-03 1.52898677e+02] [ 3.77967588e-01 9.25817786e-01 -1.38927031e-03 1.69776829e+01] [ 3.67711815e-03 -6.16275915e-07 9.99993239e-01 -3.45653484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.720281693 meters Centerline goodness : 0.998694 Centerline is valid? [True, True] Translation: X:152.93, Y:16.99, Z:-0.35 [[ 9.25416618e-01 -3.78941640e-01 -2.70494155e-03 1.52925039e+02] [ 3.78940031e-01 9.25420571e-01 -1.10440504e-03 1.69874019e+01] [ 2.92171361e-03 -2.97585952e-06 9.99995732e-01 -3.45258548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.750281693 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:152.95, Y:17.00, Z:-0.35 [[ 9.24569080e-01 -3.81010024e-01 -1.83807551e-03 1.52950705e+02] [ 3.81009284e-01 9.24570907e-01 -7.50750626e-04 1.69966516e+01] [ 1.98547466e-03 -6.20301946e-06 9.99998029e-01 -3.45247671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.780281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:152.98, Y:17.01, Z:-0.35 [[ 9.24366919e-01 -3.81499554e-01 -1.97204600e-03 1.52976916e+02] [ 3.81498703e-01 9.24369023e-01 -8.05925034e-04 1.70065949e+01] [ 2.13035828e-03 -7.36255268e-06 9.99997731e-01 -3.45652956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.810281693 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:153.00, Y:17.02, Z:-0.35 [[ 9.24241249e-01 -3.81800589e-01 -2.53443225e-03 1.53003368e+02] [ 3.81799183e-01 9.24244724e-01 -1.03627379e-03 1.70163838e+01] [ 2.73808558e-03 -9.87717741e-06 9.99996251e-01 -3.45931010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.840281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:153.03, Y:17.03, Z:-0.35 [[ 9.24294275e-01 -3.81668848e-01 -2.99719232e-03 1.53028651e+02] [ 3.81666880e-01 9.24299135e-01 -1.22568306e-03 1.70258161e+01] [ 3.23810731e-03 -1.10372047e-05 9.99994757e-01 -3.45117134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.870281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:153.05, Y:17.04, Z:-0.34 [[ 9.24703128e-01 -3.80682673e-01 -2.19714902e-03 1.53053898e+02] [ 3.80681612e-01 9.24705738e-01 -8.99079502e-04 1.70372536e+01] [ 2.37398029e-03 -5.03260207e-06 9.99997182e-01 -3.44113284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.900281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:153.08, Y:17.05, Z:-0.34 [[ 9.26177493e-01 -3.77086738e-01 -9.18466786e-04 1.53078097e+02] [ 3.77086551e-01 9.26177948e-01 -3.75929481e-04 1.70504390e+01] [ 9.92421705e-04 1.83595247e-06 9.99999508e-01 -3.42730753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.930281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:153.10, Y:17.06, Z:-0.34 [[ 9.26960353e-01 -3.75158565e-01 -7.45522768e-04 1.53103355e+02] [ 3.75158441e-01 9.26960652e-01 -3.05385355e-04 1.70614145e+01] [ 8.05638203e-04 3.39095677e-06 9.99999675e-01 -3.42422214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.960281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:153.13, Y:17.07, Z:-0.34 [[ 9.27526655e-01 -3.73756941e-01 -2.30682317e-04 1.53128331e+02] [ 3.73756929e-01 9.27526684e-01 -9.45722885e-05 1.70716213e+01] [ 2.49311053e-04 1.49920424e-06 9.99999969e-01 -3.42594706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.990281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:153.15, Y:17.08, Z:-0.34 [[ 9.27755028e-01 -3.73185092e-01 1.86934651e-03 1.53153013e+02] [ 3.73184306e-01 9.27756912e-01 7.65844230e-04 1.70828054e+01] [-2.02010079e-03 -1.29050564e-05 9.99997960e-01 -3.43198497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.020281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:153.18, Y:17.09, Z:-0.34 [[ 9.27579632e-01 -3.73616965e-01 2.52763666e-03 1.53178288e+02] [ 3.73615529e-01 9.27583076e-01 1.03603994e-03 1.70942369e+01] [-2.73167509e-03 -1.66452346e-05 9.99996269e-01 -3.43484257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.050281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:153.20, Y:17.10, Z:-0.34 [[ 9.27374390e-01 -3.74130056e-01 1.85515269e-03 1.53202778e+02] [ 3.74129283e-01 9.27376246e-01 7.60609696e-04 1.71048626e+01] [-2.00499149e-03 -1.13030048e-05 9.99997990e-01 -3.43831371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.080281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:153.23, Y:17.12, Z:-0.34 [[ 9.27263649e-01 -3.74405777e-01 -1.56155083e-03 1.53228364e+02] [ 3.74405229e-01 9.27264964e-01 -6.40726557e-04 1.71162468e+01] [ 1.68786310e-03 9.46965098e-06 9.99998576e-01 -3.44468800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.110281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:153.25, Y:17.13, Z:-0.34 [[ 9.27348720e-01 -3.74189641e-01 -2.54243886e-03 1.53252659e+02] [ 3.74188187e-01 9.27352205e-01 -1.04346399e-03 1.71269490e+01] [ 2.74818970e-03 1.63044050e-05 9.99996224e-01 -3.44238101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.140281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:153.28, Y:17.14, Z:-0.34 [[ 9.28219517e-01 -3.72028653e-01 -1.79160629e-03 1.53276892e+02] [ 3.72027927e-01 9.28221246e-01 -7.35466550e-04 1.71385935e+01] [ 1.93662165e-03 1.61468326e-05 9.99998125e-01 -3.43425497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.170281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:153.30, Y:17.15, Z:-0.34 [[ 9.28798488e-01 -3.70579824e-01 -1.99089917e-03 1.53303137e+02] [ 3.70578922e-01 9.28800621e-01 -8.17782696e-04 1.71488689e+01] [ 2.15220215e-03 2.17700637e-05 9.99997684e-01 -3.43950461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.200281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:153.33, Y:17.16, Z:-0.34 [[ 9.29493292e-01 -3.68830526e-01 -2.50268370e-03 1.53328699e+02] [ 3.68829094e-01 9.29496661e-01 -1.02831353e-03 1.71583859e+01] [ 2.70550956e-03 3.27479614e-05 9.99996340e-01 -3.44285674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.230281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:153.35, Y:17.17, Z:-0.34 [[ 9.30016383e-01 -3.67507283e-01 -2.81496097e-03 1.53354575e+02] [ 3.67505463e-01 9.30020642e-01 -1.15724062e-03 1.71692486e+01] [ 3.04326617e-03 4.17392021e-05 9.99995368e-01 -3.44300124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.260281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:153.38, Y:17.18, Z:-0.34 [[ 9.30436786e-01 -3.66449644e-01 -1.42988122e-03 1.53380475e+02] [ 3.66449173e-01 9.30437885e-01 -5.88208704e-04 1.71808499e+01] [ 1.54596452e-03 2.33122276e-05 9.99998805e-01 -3.44407708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.290281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:153.41, Y:17.19, Z:-0.34 [[ 9.30351852e-01 -3.66667608e-01 -5.45403774e-04 1.53406510e+02] [ 3.66667539e-01 9.30352012e-01 -2.24555635e-04 1.71907547e+01] [ 5.89754775e-04 8.93389154e-06 9.99999826e-01 -3.44502555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.320281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:153.43, Y:17.20, Z:-0.35 [[ 9.30241890e-01 -3.66945427e-01 -1.03949751e-03 1.53432063e+02] [ 3.66945178e-01 9.30242470e-01 -4.27911970e-04 1.71983801e+01] [ 1.12400507e-03 1.66230410e-05 9.99999368e-01 -3.45072631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.350281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:153.46, Y:17.21, Z:-0.35 [[ 9.30473057e-01 -3.66354940e-01 -1.98712054e-03 1.53457528e+02] [ 3.66354028e-01 9.30475178e-01 -8.18146007e-04 1.72085998e+01] [ 2.14869817e-03 3.32732023e-05 9.99997691e-01 -3.45633146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.380281693 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:153.48, Y:17.22, Z:-0.35 [[ 9.31249892e-01 -3.64359475e-01 -3.97642834e-03 1.53483181e+02] [ 3.64355801e-01 9.31258378e-01 -1.63807245e-03 1.72199050e+01] [ 4.29992943e-03 7.66200572e-05 9.99990752e-01 -3.45746099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.410281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:153.51, Y:17.23, Z:-0.35 [[ 9.31727339e-01 -3.63136554e-01 -4.00108670e-03 1.53508151e+02] [ 3.63132821e-01 9.31735926e-01 -1.64854232e-03 1.72305796e+01] [ 4.32660220e-03 8.30660508e-05 9.99990637e-01 -3.45991973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.440281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:153.53, Y:17.24, Z:-0.35 [[ 9.31664454e-01 -3.63297866e-01 -4.00078091e-03 1.53534421e+02] [ 3.63294132e-01 9.31673040e-01 -1.64928433e-03 1.72416082e+01] [ 4.32660119e-03 8.31193614e-05 9.99990637e-01 -3.46008436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.470281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:153.56, Y:17.25, Z:-0.35 [[ 9.32110111e-01 -3.62156435e-01 -3.66838008e-03 1.53558791e+02] [ 3.62153286e-01 9.32117326e-01 -1.51255080e-03 1.72520134e+01] [ 3.96714064e-03 8.13479993e-05 9.99992128e-01 -3.45741468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.500281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:153.58, Y:17.26, Z:-0.35 [[ 9.32378072e-01 -3.61479899e-01 -1.84744189e-03 1.53584250e+02] [ 3.61479098e-01 9.32379902e-01 -7.62231568e-04 1.72630122e+01] [ 1.99804908e-03 4.28763739e-05 9.99998003e-01 -3.45374102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.530281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:153.61, Y:17.27, Z:-0.35 [[ 9.32377229e-01 -3.61484748e-01 -1.21693545e-03 1.53608908e+02] [ 3.61484400e-01 9.32378022e-01 -5.02180695e-04 1.72733969e+01] [ 1.31617453e-03 2.83186628e-05 9.99999133e-01 -3.45239906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.560281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:153.63, Y:17.28, Z:-0.34 [[ 9.31789655e-01 -3.62997887e-01 -7.56287554e-04 1.53634922e+02] [ 3.62997753e-01 9.31789962e-01 -3.12331150e-04 1.72844698e+01] [ 8.18076699e-04 1.64962514e-05 9.99999665e-01 -3.44849267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.590281693 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:153.66, Y:17.30, Z:-0.34 [[ 9.31388923e-01 -3.64024343e-01 -9.76138033e-04 1.53660835e+02] [ 3.64024120e-01 9.31389434e-01 -4.03298121e-04 1.72957413e+01] [ 1.05597498e-03 2.02896146e-05 9.99999442e-01 -3.44859863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.620281693 meters Centerline goodness : 0.999332 Centerline is valid? [True, True] Translation: X:153.69, Y:17.31, Z:-0.34 [[ 9.30964553e-01 -3.65108402e-01 -9.24619935e-04 1.53686520e+02] [ 3.65108203e-01 9.30965012e-01 -3.82224365e-04 1.73076292e+01] [ 1.00034214e-03 1.82510129e-05 9.99999500e-01 -3.44624454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.650281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:153.71, Y:17.32, Z:-0.34 [[ 9.30682026e-01 -3.65828315e-01 -7.81200972e-04 1.53711078e+02] [ 3.65828172e-01 9.30682354e-01 -3.22963396e-04 1.73188496e+01] [ 8.45199115e-04 1.47909040e-05 9.99999643e-01 -3.43853994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.680281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:153.74, Y:17.33, Z:-0.34 [[ 9.30202912e-01 -3.67044621e-01 -8.88378455e-04 1.53737536e+02] [ 3.67044438e-01 9.30203336e-01 -3.67523067e-04 1.73293434e+01] [ 9.61269967e-04 1.57966566e-05 9.99999538e-01 -3.44977059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.710281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:153.76, Y:17.34, Z:-0.35 [[ 9.29763503e-01 -3.68152425e-01 -1.90297176e-03 1.53762806e+02] [ 3.68151584e-01 9.29765450e-01 -7.87243552e-04 1.73385050e+01] [ 2.05914301e-03 3.13682551e-05 9.99997879e-01 -3.45586359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.740281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:153.79, Y:17.35, Z:-0.35 [[ 9.29236942e-01 -3.69472472e-01 -2.96618260e-03 1.53787934e+02] [ 3.69470437e-01 9.29241675e-01 -1.22733080e-03 1.73488469e+01] [ 3.20976543e-03 4.45643345e-05 9.99994848e-01 -3.46473261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.770281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:153.81, Y:17.36, Z:-0.35 [[ 9.29353233e-01 -3.69182603e-01 -2.60265067e-03 1.53813322e+02] [ 3.69181032e-01 9.29356877e-01 -1.07755318e-03 1.73605801e+01] [ 2.81660519e-03 4.05782746e-05 9.99996033e-01 -3.45479958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.800281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:153.84, Y:17.37, Z:-0.34 [[ 9.29664634e-01 -3.68403145e-01 -1.67081650e-03 1.53837659e+02] [ 3.68402496e-01 9.29666135e-01 -6.91888283e-04 1.73719843e+01] [ 1.80819534e-03 2.76910963e-05 9.99998365e-01 -3.44576874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.830281693 meters Centerline goodness : 0.999416 Centerline is valid? [True, True] Translation: X:153.86, Y:17.39, Z:-0.34 [[ 9.29963344e-01 -3.67650713e-01 -1.06369257e-03 1.53862150e+02] [ 3.67650450e-01 9.29963952e-01 -4.40802371e-04 1.73863414e+01] [ 1.15125705e-03 1.88629948e-05 9.99999337e-01 -3.44362308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.860281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:153.89, Y:17.40, Z:-0.35 [[ 9.30214942e-01 -3.67009328e-01 -2.07723147e-03 1.53886409e+02] [ 3.67008320e-01 9.30217261e-01 -8.60985746e-04 1.73994468e+01] [ 2.24826637e-03 3.85405758e-05 9.99997472e-01 -3.45075205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.890281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:153.91, Y:17.41, Z:-0.35 [[ 9.30374676e-01 -3.66598656e-01 -2.89614786e-03 1.53910392e+02] [ 3.66596694e-01 9.30379182e-01 -1.20063406e-03 1.74118813e+01] [ 3.13466651e-03 5.53212885e-05 9.99995085e-01 -3.45869899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.920281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:153.93, Y:17.42, Z:-0.35 [[ 9.30020415e-01 -3.67502259e-01 -2.02924828e-03 1.53934059e+02] [ 3.67501298e-01 9.30022628e-01 -8.41443696e-04 1.74246621e+01] [ 2.19647928e-03 3.68084383e-05 9.99997587e-01 -3.46693620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.950281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:153.96, Y:17.44, Z:-0.35 [[ 9.29273305e-01 -3.69391066e-01 -1.16853103e-03 1.53959489e+02] [ 3.69390748e-01 9.29274039e-01 -4.84873522e-04 1.74367981e+01] [ 1.26499350e-03 1.89354682e-05 9.99999200e-01 -3.45693062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.980281693 meters Centerline goodness : 0.999399 Centerline is valid? [True, True] Translation: X:153.98, Y:17.45, Z:-0.35 [[ 9.27011661e-01 -3.75031496e-01 -8.69837549e-04 1.53984002e+02] [ 3.75031322e-01 9.27012070e-01 -3.61157983e-04 1.74499042e+01] [ 9.41795526e-04 8.58133605e-06 9.99999556e-01 -3.45876785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.010281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:154.01, Y:17.46, Z:-0.35 [[ 9.25705579e-01 -3.78240873e-01 -1.73858735e-03 1.54009424e+02] [ 3.78240184e-01 9.25707212e-01 -7.21847067e-04 1.74595204e+01] [ 1.88245491e-03 1.06142585e-05 9.99998228e-01 -3.47112804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.040281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:154.04, Y:17.47, Z:-0.35 [[ 9.24159863e-01 -3.81993092e-01 -3.13436913e-03 1.54036337e+02] [ 3.81990873e-01 9.24165179e-01 -1.30208085e-03 1.74686478e+01] [ 3.39406070e-03 6.03045830e-06 9.99994240e-01 -3.47960013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.070281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:154.06, Y:17.48, Z:-0.35 [[ 9.21602913e-01 -3.88099329e-01 -5.19438360e-03 1.54061611e+02] [ 3.88093329e-01 9.21617551e-01 -2.15820579e-03 1.74773845e+01] [ 5.62483331e-03 -2.68968742e-05 9.99984180e-01 -3.48163532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.100281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:154.09, Y:17.49, Z:-0.35 [[ 9.20729997e-01 -3.90162493e-01 -5.43148084e-03 1.54087487e+02] [ 3.90155962e-01 9.20746017e-01 -2.25794850e-03 1.74887325e+01] [ 5.88198117e-03 -4.01637117e-05 9.99982700e-01 -3.48053898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.130281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:154.11, Y:17.50, Z:-0.35 [[ 9.20228070e-01 -3.91340533e-01 -5.73472740e-03 1.54112220e+02] [ 3.91333271e-01 9.20245937e-01 -2.38447685e-03 1.74983297e+01] [ 6.21050203e-03 -4.99271045e-05 9.99980713e-01 -3.46617347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.160281693 meters Centerline goodness : 0.998591 Centerline is valid? [True, True] Translation: X:154.14, Y:17.51, Z:-0.35 [[ 9.20332559e-01 -3.91098979e-01 -5.43784631e-03 1.54137326e+02] [ 3.91092443e-01 9.20348622e-01 -2.26154338e-03 1.75082588e+01] [ 5.88920167e-03 -4.53285935e-05 9.99982657e-01 -3.46692041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.190281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:154.16, Y:17.52, Z:-0.35 [[ 9.21609925e-01 -3.88089036e-01 -4.69532602e-03 1.54162970e+02] [ 3.88084118e-01 9.21621885e-01 -1.95380264e-03 1.75207132e+01] [ 5.08556460e-03 -2.15375493e-05 9.99987068e-01 -3.46976013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.220281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:154.19, Y:17.53, Z:-0.35 [[ 9.22320325e-01 -3.86396117e-01 -4.82266958e-03 1.54187855e+02] [ 3.86390900e-01 9.22332934e-01 -2.00785657e-03 1.75332060e+01] [ 5.22393496e-03 -1.15487121e-05 9.99986355e-01 -3.47279837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.250281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:154.21, Y:17.55, Z:-0.35 [[ 9.22925271e-01 -3.84943302e-01 -5.25330586e-03 1.54212557e+02] [ 3.84937082e-01 9.22940222e-01 -2.18828866e-03 1.75454615e+01] [ 5.69085434e-03 -2.56532979e-06 9.99983807e-01 -3.47544570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.280281693 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:154.24, Y:17.56, Z:-0.35 [[ 9.23308746e-01 -3.84022267e-01 -5.27818705e-03 1.54237289e+02] [ 3.84015970e-01 9.23323832e-01 -2.19909278e-03 1.75574706e+01] [ 5.71797649e-03 3.53347764e-06 9.99983652e-01 -3.47241412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.310281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:154.26, Y:17.57, Z:-0.35 [[ 9.23546630e-01 -3.83470789e-01 -3.43151661e-03 1.54261005e+02] [ 3.83468123e-01 9.23553005e-01 -1.43003029e-03 1.75699139e+01] [ 3.71756232e-03 4.82242538e-06 9.99993090e-01 -3.46102298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.340281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:154.29, Y:17.58, Z:-0.35 [[ 9.23248012e-01 -3.84196164e-01 -2.53303946e-03 1.54287142e+02] [ 3.84194712e-01 9.23251487e-01 -1.05620148e-03 1.75810533e+01] [ 2.74442100e-03 1.95555115e-06 9.99996234e-01 -3.45988404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.370281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:154.31, Y:17.59, Z:-0.35 [[ 9.22126694e-01 -3.86875098e-01 -3.16533958e-03 1.54312521e+02] [ 3.86872846e-01 9.22132126e-01 -1.32004630e-03 1.75916134e+01] [ 3.42955436e-03 -7.33400547e-06 9.99994119e-01 -3.46211896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.400281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:154.34, Y:17.60, Z:-0.35 [[ 9.21599576e-01 -3.88122535e-01 -3.88825670e-03 1.54338231e+02] [ 3.88119145e-01 9.21607779e-01 -1.62236959e-03 1.76034520e+01] [ 4.21312581e-03 -1.39317344e-05 9.99991125e-01 -3.46154153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.430281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:154.36, Y:17.62, Z:-0.35 [[ 9.21452853e-01 -3.88469423e-01 -4.01838350e-03 1.54363436e+02] [ 3.88465801e-01 9.21461615e-01 -1.67753654e-03 1.76157077e+01] [ 4.35445780e-03 -1.52337319e-05 9.99990519e-01 -3.45913138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.460281693 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:154.39, Y:17.63, Z:-0.34 [[ 9.22418483e-01 -3.86175258e-01 -3.57948944e-03 1.54387405e+02] [ 3.86172365e-01 9.22425428e-01 -1.49459681e-03 1.76278490e+01] [ 3.87898839e-03 -3.65618029e-06 9.99992477e-01 -3.44401875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.490281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:154.41, Y:17.64, Z:-0.34 [[ 9.23175820e-01 -3.84367428e-01 -2.84346189e-03 1.54412693e+02] [ 3.84365593e-01 9.23180199e-01 -1.18795452e-03 1.76386532e+01] [ 3.08163874e-03 3.76197808e-06 9.99995252e-01 -3.44209998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.520281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:154.44, Y:17.65, Z:-0.34 [[ 9.23787553e-01 -3.82898082e-01 -2.36983892e-03 1.54437588e+02] [ 3.82896802e-01 9.23790592e-01 -9.90257169e-04 1.76498221e+01] [ 2.56840247e-03 7.38350169e-06 9.99996702e-01 -3.43449911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.550281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:154.46, Y:17.66, Z:-0.34 [[ 9.24214860e-01 -3.81864480e-01 -2.53230600e-03 1.54463123e+02] [ 3.81863012e-01 9.24218329e-01 -1.05876398e-03 1.76623050e+01] [ 2.74470798e-03 1.15314103e-05 9.99996233e-01 -3.43450291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.580281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:154.49, Y:17.68, Z:-0.34 [[ 9.25343908e-01 -3.79113998e-01 -3.35101432e-03 1.54486397e+02] [ 3.79111409e-01 9.25349975e-01 -1.40128388e-03 1.76760562e+01] [ 3.63210735e-03 2.62617356e-05 9.99993404e-01 -3.44048521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.610281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:154.51, Y:17.69, Z:-0.34 [[ 9.26244268e-01 -3.76911354e-01 -3.06384847e-03 1.54510494e+02] [ 3.76909176e-01 9.26249335e-01 -1.28148932e-03 1.76880444e+01] [ 3.32089548e-03 3.21795385e-05 9.99994485e-01 -3.43602527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.640281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:154.53, Y:17.70, Z:-0.34 [[ 9.27838058e-01 -3.72969437e-01 -3.21502702e-03 1.54533904e+02] [ 3.72967015e-01 9.27843627e-01 -1.34501380e-03 1.77015244e+01] [ 3.48469137e-03 4.88559649e-05 9.99993927e-01 -3.44139834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.670281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:154.56, Y:17.72, Z:-0.35 [[ 9.28030800e-01 -3.72486411e-01 -3.56469960e-03 1.54558280e+02] [ 3.72483427e-01 9.28037645e-01 -1.49214962e-03 1.77151001e+01] [ 3.86398088e-03 5.69692804e-05 9.99992533e-01 -3.45118893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.700281693 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:154.58, Y:17.73, Z:-0.35 [[ 9.28021948e-01 -3.72506003e-01 -3.81351239e-03 1.54581776e+02] [ 3.72502586e-01 9.28029781e-01 -1.59659018e-03 1.77280847e+01] [ 4.13379249e-03 6.11275019e-05 9.99991454e-01 -3.45261605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.730281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:154.61, Y:17.74, Z:-0.34 [[ 9.27764202e-01 -3.73148641e-01 -3.69820484e-03 1.54606264e+02] [ 3.73145429e-01 9.27771571e-01 -1.54919117e-03 1.77421455e+01] [ 4.00916789e-03 5.73158829e-05 9.99991962e-01 -3.44422851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.760281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:154.63, Y:17.75, Z:-0.34 [[ 9.27432775e-01 -3.73979347e-01 -2.80990693e-03 1.54630350e+02] [ 3.73977497e-01 9.27437031e-01 -1.17731039e-03 1.77548169e+01] [ 3.04630151e-03 4.10342867e-05 9.99995359e-01 -3.43444777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.790281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:154.65, Y:17.77, Z:-0.34 [[ 9.26873650e-01 -3.75370066e-01 -1.59718319e-03 1.54654702e+02] [ 3.75369469e-01 9.26875026e-01 -6.69623300e-04 1.77688470e+01] [ 1.73174576e-03 2.11223849e-05 9.99998500e-01 -3.43449203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.820281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:154.68, Y:17.78, Z:-0.34 [[ 9.25002247e-01 -3.79958479e-01 -1.54861025e-03 1.54678409e+02] [ 3.79957924e-01 9.25003543e-01 -6.49597955e-04 1.77841348e+01] [ 1.67929022e-03 1.24728305e-05 9.99998590e-01 -3.43523379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.850281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:154.70, Y:17.79, Z:-0.34 [[ 9.23921245e-01 -3.82573239e-01 -2.69245362e-03 1.54702964e+02] [ 3.82571572e-01 9.23925168e-01 -1.12950926e-03 1.77946781e+01] [ 2.91974568e-03 1.35213879e-05 9.99995737e-01 -3.44313075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.880281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:154.73, Y:17.81, Z:-0.35 [[ 9.21663566e-01 -3.87959898e-01 -4.83611215e-03 1.54728409e+02] [ 3.87954588e-01 9.21676254e-01 -2.02984013e-03 1.78054229e+01] [ 5.24482630e-03 -5.36220628e-06 9.99986246e-01 -3.45787091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.910281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:154.75, Y:17.82, Z:-0.35 [[ 9.20614270e-01 -3.90435336e-01 -5.44195901e-03 1.54752760e+02] [ 3.90428653e-01 9.20630354e-01 -2.28454979e-03 1.78164238e+01] [ 5.90200161e-03 -2.15075894e-05 9.99982583e-01 -3.46007279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.940281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:154.78, Y:17.83, Z:-0.35 [[ 9.19551670e-01 -3.92934742e-01 -5.19751288e-03 1.54778628e+02] [ 3.92928682e-01 9.19566358e-01 -2.18266989e-03 1.78277492e+01] [ 5.63710482e-03 -3.51741399e-05 9.99984111e-01 -3.45758028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.970281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:154.80, Y:17.84, Z:-0.34 [[ 9.17590935e-01 -3.97515307e-01 -2.90798643e-03 1.54804152e+02] [ 3.97513432e-01 9.17595542e-01 -1.22167185e-03 1.78365231e+01] [ 3.15398865e-03 -3.49686474e-05 9.99995026e-01 -3.44161185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.000281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:154.83, Y:17.85, Z:-0.34 [[ 9.16649781e-01 -3.99687216e-01 -1.81872928e-03 1.54830361e+02] [ 3.99686486e-01 9.16651585e-01 -7.64504601e-04 1.78459721e+01] [ 1.97270379e-03 -2.61385379e-05 9.99998054e-01 -3.43181557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.030281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:154.86, Y:17.86, Z:-0.34 [[ 9.15908702e-01 -4.01383958e-01 -1.47228335e-03 1.54856779e+02] [ 4.01383481e-01 9.15909885e-01 -6.19220403e-04 1.78559655e+01] [ 1.59702401e-03 -2.38008601e-05 9.99998724e-01 -3.42747416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.060281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:154.88, Y:17.87, Z:-0.34 [[ 9.15239724e-01 -4.02905834e-01 -1.77100640e-03 1.54883111e+02] [ 4.02905146e-01 9.15241437e-01 -7.45220555e-04 1.78650488e+01] [ 1.92115215e-03 -3.14921389e-05 9.99998154e-01 -3.43773717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.090281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:154.91, Y:17.87, Z:-0.34 [[ 9.15039088e-01 -4.03361642e-01 -1.68891974e-03 1.54909040e+02] [ 4.03361017e-01 9.15040646e-01 -7.10778033e-04 1.78724666e+01] [ 1.83213081e-03 -3.08547012e-05 9.99998321e-01 -3.44463141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.120281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:154.94, Y:17.88, Z:-0.34 [[ 9.14177271e-01 -4.05310560e-01 -1.80766657e-03 1.54936757e+02] [ 4.05309847e-01 9.14179057e-01 -7.61031486e-04 1.78750018e+01] [ 1.96098502e-03 -3.69473762e-05 9.99998077e-01 -3.44121305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.150281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:154.96, Y:17.88, Z:-0.34 [[ 9.13735374e-01 -4.06301141e-01 -2.65515811e-03 1.54963981e+02] [ 4.06299606e-01 9.13739229e-01 -1.11841455e-03 1.78832629e+01] [ 2.88053523e-03 -5.68547598e-05 9.99995850e-01 -3.43464156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.180281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:154.99, Y:17.89, Z:-0.34 [[ 9.13701459e-01 -4.06368898e-01 -3.73670090e-03 1.54989249e+02] [ 4.06365857e-01 9.13709096e-01 -1.57422797e-03 1.78916993e+01] [ 4.05397489e-03 -8.00932684e-05 9.99991779e-01 -3.43353252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.210281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:155.02, Y:17.90, Z:-0.34 [[ 9.15001328e-01 -4.03438575e-01 -3.14424324e-03 1.55016500e+02] [ 4.03436401e-01 9.15006729e-01 -1.32536436e-03 1.78980797e+01] [ 3.41170683e-03 -5.57920269e-05 9.99994179e-01 -3.41999393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.240281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:155.04, Y:17.91, Z:-0.34 [[ 9.16001063e-01 -4.01170303e-01 -2.10713929e-03 1.55042967e+02] [ 4.01169320e-01 9.16003486e-01 -8.88693257e-04 1.79062001e+01] [ 2.28666428e-03 -3.12756685e-05 9.99997385e-01 -3.41223064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.270281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:155.07, Y:17.92, Z:-0.34 [[ 9.16972368e-01 -3.98948925e-01 -1.19614711e-03 1.55069797e+02] [ 3.98948606e-01 9.16973149e-01 -5.04784516e-04 1.79157697e+01] [ 1.29821802e-03 -1.43277699e-05 9.99999157e-01 -3.41602246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.300281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:155.10, Y:17.93, Z:-0.34 [[ 9.18722650e-01 -3.94901867e-01 -1.09916147e-03 1.55095161e+02] [ 3.94901594e-01 9.18723307e-01 -4.64100795e-04 1.79267889e+01] [ 1.19309953e-03 -7.68070363e-06 9.99999288e-01 -3.41981095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.330281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:155.12, Y:17.94, Z:-0.34 [[ 9.18655178e-01 -3.95058801e-01 -1.09908469e-03 1.55121330e+02] [ 3.95058528e-01 9.18655835e-01 -4.64282611e-04 1.79380461e+01] [ 1.19309950e-03 -7.68715577e-06 9.99999288e-01 -3.41997556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.360281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:155.15, Y:17.95, Z:-0.34 [[ 9.19169531e-01 -3.93859274e-01 -1.49853438e-03 1.55146977e+02] [ 3.93858765e-01 9.19170753e-01 -6.33064252e-04 1.79479398e+01] [ 1.62674720e-03 -8.31752739e-06 9.99998677e-01 -3.42550994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.390281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:155.17, Y:17.96, Z:-0.34 [[ 9.19430293e-01 -3.93247779e-01 -2.02989733e-03 1.55173850e+02] [ 3.93246843e-01 9.19432534e-01 -8.58018840e-04 1.79553029e+01] [ 2.20376765e-03 -9.36220535e-06 9.99997572e-01 -3.42242910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.420281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:155.20, Y:17.97, Z:-0.34 [[ 9.19277047e-01 -3.93606829e-01 -1.83706916e-03 1.55199632e+02] [ 3.93606062e-01 9.19278883e-01 -7.76928290e-04 1.79665808e+01] [ 1.99458317e-03 -8.86921634e-06 9.99998011e-01 -3.41785202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.450281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:155.23, Y:17.98, Z:-0.34 [[ 9.19201501e-01 -3.93782811e-01 -1.92320062e-03 1.55225082e+02] [ 3.93781970e-01 9.19203513e-01 -8.13770191e-04 1.79795135e+01] [ 2.08826148e-03 -9.30294768e-06 9.99997820e-01 -3.41811953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.480281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:155.25, Y:17.99, Z:-0.34 [[ 9.19269842e-01 -3.93616160e-01 -3.04584576e-03 1.55249116e+02] [ 3.93614049e-01 9.19274887e-01 -1.28914740e-03 1.79919838e+01] [ 3.30739876e-03 -1.38133529e-05 9.99994530e-01 -3.42480808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.510281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:155.27, Y:18.01, Z:-0.34 [[ 9.19931327e-01 -3.92037413e-01 -5.74641166e-03 1.55274131e+02] [ 3.92029861e-01 9.19949274e-01 -2.43336579e-03 1.80050301e+01] [ 6.24037766e-03 -1.42355483e-05 9.99980529e-01 -3.43027808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.540281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:155.30, Y:18.02, Z:-0.34 [[ 9.20212313e-01 -3.91383733e-01 -5.29845077e-03 1.55299489e+02] [ 3.91377295e-01 9.20227566e-01 -2.24485749e-03 1.80181493e+01] [ 5.75438116e-03 -7.94782716e-06 9.99983443e-01 -3.42151130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.570281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:155.32, Y:18.04, Z:-0.34 [[ 9.21070990e-01 -3.89382369e-01 -3.09859524e-03 1.55321217e+02] [ 3.89380155e-01 9.21076202e-01 -1.31309838e-03 1.80352903e+01] [ 3.36533969e-03 2.92533075e-06 9.99994337e-01 -3.40445802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.600281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:155.35, Y:18.05, Z:-0.34 [[ 9.21583140e-01 -3.88173832e-01 -2.36455591e-03 1.55345682e+02] [ 3.88172538e-01 9.21586174e-01 -1.00263102e-03 1.80495147e+01] [ 2.56833716e-03 6.15217835e-06 9.99996702e-01 -3.40924915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.630281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:155.37, Y:18.06, Z:-0.34 [[ 9.22175863e-01 -3.86760323e-01 -2.85118816e-03 1.55369327e+02] [ 3.86758433e-01 9.22180271e-01 -1.20934109e-03 1.80630214e+01] [ 3.09703462e-03 1.25041002e-05 9.99995204e-01 -3.41050888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.660281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:155.39, Y:18.08, Z:-0.34 [[ 9.22619662e-01 -3.85694785e-01 -3.53449029e-03 1.55392677e+02] [ 3.85691869e-01 9.22626432e-01 -1.49995609e-03 1.80808193e+01] [ 3.83953940e-03 2.06648117e-05 9.99992629e-01 -3.41014153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.690281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:155.42, Y:18.10, Z:-0.34 [[ 9.21983822e-01 -3.87214452e-01 -3.28631918e-03 1.55416364e+02] [ 3.87211940e-01 9.21989679e-01 -1.39489286e-03 1.80953168e+01] [ 3.57007504e-03 1.35666291e-05 9.99993627e-01 -3.40820910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.720281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:155.44, Y:18.11, Z:-0.34 [[ 9.21118953e-01 -3.89270442e-01 -2.89774580e-03 1.55441344e+02] [ 3.89268497e-01 9.21123511e-01 -1.23065131e-03 1.81091653e+01] [ 3.14823797e-03 5.57509652e-06 9.99995044e-01 -3.40765956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.750281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:155.46, Y:18.13, Z:-0.34 [[ 9.19360670e-01 -3.93403412e-01 -3.11662699e-03 1.55464588e+02] [ 3.93401184e-01 9.19365953e-01 -1.32427131e-03 1.81252484e+01] [ 3.38629359e-03 -8.60178488e-06 9.99994266e-01 -3.40170216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.780281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:155.49, Y:18.14, Z:-0.34 [[ 9.18691081e-01 -3.94961998e-01 -3.42304653e-03 1.55488807e+02] [ 3.94959317e-01 9.18697458e-01 -1.45520830e-03 1.81393808e+01] [ 3.71949613e-03 -1.50772361e-05 9.99993083e-01 -3.40080721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.810281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:155.51, Y:18.15, Z:-0.34 [[ 9.18362480e-01 -3.95725009e-01 -3.47442135e-03 1.55512000e+02] [ 3.95722252e-01 9.18369052e-01 -1.47731147e-03 1.81525521e+01] [ 3.77541014e-03 -1.81984196e-05 9.99992873e-01 -3.40339404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.840281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:155.54, Y:18.17, Z:-0.34 [[ 9.18436457e-01 -3.95559142e-01 -2.72765712e-03 1.55535442e+02] [ 3.95557442e-01 9.18440507e-01 -1.16005251e-03 1.81655966e+01] [ 2.96406016e-03 -1.35105540e-05 9.99995607e-01 -3.39096897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.870281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:155.56, Y:18.18, Z:-0.34 [[ 9.18406939e-01 -3.95632825e-01 -1.83336778e-03 1.55561216e+02] [ 3.95632056e-01 9.18408769e-01 -7.80181286e-04 1.81767141e+01] [ 1.99244638e-03 -8.81515824e-06 9.99998015e-01 -3.38284434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.900281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:155.59, Y:18.19, Z:-0.34 [[ 9.18323041e-01 -3.95829305e-01 -1.39753881e-03 1.55586590e+02] [ 3.95828857e-01 9.18324105e-01 -5.95034846e-04 1.81887023e+01] [ 1.51892581e-03 -6.75198067e-06 9.99998846e-01 -3.38775265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.930281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:155.61, Y:18.20, Z:-0.34 [[ 9.18258708e-01 -3.95976545e-01 -1.87647864e-03 1.55611963e+02] [ 3.95975739e-01 9.18260625e-01 -7.99334633e-04 1.82000908e+01] [ 2.03961422e-03 -9.04403026e-06 9.99997920e-01 -3.39536665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.96028169299998 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:155.64, Y:18.21, Z:-0.34 [[ 9.18212326e-01 -3.96079904e-01 -2.61410518e-03 1.55637114e+02] [ 3.96078339e-01 9.18216047e-01 -1.11368250e-03 1.82107863e+01] [ 2.84142058e-03 -1.27934361e-05 9.99995963e-01 -3.40203998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.990281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:155.66, Y:18.22, Z:-0.34 [[ 9.18260376e-01 -3.95964725e-01 -3.13348283e-03 1.55662665e+02] [ 3.95962473e-01 9.18265722e-01 -1.33566841e-03 1.82221990e+01] [ 3.40624744e-03 -1.42502378e-05 9.99994199e-01 -3.40644045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.020281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:155.69, Y:18.23, Z:-0.34 [[ 9.18143683e-01 -3.96235431e-01 -3.10815531e-03 1.55688065e+02] [ 3.96233214e-01 9.18148944e-01 -1.32556910e-03 1.82336383e+01] [ 3.37898696e-03 -1.44914707e-05 9.99994291e-01 -3.41262194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.050281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:155.71, Y:18.24, Z:-0.34 [[ 9.18060029e-01 -3.96426130e-01 -3.47954057e-03 1.55712344e+02] [ 3.96423352e-01 9.18066622e-01 -1.48421210e-03 1.82445218e+01] [ 3.78283052e-03 -1.67753365e-05 9.99992845e-01 -3.41407251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.080281693 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:155.74, Y:18.26, Z:-0.34 [[ 9.18017715e-01 -3.96524529e-01 -3.43114051e-03 1.55737618e+02] [ 3.96521825e-01 9.18024127e-01 -1.46439574e-03 1.82554476e+01] [ 3.73053860e-03 -1.61808605e-05 9.99993041e-01 -3.41198825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.110281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:155.76, Y:18.27, Z:-0.34 [[ 9.18363090e-01 -3.95727141e-01 -3.04384496e-03 1.55763002e+02] [ 3.95725008e-01 9.18368134e-01 -1.29933948e-03 1.82659622e+01] [ 3.30955411e-03 -1.12601468e-05 9.99994523e-01 -3.40899808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.140281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:155.79, Y:18.28, Z:-0.34 [[ 9.18725168e-01 -3.94885346e-01 -3.10299263e-03 1.55787999e+02] [ 3.94883123e-01 9.18730409e-01 -1.32488411e-03 1.82771769e+01] [ 3.37399101e-03 -8.11504488e-06 9.99994308e-01 -3.40415662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.170281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:155.81, Y:18.29, Z:-0.34 [[ 9.19427820e-01 -3.93243559e-01 -3.46214452e-03 1.55812492e+02] [ 3.93240777e-01 9.19434339e-01 -1.47906576e-03 1.82902288e+01] [ 3.76484764e-03 -1.56219107e-06 9.99992913e-01 -3.41178010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.200281693 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:155.84, Y:18.30, Z:-0.34 [[ 9.19415260e-01 -3.93264255e-01 -4.33653855e-03 1.55837240e+02] [ 3.93259890e-01 9.19425487e-01 -1.85294055e-03 1.83014964e+01] [ 4.71581935e-03 -1.76485904e-06 9.99988880e-01 -3.42017120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.230281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:155.86, Y:18.31, Z:-0.34 [[ 9.19170142e-01 -3.93822089e-01 -5.51476391e-03 1.55862778e+02] [ 3.93815032e-01 9.19186685e-01 -2.35766582e-03 1.83128640e+01] [ 5.99759844e-03 -4.70089556e-06 9.99982014e-01 -3.42260588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.260281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:155.89, Y:18.33, Z:-0.34 [[ 9.18877064e-01 -3.94485908e-01 -6.76832527e-03 1.55886794e+02] [ 3.94461329e-01 9.18900506e-01 -4.70312335e-03 1.83270276e+01] [ 8.07473340e-03 1.65174960e-03 9.99966035e-01 -3.42243969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.290281693 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:155.91, Y:18.34, Z:-0.34 [[ 9.19071525e-01 -3.94015824e-01 -7.68518403e-03 1.55911334e+02] [ 3.94017180e-01 9.19102007e-01 -1.40062601e-03 1.83380308e+01] [ 7.61533688e-03 -1.74081906e-03 9.99969488e-01 -3.42126689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.320281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:155.94, Y:18.35, Z:-0.34 [[ 9.19288106e-01 -3.93529241e-01 -6.64180735e-03 1.55936002e+02] [ 3.93518974e-01 9.19312100e-01 -2.84269074e-03 1.83516824e+01] [ 7.22457579e-03 -4.25420883e-07 9.99973902e-01 -3.41891869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.350281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:155.96, Y:18.37, Z:-0.34 [[ 9.19548465e-01 -3.92940906e-01 -5.29770508e-03 1.55960856e+02] [ 3.92934357e-01 9.19563725e-01 -2.26862291e-03 1.83654844e+01] [ 5.76301216e-03 4.45837746e-06 9.99983394e-01 -3.41638129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.380281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:155.99, Y:18.38, Z:-0.34 [[ 9.19342313e-01 -3.93432929e-01 -4.49921701e-03 1.55985213e+02] [ 3.93428209e-01 9.19353322e-01 -1.92706883e-03 1.83774981e+01] [ 4.89454244e-03 1.51702512e-06 9.99988022e-01 -3.41831343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.410281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:156.01, Y:18.39, Z:-0.34 [[ 9.18424465e-01 -3.95582838e-01 -3.27422690e-03 1.56008630e+02] [ 3.95580351e-01 9.18430301e-01 -1.40271930e-03 1.83907216e+01] [ 3.56204088e-03 -6.92810148e-06 9.99993656e-01 -3.40226997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.440281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:156.03, Y:18.40, Z:-0.34 [[ 9.17947805e-01 -3.96690946e-01 -2.84969574e-03 1.56034016e+02] [ 3.96689066e-01 9.17952228e-01 -1.22155889e-03 1.84025844e+01] [ 3.10046590e-03 -9.11583336e-06 9.99995194e-01 -3.40279176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.470281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:156.06, Y:18.41, Z:-0.34 [[ 9.17568468e-01 -3.97567320e-01 -2.88652347e-03 1.56058849e+02] [ 3.97565394e-01 9.17573009e-01 -1.23754890e-03 1.84129944e+01] [ 3.14060503e-03 -1.20459942e-05 9.99995068e-01 -3.39820676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.500281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:156.08, Y:18.42, Z:-0.34 [[ 9.17290924e-01 -3.98203553e-01 -3.36030964e-03 1.56083034e+02] [ 3.98200947e-01 9.17297078e-01 -1.44098409e-03 1.84238604e+01] [ 3.65620720e-03 -1.62768558e-05 9.99993316e-01 -3.39968283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.530281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:156.11, Y:18.44, Z:-0.34 [[ 9.17270375e-01 -3.98239512e-01 -4.51112970e-03 1.56107271e+02] [ 3.98234812e-01 9.17281467e-01 -1.93488858e-03 1.84360620e+01] [ 4.90852476e-03 -2.16729217e-05 9.99987953e-01 -3.39894028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.560281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:156.13, Y:18.45, Z:-0.34 [[ 9.17585524e-01 -3.97503932e-01 -5.23744872e-03 1.56132304e+02] [ 3.97497578e-01 9.17600471e-01 -2.24759311e-03 1.84476586e+01] [ 5.69931251e-03 -1.95142751e-05 9.99983759e-01 -3.39739243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.590281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:156.16, Y:18.46, Z:-0.34 [[ 9.18812509e-01 -3.94647948e-01 -6.04731630e-03 1.56157702e+02] [ 3.94639407e-01 9.18832410e-01 -2.59642104e-03 1.84596529e+01] [ 6.58114244e-03 -8.85188364e-07 9.99978344e-01 -3.39953187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.620281693 meters Centerline goodness : 0.998883 Centerline is valid? [True, True] Translation: X:156.18, Y:18.47, Z:-0.34 [[ 9.19382628e-01 -3.93322003e-01 -5.77802693e-03 1.56182298e+02] [ 3.93314176e-01 9.19400784e-01 -2.48127586e-03 1.84715774e+01] [ 6.28826288e-03 8.66201605e-06 9.99980229e-01 -3.39669999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.650281693 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:156.21, Y:18.48, Z:-0.34 [[ 9.20288068e-01 -3.91228457e-01 -3.18846773e-03 1.56207807e+02] [ 3.91226059e-01 9.20293591e-01 -1.37001388e-03 1.84841647e+01] [ 3.47031484e-03 1.33957629e-05 9.99993978e-01 -3.39188658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.680281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:156.23, Y:18.49, Z:-0.34 [[ 9.20753796e-01 -3.90132971e-01 -2.95155638e-03 1.56232706e+02] [ 3.90130910e-01 9.20758527e-01 -1.26843386e-03 1.84945881e+01] [ 3.21252858e-03 1.64219168e-05 9.99994840e-01 -3.38213803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.71028169299998 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:156.26, Y:18.51, Z:-0.34 [[ 9.21208466e-01 -3.89056146e-01 -3.20581044e-03 1.56259006e+02] [ 3.89053704e-01 9.21214044e-01 -1.37843870e-03 1.85054844e+01] [ 3.48952765e-03 2.25969705e-05 9.99993911e-01 -3.38146210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.740281693 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:156.29, Y:18.52, Z:-0.34 [[ 9.22348527e-01 -3.86339442e-01 -3.87681409e-03 1.56285603e+02] [ 3.86335844e-01 9.22356674e-01 -1.66780704e-03 1.85153596e+01] [ 4.22014499e-03 4.05471219e-05 9.99991094e-01 -3.37797452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.770281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:156.31, Y:18.52, Z:-0.34 [[ 9.22826534e-01 -3.85201704e-01 -3.29181820e-03 1.56310532e+02] [ 3.85199101e-01 9.22832404e-01 -1.41662299e-03 1.85248933e+01] [ 3.58348209e-03 3.92918698e-05 9.99993579e-01 -3.38136041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.800281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:156.34, Y:18.53, Z:-0.34 [[ 9.23111848e-01 -3.84522669e-01 -2.61419288e-03 1.56336415e+02] [ 3.84521023e-01 9.23115549e-01 -1.12561651e-03 1.85348738e+01] [ 2.84602716e-03 3.38578172e-05 9.99995949e-01 -3.37895486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.830281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:156.36, Y:18.55, Z:-0.34 [[ 9.23559661e-01 -3.83449880e-01 -1.93452469e-03 1.56361806e+02] [ 3.83448975e-01 9.23561687e-01 -8.33407354e-04 1.85454300e+01] [ 2.10622283e-03 2.79099036e-05 9.99997782e-01 -3.37345631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.860281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:156.39, Y:18.56, Z:-0.34 [[ 9.23768612e-01 -3.82945250e-01 -2.11819045e-03 1.56387323e+02] [ 3.82944163e-01 9.23771040e-01 -9.12972446e-04 1.85569996e+01] [ 2.30634146e-03 3.22266191e-05 9.99997340e-01 -3.37399994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.890281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:156.41, Y:18.57, Z:-0.34 [[ 9.24719374e-01 -3.80631462e-01 -3.71070886e-03 1.56411211e+02] [ 3.80628107e-01 9.24726817e-01 -1.59955304e-03 1.85685562e+01] [ 4.04023220e-03 6.67375964e-05 9.99991836e-01 -3.37480511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.920281693 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:156.44, Y:18.58, Z:-0.34 [[ 9.25088156e-01 -3.79730399e-01 -4.08991332e-03 1.56436466e+02] [ 3.79726309e-01 9.25097194e-01 -1.76399420e-03 1.85802689e+01] [ 4.45340955e-03 7.88024488e-05 9.99990080e-01 -3.37894915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.950281693 meters Centerline goodness : 0.998704 Centerline is valid? [True, True] Translation: X:156.46, Y:18.59, Z:-0.34 [[ 9.25230375e-01 -3.79384319e-01 -4.03630039e-03 1.56461888e+02] [ 3.79380329e-01 9.25239176e-01 -1.74177992e-03 1.85917193e+01] [ 4.39534723e-03 8.02547125e-05 9.99990337e-01 -3.38588286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.980281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:156.49, Y:18.60, Z:-0.34 [[ 9.25055693e-01 -3.79808819e-01 -4.15042190e-03 1.56486549e+02] [ 3.79804603e-01 9.25065000e-01 -1.79135600e-03 1.86019748e+01] [ 4.51978285e-03 8.07547274e-05 9.99989782e-01 -3.39309196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.010281693 meters Centerline goodness : 0.998643 Centerline is valid? [True, True] Translation: X:156.51, Y:18.61, Z:-0.34 [[ 9.23857575e-01 -3.82709968e-01 -4.50128274e-03 1.56511664e+02] [ 3.82705038e-01 9.23868538e-01 -1.94385747e-03 1.86134144e+01] [ 4.90252713e-03 7.31838709e-05 9.99987980e-01 -3.38799313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.040281693 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:156.54, Y:18.63, Z:-0.34 [[ 9.23277584e-01 -3.84107164e-01 -4.49327403e-03 1.56537032e+02] [ 3.84102263e-01 9.23288515e-01 -1.94139567e-03 1.86261415e+01] [ 4.89429229e-03 6.65703778e-05 9.99988021e-01 -3.38163241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.070281693 meters Centerline goodness : 0.997854 Centerline is valid? [True, True] Translation: X:156.56, Y:18.64, Z:-0.33 [[ 9.23096173e-01 -3.84552687e-01 -3.56174455e-03 1.56562154e+02] [ 3.84549608e-01 9.23103043e-01 -1.53972941e-03 1.86391738e+01] [ 3.87996431e-03 5.16508549e-05 9.99992472e-01 -3.30540567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.100281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:156.59, Y:18.65, Z:-0.34 [[ 9.23321818e-01 -3.84014991e-01 -3.05076169e-03 1.56586791e+02] [ 3.84012728e-01 9.23326857e-01 -1.31907183e-03 1.86506784e+01] [ 3.32339356e-03 4.63964846e-05 9.99994476e-01 -3.37444751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.130281693 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:156.61, Y:18.66, Z:-0.34 [[ 9.23492167e-01 -3.83603782e-01 -3.21819525e-03 1.56611859e+02] [ 3.83601259e-01 9.23497772e-01 -1.39223486e-03 1.86626587e+01] [ 3.50606270e-03 5.12142372e-05 9.99993852e-01 -3.37276558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.160281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:156.63, Y:18.68, Z:-0.34 [[ 9.23781643e-01 -3.82885359e-01 -5.12614720e-03 1.56634540e+02] [ 3.82878943e-01 9.23795862e-01 -2.21828838e-03 1.86771671e+01] [ 5.58486371e-03 8.65202645e-05 9.99984401e-01 -3.38102465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.190281693 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:156.66, Y:18.69, Z:-0.34 [[ 9.23847601e-01 -3.82713302e-01 -6.01152867e-03 1.56658225e+02] [ 3.82704471e-01 9.23867154e-01 -2.60194927e-03 1.86902029e+01] [ 6.54965447e-03 1.03165689e-04 9.99978545e-01 -3.37966838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.220281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:156.68, Y:18.70, Z:-0.34 [[ 9.23893365e-01 -3.82609457e-01 -5.57262119e-03 1.56683294e+02] [ 3.82601858e-01 9.23910166e-01 -2.41332844e-03 1.87033593e+01] [ 6.07196365e-03 9.75629104e-05 9.99981561e-01 -3.38092641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.250281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:156.71, Y:18.72, Z:-0.34 [[ 9.24116441e-01 -3.82079360e-01 -4.91578265e-03 1.56708104e+02] [ 3.82073438e-01 9.24129512e-01 -2.12929929e-03 1.87151493e+01] [ 5.35638113e-03 8.95305038e-05 9.99985650e-01 -3.37951390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.280281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:156.73, Y:18.73, Z:-0.34 [[ 9.24071770e-01 -3.82187391e-01 -4.91552524e-03 1.56734177e+02] [ 3.82181467e-01 9.24084839e-01 -2.12989348e-03 1.87266178e+01] [ 5.35638078e-03 8.95517961e-05 9.99985650e-01 -3.37969454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.310281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:156.76, Y:18.74, Z:-0.34 [[ 9.23987869e-01 -3.82391126e-01 -4.84201215e-03 1.56758502e+02] [ 3.82385376e-01 9.24000552e-01 -2.09878281e-03 1.87378880e+01] [ 5.27657782e-03 8.77352255e-05 9.99986075e-01 -3.38255284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.340281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:156.78, Y:18.75, Z:-0.34 [[ 9.23760509e-01 -3.82934050e-01 -5.29495718e-03 1.56783296e+02] [ 3.82927176e-01 9.23775679e-01 -2.29632091e-03 1.87505569e+01] [ 5.77069213e-03 9.36675743e-05 9.99983345e-01 -3.38605173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.370281693 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:156.81, Y:18.76, Z:-0.34 [[ 9.22945754e-01 -3.84897455e-01 -5.00840737e-03 1.56806261e+02] [ 3.84891331e-01 9.22959340e-01 -2.17246713e-03 1.87648643e+01] [ 5.45873343e-03 7.73767358e-05 9.99985098e-01 -3.38038273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.400281693 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:156.83, Y:18.78, Z:-0.34 [[ 9.22386273e-01 -3.86246267e-01 -4.16948084e-03 1.56831816e+02] [ 3.86242033e-01 9.22395695e-01 -1.80954583e-03 1.87774628e+01] [ 4.54484149e-03 5.86714754e-05 9.99989670e-01 -3.37144070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.430281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:156.86, Y:18.79, Z:-0.34 [[ 9.21511154e-01 -3.88342892e-01 -2.64400579e-03 1.56856882e+02] [ 3.88341196e-01 9.21514947e-01 -1.14810657e-03 1.87910754e+01] [ 2.88234988e-03 3.12166397e-05 9.99995846e-01 -3.35849761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.46028169299998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:156.88, Y:18.80, Z:-0.34 [[ 9.21361009e-01 -3.88700072e-01 -2.47910698e-03 1.56880922e+02] [ 3.88698582e-01 9.21364344e-01 -1.07667099e-03 1.88042052e+01] [ 2.70266287e-03 2.83773074e-05 9.99996347e-01 -3.35700467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.490281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:156.91, Y:18.82, Z:-0.34 [[ 9.21389393e-01 -3.88632783e-01 -2.47908536e-03 1.56905581e+02] [ 3.88631291e-01 9.21392728e-01 -1.07725894e-03 1.88182858e+01] [ 2.70286936e-03 2.91248205e-05 9.99996347e-01 -3.35570314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.520281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:156.93, Y:18.83, Z:-0.34 [[ 9.21459116e-01 -3.88461818e-01 -3.24240174e-03 1.56929846e+02] [ 3.88459262e-01 9.21464820e-01 -1.40965122e-03 1.88314531e+01] [ 3.53535481e-03 3.93949758e-05 9.99993750e-01 -3.36010904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.550281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:156.95, Y:18.84, Z:-0.34 [[ 9.21072357e-01 -3.89361741e-01 -4.81128531e-03 1.56953532e+02] [ 3.89356124e-01 9.21084921e-01 -2.09206741e-03 1.88446449e+01] [ 5.24617336e-03 5.36420580e-05 9.99986237e-01 -3.35980900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.580281693 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:156.98, Y:18.86, Z:-0.34 [[ 9.20377786e-01 -3.91008051e-01 -4.17558723e-03 1.56978593e+02] [ 3.91003833e-01 9.20387257e-01 -1.81667699e-03 1.88565469e+01] [ 4.55349261e-03 3.93585357e-05 9.99989632e-01 -3.35370728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.610281693 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:157.00, Y:18.87, Z:-0.34 [[ 9.18476008e-01 -3.95466065e-01 -2.90068511e-03 1.57003066e+02] [ 3.95464051e-01 9.18480588e-01 -1.26225454e-03 1.88686278e+01] [ 3.16340181e-03 1.22338277e-05 9.99994996e-01 -3.35623626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.640281693 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:157.03, Y:18.88, Z:-0.34 [[ 9.17336199e-01 -3.98101305e-01 -3.10612577e-03 1.57028474e+02] [ 3.98099010e-01 9.17341458e-01 -1.35195037e-03 1.88785067e+01] [ 3.38759115e-03 3.64741701e-06 9.99994262e-01 -3.35926374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.670281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:157.06, Y:18.89, Z:-0.34 [[ 9.15746612e-01 -4.01742251e-01 -3.36244582e-03 1.57055119e+02] [ 4.01739582e-01 9.15752785e-01 -1.46432839e-03 1.88863250e+01] [ 3.66745171e-03 -9.87382158e-06 9.99993275e-01 -3.35950606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.700281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:157.08, Y:18.90, Z:-0.34 [[ 9.15466849e-01 -4.02377791e-01 -3.54416974e-03 1.57080773e+02] [ 4.02374828e-01 9.15473710e-01 -1.54424358e-03 1.88967776e+01] [ 3.86596354e-03 -1.23808830e-05 9.99992527e-01 -3.35720391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.730281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:157.11, Y:18.91, Z:-0.34 [[ 9.15724164e-01 -4.01793121e-01 -3.39755522e-03 1.57106628e+02] [ 4.01790391e-01 9.15730467e-01 -1.48113277e-03 1.89084091e+01] [ 3.70635379e-03 -8.79596824e-06 9.99993131e-01 -3.35009155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.760281693 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:157.13, Y:18.92, Z:-0.34 [[ 9.17377083e-01 -3.98003821e-01 -3.49954790e-03 1.57132380e+02] [ 3.98000894e-01 9.17383758e-01 -1.52637867e-03 1.89203809e+01] [ 3.81793295e-03 7.44161881e-06 9.99992712e-01 -3.35043513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.790281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:157.16, Y:18.93, Z:-0.33 [[ 9.18328287e-01 -3.95804030e-01 -3.51096234e-03 1.57157169e+02] [ 3.95801066e-01 9.18334998e-01 -1.53185575e-03 1.89305586e+01] [ 3.83055428e-03 1.71038306e-05 9.99992663e-01 -3.34993028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.820281693 meters Centerline goodness : 0.998615 Centerline is valid? [True, True] Translation: X:157.18, Y:18.94, Z:-0.33 [[ 9.19217616e-01 -3.93733711e-01 -3.56925203e-03 1.57181848e+02] [ 3.93730631e-01 9.19224545e-01 -1.55760083e-03 1.89411463e+01] [ 3.89422403e-03 2.64502689e-05 9.99992417e-01 -3.34770367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.850281693 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:157.21, Y:18.95, Z:-0.34 [[ 9.19866262e-01 -3.92216503e-01 -3.50358027e-03 1.57207693e+02] [ 3.92213521e-01 9.19872933e-01 -1.52979687e-03 1.89524749e+01] [ 3.82286024e-03 3.30569776e-05 9.99992692e-01 -3.35230766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.880281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:157.23, Y:18.96, Z:-0.34 [[ 9.19623391e-01 -3.92786875e-01 -3.35982574e-03 1.57232358e+02] [ 3.92784135e-01 9.19629528e-01 -1.46749985e-03 1.89644802e+01] [ 3.66620964e-03 2.98609396e-05 9.99993279e-01 -3.35639385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.910281693 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:157.26, Y:18.98, Z:-0.34 [[ 9.18641794e-01 -3.95076366e-01 -3.45243068e-03 1.57257649e+02] [ 3.95073486e-01 9.18648281e-01 -1.50872301e-03 1.89752630e+01] [ 3.76763032e-03 2.20121859e-05 9.99992902e-01 -3.36454864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.940281693 meters Centerline goodness : 0.998516 Centerline is valid? [True, True] Translation: X:157.28, Y:18.98, Z:-0.34 [[ 9.15640089e-01 -4.01969964e-01 -4.83485261e-03 1.57284595e+02] [ 4.01964406e-01 9.15652853e-01 -2.11382656e-03 1.89835019e+01] [ 5.27674138e-03 -7.93432133e-06 9.99986078e-01 -3.38197452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.970281693 meters Centerline goodness : 0.998499 Centerline is valid? [True, True] Translation: X:157.31, Y:18.99, Z:-0.34 [[ 9.13790336e-01 -4.06138199e-01 -6.24386610e-03 1.57310754e+02] [ 4.06129017e-01 9.13811667e-01 -2.73124557e-03 1.89930328e+01] [ 6.81498084e-03 -4.00293911e-05 9.99976777e-01 -3.37826479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.000281693 meters Centerline goodness : 0.998478 Centerline is valid? [True, True] Translation: X:157.34, Y:19.00, Z:-0.34 [[ 9.12019459e-01 -4.10073099e-01 -7.78198920e-03 1.57336473e+02] [ 4.10058973e-01 9.12052655e-01 -3.40472475e-03 1.90027753e+01] [ 8.49376995e-03 -8.58992718e-05 9.99963924e-01 -3.38064926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.030281693 meters Centerline goodness : 0.998296 Centerline is valid? [True, True] Translation: X:157.36, Y:19.01, Z:-0.34 [[ 9.10109849e-01 -4.14279818e-01 -8.50268003e-03 1.57361315e+02] [ 4.14263126e-01 9.10149556e-01 -3.72131724e-03 1.90122458e+01] [ 9.28037708e-03 -1.35539333e-04 9.99956927e-01 -3.38335130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.060281693 meters Centerline goodness : 0.998237 Centerline is valid? [True, True] Translation: X:157.39, Y:19.02, Z:-0.34 [[ 9.06809182e-01 -4.21484978e-01 -6.89355316e-03 1.57388200e+02] [ 4.21474206e-01 9.06835368e-01 -3.01807726e-03 1.90181164e+01] [ 7.52339204e-03 -1.68634680e-04 9.99971685e-01 -3.37858008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.090281693 meters Centerline goodness : 0.998765 Centerline is valid? [True, True] Translation: X:157.41, Y:19.03, Z:-0.34 [[ 9.05447611e-01 -4.24426401e-01 -5.18208087e-03 1.57414770e+02] [ 4.24420355e-01 9.05462429e-01 -2.26992240e-03 1.90262506e+01] [ 5.65559453e-03 -1.44084793e-04 9.99983997e-01 -3.36784653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.120281693 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:157.44, Y:19.03, Z:-0.33 [[ 9.03550721e-01 -4.28475060e-01 -2.28431628e-03 1.57443134e+02] [ 4.28473896e-01 9.03553605e-01 -1.00116020e-03 1.90316188e+01] [ 2.49297439e-03 -7.41708784e-05 9.99996890e-01 -3.34613185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.150281693 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:157.47, Y:19.04, Z:-0.33 [[ 9.02934460e-01 -4.29775547e-01 -1.52981170e-03 1.57469639e+02] [ 4.29775027e-01 9.02935754e-01 -6.70847053e-04 1.90399030e+01] [ 1.66963535e-03 -5.17439445e-05 9.99998605e-01 -3.34048145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.180281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:157.49, Y:19.05, Z:-0.33 [[ 9.02707560e-01 -4.30252911e-01 -1.22212762e-03 1.57494871e+02] [ 4.30252579e-01 9.02708386e-01 -5.35990896e-04 1.90484760e+01] [ 1.33383649e-03 -4.19805257e-05 9.99999110e-01 -3.33741260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.21028169299998 meters Centerline goodness : 0.998846 Centerline is valid? [True, True] Translation: X:157.52, Y:19.06, Z:-0.33 [[ 9.03573065e-01 -4.28431206e-01 -1.55483234e-03 1.57521264e+02] [ 4.28430666e-01 9.03574402e-01 -6.82295156e-04 1.90573141e+01] [ 1.69722324e-03 -4.96343293e-05 9.99998558e-01 -3.33020458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.240281693 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:157.55, Y:19.07, Z:-0.33 [[ 9.04034534e-01 -4.27454853e-01 -1.97752456e-03 1.57547243e+02] [ 4.27453976e-01 9.04036694e-01 -8.68173089e-04 1.90680603e+01] [ 2.15885957e-03 -6.04422838e-05 9.99997668e-01 -3.33623267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.270281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:157.57, Y:19.08, Z:-0.33 [[ 9.03708832e-01 -4.28136161e-01 -3.12654704e-03 1.57573703e+02] [ 4.28133971e-01 9.03714235e-01 -1.37276554e-03 1.90755342e+01] [ 3.41323563e-03 -9.80006563e-05 9.99994170e-01 -3.34078424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.300281693 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:157.60, Y:19.08, Z:-0.33 [[ 9.02990795e-01 -4.29646562e-01 -3.38456084e-03 1.57599905e+02] [ 4.29644004e-01 9.02997131e-01 -1.48683154e-03 1.90844327e+01] [ 3.69506079e-03 -1.11561072e-04 9.99993167e-01 -3.34141290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.330281693 meters Centerline goodness : 0.998636 Centerline is valid? [True, True] Translation: X:157.63, Y:19.09, Z:-0.33 [[ 9.02358612e-01 -4.30970777e-01 -3.62296939e-03 1.57625953e+02] [ 4.30967853e-01 9.02365876e-01 -1.59231658e-03 1.90942470e+01] [ 3.95548587e-03 -1.24542761e-04 9.99992169e-01 -3.33120363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.360281693 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:157.65, Y:19.10, Z:-0.33 [[ 9.02215229e-01 -4.31270024e-01 -3.72112051e-03 1.57650541e+02] [ 4.31266941e-01 9.02222894e-01 -1.63594821e-03 1.91044968e+01] [ 4.06281554e-03 -1.28818869e-04 9.99991738e-01 -3.31951225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.390281693 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:157.68, Y:19.12, Z:-0.33 [[ 9.02718195e-01 -4.30214990e-01 -3.86316473e-03 1.57676477e+02] [ 4.30211653e-01 9.02726452e-01 -1.69927049e-03 1.91152320e+01] [ 4.21843263e-03 -1.28016096e-04 9.99991094e-01 -3.32465303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.420281693 meters Centerline goodness : 0.998452 Centerline is valid? [True, True] Translation: X:157.70, Y:19.13, Z:-0.33 [[ 9.03511844e-01 -4.28545813e-01 -3.85157873e-03 1.57701113e+02] [ 4.28542480e-01 9.03520045e-01 -1.69446721e-03 1.91252646e+01] [ 4.20613542e-03 -1.19593902e-04 9.99991147e-01 -3.33507503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.450281693 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:157.73, Y:19.14, Z:-0.33 [[ 9.05783428e-01 -4.23724538e-01 -3.72778250e-03 1.57726722e+02] [ 4.23721372e-01 9.05791094e-01 -1.64079102e-03 1.91363073e+01] [ 4.07183561e-03 -9.33398015e-05 9.99991706e-01 -3.33110756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.480281693 meters Centerline goodness : 0.998351 Centerline is valid? [True, True] Translation: X:157.75, Y:19.15, Z:-0.33 [[ 9.07175388e-01 -4.20735301e-01 -3.82386682e-03 1.57751745e+02] [ 4.20731939e-01 9.07183444e-01 -1.68390900e-03 1.91479626e+01] [ 4.17742863e-03 -8.12220985e-05 9.99991271e-01 -3.32148190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.510281693 meters Centerline goodness : 0.998188 Centerline is valid? [True, True] Translation: X:157.78, Y:19.16, Z:-0.33 [[ 9.08512969e-01 -4.17832690e-01 -4.47524411e-03 1.57775828e+02] [ 4.17828047e-01 9.08523988e-01 -1.97134701e-03 1.91592031e+01] [ 4.88955985e-03 -7.88881838e-05 9.99988043e-01 -3.32229841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.540281693 meters Centerline goodness : 0.998050 Centerline is valid? [True, True] Translation: X:157.80, Y:19.17, Z:-0.33 [[ 9.10291059e-01 -4.13918463e-01 -6.45709270e-03 1.57801311e+02] [ 4.13908692e-01 9.10313956e-01 -2.84525366e-03 1.91686728e+01] [ 7.05568462e-03 -8.26378286e-05 9.99975105e-01 -3.33402920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.570281693 meters Centerline goodness : 0.998094 Centerline is valid? [True, True] Translation: X:157.83, Y:19.18, Z:-0.33 [[ 9.10397782e-01 -4.13671473e-01 -7.19665312e-03 1.57827603e+02] [ 4.13659316e-01 9.10426221e-01 -3.17268935e-03 1.91786641e+01] [ 7.86447278e-03 -8.85532589e-05 9.99969071e-01 -3.33689045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.600281693 meters Centerline goodness : 0.998049 Centerline is valid? [True, True] Translation: X:157.85, Y:19.19, Z:-0.33 [[ 9.10224095e-01 -4.14055658e-01 -7.07167840e-03 1.57853744e+02] [ 4.14043919e-01 9.10251561e-01 -3.11909306e-03 1.91885245e+01] [ 7.72848443e-03 -8.89117795e-05 9.99970131e-01 -3.33866809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.630281693 meters Centerline goodness : 0.998329 Centerline is valid? [True, True] Translation: X:157.88, Y:19.20, Z:-0.33 [[ 9.09779068e-01 -4.15047051e-01 -6.16375570e-03 1.57880476e+02] [ 4.15038153e-01 9.09799944e-01 -2.71915086e-03 1.91958360e+01] [ 6.73636013e-03 -8.43672450e-05 9.99977307e-01 -3.34260213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.660281693 meters Centerline goodness : 0.998154 Centerline is valid? [True, True] Translation: X:157.91, Y:19.21, Z:-0.33 [[ 9.09372539e-01 -4.15938445e-01 -6.06595014e-03 1.57907001e+02] [ 4.15929838e-01 9.09392765e-01 -2.67733521e-03 1.92052344e+01] [ 6.62993782e-03 -8.83145435e-05 9.99978018e-01 -3.34108542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.690281693 meters Centerline goodness : 0.998132 Centerline is valid? [True, True] Translation: X:157.93, Y:19.21, Z:-0.33 [[ 9.08261815e-01 -4.18362910e-01 -5.74035256e-03 1.57933131e+02] [ 4.18355247e-01 9.08279949e-01 -2.53408399e-03 1.92128542e+01] [ 6.27401388e-03 -9.98948901e-05 9.99980313e-01 -3.33214004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.720281693 meters Centerline goodness : 0.998208 Centerline is valid? [True, True] Translation: X:157.96, Y:19.22, Z:-0.33 [[ 9.07534337e-01 -4.19939037e-01 -5.71251919e-03 1.57959297e+02] [ 4.19931472e-01 9.07552309e-01 -2.52305332e-03 1.92228894e+01] [ 6.24393857e-03 -1.09109068e-04 9.99980500e-01 -3.32465699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.750281693 meters Centerline goodness : 0.998119 Centerline is valid? [True, True] Translation: X:157.98, Y:19.23, Z:-0.33 [[ 9.06961025e-01 -4.21179496e-01 -5.43438748e-03 1.57984727e+02] [ 4.21172669e-01 9.06977299e-01 -2.40064103e-03 1.92320914e+01] [ 5.93996685e-03 -1.11527625e-04 9.99982352e-01 -3.32362821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.780281693 meters Centerline goodness : 0.998207 Centerline is valid? [True, True] Translation: X:158.01, Y:19.24, Z:-0.33 [[ 9.05899106e-01 -4.23472093e-01 -4.26573283e-03 1.58012293e+02] [ 4.23467908e-01 9.05909144e-01 -1.88533443e-03 1.92394845e+01] [ 4.66275289e-03 -9.84781834e-05 9.99989124e-01 -3.31519665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.810281693 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:158.04, Y:19.25, Z:-0.33 [[ 9.05258533e-01 -4.24846501e-01 -3.52696568e-03 1.58039236e+02] [ 4.24843647e-01 9.05265399e-01 -1.55955890e-03 1.92485820e+01] [ 3.85541314e-03 -8.66049675e-05 9.99992564e-01 -3.31353948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.840281693 meters Centerline goodness : 0.998239 Centerline is valid? [True, True] Translation: X:158.07, Y:19.26, Z:-0.33 [[ 9.04475530e-01 -4.26512714e-01 -3.30465504e-03 1.58065131e+02] [ 4.26510219e-01 9.04481563e-01 -1.46148850e-03 1.92574706e+01] [ 3.61234299e-03 -8.75885583e-05 9.99993472e-01 -3.31072988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.870281693 meters Centerline goodness : 0.998172 Centerline is valid? [True, True] Translation: X:158.09, Y:19.26, Z:-0.33 [[ 9.03130710e-01 -4.29341158e-01 -4.59245034e-03 1.58092722e+02] [ 4.29336371e-01 9.03142376e-01 -2.03198762e-03 1.92646597e+01] [ 5.02005243e-03 -1.36555538e-04 9.99987390e-01 -3.31324730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.900281693 meters Centerline goodness : 0.998268 Centerline is valid? [True, True] Translation: X:158.12, Y:19.27, Z:-0.33 [[ 9.02731569e-01 -4.30170186e-01 -5.41528828e-03 1.58119750e+02] [ 4.30163539e-01 9.02747796e-01 -2.39713346e-03 1.92737779e+01] [ 5.91981491e-03 -1.65491520e-04 9.99982464e-01 -3.31764186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.930281693 meters Centerline goodness : 0.998308 Centerline is valid? [True, True] Translation: X:158.15, Y:19.28, Z:-0.33 [[ 9.02604463e-01 -4.30430229e-01 -5.91616561e-03 1.58146930e+02] [ 4.30422292e-01 9.02623834e-01 -2.62014815e-03 1.92822906e+01] [ 6.46786306e-03 -1.81492148e-04 9.99979067e-01 -3.31588860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.96028169299998 meters Centerline goodness : 0.998345 Centerline is valid? [True, True] Translation: X:158.17, Y:19.29, Z:-0.33 [[ 9.02419316e-01 -4.30819331e-01 -5.83795268e-03 1.58174861e+02] [ 4.30811603e-01 9.02438181e-01 -2.58679277e-03 1.92887272e+01] [ 6.38283173e-03 -1.80685991e-04 9.99979613e-01 -3.30911679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.990281693 meters Centerline goodness : 0.998365 Centerline is valid? [True, True] Translation: X:158.20, Y:19.30, Z:-0.33 [[ 9.02590123e-01 -4.30467633e-01 -5.35594320e-03 1.58201212e+02] [ 4.30461115e-01 9.02605999e-01 -2.37439824e-03 1.92982132e+01] [ 5.85640805e-03 -1.62416884e-04 9.99982838e-01 -3.30306978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.020281693 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:158.23, Y:19.31, Z:-0.33 [[ 9.03029071e-01 -4.29555374e-01 -4.54728936e-03 1.58226354e+02] [ 4.29550662e-01 9.03040510e-01 -2.01628499e-03 1.93071790e+01] [ 4.97249256e-03 -1.32527201e-04 9.99987628e-01 -3.29710485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.050281693 meters Centerline goodness : 0.998684 Centerline is valid? [True, True] Translation: X:158.25, Y:19.31, Z:-0.33 [[ 9.04120658e-01 -4.27261325e-01 -3.68732578e-03 1.58253213e+02] [ 4.27258204e-01 9.04128172e-01 -1.63585330e-03 1.93147633e+01] [ 4.03275196e-03 -9.64314333e-05 9.99991864e-01 -3.29668851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.080281693 meters Centerline goodness : 0.998575 Centerline is valid? [True, True] Translation: X:158.28, Y:19.32, Z:-0.33 [[ 9.04727283e-01 -4.25963042e-01 -4.90196868e-03 1.58278938e+02] [ 4.25957503e-01 9.04740555e-01 -2.17573724e-03 1.93247543e+01] [ 5.36179352e-03 -1.19581494e-04 9.99985618e-01 -3.30543978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.110281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:158.31, Y:19.34, Z:-0.33 [[ 9.05474983e-01 -4.24351058e-01 -6.42145532e-03 1.58305380e+02] [ 4.24341502e-01 9.05497741e-01 -2.85150955e-03 1.93353362e+01] [ 7.02465438e-03 -1.42919431e-04 9.99975317e-01 -3.31413809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.140281693 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:158.33, Y:19.35, Z:-0.33 [[ 9.05403096e-01 -4.24504422e-01 -6.42097512e-03 1.58331339e+02] [ 4.24494862e-01 9.05425853e-01 -2.85259072e-03 1.93470725e+01] [ 7.02465425e-03 -1.42926478e-04 9.99975317e-01 -3.31431871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.170281693 meters Centerline goodness : 0.998347 Centerline is valid? [True, True] Translation: X:158.36, Y:19.36, Z:-0.33 [[ 9.07576977e-01 -4.19838924e-01 -6.26958952e-03 1.58357595e+02] [ 4.19829688e-01 9.07598627e-01 -2.78669583e-03 1.93561024e+01] [ 6.86023422e-03 -1.03018837e-04 9.99976463e-01 -3.30725206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.200281693 meters Centerline goodness : 0.998410 Centerline is valid? [True, True] Translation: X:158.38, Y:19.37, Z:-0.33 [[ 9.08601772e-01 -4.17628828e-01 -5.38348331e-03 1.58382695e+02] [ 4.17621975e-01 9.08617718e-01 -2.39361250e-03 1.93664642e+01] [ 5.89116990e-03 -7.34203767e-05 9.99982644e-01 -3.30006190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.230281693 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:158.41, Y:19.38, Z:-0.33 [[ 9.10229512e-01 -4.14077017e-01 -4.73927469e-03 1.58408656e+02] [ 4.14071652e-01 9.10241848e-01 -2.10825223e-03 1.93773025e+01] [ 5.18686495e-03 -4.34059030e-05 9.99986547e-01 -3.29508716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.260281693 meters Centerline goodness : 0.998176 Centerline is valid? [True, True] Translation: X:158.43, Y:19.39, Z:-0.33 [[ 9.10889194e-01 -4.12618901e-01 -5.14960085e-03 1.58433306e+02] [ 4.12612540e-01 9.10903750e-01 -2.29149298e-03 1.93872912e+01] [ 5.63630404e-03 -3.74936971e-05 9.99984115e-01 -3.29759429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.290281693 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:158.46, Y:19.40, Z:-0.33 [[ 9.11401226e-01 -4.11480640e-01 -5.61131908e-03 1.58459602e+02] [ 4.11473058e-01 9.11418500e-01 -2.49818764e-03 1.93980590e+01] [ 6.14221586e-03 -3.20553416e-05 9.99981136e-01 -3.30064971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.320281693 meters Centerline goodness : 0.998559 Centerline is valid? [True, True] Translation: X:158.48, Y:19.41, Z:-0.33 [[ 9.12792196e-01 -4.08382158e-01 -5.86689910e-03 1.58484682e+02] [ 4.08373802e-01 9.12811050e-01 -2.61244667e-03 1.94079441e+01] [ 6.42224694e-03 -1.12669588e-05 9.99979377e-01 -3.29119431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.350281693 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:158.51, Y:19.42, Z:-0.33 [[ 9.13384133e-01 -4.07075165e-01 -4.38590573e-03 1.58509768e+02] [ 4.07013391e-01 9.13360190e-01 -1.06425401e-02 1.94240809e+01] [ 8.33822546e-03 7.93560490e-03 9.99933748e-01 -3.28025683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.380281693 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:158.54, Y:19.43, Z:-0.33 [[ 9.13898758e-01 -4.05847328e-01 -8.77530567e-03 1.58537679e+02] [ 4.05896551e-01 9.13906617e-01 4.76286111e-03 1.94284963e+01] [ 6.08681547e-03 -7.91463916e-03 9.99950153e-01 -3.28767968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.410281693 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:158.56, Y:19.44, Z:-0.33 [[ 9.13987228e-01 -4.05699376e-01 -5.94680113e-03 1.58561739e+02] [ 4.05690721e-01 9.14006574e-01 -2.65001673e-03 1.94434168e+01] [ 6.51052546e-03 9.51941215e-06 9.99978806e-01 -3.29170027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.440281693 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:158.59, Y:19.45, Z:-0.33 [[ 9.13980863e-01 -4.05706172e-01 -6.44075473e-03 1.58586882e+02] [ 4.05696014e-01 9.14003557e-01 -2.87100714e-03 1.94542420e+01] [ 7.05165805e-03 1.10570632e-05 9.99975137e-01 -3.29233677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.470281693 meters Centerline goodness : 0.998259 Centerline is valid? [True, True] Translation: X:158.61, Y:19.47, Z:-0.33 [[ 9.13810538e-01 -4.06081316e-01 -6.94732822e-03 1.58611995e+02] [ 4.06069496e-01 9.13836946e-01 -3.09838066e-03 1.94664583e+01] [ 7.60691971e-03 1.02348243e-05 9.99971067e-01 -3.28669628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.500281693 meters Centerline goodness : 0.998524 Centerline is valid? [True, True] Translation: X:158.64, Y:19.48, Z:-0.33 [[ 9.13453294e-01 -4.06887106e-01 -6.77953673e-03 1.58636868e+02] [ 4.06875861e-01 9.13478452e-01 -3.02503439e-03 1.94789952e+01] [ 7.42380821e-03 4.79778566e-06 9.99972443e-01 -3.27862880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.530281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:158.66, Y:19.49, Z:-0.33 [[ 9.12871891e-01 -4.08204684e-01 -5.81779914e-03 1.58661991e+02] [ 4.08196421e-01 9.12890430e-01 -2.59721060e-03 1.94915981e+01] [ 6.37120668e-03 -3.88423624e-06 9.99979704e-01 -3.27754990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.560281693 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:158.69, Y:19.50, Z:-0.33 [[ 9.11566248e-01 -4.11124492e-01 -4.86084446e-03 1.58686859e+02] [ 4.11118763e-01 9.11579208e-01 -2.17041625e-03 1.95021615e+01] [ 5.32335602e-03 -1.99061707e-05 9.99985831e-01 -3.26722498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.590281693 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:158.71, Y:19.51, Z:-0.33 [[ 9.10687756e-01 -4.13070567e-01 -4.52958180e-03 1.58712379e+02] [ 4.13065611e-01 9.10699021e-01 -2.02360708e-03 1.95133873e+01] [ 4.96097823e-03 -2.81402848e-05 9.99987694e-01 -3.26177586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.620281693 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:158.74, Y:19.52, Z:-0.33 [[ 9.09145126e-01 -4.16455100e-01 -4.50445495e-03 1.58737562e+02] [ 4.16450235e-01 9.09156284e-01 -2.01340653e-03 1.95247241e+01] [ 4.93374693e-03 -4.54025890e-05 9.99987828e-01 -3.26610504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.650281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:158.76, Y:19.54, Z:-0.33 [[ 9.08661935e-01 -4.17507963e-01 -4.53744002e-03 1.58762532e+02] [ 4.17503039e-01 9.08673262e-01 -2.02852246e-03 1.95355855e+01] [ 4.96997471e-03 -5.11538517e-05 9.99987648e-01 -3.26252894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.680281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:158.79, Y:19.55, Z:-0.33 [[ 9.08251592e-01 -4.18401042e-01 -4.42872805e-03 1.58788296e+02] [ 4.18396356e-01 9.08262388e-01 -1.98100706e-03 1.95464461e+01] [ 4.85130253e-03 -5.37108617e-05 9.99988231e-01 -3.26154018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.71028169299998 meters Centerline goodness : 0.998581 Centerline is valid? [True, True] Translation: X:158.81, Y:19.56, Z:-0.33 [[ 9.07828844e-01 -4.19315723e-01 -4.59511554e-03 1.58813474e+02] [ 4.19310688e-01 9.07840471e-01 -2.05580863e-03 1.95570104e+01] [ 5.03366474e-03 -6.04586853e-05 9.99987329e-01 -3.26535032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.740281693 meters Centerline goodness : 0.998371 Centerline is valid? [True, True] Translation: X:158.84, Y:19.57, Z:-0.33 [[ 9.06747562e-01 -4.21634759e-01 -5.74361616e-03 1.58839528e+02] [ 4.21626930e-01 9.06765748e-01 -2.57096690e-03 1.95682971e+01] [ 6.29212341e-03 -9.04452815e-05 9.99980200e-01 -3.27632464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.770281693 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:158.87, Y:19.58, Z:-0.33 [[ 9.06379667e-01 -4.22416918e-01 -6.31245837e-03 1.58865549e+02] [ 4.22407471e-01 9.06401642e-01 -2.82697052e-03 1.95794208e+01] [ 6.91578281e-03 -1.04120984e-04 9.99976080e-01 -3.27984268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.800281693 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:158.89, Y:19.59, Z:-0.33 [[ 9.06465390e-01 -4.22229362e-01 -6.54701606e-03 1.58890853e+02] [ 4.22219188e-01 9.06489026e-01 -2.93295303e-03 1.95896448e+01] [ 7.17317710e-03 -1.05655400e-04 9.99974267e-01 -3.27171474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.830281693 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:158.92, Y:19.60, Z:-0.33 [[ 9.06691367e-01 -4.21747600e-01 -6.30291337e-03 1.58916465e+02] [ 4.21738149e-01 9.06713269e-01 -2.82505780e-03 1.96005741e+01] [ 6.90639654e-03 -9.67234993e-05 9.99976146e-01 -3.26623742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.860281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:158.94, Y:19.61, Z:-0.33 [[ 9.06947718e-01 -4.21198836e-01 -6.11368510e-03 1.58942446e+02] [ 4.21189922e-01 9.06968320e-01 -2.74162394e-03 1.96115112e+01] [ 6.69968751e-03 -8.85129718e-05 9.99977553e-01 -3.25913611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.890281693 meters Centerline goodness : 0.998597 Centerline is valid? [True, True] Translation: X:158.97, Y:19.62, Z:-0.33 [[ 9.08096576e-01 -4.18720922e-01 -5.77913232e-03 1.58967651e+02] [ 4.18712904e-01 9.08114963e-01 -2.59209561e-03 1.96207701e+01] [ 6.33348120e-03 -6.59241250e-05 9.99979941e-01 -3.25393887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.920281693 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:158.99, Y:19.63, Z:-0.33 [[ 9.09012850e-01 -4.16726431e-01 -5.89235708e-03 1.58992756e+02] [ 4.16718045e-01 9.09031946e-01 -2.64418264e-03 1.96325049e+01] [ 6.45824162e-03 -5.18555268e-05 9.99979144e-01 -3.25358158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.950281693 meters Centerline goodness : 0.998354 Centerline is valid? [True, True] Translation: X:159.02, Y:19.64, Z:-0.33 [[ 9.10065318e-01 -4.14417222e-01 -6.28353908e-03 1.59017660e+02] [ 4.14407621e-01 9.10087010e-01 -2.82114229e-03 1.96444043e+01] [ 6.88769724e-03 -3.65227218e-05 9.99976279e-01 -3.25494743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.980281693 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:159.04, Y:19.65, Z:-0.33 [[ 9.12332410e-01 -4.09391692e-01 -6.92931296e-03 1.59042548e+02] [ 4.09379866e-01 9.12358725e-01 -3.11166936e-03 1.96540871e+01] [ 7.59591072e-03 2.15559523e-06 9.99971151e-01 -3.26111714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.010281693 meters Centerline goodness : 0.998586 Centerline is valid? [True, True] Translation: X:159.07, Y:19.66, Z:-0.33 [[ 9.13005504e-01 -4.07884198e-01 -7.17159127e-03 1.59068657e+02] [ 4.07871471e-01 9.13033669e-01 -3.22213782e-03 1.96645228e+01] [ 7.86216339e-03 1.67420818e-05 9.99969093e-01 -3.26121868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.040281693 meters Centerline goodness : 0.998417 Centerline is valid? [True, True] Translation: X:159.09, Y:19.68, Z:-0.33 [[ 9.13526220e-01 -4.06713900e-01 -7.32447299e-03 1.59094772e+02] [ 4.06700574e-01 9.13555583e-01 -3.29245686e-03 1.96751695e+01] [ 8.03040116e-03 2.88783032e-05 9.99967755e-01 -3.26368995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.070281693 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:159.12, Y:19.69, Z:-0.33 [[ 9.14598853e-01 -4.04297049e-01 -7.26875147e-03 1.59119871e+02] [ 4.04283844e-01 9.14627735e-01 -3.26804133e-03 1.96854770e+01] [ 7.96946116e-03 5.03080669e-05 9.99968242e-01 -3.25681518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.100281693 meters Centerline goodness : 0.998631 Centerline is valid? [True, True] Translation: X:159.14, Y:19.70, Z:-0.33 [[ 9.15341532e-01 -4.02614636e-01 -7.16480927e-03 1.59144811e+02] [ 4.02601749e-01 9.15369571e-01 -3.22199580e-03 1.96962642e+01] [ 7.85567105e-03 6.46618305e-05 9.99969142e-01 -3.25441440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.130281693 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:159.17, Y:19.71, Z:-0.33 [[ 9.16171652e-01 -4.00724229e-01 -7.04240217e-03 1.59170220e+02] [ 4.00711710e-01 9.16198715e-01 -3.16858013e-03 1.97070765e+01] [ 7.72196665e-03 8.09902783e-05 9.99970182e-01 -3.25648870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.160281693 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:159.19, Y:19.72, Z:-0.33 [[ 9.17929596e-01 -3.96674293e-01 -7.40018241e-03 1.59194790e+02] [ 3.96660332e-01 9.17959417e-01 -3.33018436e-03 1.97183636e+01] [ 8.11406566e-03 1.21515969e-04 9.99967073e-01 -3.26050095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.190281693 meters Centerline goodness : 0.998674 Centerline is valid? [True, True] Translation: X:159.22, Y:19.73, Z:-0.33 [[ 9.18809441e-01 -3.94627334e-01 -7.64719154e-03 1.59220505e+02] [ 3.94612339e-01 9.18841252e-01 -3.44315938e-03 1.97303040e+01] [ 8.38531985e-03 1.45931199e-04 9.99964832e-01 -3.26490559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.220281693 meters Centerline goodness : 0.998424 Centerline is valid? [True, True] Translation: X:159.24, Y:19.74, Z:-0.33 [[ 9.20312984e-01 -3.91095027e-01 -8.28806398e-03 1.59244986e+02] [ 3.91077264e-01 9.20350283e-01 -3.73244582e-03 1.97417817e+01] [ 9.08766302e-03 1.93744971e-04 9.99958688e-01 -3.26060028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.250281693 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:159.27, Y:19.75, Z:-0.33 [[ 9.21069206e-01 -3.89311106e-01 -8.26929352e-03 1.59269879e+02] [ 3.89293333e-01 9.21106301e-01 -3.72596801e-03 1.97539934e+01] [ 9.06745909e-03 2.12693556e-04 9.99958867e-01 -3.25508827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.280281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:159.29, Y:19.77, Z:-0.33 [[ 9.22045289e-01 -3.87008690e-01 -7.53388747e-03 1.59293201e+02] [ 3.86993855e-01 9.22076042e-01 -3.39529460e-03 1.97668802e+01] [ 8.26082565e-03 2.15047235e-04 9.99965856e-01 -3.25266823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.310281693 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:159.32, Y:19.78, Z:-0.33 [[ 9.23129114e-01 -3.84433106e-01 -6.62018219e-03 1.59317650e+02] [ 3.84421574e-01 9.23152827e-01 -2.98505233e-03 1.97817898e+01] [ 7.25899284e-03 2.10647854e-04 9.99973631e-01 -3.25193948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.340281693 meters Centerline goodness : 0.998438 Centerline is valid? [True, True] Translation: X:159.34, Y:19.80, Z:-0.33 [[ 9.25112786e-01 -3.79649845e-01 -5.68576700e-03 1.59339372e+02] [ 3.79641246e-01 9.25130234e-01 -2.56421040e-03 1.98000658e+01] [ 6.23357704e-03 2.13632161e-04 9.99980548e-01 -3.25081994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.370281693 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:159.36, Y:19.81, Z:-0.32 [[ 9.25638746e-01 -3.78362479e-01 -5.89461353e-03 1.59363524e+02] [ 3.78353202e-01 9.25657485e-01 -2.65978770e-03 1.98140439e+01] [ 6.46275701e-03 2.31756649e-04 9.99979089e-01 -3.24368923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.400281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:159.39, Y:19.83, Z:-0.32 [[ 9.26114144e-01 -3.77200755e-01 -5.67302552e-03 1.59386020e+02] [ 3.77192137e-01 9.26131490e-01 -2.56028578e-03 1.98305888e+01] [ 6.21970931e-03 2.31296251e-04 9.99980631e-01 -3.23146800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.430281693 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:159.41, Y:19.85, Z:-0.32 [[ 9.25695945e-01 -3.78237060e-01 -4.87279701e-03 1.59409617e+02] [ 3.78230710e-01 9.25708749e-01 -2.20029406e-03 1.98460700e+01] [ 5.34302358e-03 1.93761814e-04 9.99985707e-01 -3.22322891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.46028169299998 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:159.43, Y:19.86, Z:-0.32 [[ 9.24051270e-01 -3.82257644e-01 -2.88859176e-03 1.59432275e+02] [ 3.82255430e-01 9.24055779e-01 -1.30502894e-03 1.98631330e+01] [ 3.16807720e-03 1.01733768e-04 9.99994976e-01 -3.22463304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.490281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:159.46, Y:19.88, Z:-0.32 [[ 9.22969012e-01 -3.84863154e-01 -2.92512758e-03 1.59456014e+02] [ 3.84860895e-01 9.22973642e-01 -1.32193745e-03 1.98752905e+01] [ 3.20858068e-03 9.43400800e-05 9.99994848e-01 -3.22542068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.520281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:159.48, Y:19.89, Z:-0.32 [[ 9.21795905e-01 -3.87657553e-01 -3.73247280e-03 1.59480662e+02] [ 3.87653894e-01 9.21803455e-01 -1.68761681e-03 1.98885706e+01] [ 4.09482372e-03 1.08730646e-04 9.99991610e-01 -3.22999379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.550281693 meters Centerline goodness : 0.998894 Centerline is valid? [True, True] Translation: X:159.51, Y:19.90, Z:-0.32 [[ 9.20741858e-01 -3.90132902e-01 -5.54520868e-03 1.59505257e+02] [ 3.90124866e-01 9.20758544e-01 -2.50841839e-03 1.99029348e+01] [ 6.08441482e-03 1.46282017e-04 9.99981479e-01 -3.23165339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.580281693 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:159.53, Y:19.92, Z:-0.32 [[ 9.19212758e-01 -3.93685365e-01 -7.72912627e-03 1.59528267e+02] [ 3.93669871e-01 9.19245236e-01 -3.49696032e-03 1.99175819e+01] [ 8.48166460e-03 1.71726393e-04 9.99964015e-01 -3.23572365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.610281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:159.55, Y:19.93, Z:-0.32 [[ 9.18374288e-01 -3.95641554e-01 -7.51180097e-03 1.59553931e+02] [ 3.95626970e-01 9.18404997e-01 -3.40034088e-03 1.99290436e+01] [ 8.24419169e-03 1.50914573e-04 9.99966005e-01 -3.23504199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.640281693 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:159.58, Y:19.94, Z:-0.32 [[ 9.17376343e-01 -3.97956866e-01 -7.13991149e-03 1.59579467e+02] [ 3.97943749e-01 9.17404119e-01 -3.23355915e-03 1.99401186e+01] [ 7.83700127e-03 1.25107522e-04 9.99969282e-01 -3.23381225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.670281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:159.60, Y:19.95, Z:-0.32 [[ 9.15125115e-01 -4.03112235e-01 -6.82276820e-03 1.59604722e+02] [ 4.03100388e-01 9.15150545e-01 -3.09144450e-03 1.99510461e+01] [ 7.49005914e-03 7.87979977e-05 9.99971946e-01 -3.23787038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.700281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:159.63, Y:19.96, Z:-0.32 [[ 9.14256688e-01 -4.05085138e-01 -6.38270949e-03 1.59630284e+02] [ 4.05074814e-01 9.14278966e-01 -2.89260095e-03 1.99611991e+01] [ 7.00732669e-03 5.91049019e-05 9.99975447e-01 -3.23827985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.730281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:159.66, Y:19.97, Z:-0.32 [[ 9.13663043e-01 -4.06433768e-01 -5.60676607e-03 1.59655846e+02] [ 4.06425824e-01 9.13680245e-01 -2.54149137e-03 1.99694868e+01] [ 6.15573931e-03 4.33322175e-05 9.99981052e-01 -3.22380104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.760281693 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:159.68, Y:19.98, Z:-0.32 [[ 9.13907536e-01 -4.05879501e-01 -5.90306219e-03 1.59680300e+02] [ 4.05870680e-01 9.13926599e-01 -2.67635496e-03 1.99811246e+01] [ 6.48124316e-03 5.00611054e-05 9.99978995e-01 -3.22025905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.790281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:159.71, Y:19.99, Z:-0.32 [[ 9.14346602e-01 -4.04884732e-01 -6.21648252e-03 1.59705466e+02] [ 4.04874917e-01 9.14367732e-01 -2.81987041e-03 1.99940476e+01] [ 6.82587350e-03 6.14410864e-05 9.99976702e-01 -3.22531006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.820281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:159.73, Y:20.01, Z:-0.32 [[ 9.15389577e-01 -4.02531072e-01 -5.53704772e-03 1.59731095e+02] [ 4.02523235e-01 9.15406320e-01 -2.51288309e-03 2.00051840e+01] [ 6.08016200e-03 7.14766232e-05 9.99981513e-01 -3.23195635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.850281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:159.76, Y:20.02, Z:-0.32 [[ 9.15616785e-01 -4.02023765e-01 -4.77448590e-03 1.59757432e+02] [ 4.02017925e-01 9.15629231e-01 -2.16786320e-03 2.00158255e+01] [ 5.24319137e-03 6.55030143e-05 9.99986252e-01 -3.22134416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.880281693 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:159.78, Y:20.03, Z:-0.32 [[ 9.15903477e-01 -4.01384382e-01 -3.37616754e-03 1.59783101e+02] [ 4.01381455e-01 9.15909698e-01 -1.53376376e-03 2.00273670e+01] [ 3.70789341e-03 4.96485222e-05 9.99993125e-01 -3.21499113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.910281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:159.81, Y:20.04, Z:-0.32 [[ 9.16471507e-01 -4.00092570e-01 -2.43164919e-03 1.59807263e+02] [ 4.00091047e-01 9.16474732e-01 -1.10487949e-03 2.00391585e+01] [ 2.67059911e-03 3.97095052e-05 9.99996433e-01 -3.21239361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.940281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:159.83, Y:20.05, Z:-0.32 [[ 9.18104777e-01 -3.96325591e-01 -3.10553649e-03 1.59831884e+02] [ 3.96323083e-01 9.18110027e-01 -1.41135745e-03 2.00507117e+01] [ 3.41058126e-03 6.49782204e-05 9.99994182e-01 -3.21794474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.970281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:159.86, Y:20.06, Z:-0.32 [[ 9.18856608e-01 -3.94571777e-01 -3.95572242e-03 1.59856637e+02] [ 3.94567690e-01 9.18865118e-01 -1.79809491e-03 2.00622724e+01] [ 4.34425285e-03 9.13911308e-05 9.99990560e-01 -3.22238876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.000281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:159.88, Y:20.08, Z:-0.32 [[ 9.19549201e-01 -3.92947854e-01 -4.60996906e-03 1.59881413e+02] [ 3.92942278e-01 9.19560749e-01 -2.09650040e-03 2.00754806e+01] [ 5.06296193e-03 1.16383526e-04 9.99987176e-01 -3.21821532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.030281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:159.90, Y:20.09, Z:-0.32 [[ 9.20710762e-01 -3.90222844e-01 -4.22191355e-03 1.59904345e+02] [ 3.90218135e-01 9.20720434e-01 -1.92094195e-03 2.00924335e+01] [ 4.63679750e-03 1.21164698e-04 9.99989243e-01 -3.21777162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.060281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:159.93, Y:20.11, Z:-0.32 [[ 9.21043081e-01 -3.89440823e-01 -3.93555585e-03 1.59927686e+02] [ 3.89436722e-01 9.21051482e-01 -1.79095556e-03 2.01053556e+01] [ 4.32232076e-03 1.16897254e-04 9.99990652e-01 -3.22511652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.090281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:159.95, Y:20.12, Z:-0.32 [[ 9.20979878e-01 -3.89590269e-01 -3.93524263e-03 1.59953527e+02] [ 3.89586167e-01 9.20988278e-01 -1.79164372e-03 2.01173410e+01] [ 4.32231929e-03 1.16951725e-04 9.99990652e-01 -3.22529896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.120281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:159.98, Y:20.13, Z:-0.32 [[ 9.20379375e-01 -3.91009108e-01 -3.69905007e-03 1.59976482e+02] [ 3.91005494e-01 9.20386803e-01 -1.68439143e-03 2.01308632e+01] [ 4.06316926e-03 1.03930236e-04 9.99991740e-01 -3.22984100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.150281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:160.00, Y:20.14, Z:-0.32 [[ 9.19405256e-01 -3.93295552e-01 -3.54743959e-03 1.60000368e+02] [ 3.93292243e-01 9.19412095e-01 -1.61588772e-03 2.01445709e+01] [ 3.89708032e-03 9.04751944e-05 9.99992402e-01 -3.22787889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.180281693 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:160.02, Y:20.16, Z:-0.32 [[ 9.18191880e-01 -3.96122416e-01 -3.27169410e-03 1.60023546e+02] [ 3.96119618e-01 9.18197706e-01 -1.49055267e-03 2.01580157e+01] [ 3.59450334e-03 7.26311373e-05 9.99993537e-01 -3.22731771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.21028169299998 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:160.05, Y:20.17, Z:-0.32 [[ 9.15953361e-01 -4.01273433e-01 -3.01220391e-03 1.60048216e+02] [ 4.01271087e-01 9.15958312e-01 -1.37307264e-03 2.01709776e+01] [ 3.31003078e-03 4.89601642e-05 9.99994521e-01 -3.23984493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.240281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:160.07, Y:20.18, Z:-0.32 [[ 9.15027353e-01 -4.03379390e-01 -3.16416854e-03 1.60073279e+02] [ 4.03376812e-01 9.15032822e-01 -1.44277223e-03 2.01821111e+01] [ 3.47730266e-03 4.38238343e-05 9.99993953e-01 -3.24143173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.270281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:160.10, Y:20.19, Z:-0.32 [[ 9.14349683e-01 -4.04913367e-01 -3.13398590e-03 1.60098439e+02] [ 4.04910845e-01 9.14355053e-01 -1.42973298e-03 2.01948667e+01] [ 3.44449384e-03 3.82910229e-05 9.99994067e-01 -3.24317994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.300281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:160.12, Y:20.21, Z:-0.32 [[ 9.13803000e-01 -4.06138365e-01 -3.96296460e-03 1.60121889e+02] [ 4.06134341e-01 9.13811592e-01 -1.80842998e-03 2.02081736e+01] [ 4.35587578e-03 4.30527206e-05 9.99990512e-01 -3.23767158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.330281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:160.15, Y:20.22, Z:-0.32 [[ 9.13480614e-01 -4.06826120e-01 -6.75846403e-03 1.60145581e+02] [ 4.06814425e-01 9.13505612e-01 -3.08544138e-03 2.02234640e+01] [ 7.42913297e-03 6.90502285e-05 9.99972401e-01 -3.24787653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.360281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:160.17, Y:20.24, Z:-0.33 [[ 9.13387411e-01 -4.07024892e-01 -7.36033418e-03 1.60171131e+02] [ 4.07011016e-01 9.13417063e-01 -3.36169397e-03 2.02355304e+01] [ 8.09134796e-03 7.47918519e-05 9.99967262e-01 -3.25410724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.390281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:160.20, Y:20.25, Z:-0.32 [[ 9.13199129e-01 -4.07481256e-01 -5.13588394e-03 1.60196622e+02] [ 4.07474501e-01 9.13213570e-01 -2.34685542e-03 2.02466740e+01] [ 5.64645850e-03 5.04045775e-05 9.99984057e-01 -3.24732851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.420281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:160.22, Y:20.26, Z:-0.32 [[ 9.12869051e-01 -4.08232492e-01 -4.04083277e-03 1.60221717e+02] [ 4.08228314e-01 9.12877993e-01 -1.84737928e-03 2.02590520e+01] [ 4.44294756e-03 3.68330241e-05 9.99990129e-01 -3.24094253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.450281693 meters Centerline goodness : 0.999306 Centerline is valid? [True, True] Translation: X:160.25, Y:20.27, Z:-0.32 [[ 9.12513440e-01 -4.09031393e-01 -3.54149636e-03 1.60245744e+02] [ 4.09028187e-01 9.12520311e-01 -1.61959544e-03 2.02706815e+01] [ 3.89415274e-03 2.93307714e-05 9.99992417e-01 -3.23226955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.480281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:160.27, Y:20.28, Z:-0.32 [[ 9.12109669e-01 -4.09940012e-01 -2.26694454e-03 1.60271845e+02] [ 4.09938700e-01 9.12112486e-01 -1.03723803e-03 2.02806924e+01] [ 2.49291379e-03 1.67665417e-05 9.99996893e-01 -3.22884040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.510281693 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:160.30, Y:20.29, Z:-0.32 [[ 9.11605004e-01 -4.11060916e-01 -2.28916352e-03 1.60297988e+02] [ 4.11059581e-01 9.11607878e-01 -1.04789955e-03 2.02908251e+01] [ 2.51757005e-03 1.42878761e-05 9.99996831e-01 -3.23387075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.540281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:160.32, Y:20.30, Z:-0.32 [[ 9.10983231e-01 -4.12433485e-01 -2.85898117e-03 1.60323375e+02] [ 4.12431409e-01 9.10987717e-01 -1.30890589e-03 2.03010045e+01] [ 3.14433334e-03 1.32576838e-05 9.99995056e-01 -3.23754565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.570281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:160.35, Y:20.31, Z:-0.32 [[ 9.09851609e-01 -4.14917018e-01 -3.73070340e-03 1.60349833e+02] [ 4.14913499e-01 9.09859257e-01 -1.70885756e-03 2.03101369e+01] [ 4.10344911e-03 6.88759723e-06 9.99991581e-01 -3.23921574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.600281693 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:160.38, Y:20.32, Z:-0.32 [[ 9.09474084e-01 -4.15747174e-01 -3.34331832e-03 1.60376477e+02] [ 4.15744350e-01 9.09480229e-01 -1.53216444e-03 2.03199740e+01] [ 3.67767494e-03 3.49815210e-06 9.99993237e-01 -3.23592417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.630281693 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:160.40, Y:20.33, Z:-0.32 [[ 9.09392018e-01 -4.15928370e-01 -3.12245720e-03 1.60401848e+02] [ 4.15925907e-01 9.09397378e-01 -1.43118457e-03 2.03291547e+01] [ 3.43482465e-03 2.79698333e-06 9.99994101e-01 -3.22433758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.660281693 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:160.43, Y:20.34, Z:-0.32 [[ 9.09989751e-01 -4.14618799e-01 -3.14703135e-03 1.60429026e+02] [ 4.14616287e-01 9.09995193e-01 -1.44322666e-03 2.03381413e+01] [ 3.46217231e-03 8.51101915e-06 9.99994007e-01 -3.22297573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.690281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:160.45, Y:20.35, Z:-0.32 [[ 9.10283462e-01 -4.13974877e-01 -2.96997811e-03 1.60454563e+02] [ 4.13972634e-01 9.10288307e-01 -1.36272727e-03 2.03487505e+01] [ 3.26767120e-03 1.09784310e-05 9.99994661e-01 -3.22477819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.720281693 meters Centerline goodness : 0.998880 Centerline is valid? [True, True] Translation: X:160.48, Y:20.36, Z:-0.32 [[ 9.10741351e-01 -4.12971848e-01 -2.10806432e-03 1.60480849e+02] [ 4.12970715e-01 9.10743791e-01 -9.67425715e-04 2.03569266e+01] [ 2.31942608e-03 1.05057723e-05 9.99997310e-01 -3.22399222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.750281693 meters Centerline goodness : 0.998649 Centerline is valid? [True, True] Translation: X:160.51, Y:20.37, Z:-0.32 [[ 9.10823287e-01 -4.12793297e-01 -1.62297281e-03 1.60507074e+02] [ 4.12792624e-01 9.10824733e-01 -7.45278421e-04 2.03666919e+01] [ 1.78588971e-03 8.86573600e-06 9.99998405e-01 -3.22499842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.780281693 meters Centerline goodness : 0.998640 Centerline is valid? [True, True] Translation: X:160.53, Y:20.38, Z:-0.32 [[ 9.10804193e-01 -4.12836706e-01 -1.25528920e-03 1.60532789e+02] [ 4.12836303e-01 9.10805058e-01 -5.76517747e-04 2.03758405e+01] [ 1.38133144e-03 6.86582871e-06 9.99999046e-01 -3.23125206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.810281693 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:160.56, Y:20.39, Z:-0.32 [[ 9.10529390e-01 -4.13442458e-01 -1.25050110e-03 1.60559730e+02] [ 4.13442058e-01 9.10530249e-01 -5.74690941e-04 2.03852314e+01] [ 1.37622071e-03 6.26324247e-06 9.99999053e-01 -3.23677563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.840281693 meters Centerline goodness : 0.998746 Centerline is valid? [True, True] Translation: X:160.59, Y:20.39, Z:-0.32 [[ 9.09839242e-01 -4.14954715e-01 -2.26677522e-03 1.60587124e+02] [ 4.14953407e-01 9.09842066e-01 -1.04178103e-03 2.03910228e+01] [ 2.49469940e-03 7.24715756e-06 9.99996888e-01 -3.23619755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.870281693 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:160.61, Y:20.40, Z:-0.32 [[ 9.09672707e-01 -4.15320567e-01 -2.09586098e-03 1.60613911e+02] [ 4.15319449e-01 9.09675122e-01 -9.63758949e-04 2.04002472e+01] [ 2.30682151e-03 6.25338471e-06 9.99997339e-01 -3.23040323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.900281693 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:160.64, Y:20.41, Z:-0.32 [[ 9.09953094e-01 -4.14705203e-01 -2.22753270e-03 1.60640679e+02] [ 4.14703937e-01 9.09955820e-01 -1.02481666e-03 2.04100893e+01] [ 2.45195315e-03 8.76851340e-06 9.99996994e-01 -3.22954056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.930281693 meters Centerline goodness : 0.998664 Centerline is valid? [True, True] Translation: X:160.67, Y:20.42, Z:-0.32 [[ 9.11533716e-01 -4.11220294e-01 -2.03832708e-03 1.60666677e+02] [ 4.11219224e-01 9.11535995e-01 -9.37909247e-04 2.04173820e+01] [ 2.24369582e-03 1.67366195e-05 9.99997483e-01 -3.23175565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.96028169299998 meters Centerline goodness : 0.998496 Centerline is valid? [True, True] Translation: X:160.69, Y:20.43, Z:-0.32 [[ 9.12104144e-01 -4.09956368e-01 -1.34390987e-03 1.60693198e+02] [ 4.09955901e-01 9.12105134e-01 -6.18800739e-04 2.04273768e+01] [ 1.47946839e-03 1.34669384e-05 9.99998906e-01 -3.24428826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.990281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:160.72, Y:20.43, Z:-0.32 [[ 9.12346400e-01 -4.09416640e-01 -1.43558762e-03 1.60719823e+02] [ 4.09416106e-01 9.12347530e-01 -6.61073765e-04 2.04332912e+01] [ 1.58040942e-03 1.53755776e-05 9.99998751e-01 -3.24833263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.020281693 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:160.75, Y:20.44, Z:-0.33 [[ 9.11962607e-01 -4.10269166e-01 -1.84802288e-03 1.60746686e+02] [ 4.10268282e-01 9.11964479e-01 -8.51474628e-04 2.04428221e+01] [ 2.03466501e-03 1.83278477e-05 9.99997930e-01 -3.25495167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.050281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:160.77, Y:20.45, Z:-0.33 [[ 9.11575819e-01 -4.11120354e-01 -3.09518156e-03 1.60772159e+02] [ 4.11117881e-01 9.11581073e-01 -1.42624550e-03 2.04522009e+01] [ 3.40786748e-03 2.76464226e-05 9.99994193e-01 -3.25329861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.080281693 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:160.80, Y:20.46, Z:-0.33 [[ 9.11533544e-01 -4.11198797e-01 -4.70614875e-03 1.60799098e+02] [ 4.11193075e-01 9.11545691e-01 -2.16968033e-03 2.04609271e+01] [ 5.18203956e-03 4.26006242e-05 9.99986572e-01 -3.25510975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.110281693 meters Centerline goodness : 0.998585 Centerline is valid? [True, True] Translation: X:160.82, Y:20.47, Z:-0.33 [[ 9.11775632e-01 -4.10654455e-01 -5.30240627e-03 1.60824864e+02] [ 4.10647174e-01 9.11791049e-01 -2.44580179e-03 2.04708917e+01] [ 5.83906598e-03 5.26043196e-05 9.99982951e-01 -3.26397276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.140281693 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:160.85, Y:20.48, Z:-0.33 [[ 9.12265314e-01 -4.09557675e-01 -5.87435140e-03 1.60850434e+02] [ 4.09548714e-01 9.12284225e-01 -2.71012485e-03 2.04804144e+01] [ 6.46903055e-03 6.65198388e-05 9.99979073e-01 -3.26273812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.170281693 meters Centerline goodness : 0.998680 Centerline is valid? [True, True] Translation: X:160.88, Y:20.49, Z:-0.33 [[ 9.12808850e-01 -4.08348094e-01 -5.64244183e-03 1.60877025e+02] [ 4.08339794e-01 9.12826286e-01 -2.60448805e-03 2.04907047e+01] [ 6.21410695e-03 7.33662085e-05 9.99980690e-01 -3.25835005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.200281693 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:160.90, Y:20.50, Z:-0.32 [[ 9.15041979e-01 -4.03345797e-01 -3.21614389e-03 1.60902507e+02] [ 4.03343069e-01 9.15047629e-01 -1.48483564e-03 2.05006438e+01] [ 3.54182706e-03 6.14775981e-05 9.99993726e-01 -3.24381354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.230281693 meters Centerline goodness : 0.998576 Centerline is valid? [True, True] Translation: X:160.93, Y:20.51, Z:-0.32 [[ 9.16703560e-01 -3.99564443e-01 -1.68511730e-03 1.60928151e+02] [ 3.99563687e-01 9.16705107e-01 -7.78455214e-04 2.05124462e+01] [ 1.85579866e-03 4.03009835e-05 9.99998277e-01 -3.23814430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.260281693 meters Centerline goodness : 0.998806 Centerline is valid? [True, True] Translation: X:160.95, Y:20.52, Z:-0.32 [[ 9.18564946e-01 -3.95269911e-01 -3.71739769e-04 1.60953480e+02] [ 3.95269874e-01 9.18565021e-01 -1.71908576e-04 2.05245262e+01] [ 4.09417436e-04 1.09716606e-05 9.99999916e-01 -3.24089075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.290281693 meters Centerline goodness : 0.998660 Centerline is valid? [True, True] Translation: X:160.98, Y:20.54, Z:-0.32 [[ 9.22143226e-01 -3.86848642e-01 -1.43643451e-06 1.60977657e+02] [ 3.86848642e-01 9.22143226e-01 -7.95258104e-07 2.05395012e+01] [ 1.63224289e-06 1.77659138e-07 1.00000000e+00 -3.24140683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.320281693 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:161.00, Y:20.55, Z:-0.32 [[ 9.23434412e-01 -3.83752632e-01 -1.67446035e-03 1.61001148e+02] [ 3.83751858e-01 9.23435927e-01 -7.74369042e-04 2.05534915e+01] [ 1.84342300e-03 7.25017518e-05 9.99998298e-01 -3.24326284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.350281693 meters Centerline goodness : 0.998490 Centerline is valid? [True, True] Translation: X:161.02, Y:20.57, Z:-0.33 [[ 9.24977808e-01 -3.79997220e-01 -4.26233030e-03 1.61023708e+02] [ 3.79992157e-01 9.24987606e-01 -1.97208554e-03 2.05710054e+01] [ 4.69198972e-03 2.04483277e-04 9.99988972e-01 -3.25100021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.380281693 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:161.05, Y:20.59, Z:-0.32 [[ 9.25397315e-01 -3.78974359e-01 -4.27126223e-03 1.61046978e+02] [ 3.78969263e-01 9.25407149e-01 -1.97655672e-03 2.05860303e+01] [ 4.70172091e-03 2.10423183e-04 9.99988925e-01 -3.24325055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.410281693 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:161.07, Y:20.60, Z:-0.32 [[ 9.25668028e-01 -3.78321494e-01 -3.39838636e-03 1.61070955e+02] [ 3.78318261e-01 9.25674250e-01 -1.57346996e-03 2.06012882e+01] [ 3.74107625e-03 1.70839223e-04 9.99992988e-01 -3.23837150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.440281693 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:161.09, Y:20.62, Z:-0.32 [[ 9.25534610e-01 -3.78662305e-01 -7.37258795e-04 1.61092936e+02] [ 3.78662153e-01 9.25534903e-01 -3.41620230e-04 2.06196901e+01] [ 8.11717451e-04 3.70093442e-05 9.99999670e-01 -3.23794453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.470281693 meters Centerline goodness : 0.998603 Centerline is valid? [True, True] Translation: X:161.12, Y:20.63, Z:-0.32 [[ 9.25115935e-01 -3.79683687e-01 8.96690975e-04 1.61116041e+02] [ 3.79683462e-01 9.25116369e-01 4.15368727e-04 2.06342652e+01] [-9.87252228e-04 -4.38054946e-05 9.99999512e-01 -3.23578576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.500281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:161.14, Y:20.65, Z:-0.32 [[ 9.24569101e-01 -3.81008027e-01 2.20469558e-03 1.61139410e+02] [ 3.81006672e-01 9.24571724e-01 1.02176986e-03 2.06499956e+01] [-2.42770171e-03 -1.04693113e-04 9.99997048e-01 -3.23734009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.530281693 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:161.16, Y:20.67, Z:-0.32 [[ 9.23326465e-01 -3.84014215e-01 1.14933180e-03 1.61159469e+02] [ 3.84013849e-01 9.23327179e-01 5.32854699e-04 2.06722435e+01] [-1.26583307e-03 -5.06395178e-05 9.99999198e-01 -3.23827786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.560281693 meters Centerline goodness : 0.998512 Centerline is valid? [True, True] Translation: X:161.18, Y:20.69, Z:-0.32 [[ 9.22674227e-01 -3.85579888e-01 -6.48932124e-04 1.61181952e+02] [ 3.85579771e-01 9.22674455e-01 -3.01120332e-04 2.06881421e+01] [ 7.14859038e-04 2.76208698e-05 9.99999744e-01 -3.24925919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.590281693 meters Centerline goodness : 0.998621 Centerline is valid? [True, True] Translation: X:161.20, Y:20.70, Z:-0.33 [[ 9.20941475e-01 -3.89685146e-01 -3.50539441e-03 1.61204291e+02] [ 3.89681774e-01 9.20948136e-01 -1.62650610e-03 2.07045297e+01] [ 3.86211172e-03 1.31928617e-04 9.99992533e-01 -3.25068791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.620281693 meters Centerline goodness : 0.998588 Centerline is valid? [True, True] Translation: X:161.23, Y:20.72, Z:-0.32 [[ 9.20014115e-01 -3.91875007e-01 -2.82958452e-03 1.61228834e+02] [ 3.91872817e-01 9.20018461e-01 -1.31366129e-03 2.07191673e+01] [ 3.11806102e-03 9.97496702e-05 9.99995134e-01 -3.24320646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.650281693 meters Centerline goodness : 0.998618 Centerline is valid? [True, True] Translation: X:161.25, Y:20.73, Z:-0.32 [[ 9.19264211e-01 -3.93639337e-01 -1.17608443e-03 1.61251685e+02] [ 3.93638960e-01 9.19264962e-01 -5.46127555e-04 2.07343659e+01] [ 1.29611049e-03 3.90828655e-05 9.99999159e-01 -3.23761288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.680281693 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:161.27, Y:20.76, Z:-0.32 [[ 9.18705525e-01 -3.94942181e-01 9.11653047e-04 1.61272208e+02] [ 3.94941955e-01 9.18705977e-01 4.23342316e-04 2.07552187e+01] [-1.00473684e-03 -2.88768876e-05 9.99999495e-01 -3.23015784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.71028169299998 meters Centerline goodness : 0.998686 Centerline is valid? [True, True] Translation: X:161.30, Y:20.77, Z:-0.32 [[ 9.18814726e-01 -3.94688751e-01 5.37886941e-04 1.61295381e+02] [ 3.94688672e-01 9.18814883e-01 2.49826027e-04 2.07704135e+01] [-5.92822050e-04 -1.72459498e-05 9.99999824e-01 -3.23352900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.740281693 meters Centerline goodness : 0.998753 Centerline is valid? [True, True] Translation: X:161.32, Y:20.78, Z:-0.32 [[ 9.18640797e-01 -3.95093713e-01 2.06995421e-04 1.61318400e+02] [ 3.95093702e-01 9.18640821e-01 9.61067578e-05 2.07849325e+01] [-2.28125619e-04 -6.50500150e-06 9.99999974e-01 -3.24196401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.770281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:161.34, Y:20.80, Z:-0.32 [[ 9.18081100e-01 -3.96392561e-01 1.75638932e-04 1.61342472e+02] [ 3.96392552e-01 9.18081117e-01 8.15292334e-05 2.07991466e+01] [-1.93568369e-04 -5.22848369e-06 9.99999981e-01 -3.24518351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.800281693 meters Centerline goodness : 0.998666 Centerline is valid? [True, True] Translation: X:161.37, Y:20.81, Z:-0.32 [[ 9.16118351e-01 -4.00907859e-01 -2.34968561e-04 1.61365147e+02] [ 4.00907844e-01 9.16118381e-01 -1.09327819e-04 2.08142445e+01] [ 2.59089400e-04 5.95648179e-06 9.99999966e-01 -3.24868535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.830281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:161.39, Y:20.83, Z:-0.33 [[ 9.14953784e-01 -4.03558101e-01 -6.56662869e-04 1.61390183e+02] [ 4.03557986e-01 9.14954020e-01 -3.05659912e-04 2.08270734e+01] [ 7.24167866e-04 1.46631485e-05 9.99999738e-01 -3.25495136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.860281693 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:161.42, Y:20.84, Z:-0.33 [[ 9.13848256e-01 -4.06053734e-01 -1.31531125e-03 1.61415251e+02] [ 4.06053273e-01 9.13849202e-01 -6.12411691e-04 2.08399069e+01] [ 1.45066819e-03 2.55649164e-05 9.99998947e-01 -3.25578537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.890281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:161.44, Y:20.85, Z:-0.33 [[ 9.12372756e-01 -4.09359422e-01 -9.04508905e-04 1.61439850e+02] [ 4.09359205e-01 9.12373204e-01 -4.21397749e-04 2.08531814e+01] [ 9.97752827e-04 1.42027791e-05 9.99999502e-01 -3.25637850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.920281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:161.46, Y:20.87, Z:-0.32 [[ 9.11743877e-01 -4.10759171e-01 8.41282276e-05 1.61463451e+02] [ 4.10759169e-01 9.11743880e-01 3.91309681e-05 2.08659356e+01] [-9.27768007e-05 -1.12097972e-06 9.99999996e-01 -3.24905067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.950281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:161.49, Y:20.88, Z:-0.32 [[ 9.11672113e-01 -4.10918425e-01 8.41460260e-05 1.61489182e+02] [ 4.10918423e-01 9.11672117e-01 3.90927807e-05 2.08781388e+01] [-9.27775294e-05 -1.06264565e-06 9.99999996e-01 -3.24923309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.980281693 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:161.51, Y:20.89, Z:-0.32 [[ 9.10798032e-01 -4.12849888e-01 1.38371859e-03 1.61513647e+02] [ 4.12849385e-01 9.10799083e-01 6.44960598e-04 2.08902278e+01] [-1.52656154e-03 -1.61614734e-05 9.99998835e-01 -3.24223973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.010281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:161.54, Y:20.90, Z:-0.32 [[ 9.10119362e-01 -4.14341310e-01 2.00645000e-03 1.61539551e+02] [ 4.14340254e-01 9.10121573e-01 9.35620398e-04 2.09011506e+01] [-2.21377961e-03 -2.01732382e-05 9.99997549e-01 -3.24775723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.040281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:161.57, Y:20.91, Z:-0.32 [[ 9.09204215e-01 -4.16347037e-01 1.68519772e-03 1.61565398e+02] [ 4.16346295e-01 9.09205777e-01 7.86171131e-04 2.09109891e+01] [-1.85951152e-03 -1.31642813e-05 9.99998271e-01 -3.24659786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.070281693 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:161.59, Y:20.92, Z:-0.33 [[ 9.06750528e-01 -4.21666853e-01 7.38587134e-04 1.61592633e+02] [ 4.21666712e-01 9.06750829e-01 3.44653495e-04 2.09187297e+01] [-8.15043451e-04 -1.07712952e-06 9.99999668e-01 -3.25996679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.100281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:161.62, Y:20.93, Z:-0.33 [[ 9.05265078e-01 -4.24846025e-01 9.96519301e-04 1.61619008e+02] [ 4.24845770e-01 9.05265627e-01 4.65280535e-04 2.09281057e+01] [-1.09978726e-03 2.16479019e-06 9.99999395e-01 -3.26255550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.130281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:161.64, Y:20.94, Z:-0.33 [[ 9.04058840e-01 -4.27406916e-01 9.70051983e-04 1.61644492e+02] [ 4.27406676e-01 9.04059361e-01 4.53087671e-04 2.09367058e+01] [-1.07063738e-03 4.98877888e-06 9.99999427e-01 -3.25812421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.160281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:161.67, Y:20.94, Z:-0.33 [[ 9.02489548e-01 -4.30711754e-01 3.79003619e-05 1.61672358e+02] [ 4.30711754e-01 9.02489548e-01 1.75870075e-05 2.09422316e+01] [-4.17796113e-05 4.52040879e-07 9.99999999e-01 -3.25399006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.190281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:161.70, Y:20.95, Z:-0.33 [[ 9.02498955e-01 -4.30689964e-01 -1.33860824e-03 1.61698883e+02] [ 4.30689509e-01 9.02499947e-01 -6.26014793e-04 2.09510968e+01] [ 1.47771215e-03 -1.15468284e-05 9.99998908e-01 -3.25556422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.220281693 meters Centerline goodness : 0.998847 Centerline is valid? [True, True] Translation: X:161.73, Y:20.96, Z:-0.33 [[ 9.03018634e-01 -4.29594631e-01 -2.40828581e-03 1.61725313e+02] [ 4.29593153e-01 9.03021845e-01 -1.12669556e-03 2.09604769e+01] [ 2.65875706e-03 -1.71560117e-05 9.99996465e-01 -3.25939015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.250281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:161.75, Y:20.97, Z:-0.33 [[ 9.05148589e-01 -4.25087977e-01 -2.49852108e-03 1.61751835e+02] [ 4.25086370e-01 9.05152038e-01 -1.16907472e-03 2.09666670e+01] [ 2.75850105e-03 -3.90092160e-06 9.99996195e-01 -3.26282756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.280281693 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:161.78, Y:20.97, Z:-0.33 [[ 9.06578250e-01 -4.22034057e-01 -1.76959853e-03 1.61777595e+02] [ 4.22033244e-01 9.06579977e-01 -8.28186359e-04 2.09748417e+01] [ 1.95380544e-03 3.98633319e-06 9.99998091e-01 -3.25515900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.310281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:161.80, Y:20.98, Z:-0.33 [[ 9.09286460e-01 -4.16170786e-01 -1.02777270e-04 1.61804703e+02] [ 4.16170783e-01 9.09286466e-01 -4.82470117e-05 2.09822316e+01] [ 1.13532977e-04 1.09745767e-06 9.99999994e-01 -3.25156403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.340281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:161.83, Y:20.99, Z:-0.33 [[ 9.10636367e-01 -4.13208516e-01 3.58422446e-04 1.61830450e+02] [ 4.13208482e-01 9.10636438e-01 1.67763547e-04 2.09925851e+01] [-3.95713866e-04 -4.66839166e-06 9.99999922e-01 -3.25619135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.370281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:161.86, Y:21.00, Z:-0.33 [[ 9.11924829e-01 -4.10356916e-01 5.54421523e-04 1.61856300e+02] [ 4.10356834e-01 9.11924998e-01 2.59694138e-04 2.10031578e+01] [-6.12158132e-04 -9.31087138e-06 9.99999813e-01 -3.26116761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.400281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:161.88, Y:21.01, Z:-0.33 [[ 9.13042773e-01 -4.07862401e-01 1.07543405e-03 1.61882181e+02] [ 4.07862090e-01 9.13043406e-01 5.04100149e-04 2.10137234e+01] [-1.18752146e-03 -2.16362210e-05 9.99999295e-01 -3.25550269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.430281693 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:161.91, Y:21.02, Z:-0.32 [[ 9.15115366e-01 -4.03189384e-01 1.47880958e-03 1.61907750e+02] [ 4.03188789e-01 9.15116561e-01 6.93450245e-04 2.10236078e+01] [-1.63287491e-03 -3.83475305e-05 9.99998666e-01 -3.24987247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.46028169299998 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:161.93, Y:21.04, Z:-0.33 [[ 9.16055165e-01 -4.01051876e-01 5.72344295e-04 1.61933615e+02] [ 4.01051786e-01 9.16055344e-01 2.68406989e-04 2.10354966e+01] [-6.31944176e-04 -1.63359074e-05 9.99999800e-01 -3.26017726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.490281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:161.96, Y:21.05, Z:-0.33 [[ 9.17044335e-01 -3.98785259e-01 -7.49607839e-05 1.61958372e+02] [ 3.98785257e-01 9.17044338e-01 -3.52303156e-05 2.10473006e+01] [ 8.27916930e-05 2.41450588e-06 9.99999997e-01 -3.26862732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.520281693 meters Centerline goodness : 0.998918 Centerline is valid? [True, True] Translation: X:161.98, Y:21.06, Z:-0.33 [[ 9.18954317e-01 -3.94363976e-01 -1.34528919e-04 1.61982691e+02] [ 3.94363971e-01 9.18954327e-01 -6.31955799e-05 2.10598576e+01] [ 1.48547993e-04 5.02049217e-06 9.99999989e-01 -3.27103013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.550281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:162.01, Y:21.07, Z:-0.33 [[ 9.19573872e-01 -3.92917158e-01 -2.29175031e-05 1.62007103e+02] [ 3.92917158e-01 9.19573872e-01 -1.08828593e-05 2.10733817e+01] [ 2.53503992e-05 1.00291287e-06 1.00000000e+00 -3.26855127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.580281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:162.03, Y:21.09, Z:-0.32 [[ 9.20335983e-01 -3.91128476e-01 4.40997041e-04 1.62029709e+02] [ 3.91128422e-01 9.20336088e-01 2.07048348e-04 2.10900681e+01] [-4.86847996e-04 -1.80675684e-05 9.99999881e-01 -3.24763261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.610281693 meters Centerline goodness : 0.999010 Centerline is valid? [True, True] Translation: X:162.05, Y:21.10, Z:-0.32 [[ 9.20634223e-01 -3.90425454e-01 7.70042881e-04 1.62052190e+02] [ 3.90425288e-01 9.20634544e-01 3.61776662e-04 2.11046440e+01] [-8.50174894e-04 -3.24197623e-05 9.99999638e-01 -3.24408487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.640281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:162.08, Y:21.12, Z:-0.33 [[ 9.20938016e-01 -3.89707185e-01 1.21669995e-03 1.62075340e+02] [ 3.89706769e-01 9.20938818e-01 5.71768931e-04 2.11198817e+01] [-1.34332868e-03 -5.24075377e-05 9.99999096e-01 -3.25511402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.670281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:162.10, Y:21.14, Z:-0.33 [[ 9.21370252e-01 -3.88684454e-01 1.11956506e-03 1.62099222e+02] [ 3.88684101e-01 9.21370931e-01 5.26289049e-04 2.11355124e+01] [-1.23609508e-03 -4.97499342e-05 9.99999235e-01 -3.25671702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.700281693 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:162.12, Y:21.15, Z:-0.33 [[ 9.21357060e-01 -3.88714605e-01 1.45776732e-03 1.62120482e+02] [ 3.88714006e-01 9.21358210e-01 6.85520412e-04 2.11541561e+01] [-1.60959768e-03 -6.49544988e-05 9.99998702e-01 -3.27134261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.730281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:162.14, Y:21.17, Z:-0.33 [[ 9.20775677e-01 -3.90087677e-01 1.93799507e-03 1.62143234e+02] [ 3.90086621e-01 9.20777713e-01 9.11716227e-04 2.11704048e+01] [-2.14011193e-03 -8.35001795e-05 9.99997706e-01 -3.26317117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.760281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:162.16, Y:21.19, Z:-0.33 [[ 9.19231634e-01 -3.93714107e-01 1.55075091e-03 1.62163621e+02] [ 3.93713435e-01 9.19232940e-01 7.29849755e-04 2.11907723e+01] [-1.71285346e-03 -6.03495153e-05 9.99998531e-01 -3.26996531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.790281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:162.19, Y:21.21, Z:-0.33 [[ 9.18382273e-01 -3.95693556e-01 7.81522683e-04 1.62187882e+02] [ 3.95693386e-01 9.18382605e-01 3.67924489e-04 2.12059007e+01] [-8.63322186e-04 -2.86519713e-05 9.99999627e-01 -3.27108232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.820281693 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:162.21, Y:21.22, Z:-0.33 [[ 9.17578563e-01 -3.97554353e-01 3.41521431e-04 1.62212644e+02] [ 3.97554321e-01 9.17578627e-01 1.60784280e-04 2.12201537e+01] [-3.77293256e-04 -1.17588885e-05 9.99999929e-01 -3.27715891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.850281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:162.24, Y:21.24, Z:-0.33 [[ 9.16067032e-01 -4.01025023e-01 3.51172854e-04 1.62236131e+02] [ 4.01024989e-01 9.16067099e-01 1.65406938e-04 2.12355897e+01] [-3.88030219e-04 -1.06947525e-05 9.99999925e-01 -3.27665554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.880281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:162.26, Y:21.25, Z:-0.33 [[ 9.15358363e-01 -4.02638882e-01 9.98915560e-04 1.62259661e+02] [ 4.02638608e-01 9.15358908e-01 4.70900061e-04 2.12497399e+01] [-1.10396893e-03 -2.88403386e-05 9.99999390e-01 -3.27924113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.910281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:162.28, Y:21.26, Z:-0.33 [[ 9.14892789e-01 -4.03693446e-01 1.66890905e-03 1.62283626e+02] [ 4.03692682e-01 9.14894310e-01 7.87069069e-04 2.12640586e+01] [-1.84461002e-03 -4.63574457e-05 9.99998298e-01 -3.28053129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.940281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:162.31, Y:21.28, Z:-0.33 [[ 9.14400200e-01 -4.04810360e-01 9.20736823e-04 1.62307218e+02] [ 4.04810127e-01 9.14400663e-01 4.34365735e-04 2.12787705e+01] [-1.01775811e-03 -2.44605241e-05 9.99999482e-01 -3.29050972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.970281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:162.33, Y:21.29, Z:-0.33 [[ 9.13978731e-01 -4.05761893e-01 -4.07800263e-04 1.62332080e+02] [ 4.05761848e-01 9.13978821e-01 -1.92656116e-04 2.12915330e+01] [ 4.50893314e-04 1.06138042e-05 9.99999898e-01 -3.29808766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.000281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:162.36, Y:21.30, Z:-0.33 [[ 9.13614073e-01 -4.06580109e-01 -1.39311861e-03 1.62356036e+02] [ 4.06579578e-01 9.13615134e-01 -6.58005019e-04 2.13043208e+01] [ 1.54030600e-03 3.47490678e-05 9.99998813e-01 -3.29836184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.030281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:162.38, Y:21.32, Z:-0.33 [[ 9.13319343e-01 -4.07243242e-01 -8.47932465e-04 1.62380257e+02] [ 4.07243045e-01 9.13319737e-01 -4.00754459e-04 2.13180244e+01] [ 9.37638001e-04 2.07022009e-05 9.99999560e-01 -3.29616561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.060281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:162.40, Y:21.33, Z:-0.33 [[ 9.12867349e-01 -4.08256041e-01 -4.56929394e-04 1.62404329e+02] [ 4.08255984e-01 9.12867463e-01 -2.15986581e-04 2.13292485e+01] [ 5.05293803e-04 1.06229379e-05 9.99999872e-01 -3.29434583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.090281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:162.43, Y:21.34, Z:-0.33 [[ 9.11882456e-01 -4.10451442e-01 -1.11685290e-06 1.62429577e+02] [ 4.10451442e-01 9.11882456e-01 -6.52201725e-07 2.13403314e+01] [ 1.28613573e-06 1.36317429e-07 1.00000000e+00 -3.30232679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.120281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:162.46, Y:21.35, Z:-0.33 [[ 9.10704014e-01 -4.13059519e-01 1.81554415e-04 1.62455035e+02] [ 4.13059510e-01 9.10704032e-01 8.57500957e-05 2.13510090e+01] [-2.00762231e-04 -3.10017849e-06 9.99999980e-01 -3.30651956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.150281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:162.48, Y:21.36, Z:-0.33 [[ 9.09012836e-01 -4.16767440e-01 -7.51395806e-04 1.62480493e+02] [ 4.16767289e-01 9.09013147e-01 -3.55610772e-04 2.13600398e+01] [ 8.31235658e-04 1.00975639e-05 9.99999654e-01 -3.31596464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.180281693 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:162.51, Y:21.37, Z:-0.33 [[ 9.08395557e-01 -4.18109860e-01 -1.28684339e-03 1.62506569e+02] [ 4.18109417e-01 9.08396469e-01 -6.09267055e-04 2.13708537e+01] [ 1.42370455e-03 1.54141491e-05 9.99998986e-01 -3.31702583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.21028169299998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:162.53, Y:21.38, Z:-0.33 [[ 9.07877030e-01 -4.19234561e-01 -1.29662554e-03 1.62532644e+02] [ 4.19234111e-01 9.07877956e-01 -6.14190526e-04 2.13800309e+01] [ 1.43466764e-03 1.40198148e-05 9.99998971e-01 -3.30562803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.240281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:162.56, Y:21.39, Z:-0.33 [[ 9.07788677e-01 -4.19426999e-01 -8.42637806e-04 1.62557398e+02] [ 4.19426809e-01 9.07789068e-01 -3.99197672e-04 2.13896887e+01] [ 9.32371670e-04 8.96224014e-06 9.99999565e-01 -3.29925685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.270281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:162.58, Y:21.40, Z:-0.33 [[ 9.07888637e-01 -4.19211401e-01 -1.55516384e-04 1.62583103e+02] [ 4.19211395e-01 9.07888650e-01 -7.37353716e-05 2.13995561e+01] [ 1.72102268e-04 1.74926585e-06 9.99999985e-01 -3.29263097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.300281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:162.61, Y:21.41, Z:-0.33 [[ 9.08319196e-01 -4.18276457e-01 1.02158503e-03 1.62610136e+02] [ 4.18276177e-01 9.08319771e-01 4.84093712e-04 2.14085485e+01] [-1.13041088e-03 -1.24069319e-05 9.99999361e-01 -3.28804000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.330281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:162.64, Y:21.42, Z:-0.33 [[ 9.08913529e-01 -4.16982405e-01 1.36734240e-03 1.62636290e+02] [ 4.16981902e-01 9.08914558e-01 6.48265620e-04 2.14192265e+01] [-1.51311277e-03 -1.90603590e-05 9.99998855e-01 -3.28631957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.360281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:162.66, Y:21.43, Z:-0.33 [[ 9.09448960e-01 -4.15813322e-01 1.36764843e-03 1.62662293e+02] [ 4.15812816e-01 9.09449988e-01 6.48707428e-04 2.14300613e+01] [-1.51354904e-03 -2.12805518e-05 9.99998854e-01 -3.28599026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.390281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:162.69, Y:21.44, Z:-0.33 [[ 9.10246967e-01 -4.14065190e-01 6.91511071e-04 1.62688803e+02] [ 4.14065060e-01 9.10247229e-01 3.28087921e-04 2.14389344e+01] [-7.65295824e-04 -1.23104622e-05 9.99999707e-01 -3.29617126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.420281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:162.71, Y:21.45, Z:-0.33 [[ 9.10600926e-01 -4.13286607e-01 3.65180278e-04 1.62713385e+02] [ 4.13286571e-01 9.10601000e-01 1.73306831e-04 2.14492478e+01] [-4.04158918e-04 -6.88925576e-06 9.99999918e-01 -3.29069094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.450281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:162.74, Y:21.46, Z:-0.33 [[ 9.11552732e-01 -4.11183185e-01 -7.11405227e-05 1.62738128e+02] [ 4.11183184e-01 9.11552735e-01 -3.38672712e-05 2.14591360e+01] [ 7.87739905e-05 1.62001697e-06 9.99999997e-01 -3.29290693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.480281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:162.76, Y:21.47, Z:-0.33 [[ 9.12062415e-01 -4.10051325e-01 -2.47571660e-04 1.62763225e+02] [ 4.10051308e-01 9.12062449e-01 -1.17642136e-04 2.14694377e+01] [ 2.74040129e-04 5.77988739e-06 9.99999962e-01 -3.29783410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.510281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:162.79, Y:21.48, Z:-0.33 [[ 9.12150290e-01 -4.09855380e-01 -6.45474006e-04 1.62788920e+02] [ 4.09855265e-01 9.12150518e-01 -3.06830588e-04 2.14800205e+01] [ 7.14525616e-04 1.53246894e-05 9.99999745e-01 -3.30279446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.540281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:162.82, Y:21.49, Z:-0.33 [[ 9.11439331e-01 -4.11434435e-01 -2.26191048e-04 1.62815327e+02] [ 4.11434421e-01 9.11439359e-01 -1.07644267e-04 2.14899783e+01] [ 2.50447982e-04 5.04843598e-06 9.99999969e-01 -3.29751805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.570281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:162.84, Y:21.50, Z:-0.33 [[ 9.10716774e-01 -4.13031162e-01 4.65354332e-04 1.62841135e+02] [ 4.13031103e-01 9.10716893e-01 2.21193946e-04 2.15019763e+01] [-5.15166043e-04 -9.23922365e-06 9.99999867e-01 -3.29644800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.600281693 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:162.87, Y:21.51, Z:-0.33 [[ 9.10020987e-01 -4.14561277e-01 8.66146020e-04 1.62867227e+02] [ 4.14561072e-01 9.10021400e-01 4.12001172e-04 2.15134245e+01] [-9.59011146e-04 -1.58592906e-05 9.99999540e-01 -3.29269816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.630281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:162.89, Y:21.52, Z:-0.33 [[ 9.09194062e-01 -4.16372274e-01 5.36072181e-04 1.62893698e+02] [ 4.16372195e-01 9.09194220e-01 2.55063884e-04 2.15227306e+01] [-5.93595257e-04 -8.69701776e-06 9.99999824e-01 -3.29730947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.660281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:162.92, Y:21.53, Z:-0.33 [[ 9.09107886e-01 -4.16560517e-01 -4.32752212e-04 1.62919448e+02] [ 4.16560466e-01 9.09107989e-01 -2.06234213e-04 2.15340035e+01] [ 4.79327524e-04 7.22168630e-06 9.99999885e-01 -3.30265854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.690281693 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:162.94, Y:21.55, Z:-0.33 [[ 9.09140632e-01 -4.16487420e-01 -1.24065962e-03 1.62944415e+02] [ 4.16487001e-01 9.09141479e-01 -5.91159170e-04 2.15450071e+01] [ 1.37414548e-03 2.07282148e-05 9.99999056e-01 -3.30345509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.720281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:162.97, Y:21.56, Z:-0.33 [[ 9.09365502e-01 -4.15996475e-01 -1.14776355e-03 1.62970041e+02] [ 4.15996115e-01 9.09366226e-01 -5.47205844e-04 2.15561211e+01] [ 1.27137311e-03 2.01449387e-05 9.99999192e-01 -3.29358383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.750281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:162.99, Y:21.57, Z:-0.33 [[ 9.09545692e-01 -4.15603239e-01 -7.63010692e-04 1.62993963e+02] [ 4.15603080e-01 9.09546012e-01 -3.63891804e-04 2.15675160e+01] [ 8.45227944e-04 1.38666290e-05 9.99999643e-01 -3.28829467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.780281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:163.02, Y:21.58, Z:-0.33 [[ 9.10491169e-01 -4.13528514e-01 4.19372208e-06 1.63019721e+02] [ 4.13528514e-01 9.10491169e-01 1.86729592e-06 2.15794901e+01] [-4.59052700e-06 3.40672150e-08 1.00000000e+00 -3.29156238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.810281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:163.04, Y:21.59, Z:-0.33 [[ 9.11293397e-01 -4.11757462e-01 -3.69619673e-04 1.63043914e+02] [ 4.11757424e-01 9.11293472e-01 -1.76413975e-04 2.15909570e+01] [ 4.09471766e-04 8.57124579e-06 9.99999916e-01 -3.29769161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.840281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:163.07, Y:21.60, Z:-0.33 [[ 9.12376900e-01 -4.09349514e-01 -1.16926784e-03 1.63068060e+02] [ 4.09349135e-01 9.12377649e-01 -5.58062550e-04 2.16024464e+01] [ 1.29525647e-03 3.05246032e-05 9.99999161e-01 -3.30322982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.870281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:163.09, Y:21.62, Z:-0.33 [[ 9.13469258e-01 -4.06903331e-01 -1.89557222e-03 1.63093012e+02] [ 4.06902328e-01 9.13471224e-01 -9.05148048e-04 2.16152971e+01] [ 2.09985843e-03 5.55121659e-05 9.99997794e-01 -3.29915810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.900281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:163.12, Y:21.63, Z:-0.33 [[ 9.13402756e-01 -4.07052592e-01 -1.89542738e-03 1.63118628e+02] [ 4.07051589e-01 9.13404721e-01 -9.05451343e-04 2.16277519e+01] [ 2.09985863e-03 5.55050268e-05 9.99997794e-01 -3.29934055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.930281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:163.14, Y:21.64, Z:-0.33 [[ 9.14421075e-01 -4.04758978e-01 -2.06580950e-03 1.63142301e+02] [ 4.04757780e-01 9.14423406e-01 -9.86963062e-04 2.16415819e+01] [ 2.28850672e-03 6.63473560e-05 9.99997379e-01 -3.29824620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.96028169299998 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:163.17, Y:21.66, Z:-0.33 [[ 9.16350956e-01 -4.00374654e-01 -1.03096186e-03 1.63165245e+02] [ 4.00374352e-01 9.16351535e-01 -4.92884238e-04 2.16589937e+01] [ 1.14206184e-03 3.88842576e-05 9.99999347e-01 -3.30015248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.990281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:163.19, Y:21.67, Z:-0.33 [[ 9.16976198e-01 -3.98941567e-01 -5.28276975e-04 1.63189986e+02] [ 3.98941535e-01 9.16976348e-01 -1.68880264e-04 2.16743872e+01] [ 5.51790849e-04 -5.58924456e-05 9.99999846e-01 -3.29741009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.020281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:163.21, Y:21.69, Z:-0.33 [[ 9.17741901e-01 -3.97175056e-01 -1.33330459e-03 1.63210843e+02] [ 3.97174424e-01 9.17742860e-01 -7.20641348e-04 2.16921177e+01] [ 1.50985153e-03 1.31808280e-04 9.99998851e-01 -3.29671867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.050281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:163.23, Y:21.71, Z:-0.33 [[ 9.17508193e-01 -3.97707479e-01 -2.73444148e-03 1.63232996e+02] [ 3.97705344e-01 9.17512261e-01 -1.30803466e-03 2.17072506e+01] [ 3.02909875e-03 1.12630528e-04 9.99995406e-01 -3.30257915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.080281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:163.26, Y:21.72, Z:-0.33 [[ 9.16771369e-01 -3.99397562e-01 -3.44169932e-03 1.63256504e+02] [ 3.99394188e-01 9.16777819e-01 -1.64716594e-03 2.17223851e+01] [ 3.81314766e-03 1.35479864e-04 9.99992721e-01 -3.31536058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.110281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:163.28, Y:21.74, Z:-0.33 [[ 9.13568372e-01 -4.06675420e-01 -2.81664200e-03 1.63279730e+02] [ 4.06673193e-01 9.13572709e-01 -1.34865830e-03 2.17384150e+01] [ 3.12167344e-03 8.66387755e-05 9.99995124e-01 -3.32176613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.140281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:163.30, Y:21.75, Z:-0.33 [[ 9.11559299e-01 -4.11161374e-01 -2.44333308e-03 1.63303688e+02] [ 4.11159713e-01 9.11562571e-01 -1.17046086e-03 2.17518946e+01] [ 2.70849928e-03 6.23443500e-05 9.99996330e-01 -3.32184788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.170281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:163.33, Y:21.77, Z:-0.33 [[ 9.07960350e-01 -4.19046875e-01 -2.77827100e-03 1.63327077e+02] [ 4.19044763e-01 9.07964600e-01 -1.33108586e-03 2.17662744e+01] [ 3.08035909e-03 4.43532725e-05 9.99995255e-01 -3.31498871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.200281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:163.35, Y:21.78, Z:-0.33 [[ 9.06473955e-01 -4.22254638e-01 -2.44711962e-03 1.63351512e+02] [ 4.22253010e-01 9.06477258e-01 -1.17306117e-03 2.17800148e+01] [ 2.71358881e-03 3.00457736e-05 9.99996318e-01 -3.31540239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.230281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:163.38, Y:21.79, Z:-0.33 [[ 9.05157237e-01 -4.25073245e-01 -1.76446570e-03 1.63375143e+02] [ 4.25072403e-01 9.05158956e-01 -8.46087187e-04 2.17927040e+01] [ 1.95677095e-03 1.58162663e-05 9.99998085e-01 -3.31430737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.260281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:163.40, Y:21.81, Z:-0.33 [[ 9.03986610e-01 -4.27559056e-01 -1.20955973e-03 1.63399901e+02] [ 4.27558663e-01 9.03987419e-01 -5.80349715e-04 2.18055833e+01] [ 1.34156055e-03 7.47063187e-06 9.99999100e-01 -3.30997345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.290281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:163.42, Y:21.82, Z:-0.33 [[ 9.02263021e-01 -4.31185228e-01 -8.60583501e-04 1.63424650e+02] [ 4.31185030e-01 9.02263431e-01 -4.13146824e-04 2.18184440e+01] [ 9.54615830e-04 1.69637886e-06 9.99999544e-01 -3.31004919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.320281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:163.45, Y:21.83, Z:-0.33 [[ 9.01555007e-01 -4.32662769e-01 -1.22426561e-03 1.63450271e+02] [ 4.32662369e-01 9.01555838e-01 -5.87965694e-04 2.18307470e+01] [ 1.35813467e-03 3.89756844e-07 9.99999078e-01 -3.31172361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.350281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:163.48, Y:21.84, Z:-0.33 [[ 9.00822132e-01 -4.34186192e-01 -1.35565942e-03 1.63476782e+02] [ 4.34185703e-01 9.00823152e-01 -6.51362262e-04 2.18410106e+01] [ 1.50402190e-03 -1.84639807e-06 9.99998869e-01 -3.30377939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:163.50, Y:21.85, Z:-0.33 [[ 9.00330978e-01 -4.35205632e-01 -4.33807326e-04 1.63502877e+02] [ 4.35205582e-01 9.00331082e-01 -2.08626775e-04 2.18517547e+01] [ 4.81365767e-04 -9.62221917e-07 9.99999884e-01 -3.30179300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.410281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:163.53, Y:21.86, Z:-0.33 [[ 8.99800098e-01 -4.36302076e-01 5.30435708e-04 1.63527581e+02] [ 4.36302002e-01 8.99800255e-01 2.54928816e-04 2.18618700e+01] [-5.88512157e-04 2.04518770e-06 9.99999827e-01 -3.29709387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:163.55, Y:21.87, Z:-0.33 [[ 8.98156126e-01 -4.39674448e-01 1.39731850e-03 1.63554157e+02] [ 4.39673935e-01 8.98157213e-01 6.71832416e-04 2.18693463e+01] [-1.55039924e-03 1.09541240e-05 9.99998798e-01 -3.29530594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.470281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:163.58, Y:21.88, Z:-0.33 [[ 8.97342811e-01 -4.41332031e-01 1.38483171e-03 1.63581013e+02] [ 4.41331529e-01 8.97343880e-01 6.66094426e-04 2.18788584e+01] [-1.53663906e-03 1.34548504e-05 9.99998819e-01 -3.29706269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.500281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:163.61, Y:21.89, Z:-0.33 [[ 8.97037643e-01 -4.41953556e-01 7.22730131e-04 1.63606490e+02] [ 4.41953419e-01 8.97037934e-01 3.47708934e-04 2.18876835e+01] [-8.01987543e-04 7.50505006e-06 9.99999678e-01 -3.29062055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.530281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:163.63, Y:21.89, Z:-0.33 [[ 8.97860740e-01 -4.40278448e-01 -9.89920046e-04 1.63633950e+02] [ 4.40278190e-01 8.97861286e-01 -4.76683237e-04 2.18948718e+01] [ 1.09868424e-03 -7.84504198e-06 9.99999396e-01 -3.29844127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.560281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:163.66, Y:21.90, Z:-0.33 [[ 8.99702541e-01 -4.36498935e-01 -2.00447372e-03 1.63662284e+02] [ 4.36497867e-01 8.99704773e-01 -9.65558869e-04 2.19013293e+01] [ 2.22489999e-03 -6.23273509e-06 9.99997525e-01 -3.29701029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.590281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:163.69, Y:21.91, Z:-0.33 [[ 9.00607615e-01 -4.34627340e-01 -2.23592497e-03 1.63688004e+02] [ 4.34626005e-01 9.00610391e-01 -1.07718320e-03 2.19100018e+01] [ 2.48187052e-03 -1.67174591e-06 9.99996920e-01 -3.29740993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.620281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:163.71, Y:21.92, Z:-0.33 [[ 9.01448937e-01 -4.32879259e-01 -2.31530939e-03 1.63713925e+02] [ 4.32877821e-01 9.01451911e-01 -1.11581283e-03 2.19190357e+01] [ 2.57015230e-03 3.60220558e-06 9.99996697e-01 -3.29605433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.650281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:163.74, Y:21.93, Z:-0.33 [[ 9.02052120e-01 -4.31623523e-01 -1.76262676e-03 1.63740397e+02] [ 4.31622686e-01 9.02053842e-01 -8.49913995e-04 2.19279625e+01] [ 1.95682711e-03 5.87702727e-06 9.99998085e-01 -3.29940640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.680281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:163.77, Y:21.93, Z:-0.33 [[ 9.02309439e-01 -4.31085525e-01 -1.71658974e-03 1.63768728e+02] [ 4.31084729e-01 9.02311072e-01 -8.28101461e-04 2.19341382e+01] [ 1.90588048e-03 7.20814051e-06 9.99998184e-01 -3.30052584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.71028169299998 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:163.80, Y:21.94, Z:-0.33 [[ 9.02523938e-01 -4.30633744e-01 -2.26285019e-03 1.63795387e+02] [ 4.30632359e-01 9.02526774e-01 -1.09212395e-03 2.19432504e+01] [ 2.51258831e-03 1.12114885e-05 9.99996843e-01 -3.29708898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.740281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:163.82, Y:21.95, Z:-0.33 [[ 9.03662228e-01 -4.28237781e-01 -2.64195316e-03 1.63821755e+02] [ 4.28235883e-01 9.03666090e-01 -1.27526222e-03 2.19516271e+01] [ 2.93355895e-03 2.10271585e-05 9.99995697e-01 -3.29983247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.770281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:163.85, Y:21.96, Z:-0.33 [[ 9.04326416e-01 -4.26829775e-01 -3.17447205e-03 1.63846738e+02] [ 4.26827023e-01 9.04331987e-01 -1.53307159e-03 2.19633589e+01] [ 3.52513722e-03 3.14466794e-05 9.99993786e-01 -3.30116088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.800281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:163.87, Y:21.97, Z:-0.33 [[ 9.05192548e-01 -4.24987360e-01 -3.49199326e-03 1.63871134e+02] [ 4.24984016e-01 9.05199283e-01 -1.68666681e-03 2.19745234e+01] [ 3.87776187e-03 4.27169127e-05 9.99992481e-01 -3.30478412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.830281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:163.90, Y:21.99, Z:-0.33 [[ 9.06842293e-01 -4.21459006e-01 -3.05970656e-03 1.63896764e+02] [ 4.21456416e-01 9.06847453e-01 -1.47867023e-03 2.19855184e+01] [ 3.39788599e-03 5.13877451e-05 9.99994226e-01 -3.30398082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.860281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:163.92, Y:22.00, Z:-0.33 [[ 9.07369040e-01 -4.20328263e-01 -2.36139462e-03 1.63921029e+02] [ 4.20326715e-01 9.07372112e-01 -1.14156005e-03 2.19976542e+01] [ 2.62249358e-03 4.32590028e-05 9.99996560e-01 -3.29920210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.890281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:163.95, Y:22.01, Z:-0.33 [[ 9.07579646e-01 -4.19878059e-01 -1.26580113e-03 1.63945678e+02] [ 4.19877614e-01 9.07580528e-01 -6.12283908e-04 2.20112055e+01] [ 1.40590104e-03 2.42148539e-05 9.99999011e-01 -3.29983771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.920281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:163.97, Y:22.02, Z:-0.33 [[ 9.06963131e-01 -4.21209987e-01 -1.60726454e-04 1.63970706e+02] [ 4.21209980e-01 9.06963145e-01 -7.78007335e-05 2.20221816e+01] [ 1.78543416e-04 2.86281040e-06 9.99999984e-01 -3.30693283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.950281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:164.00, Y:22.03, Z:-0.33 [[ 9.06014440e-01 -4.23244646e-01 -1.34298368e-03 1.63996232e+02] [ 4.23244147e-01 9.06015435e-01 -6.50023192e-04 2.20328539e+01] [ 1.49188278e-03 2.05204173e-05 9.99998887e-01 -3.31392481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.980281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:164.02, Y:22.04, Z:-0.33 [[ 9.04796101e-01 -4.25834523e-01 -2.99575925e-03 1.64021408e+02] [ 4.25832054e-01 9.04801060e-01 -1.45053844e-03 2.20441749e+01] [ 3.32825548e-03 3.67512088e-05 9.99994461e-01 -3.31565217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.010281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:164.05, Y:22.06, Z:-0.33 [[ 9.02868317e-01 -4.29902203e-01 -3.59147114e-03 1.64046903e+02] [ 4.29898683e-01 9.02875459e-01 -1.73978366e-03 2.20559600e+01] [ 3.99058799e-03 2.68268281e-05 9.99992037e-01 -3.31847729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.040281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:164.07, Y:22.07, Z:-0.33 [[ 9.02166281e-01 -4.31375074e-01 -3.39817313e-03 1.64071810e+02] [ 4.31371932e-01 9.02172680e-01 -1.64664530e-03 2.20664291e+01] [ 3.77606070e-03 1.96713601e-05 9.99992870e-01 -3.31739164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.070281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:164.10, Y:22.08, Z:-0.33 [[ 9.01573344e-01 -4.32612644e-01 -3.43585899e-03 1.64097467e+02] [ 4.32609437e-01 9.01579891e-01 -1.66575577e-03 2.20766206e+01] [ 3.81832838e-03 1.54159735e-05 9.99992710e-01 -3.31660984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.100281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:164.12, Y:22.09, Z:-0.33 [[ 9.01507382e-01 -4.32742156e-01 -4.32040603e-03 1.64122089e+02] [ 4.32737086e-01 9.01517735e-01 -2.09492754e-03 2.20873086e+01] [ 4.80148612e-03 1.89927240e-05 9.99988473e-01 -3.30986496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.130281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:164.15, Y:22.10, Z:-0.33 [[ 9.02053032e-01 -4.31602256e-01 -4.45198881e-03 1.64146812e+02] [ 4.31596853e-01 9.02064018e-01 -2.15984339e-03 2.20994272e+01] [ 4.94817220e-03 2.68289193e-05 9.99987757e-01 -3.31049475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.160281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:164.17, Y:22.11, Z:-0.33 [[ 9.03425363e-01 -4.28723864e-01 -4.29669893e-03 1.64172729e+02] [ 4.28718793e-01 9.03435580e-01 -2.08551349e-03 2.21100493e+01] [ 4.77590009e-03 4.20302036e-05 9.99988594e-01 -3.30758570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.190281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:164.20, Y:22.12, Z:-0.33 [[ 9.04172543e-01 -4.27152357e-01 -3.58840965e-03 1.64197356e+02] [ 4.27148807e-01 9.04179662e-01 -1.74203680e-03 2.21212835e+01] [ 3.98868215e-03 4.23169401e-05 9.99992044e-01 -3.30795731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.220281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:164.22, Y:22.13, Z:-0.33 [[ 9.05133784e-01 -4.25114522e-01 -3.23662511e-03 1.64221339e+02] [ 4.25111619e-01 9.05139570e-01 -1.57158274e-03 2.21331429e+01] [ 3.59770010e-03 4.65656963e-05 9.99993527e-01 -3.29671608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.250281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:164.24, Y:22.15, Z:-0.33 [[ 9.07724077e-01 -4.19554283e-01 -3.34711048e-03 1.64244051e+02] [ 4.19551140e-01 9.07730246e-01 -1.62555403e-03 2.21476124e+01] [ 3.72028157e-03 7.12705160e-05 9.99993077e-01 -3.29640278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.280281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:164.27, Y:22.16, Z:-0.33 [[ 9.09097799e-01 -4.16568430e-01 -3.45454840e-03 1.64269384e+02] [ 4.16565057e-01 9.09104359e-01 -1.67859009e-03 2.21605143e+01] [ 3.83979265e-03 8.69584070e-05 9.99992624e-01 -3.30235983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.310281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:164.29, Y:22.17, Z:-0.33 [[ 9.10617242e-01 -4.13246840e-01 -1.81318246e-03 1.64294385e+02] [ 4.13245904e-01 9.10619045e-01 -8.81521902e-04 2.21727745e+01] [ 2.01540463e-03 5.34388169e-05 9.99997968e-01 -3.30837198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.340281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:164.32, Y:22.19, Z:-0.33 [[ 9.10588798e-01 -4.13311799e-01 -1.18173370e-03 1.64318960e+02] [ 4.13311401e-01 9.10589565e-01 -5.74852227e-04 2.21859615e+01] [ 1.31366758e-03 3.50299870e-05 9.99999137e-01 -3.30355833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.370281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:164.34, Y:22.20, Z:-0.33 [[ 9.10546400e-01 -4.13405450e-01 -1.08959537e-03 1.64342777e+02] [ 4.13405111e-01 9.10547052e-01 -5.30077028e-04 2.21988298e+01] [ 1.21126459e-03 3.22154330e-05 9.99999266e-01 -3.30350352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.400281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:164.37, Y:22.21, Z:-0.33 [[ 9.10533737e-01 -4.13433159e-01 -1.15634128e-03 1.64367750e+02] [ 4.13432777e-01 9.10534471e-01 -5.62888368e-04 2.22114784e+01] [ 1.28560531e-03 3.44594631e-05 9.99999173e-01 -3.29966805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.430281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:164.39, Y:22.22, Z:-0.33 [[ 9.10407905e-01 -4.13711783e-01 8.38825349e-05 1.64392334e+02] [ 4.13711781e-01 9.10407909e-01 4.07091277e-05 2.22245180e+01] [-9.32091690e-05 -2.35871879e-06 9.99999996e-01 -3.29620622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.46028169299998 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:164.42, Y:22.24, Z:-0.33 [[ 9.09895678e-01 -4.14836653e-01 6.37651677e-04 1.64417373e+02] [ 4.14836537e-01 9.09895901e-01 3.10486838e-04 2.22380102e+01] [-7.08997968e-04 -1.79894187e-05 9.99999749e-01 -3.29562497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.490281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:164.44, Y:22.25, Z:-0.33 [[ 9.08245336e-01 -4.18437044e-01 9.21844291e-04 1.64441109e+02] [ 4.18436803e-01 9.08245804e-01 4.49096130e-04 2.22501466e+01] [-1.02517967e-03 -2.21558879e-05 9.99999474e-01 -3.30127788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.520281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:164.47, Y:22.26, Z:-0.33 [[ 9.07235052e-01 -4.20623921e-01 2.78478252e-04 1.64465690e+02] [ 4.20623899e-01 9.07235095e-01 1.35655432e-04 2.22614938e+01] [-3.09705163e-04 -5.93675528e-06 9.99999952e-01 -3.30337778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.550281693 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:164.49, Y:22.27, Z:-0.33 [[ 9.06092168e-01 -4.23079066e-01 -1.04263390e-03 1.64491439e+02] [ 4.23078761e-01 9.06092768e-01 -5.08484890e-04 2.22733935e+01] [ 1.15985235e-03 1.96179186e-05 9.99999327e-01 -3.30562694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.580281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:164.52, Y:22.28, Z:-0.33 [[ 9.03890011e-01 -4.27757903e-01 -2.45446110e-03 1.64516525e+02] [ 4.27756229e-01 9.03893343e-01 -1.19718852e-03 2.22834440e+01] [ 2.73067790e-03 3.22157155e-05 9.99996271e-01 -3.31588793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.610281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:164.54, Y:22.29, Z:-0.33 [[ 9.02794087e-01 -4.30066382e-01 -2.39656928e-03 1.64542743e+02] [ 4.30064792e-01 9.02797268e-01 -1.16954797e-03 2.22937482e+01] [ 2.66659946e-03 2.51809266e-05 9.99996444e-01 -3.32098805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.640281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:164.57, Y:22.30, Z:-0.33 [[ 9.01887036e-01 -4.31966165e-01 -2.23767303e-03 1.64569479e+02] [ 4.31964784e-01 9.01889811e-01 -1.09252774e-03 2.23038658e+01] [ 2.49006953e-03 1.87406613e-05 9.99996900e-01 -3.32148098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.670281693 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:164.60, Y:22.31, Z:-0.33 [[ 9.01261504e-01 -4.33269640e-01 -2.26284170e-03 1.64596540e+02] [ 4.33268231e-01 9.01264345e-01 -1.10512626e-03 2.23097757e+01] [ 2.51823620e-03 1.55903330e-05 9.99996829e-01 -3.31806400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.700281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:164.62, Y:22.32, Z:-0.33 [[ 9.01084330e-01 -4.33634491e-01 -2.85612799e-03 1.64622706e+02] [ 4.33632246e-01 9.01088857e-01 -1.39555088e-03 2.23193623e+01] [ 3.17878410e-03 1.89998355e-05 9.99994947e-01 -3.31904916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.730281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:164.65, Y:22.33, Z:-0.33 [[ 9.01148370e-01 -4.33499615e-01 -3.11433534e-03 1.64648619e+02] [ 4.33496944e-01 9.01153751e-01 -1.52194085e-03 2.23289249e+01] [ 3.46625575e-03 2.14396605e-05 9.99993992e-01 -3.31541536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.760281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:164.67, Y:22.34, Z:-0.33 [[ 9.01073643e-01 -4.33654923e-01 -3.11404729e-03 1.64674129e+02] [ 4.33652250e-01 9.01079024e-01 -1.52253018e-03 2.23416130e+01] [ 3.46625540e-03 2.14982024e-05 9.99993992e-01 -3.31559780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.790281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:164.70, Y:22.35, Z:-0.33 [[ 9.02160850e-01 -4.31394930e-01 -2.05303195e-03 1.64701794e+02] [ 4.31393762e-01 9.02163186e-01 -1.00429933e-03 2.23480564e+01] [ 2.28541948e-03 2.03743648e-05 9.99997388e-01 -3.29872623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.820281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:164.73, Y:22.36, Z:-0.33 [[ 9.03057627e-01 -4.29518342e-01 -9.57348854e-04 1.64726684e+02] [ 4.29518087e-01 9.03058134e-01 -4.68405873e-04 2.23579866e+01] [ 1.06573058e-03 1.17988474e-05 9.99999432e-01 -3.30152344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.850281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:164.75, Y:22.37, Z:-0.33 [[ 9.04659194e-01 -4.26135693e-01 -3.37556372e-04 1.64753705e+02] [ 4.26135661e-01 9.04659257e-01 -1.65341735e-04 2.23675365e+01] [ 3.75831511e-04 5.73311305e-06 9.99999929e-01 -3.31180529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.880281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:164.78, Y:22.38, Z:-0.33 [[ 9.05099421e-01 -4.25199317e-01 -7.60930166e-04 1.64780062e+02] [ 4.25199154e-01 9.05099741e-01 -3.72727960e-04 2.23780991e+01] [ 8.47201370e-04 1.38089981e-05 9.99999641e-01 -3.31948546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.910281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:164.81, Y:22.39, Z:-0.33 [[ 9.05428708e-01 -4.24495534e-01 -1.54807874e-03 1.64805291e+02] [ 4.24494858e-01 9.05430031e-01 -7.58242563e-04 2.23883093e+01] [ 1.72354757e-03 2.93831171e-05 9.99998514e-01 -3.31765695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.940281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:164.83, Y:22.40, Z:-0.33 [[ 9.05859109e-01 -4.23574563e-01 -1.96544439e-03 1.64830945e+02] [ 4.23573470e-01 9.05861241e-01 -9.63158488e-04 2.23999162e+01] [ 2.18838933e-03 3.99757901e-05 9.99997605e-01 -3.31480636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.970281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:164.86, Y:22.41, Z:-0.33 [[ 9.07254928e-01 -4.20580798e-01 -5.37290988e-04 1.64855666e+02] [ 4.20580715e-01 9.07255087e-01 -2.63369746e-04 2.24118115e+01] [ 5.98228240e-04 1.29692715e-05 9.99999821e-01 -3.30360327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.000281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:164.88, Y:22.42, Z:-0.33 [[ 9.08121669e-01 -4.18706171e-01 4.19431602e-04 1.64881256e+02] [ 4.18706121e-01 9.08121766e-01 2.05519150e-04 2.24239043e+01] [-4.66947104e-04 -1.10178147e-05 9.99999891e-01 -3.30684769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.030281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:164.91, Y:22.44, Z:-0.33 [[ 9.09647675e-01 -4.15379003e-01 1.17963932e-03 1.64905971e+02] [ 4.15378602e-01 9.09648439e-01 5.78471992e-04 2.24354641e+01] [-1.31334218e-03 -3.62087705e-05 9.99999137e-01 -3.30281499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.060281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:164.93, Y:22.45, Z:-0.33 [[ 9.10203923e-01 -4.14160003e-01 5.57649754e-04 1.64930299e+02] [ 4.14159913e-01 9.10204093e-01 2.73498128e-04 2.24494253e+01] [-6.20847074e-04 -1.79828956e-05 9.99999807e-01 -3.30277597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.090281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:164.95, Y:22.46, Z:-0.33 [[ 9.10759290e-01 -4.12937554e-01 -3.03570427e-04 1.64954408e+02] [ 4.12937527e-01 9.10759340e-01 -1.49158839e-04 2.24643352e+01] [ 3.38072888e-04 1.04921770e-05 9.99999943e-01 -3.30302519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.120281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:164.98, Y:22.48, Z:-0.33 [[ 9.12391186e-01 -4.09314736e-01 -1.94189644e-03 1.64976536e+02] [ 4.09313632e-01 9.12393249e-01 -9.53552025e-04 2.24809616e+01] [ 2.16207609e-03 7.51677800e-05 9.99997660e-01 -3.30533270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.150281693 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:165.00, Y:22.50, Z:-0.33 [[ 9.13012064e-01 -4.07927767e-01 -1.97687081e-03 1.65000790e+02] [ 4.07926619e-01 9.13014200e-01 -9.71237155e-04 2.24960624e+01] [ 2.20110573e-03 8.03330120e-05 9.99997574e-01 -3.30840324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.180281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:165.02, Y:22.51, Z:-0.33 [[ 9.13315963e-01 -4.07246259e-01 -2.10646707e-03 1.65024237e+02] [ 4.07244952e-01 9.13318388e-01 -1.03536596e-03 2.25114542e+01] [ 2.34552402e-03 8.77681818e-05 9.99997245e-01 -3.30775756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.21028169299998 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:165.05, Y:22.53, Z:-0.33 [[ 9.13323647e-01 -4.07232632e-01 -1.22421275e-03 1.65046185e+02] [ 4.07232190e-01 9.13324466e-01 -6.02059199e-04 2.25312358e+01] [ 1.36328161e-03 5.13360644e-05 9.99999069e-01 -3.30223048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.240281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:165.07, Y:22.55, Z:-0.33 [[ 9.13305134e-01 -4.07274600e-01 -1.06427359e-03 1.65068454e+02] [ 4.07274266e-01 9.13305753e-01 -5.23450521e-04 2.25462412e+01] [ 1.18519530e-03 4.46188023e-05 9.99999297e-01 -3.30165941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.270281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:165.09, Y:22.57, Z:-0.33 [[ 9.13101302e-01 -4.07731052e-01 -1.18393222e-03 1.65090244e+02] [ 4.07730639e-01 9.13102068e-01 -5.82624078e-04 2.25653788e+01] [ 1.31860489e-03 4.92693638e-05 9.99999129e-01 -3.31169943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.300281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:165.11, Y:22.58, Z:-0.33 [[ 9.12846769e-01 -4.08298827e-01 -1.68637753e-03 1.65112730e+02] [ 4.08297989e-01 9.12848324e-01 -8.29918521e-04 2.25815167e+01] [ 1.87826166e-03 6.90438865e-05 9.99998234e-01 -3.31497169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.330281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:165.14, Y:22.60, Z:-0.33 [[ 9.12544417e-01 -4.08970170e-01 -2.46722683e-03 1.65136136e+02] [ 4.08968378e-01 9.12547747e-01 -1.21481025e-03 2.25974823e+01] [ 2.74828344e-03 9.95505553e-05 9.99996219e-01 -3.31991495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.360281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:165.16, Y:22.61, Z:-0.33 [[ 9.11167539e-01 -4.12023672e-01 -3.19521836e-03 1.65157794e+02] [ 4.12020684e-01 9.11173134e-01 -1.57367221e-03 2.26148963e+01] [ 3.55978733e-03 1.17382985e-04 9.99993657e-01 -3.32687561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.390281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:165.18, Y:22.63, Z:-0.33 [[ 9.09966960e-01 -4.14671235e-01 -2.81042063e-03 1.65181206e+02] [ 4.14668934e-01 9.09971295e-01 -1.38439606e-03 2.26294614e+01] [ 3.13147132e-03 9.43605504e-05 9.99995092e-01 -3.32101869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.420281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:165.20, Y:22.65, Z:-0.33 [[ 9.07212837e-01 -4.20671441e-01 -6.38523785e-04 1.65204705e+02] [ 4.20671323e-01 9.07213061e-01 -3.14791655e-04 2.26452529e+01] [ 7.11700977e-04 1.69743847e-05 9.99999747e-01 -3.31568740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.450281693 meters Centerline goodness : 0.999056 Centerline is valid? [True, True] Translation: X:165.23, Y:22.66, Z:-0.33 [[ 9.05739659e-01 -4.23834480e-01 -5.92615526e-05 1.65229215e+02] [ 4.23834479e-01 9.05739661e-01 -2.93478068e-05 2.26582417e+01] [ 6.61141511e-05 1.46438325e-06 9.99999998e-01 -3.31042985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.480281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:165.25, Y:22.67, Z:-0.33 [[ 9.04079564e-01 -4.27364101e-01 2.60834802e-04 1.65252933e+02] [ 4.27364081e-01 9.04079601e-01 1.28567153e-04 2.26701528e+01] [-2.90760409e-04 -4.76350975e-06 9.99999958e-01 -3.30815270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.510281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:165.28, Y:22.68, Z:-0.33 [[ 9.00469286e-01 -4.34919556e-01 -2.10618352e-04 1.65278404e+02] [ 4.34919544e-01 9.00469311e-01 -1.04036359e-04 2.26825015e+01] [ 2.34902809e-04 2.07950851e-06 9.99999972e-01 -3.31049541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.540281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:165.30, Y:22.69, Z:-0.33 [[ 8.98784214e-01 -4.38391267e-01 -1.81094391e-04 1.65303284e+02] [ 4.38391258e-01 8.98784233e-01 -8.94160398e-05 2.26928213e+01] [ 2.01963994e-04 9.75527026e-07 9.99999980e-01 -3.32592642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.570281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:165.33, Y:22.70, Z:-0.33 [[ 8.97285953e-01 -4.41449600e-01 -4.11734773e-04 1.65330292e+02] [ 4.41449553e-01 8.97286047e-01 -2.03386349e-04 2.27017675e+01] [ 4.59228689e-04 7.35582597e-07 9.99999895e-01 -3.32980143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.600281693 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:165.36, Y:22.71, Z:-0.33 [[ 8.94936165e-01 -4.46191979e-01 -1.40642138e-03 1.65359163e+02] [ 4.46191438e-01 8.94937270e-01 -6.94742806e-04 2.27058591e+01] [ 1.56864758e-03 -5.78271438e-06 9.99998770e-01 -3.32934729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.630281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:165.38, Y:22.71, Z:-0.33 [[ 8.94115812e-01 -4.47830463e-01 -2.18908589e-03 1.65384498e+02] [ 4.47829157e-01 8.94118491e-01 -1.08143124e-03 2.27145537e+01] [ 2.44160002e-03 -1.34117210e-05 9.99997019e-01 -3.32616095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.660281693 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:165.41, Y:22.72, Z:-0.33 [[ 8.93953575e-01 -4.48155726e-01 -1.85773545e-03 1.65411977e+02] [ 4.48154786e-01 8.93955505e-01 -9.17926847e-04 2.27196057e+01] [ 2.07210700e-03 -1.19690475e-05 9.99997853e-01 -3.32174096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.690281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:165.44, Y:22.73, Z:-0.33 [[ 8.94696581e-01 -4.46673381e-01 -9.58880570e-04 1.65438387e+02] [ 4.46673129e-01 8.94697094e-01 -4.74106151e-04 2.27283373e+01] [ 1.06967826e-03 -4.12503270e-06 9.99999428e-01 -3.31294957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.720281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:165.46, Y:22.74, Z:-0.33 [[ 8.95704607e-01 -4.44649503e-01 -2.76301610e-04 1.65464151e+02] [ 4.44649482e-01 8.95704650e-01 -1.36705929e-04 2.27382259e+01] [ 3.08270860e-04 -4.09237450e-07 9.99999952e-01 -3.31048524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.750281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:165.49, Y:22.75, Z:-0.33 [[ 8.96730201e-01 -4.42577591e-01 1.49184870e-04 1.65489821e+02] [ 4.42577585e-01 8.96730213e-01 7.36737059e-05 2.27498820e+01] [-1.66384912e-04 -3.95575831e-08 9.99999986e-01 -3.31110373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.780281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:165.52, Y:22.76, Z:-0.33 [[ 8.98651650e-01 -4.38662962e-01 1.34969253e-04 1.65515480e+02] [ 4.38662957e-01 8.98651660e-01 6.66706265e-05 2.27619182e+01] [-1.50536277e-04 -7.07657136e-07 9.99999989e-01 -3.31755398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.810281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:165.54, Y:22.77, Z:-0.33 [[ 8.99023327e-01 -4.37900687e-01 2.14850841e-04 1.65540686e+02] [ 4.37900674e-01 8.99023352e-01 1.06243706e-04 2.27733860e+01] [-2.39680115e-04 -1.43224190e-06 9.99999971e-01 -3.31488242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.840281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:165.56, Y:22.78, Z:-0.33 [[ 8.99323720e-01 -4.37279038e-01 1.97220986e-03 1.65564951e+02] [ 4.37277948e-01 8.99325882e-01 9.76617612e-04 2.27845133e+01] [-2.20071378e-03 -1.58915053e-05 9.99997578e-01 -3.30001995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.870281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:165.59, Y:22.80, Z:-0.33 [[ 8.99396373e-01 -4.37124019e-01 2.95924290e-03 1.65589133e+02] [ 4.37121561e-01 8.99401241e-01 1.46601392e-03 2.27976334e+01] [-3.30237663e-03 -2.49787265e-05 9.99994547e-01 -3.30061434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.900281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:165.61, Y:22.81, Z:-0.33 [[ 8.98762850e-01 -4.38428446e-01 2.41626627e-03 1.65612974e+02] [ 4.38426811e-01 8.98766097e-01 1.19741374e-03 2.28096977e+01] [-2.69663845e-03 -1.68350689e-05 9.99996364e-01 -3.31380256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.930281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:165.64, Y:22.82, Z:-0.33 [[ 8.97828971e-01 -4.40342461e-01 1.28692120e-03 1.65639338e+02] [ 4.40341999e-01 8.97829893e-01 6.37959901e-04 2.28205630e+01] [-1.43635716e-03 -6.09342615e-06 9.99998968e-01 -3.31841954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.96028169299998 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:165.66, Y:22.83, Z:-0.33 [[ 8.96629629e-01 -4.42781239e-01 2.87612162e-04 1.65664247e+02] [ 4.42781216e-01 8.96629675e-01 1.42561662e-04 2.28305508e+01] [-3.21005229e-04 -4.75747555e-07 9.99999948e-01 -3.32149821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.990281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:165.69, Y:22.84, Z:-0.33 [[ 8.95671438e-01 -4.44716370e-01 -1.58347069e-04 1.65689686e+02] [ 4.44716363e-01 8.95671452e-01 -7.86964693e-05 2.28417885e+01] [ 1.76824557e-04 6.66471781e-08 9.99999984e-01 -3.32595890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.020281693 meters Centerline goodness : 0.998975 Centerline is valid? [True, True] Translation: X:165.72, Y:22.85, Z:-0.33 [[ 8.95088677e-01 -4.45887841e-01 -5.41578757e-04 1.65715616e+02] [ 4.45887759e-01 8.95088841e-01 -2.68980756e-04 2.28530658e+01] [ 6.04696351e-04 -7.21709472e-07 9.99999817e-01 -3.33442663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.050281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:165.74, Y:22.86, Z:-0.33 [[ 8.95230722e-01 -4.45602439e-01 -6.48935981e-04 1.65741242e+02] [ 4.45602323e-01 8.95230957e-01 -3.22265803e-04 2.28632578e+01] [ 7.24550007e-04 -6.65133175e-07 9.99999738e-01 -3.33440833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.080281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:165.77, Y:22.87, Z:-0.33 [[ 8.95903606e-01 -4.44247693e-01 -8.46062278e-04 1.65768046e+02] [ 4.44247494e-01 8.95904006e-01 -4.20418356e-04 2.28714396e+01] [ 9.44760468e-04 7.93274031e-07 9.99999554e-01 -3.32552868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.110281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:165.79, Y:22.88, Z:-0.33 [[ 8.96632859e-01 -4.42774603e-01 -4.08082762e-04 1.65792526e+02] [ 4.42774557e-01 8.96632952e-01 -2.02816147e-04 2.28821108e+01] [ 4.55702290e-04 1.16295805e-06 9.99999896e-01 -3.31733251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.140281693 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:165.82, Y:22.89, Z:-0.33 [[ 8.97646405e-01 -4.40715932e-01 6.30787991e-04 1.65818249e+02] [ 4.40715821e-01 8.97646627e-01 3.13423321e-04 2.28936745e+01] [-7.04355364e-04 -3.34507046e-06 9.99999752e-01 -3.32014208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.170281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:165.84, Y:22.90, Z:-0.33 [[ 9.00040941e-01 -4.35802455e-01 1.58878424e-03 1.65843260e+02] [ 4.35801740e-01 9.00042343e-01 7.89861070e-04 2.29032345e+01] [-1.77419648e-03 -1.85123650e-05 9.99998426e-01 -3.32612457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.200281693 meters Centerline goodness : 0.999179 Centerline is valid? [True, True] Translation: X:165.87, Y:22.91, Z:-0.33 [[ 9.01001296e-01 -4.33815325e-01 9.63100989e-04 1.65867609e+02] [ 4.33815061e-01 9.01001811e-01 4.78876839e-04 2.29148649e+01] [-1.07549985e-03 -1.36609378e-05 9.99999422e-01 -3.33320243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.230281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:165.89, Y:22.93, Z:-0.33 [[ 9.01794383e-01 -4.32165350e-01 1.28642598e-05 1.65892167e+02] [ 4.32165350e-01 9.01794383e-01 6.27039607e-06 2.29273022e+01] [-1.43107652e-05 -9.51206035e-08 1.00000000e+00 -3.33129749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.260281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:165.92, Y:22.94, Z:-0.33 [[ 9.03239247e-01 -4.29135099e-01 -1.38919351e-03 1.65915478e+02] [ 4.29134543e-01 9.03240315e-01 -6.91328247e-04 2.29408379e+01] [ 1.55144880e-03 2.82838829e-05 9.99998796e-01 -3.33651213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.290281693 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:165.94, Y:22.95, Z:-0.34 [[ 9.03739556e-01 -4.28079041e-01 -1.77475666e-03 1.65939322e+02] [ 4.28078131e-01 9.03741298e-01 -8.83488242e-04 2.29543182e+01] [ 1.98212369e-03 3.87087569e-05 9.99998035e-01 -3.35065029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.320281693 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:165.96, Y:22.97, Z:-0.34 [[ 9.04185489e-01 -4.27136743e-01 -1.67466105e-03 1.65963699e+02] [ 4.27135930e-01 9.04187039e-01 -8.34074450e-04 2.29690206e+01] [ 1.87047066e-03 3.88501103e-05 9.99998250e-01 -3.36446086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.350281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:165.99, Y:22.98, Z:-0.34 [[ 9.04118423e-01 -4.27279807e-01 -1.35780968e-03 1.65988422e+02] [ 4.27279272e-01 9.04119442e-01 -6.76586599e-04 2.29823424e+01] [ 1.51671392e-03 3.15504768e-05 9.99998849e-01 -3.35765135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.380281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:166.01, Y:23.00, Z:-0.33 [[ 9.04135374e-01 -4.27244531e-01 -1.15606645e-03 1.66011346e+02] [ 4.27244143e-01 9.04136113e-01 -5.76338147e-04 2.29980680e+01] [ 1.29147874e-03 2.71650885e-05 9.99999166e-01 -3.34969281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.410281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:166.04, Y:23.01, Z:-0.34 [[ 9.04314438e-01 -4.26864470e-01 -1.45651632e-03 1.66035169e+02] [ 4.26863854e-01 9.04315610e-01 -7.26415738e-04 2.30130820e+01] [ 1.62723152e-03 3.51740697e-05 9.99998675e-01 -3.35792268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.440281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:166.06, Y:23.03, Z:-0.34 [[ 9.04222047e-01 -4.27057668e-01 -2.05862482e-03 1.66057308e+02] [ 4.27056436e-01 9.04224389e-01 -1.02678368e-03 2.30283120e+01] [ 2.29995462e-03 4.92914616e-05 9.99997354e-01 -3.36751669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.470281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:166.08, Y:23.05, Z:-0.34 [[ 9.03509313e-01 -4.28562206e-01 -2.31443644e-03 1.66079448e+02] [ 4.28560653e-01 9.03512276e-01 -1.15496395e-03 2.30471177e+01] [ 2.58609564e-03 5.16442922e-05 9.99996655e-01 -3.37835328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.500281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:166.10, Y:23.06, Z:-0.34 [[ 9.02770872e-01 -4.30116805e-01 -2.07023930e-03 1.66102604e+02] [ 4.30115566e-01 9.02773245e-01 -1.03339475e-03 2.30621002e+01] [ 2.31343710e-03 4.24765312e-05 9.99997323e-01 -3.37471370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.530281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:166.13, Y:23.08, Z:-0.34 [[ 9.01278921e-01 -4.33237047e-01 -1.40297811e-03 1.66125739e+02] [ 4.33236481e-01 9.01280012e-01 -7.00704224e-04 2.30789076e+01] [ 1.56804716e-03 2.37086470e-05 9.99998770e-01 -3.36261727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.560281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:166.15, Y:23.09, Z:-0.34 [[ 9.00295244e-01 -4.35275117e-01 -2.01169654e-03 1.66148340e+02] [ 4.35273958e-01 9.00297491e-01 -1.00479135e-03 2.30932374e+01] [ 2.24848602e-03 2.89697601e-05 9.99997472e-01 -3.36105404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.590281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:166.17, Y:23.11, Z:-0.34 [[ 8.99271395e-01 -4.37380491e-01 -3.04372763e-03 1.66171050e+02] [ 4.37377850e-01 8.99276545e-01 -1.52053129e-03 2.31074846e+01] [ 3.40220359e-03 3.61112446e-05 9.99994212e-01 -3.37070211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.620281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:166.19, Y:23.12, Z:-0.34 [[ 8.98024102e-01 -4.39930451e-01 -3.72972034e-03 1.66194658e+02] [ 4.39926502e-01 8.98031847e-01 -1.86414360e-03 2.31227978e+01] [ 4.16950117e-03 3.32430596e-05 9.99991307e-01 -3.37065803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.650281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:166.22, Y:23.14, Z:-0.34 [[ 8.96013549e-01 -4.44023873e-01 -1.58739633e-03 1.66215923e+02] [ 4.44023163e-01 8.96014956e-01 -7.93552499e-04 2.31397470e+01] [ 1.77468711e-03 6.19304962e-06 9.99998425e-01 -3.36181638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.680281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:166.24, Y:23.15, Z:-0.34 [[ 8.95337603e-01 -4.45388107e-01 -1.06389283e-04 1.66240269e+02] [ 4.45388103e-01 8.95337609e-01 -5.33354341e-05 2.31532463e+01] [ 1.19009294e-04 3.68698975e-07 9.99999993e-01 -3.35597052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.71028169299998 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:166.27, Y:23.17, Z:-0.34 [[ 8.95261717e-01 -4.45540624e-01 -1.06383492e-04 1.66265658e+02] [ 4.45540621e-01 8.95261723e-01 -5.33469876e-05 2.31661655e+01] [ 1.19009319e-04 3.61348496e-07 9.99999993e-01 -3.35615294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.740281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:166.29, Y:23.18, Z:-0.34 [[ 8.94232298e-01 -4.47603169e-01 -5.81565481e-07 1.66289600e+02] [ 4.47603169e-01 8.94232298e-01 -3.47587077e-07 2.31786381e+01] [ 6.75635743e-07 5.05130409e-08 1.00000000e+00 -3.35854716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.770281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:166.31, Y:23.19, Z:-0.34 [[ 8.93647707e-01 -4.48768503e-01 -7.77957150e-04 1.66314478e+02] [ 4.48768334e-01 8.93648046e-01 -3.89601033e-04 2.31912493e+01] [ 8.70060559e-04 -9.56464166e-07 9.99999622e-01 -3.36298455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.800281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:166.34, Y:23.20, Z:-0.34 [[ 8.93099729e-01 -4.49854949e-01 -1.84343628e-03 1.66339702e+02] [ 4.49854001e-01 8.93101632e-01 -9.23429432e-04 2.32037333e+01] [ 2.06178525e-03 -4.56261163e-06 9.99997875e-01 -3.36836231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.830281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:166.36, Y:23.22, Z:-0.34 [[ 8.92521214e-01 -4.50998523e-01 -2.49306871e-03 1.66364682e+02] [ 4.50996792e-01 8.92524696e-01 -1.24936418e-03 2.32155060e+01] [ 2.78858680e-03 -9.28195758e-06 9.99996112e-01 -3.37896683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.860281693 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:166.39, Y:23.23, Z:-0.34 [[ 8.92273418e-01 -4.51488768e-01 -2.45776563e-03 1.66390150e+02] [ 4.51487088e-01 8.92276802e-01 -1.23184189e-03 2.32255125e+01] [ 2.74917003e-03 -1.05096678e-05 9.99996221e-01 -3.37971828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.890281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:166.42, Y:23.24, Z:-0.34 [[ 8.92620760e-01 -4.50804722e-01 -1.81140582e-03 1.66415987e+02] [ 4.50803807e-01 8.92622598e-01 -9.08372534e-04 2.32369511e+01] [ 2.02640040e-03 -5.75645725e-06 9.99997947e-01 -3.37116604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.920281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:166.44, Y:23.25, Z:-0.34 [[ 8.93809158e-01 -4.48446113e-01 -1.12821389e-03 1.66441321e+02] [ 4.48445755e-01 8.93809870e-01 -5.66065706e-04 2.32467733e+01] [ 1.26225868e-03 1.19794160e-08 9.99999203e-01 -3.36920016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.950281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:166.47, Y:23.26, Z:-0.34 [[ 8.93977896e-01 -4.48109560e-01 -1.15898165e-03 1.66466526e+02] [ 4.48109183e-01 8.93978647e-01 -5.81751681e-04 2.32581907e+01] [ 1.29679334e-03 7.22823686e-07 9.99999159e-01 -3.37636007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.980281693 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:166.49, Y:23.27, Z:-0.34 [[ 8.93798789e-01 -4.48467103e-01 -9.91199395e-04 1.66492575e+02] [ 4.48466826e-01 8.93799339e-01 -4.97768518e-04 2.32697146e+01] [ 1.10916617e-03 3.84851630e-07 9.99999385e-01 -3.38369843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.010281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:166.52, Y:23.28, Z:-0.34 [[ 8.92929409e-01 -4.50193107e-01 -1.79932883e-03 1.66517802e+02] [ 4.50192200e-01 8.92931221e-01 -9.03599632e-04 2.32792295e+01] [ 2.01347121e-03 -3.19311818e-06 9.99997973e-01 -3.39473397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.040281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:166.54, Y:23.29, Z:-0.34 [[ 8.92190054e-01 -4.51653196e-01 -2.50964697e-03 1.66543460e+02] [ 4.51651436e-01 8.92193584e-01 -1.26094026e-03 2.32905091e+01] [ 2.80859862e-03 -8.48729734e-06 9.99996056e-01 -3.38859408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.070281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:166.57, Y:23.30, Z:-0.34 [[ 8.91356930e-01 -4.53288001e-01 -3.57937807e-03 1.66568706e+02] [ 4.53284431e-01 8.91364117e-01 -1.79887244e-03 2.33011571e+01] [ 4.00593646e-03 -1.90389366e-05 9.99991976e-01 -3.37552714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.100281693 meters Centerline goodness : 0.999183 Centerline is valid? [True, True] Translation: X:166.59, Y:23.31, Z:-0.34 [[ 8.91281507e-01 -4.53433062e-01 -3.96650451e-03 1.66593425e+02] [ 4.53428677e-01 8.91290333e-01 -1.99439765e-03 2.33140220e+01] [ 4.43963296e-03 -2.09571450e-05 9.99990145e-01 -3.37749489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.130281693 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:166.62, Y:23.33, Z:-0.34 [[ 8.91486658e-01 -4.53025941e-01 -4.36301822e-03 1.66617230e+02] [ 4.53020626e-01 8.91497334e-01 -2.19441154e-03 2.33267023e+01] [ 4.88374446e-03 -2.02486374e-05 9.99988074e-01 -3.38023794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.160281693 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:166.64, Y:23.34, Z:-0.34 [[ 8.92129838e-01 -4.51760540e-01 -4.09472307e-03 1.66641975e+02] [ 4.51755842e-01 8.92139235e-01 -2.06043309e-03 2.33399288e+01] [ 4.58388547e-03 -1.16412358e-05 9.99989494e-01 -3.36969299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.190281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:166.67, Y:23.35, Z:-0.34 [[ 8.92146873e-01 -4.51730459e-01 -3.68085812e-03 1.66666708e+02] [ 4.51726658e-01 8.92154467e-01 -1.85307230e-03 2.33528853e+01] [ 4.12098322e-03 -9.52907840e-06 9.99991509e-01 -3.36540525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.220281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:166.69, Y:23.36, Z:-0.34 [[ 8.90854561e-01 -4.54286287e-01 -1.45648980e-03 1.66691299e+02] [ 4.54285695e-01 8.90855751e-01 -7.33404069e-04 2.33646770e+01] [ 1.63069772e-03 -8.30611946e-06 9.99998670e-01 -3.36343013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.250281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:166.72, Y:23.38, Z:-0.34 [[ 8.89394325e-01 -4.57140414e-01 -6.13643652e-04 1.66716316e+02] [ 4.57140309e-01 8.89394537e-01 -3.09240191e-04 2.33764644e+01] [ 6.87137500e-04 -5.48477805e-06 9.99999764e-01 -3.35832028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.280281693 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:166.74, Y:23.39, Z:-0.34 [[ 8.87663489e-01 -4.60492074e-01 -7.61623934e-04 1.66741524e+02] [ 4.60491914e-01 8.87663816e-01 -3.83967262e-04 2.33881385e+01] [ 8.52879888e-04 -9.88794394e-06 9.99999636e-01 -3.36058421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.310281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:166.77, Y:23.40, Z:-0.34 [[ 8.84726798e-01 -4.66101324e-01 -2.83705291e-03 1.66766182e+02] [ 4.66099134e-01 8.84731345e-01 -1.43012753e-03 2.33981105e+01] [ 3.17661397e-03 -5.70757521e-05 9.99994953e-01 -3.36353052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.340281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:166.79, Y:23.41, Z:-0.34 [[ 8.83538742e-01 -4.68345780e-01 -3.39435184e-03 1.66791210e+02] [ 4.68342660e-01 8.83545259e-01 -1.71135652e-03 2.34089830e+01] [ 3.80057008e-03 -7.76699859e-05 9.99992775e-01 -3.36330386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.370281693 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:166.82, Y:23.42, Z:-0.34 [[ 8.82253155e-01 -4.70761060e-01 -3.65999791e-03 1.66817932e+02] [ 4.70757450e-01 8.82260741e-01 -1.84613151e-03 2.34173507e+01] [ 4.09815930e-03 -9.42159308e-05 9.99991598e-01 -3.36123062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.400281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:166.84, Y:23.43, Z:-0.34 [[ 8.82037817e-01 -4.71162792e-01 -3.86175446e-03 1.66843752e+02] [ 4.71158773e-01 8.82046265e-01 -1.94879547e-03 2.34280210e+01] [ 4.32444601e-03 -1.00588194e-04 9.99990644e-01 -3.35461181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.430281693 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:166.87, Y:23.44, Z:-0.34 [[ 8.82055546e-01 -4.71130451e-01 -3.75650865e-03 1.66869970e+02] [ 4.71126644e-01 8.82063540e-01 -1.89655676e-03 2.34388210e+01] [ 4.20700496e-03 -9.69229030e-05 9.99991146e-01 -3.35208152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.46028169299998 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:166.90, Y:23.45, Z:-0.33 [[ 8.82550242e-01 -4.70210039e-01 -2.75497374e-03 1.66895720e+02] [ 4.70207986e-01 8.82554539e-01 -1.39114740e-03 2.34467414e+01] [ 3.08554605e-03 -6.76531839e-05 9.99995237e-01 -3.34220160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.490281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:166.92, Y:23.46, Z:-0.33 [[ 8.83208609e-01 -4.68977273e-01 -1.69418695e-03 1.66920402e+02] [ 4.68976494e-01 8.83210233e-01 -8.55684880e-04 2.34575602e+01] [ 1.89762002e-03 -3.87856056e-05 9.99998199e-01 -3.33618747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.520281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:166.95, Y:23.47, Z:-0.33 [[ 8.84067930e-01 -4.67357988e-01 -6.37942748e-04 1.66946282e+02] [ 4.67357877e-01 8.84068160e-01 -3.22456696e-04 2.34695138e+01] [ 7.14687584e-04 -1.30739443e-05 9.99999745e-01 -3.33755783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.550281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:166.97, Y:23.48, Z:-0.33 [[ 8.86250473e-01 -4.63205771e-01 -7.15738979e-04 1.66970473e+02] [ 4.63205630e-01 8.86250762e-01 -3.61761705e-04 2.34806030e+01] [ 8.01894325e-04 -1.09228420e-05 9.99999678e-01 -3.34312341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.580281693 meters Centerline goodness : 0.998775 Centerline is valid? [True, True] Translation: X:167.00, Y:23.49, Z:-0.33 [[ 8.87205284e-01 -4.61373054e-01 -1.29980352e-03 1.66995864e+02] [ 4.61372586e-01 8.87206236e-01 -6.57280174e-04 2.34921328e+01] [ 1.45644515e-03 -1.65512692e-05 9.99998939e-01 -3.34693046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.610281693 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:167.02, Y:23.50, Z:-0.33 [[ 8.88523305e-01 -4.58820032e-01 -3.24249329e-03 1.67021875e+02] [ 4.58817101e-01 8.88529221e-01 -1.64019864e-03 2.35017677e+01] [ 3.63360603e-03 -3.03566547e-05 9.99993398e-01 -3.34132152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.640281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:167.05, Y:23.51, Z:-0.33 [[ 8.89027922e-01 -4.57837945e-01 -3.71081886e-03 1.67046498e+02] [ 4.57834097e-01 8.89035666e-01 -1.87737228e-03 2.35130374e+01] [ 4.15858258e-03 -2.99030275e-05 9.99991353e-01 -3.34609885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.670281693 meters Centerline goodness : 0.999020 Centerline is valid? [True, True] Translation: X:167.07, Y:23.53, Z:-0.33 [[ 8.89356048e-01 -4.57200096e-01 -3.72725568e-03 1.67071760e+02] [ 4.57196205e-01 8.89363858e-01 -1.88659739e-03 2.35251908e+01] [ 4.17743900e-03 -2.62303479e-05 9.99991274e-01 -3.34606616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.700281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:167.10, Y:23.54, Z:-0.33 [[ 8.89718486e-01 -4.56498747e-01 -3.14780787e-03 1.67095986e+02] [ 4.56495966e-01 8.89724055e-01 -1.59355694e-03 2.35364338e+01] [ 3.52813713e-03 -1.91445264e-05 9.99993776e-01 -3.34533792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.730281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:167.12, Y:23.55, Z:-0.33 [[ 8.90629161e-01 -4.54724100e-01 -2.38539768e-03 1.67121472e+02] [ 4.54722496e-01 8.90632356e-01 -1.20782902e-03 2.35460954e+01] [ 2.67374131e-03 -8.96624054e-06 9.99996426e-01 -3.34158173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.760281693 meters Centerline goodness : 0.999189 Centerline is valid? [True, True] Translation: X:167.15, Y:23.56, Z:-0.33 [[ 8.91215106e-01 -4.53573077e-01 -2.66441197e-03 1.67146765e+02] [ 4.53571069e-01 8.91219089e-01 -1.34976151e-03 2.35583741e+01] [ 2.98679029e-03 -5.57233805e-06 9.99995540e-01 -3.34007551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.790281693 meters Centerline goodness : 0.998570 Centerline is valid? [True, True] Translation: X:167.17, Y:23.57, Z:-0.33 [[ 8.92429140e-01 -4.51181869e-01 -2.26958193e-03 1.67170678e+02] [ 4.51180403e-01 8.92432026e-01 -1.14991020e-03 2.35712263e+01] [ 2.54426623e-03 2.22247675e-06 9.99996763e-01 -3.34855847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.820281693 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:167.20, Y:23.58, Z:-0.34 [[ 8.92834769e-01 -4.50376781e-01 -2.61330310e-03 1.67196026e+02] [ 4.50374833e-01 8.92838594e-01 -1.32469472e-03 2.35835917e+01] [ 2.92986961e-03 5.76755916e-06 9.99995708e-01 -3.35997035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.850281693 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:167.22, Y:23.59, Z:-0.34 [[ 8.93185197e-01 -4.49677081e-01 -3.27521366e-03 1.67221341e+02] [ 4.49674014e-01 8.93191202e-01 -1.66090294e-03 2.35946514e+01] [ 3.67226201e-03 1.07154461e-05 9.99993257e-01 -3.36692844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.880281693 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:167.25, Y:23.60, Z:-0.34 [[ 8.93337360e-01 -4.49365449e-01 -4.36499243e-03 1.67247259e+02] [ 4.49359993e-01 8.93348024e-01 -2.21444748e-03 2.36047192e+01] [ 4.89455355e-03 1.67956954e-05 9.99988021e-01 -3.36967066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.910281693 meters Centerline goodness : 0.998623 Centerline is valid? [True, True] Translation: X:167.27, Y:23.62, Z:-0.34 [[ 8.93410834e-01 -4.49220599e-01 -4.23493027e-03 1.67272855e+02] [ 4.49215457e-01 8.93420871e-01 -2.14938379e-03 2.36168756e+01] [ 4.74912256e-03 1.78866279e-05 9.99988723e-01 -3.36396734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.940281693 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:167.30, Y:23.63, Z:-0.34 [[ 8.93723005e-01 -4.48605270e-01 -3.53573711e-03 1.67297441e+02] [ 4.48601679e-01 8.93729999e-01 -1.79502011e-03 2.36281673e+01] [ 3.96524981e-03 1.81131618e-05 9.99992138e-01 -3.36412500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.970281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:167.32, Y:23.64, Z:-0.34 [[ 8.94020156e-01 -4.48016635e-01 -3.00920975e-03 1.67323957e+02] [ 4.48014028e-01 8.94025220e-01 -1.52843321e-03 2.36383357e+01] [ 3.37507292e-03 1.82819175e-05 9.99994304e-01 -3.35823000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.000281693 meters Centerline goodness : 0.998589 Centerline is valid? [True, True] Translation: X:167.35, Y:23.65, Z:-0.34 [[ 8.94141336e-01 -4.47776421e-01 -2.74720609e-03 1.67349332e+02] [ 4.47774245e-01 8.94145557e-01 -1.39598641e-03 2.36498872e+01] [ 3.08149192e-03 1.80810224e-05 9.99995252e-01 -3.35925789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.030281693 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:167.37, Y:23.66, Z:-0.34 [[ 8.95139824e-01 -4.45778594e-01 -2.47790625e-03 1.67374876e+02] [ 4.45776816e-01 8.95143254e-01 -1.25932313e-03 2.36586698e+01] [ 2.77946036e-03 2.26771280e-05 9.99996137e-01 -3.35462996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.060281693 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:167.40, Y:23.67, Z:-0.34 [[ 8.95692376e-01 -4.44666732e-01 -2.58189215e-03 1.67401049e+02] [ 4.44664795e-01 8.95696096e-01 -1.31285461e-03 2.36700528e+01] [ 2.89637349e-03 2.78373187e-05 9.99995805e-01 -3.35253536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.090281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:167.43, Y:23.68, Z:-0.34 [[ 8.96365258e-01 -4.43306017e-01 -3.01647153e-03 1.67426042e+02] [ 4.43303363e-01 8.96370333e-01 -1.53424746e-03 2.36810504e+01] [ 3.38401672e-03 3.80341450e-05 9.99994273e-01 -3.35347984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.120281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:167.45, Y:23.69, Z:-0.34 [[ 8.97542581e-01 -4.40908133e-01 -4.16328647e-03 1.67452046e+02] [ 4.40903049e-01 8.97552235e-01 -2.11849979e-03 2.36926599e+01] [ 4.67083086e-03 6.58380693e-05 9.99989089e-01 -3.36529767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.150281693 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:167.48, Y:23.70, Z:-0.34 [[ 8.97739893e-01 -4.40507378e-01 -4.04164055e-03 1.67476446e+02] [ 4.40502580e-01 8.97748988e-01 -2.05693119e-03 2.37042557e+01] [ 4.53447208e-03 6.62361002e-05 9.99989717e-01 -3.36716391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.180281693 meters Centerline goodness : 0.998605 Centerline is valid? [True, True] Translation: X:167.50, Y:23.72, Z:-0.34 [[ 8.97958831e-01 -4.40064546e-01 -3.62391722e-03 1.67501490e+02] [ 4.40060682e-01 8.97966142e-01 -1.84528811e-03 2.37162926e+01] [ 4.06620084e-03 6.22492720e-05 9.99991731e-01 -3.35800301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.21028169299998 meters Centerline goodness : 0.998885 Centerline is valid? [True, True] Translation: X:167.53, Y:23.73, Z:-0.34 [[ 8.98904792e-01 -4.38141628e-01 -1.44501966e-03 1.67525429e+02] [ 4.38141011e-01 8.98905953e-01 -7.35954865e-04 2.37286398e+01] [ 1.62138923e-03 2.84309824e-05 9.99998685e-01 -3.35754784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.240281693 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:167.55, Y:23.74, Z:-0.34 [[ 8.99421881e-01 -4.37081234e-01 -5.24973415e-04 1.67549569e+02] [ 4.37081152e-01 8.99422034e-01 -2.67458312e-04 2.37416434e+01] [ 5.89073666e-04 1.11018729e-05 9.99999826e-01 -3.35237953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.270281693 meters Centerline goodness : 0.999101 Centerline is valid? [True, True] Translation: X:167.57, Y:23.76, Z:-0.33 [[ 9.00485263e-01 -4.34885868e-01 -7.56859238e-04 1.67573824e+02] [ 4.34885697e-01 9.00485581e-01 -3.85813018e-04 2.37567715e+01] [ 8.49325459e-04 1.82716797e-05 9.99999639e-01 -3.34836378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.300281693 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:167.60, Y:23.77, Z:-0.34 [[ 9.00884145e-01 -4.34055343e-01 -1.92780144e-03 1.67597232e+02] [ 4.34054234e-01 9.00886206e-01 -9.82624141e-04 2.37702993e+01] [ 2.16324299e-03 4.84601319e-05 9.99997659e-01 -3.35555717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.330281693 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:167.62, Y:23.78, Z:-0.34 [[ 9.00943020e-01 -4.33923004e-01 -3.53582949e-03 1.67620688e+02] [ 4.33919269e-01 9.00949953e-01 -1.80254898e-03 2.37836646e+01] [ 3.96777288e-03 8.97293712e-05 9.99992124e-01 -3.35691787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.360281693 meters Centerline goodness : 0.998378 Centerline is valid? [True, True] Translation: X:167.64, Y:23.80, Z:-0.34 [[ 9.00190359e-01 -4.35474070e-01 -4.43309498e-03 1.67644894e+02] [ 4.35468213e-01 9.00201268e-01 -2.26101092e-03 2.37980364e+01] [ 4.97528935e-03 1.04868288e-04 9.99987618e-01 -3.36418501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.390281693 meters Centerline goodness : 0.998387 Centerline is valid? [True, True] Translation: X:167.67, Y:23.81, Z:-0.34 [[ 8.99414811e-01 -4.37085255e-01 -3.07860164e-03 1.67669061e+02] [ 4.37082437e-01 8.99420077e-01 -1.57092971e-03 2.38121705e+01] [ 3.45558634e-03 6.73147424e-05 9.99994027e-01 -3.35563617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.420281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:167.69, Y:23.83, Z:-0.33 [[ 8.98722057e-01 -4.38517638e-01 -9.72346717e-04 1.67692261e+02] [ 4.38517358e-01 8.98722583e-01 -4.96363144e-04 2.38253015e+01] [ 1.09153395e-03 1.97015928e-05 9.99999404e-01 -3.34286839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.450281693 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:167.72, Y:23.84, Z:-0.33 [[ 8.97382882e-01 -4.41252113e-01 7.31810563e-04 1.67716240e+02] [ 4.41251955e-01 8.97383180e-01 3.73542554e-04 2.38401358e+01] [-8.21540932e-04 -1.22978515e-05 9.99999662e-01 -3.32241928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.480281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:167.74, Y:23.85, Z:-0.33 [[ 8.96753049e-01 -4.42531014e-01 -5.21003387e-04 1.67740711e+02] [ 4.42530934e-01 8.96753200e-01 -2.66285883e-04 2.38544063e+01] [ 5.85051216e-04 8.23256210e-06 9.99999829e-01 -3.33024646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.510281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:167.76, Y:23.87, Z:-0.34 [[ 8.95788099e-01 -4.44470863e-01 -3.05490891e-03 1.67762967e+02] [ 4.44468124e-01 8.95793308e-01 -1.56095272e-03 2.38707224e+01] [ 3.43036496e-03 4.04732360e-05 9.99994115e-01 -3.35563765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.540281693 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:167.79, Y:23.89, Z:-0.34 [[ 8.95183209e-01 -4.45686489e-01 -3.25191365e-03 1.67787503e+02] [ 4.45683390e-01 8.95189115e-01 -1.66238124e-03 2.38851960e+01] [ 3.65197856e-03 3.88118746e-05 9.99993331e-01 -3.35473348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.570281693 meters Centerline goodness : 0.998307 Centerline is valid? [True, True] Translation: X:167.81, Y:23.90, Z:-0.34 [[ 8.95111532e-01 -4.45830429e-01 -3.25164952e-03 1.67812782e+02] [ 4.45827330e-01 8.95117437e-01 -1.66289784e-03 2.38983495e+01] [ 3.65197864e-03 3.88048079e-05 9.99993331e-01 -3.35491589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.600281693 meters Centerline goodness : 0.998599 Centerline is valid? [True, True] Translation: X:167.84, Y:23.91, Z:-0.33 [[ 8.94427005e-01 -4.47203961e-01 -2.99153117e-03 1.67836202e+02] [ 4.47201344e-01 8.94432008e-01 -1.53010180e-03 2.39113283e+01] [ 3.35998882e-03 3.07476105e-05 9.99994355e-01 -3.34803308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.630281693 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:167.86, Y:23.92, Z:-0.33 [[ 8.92639287e-01 -4.50764171e-01 -2.60099995e-03 1.67861423e+02] [ 4.50762206e-01 8.92643077e-01 -1.33105063e-03 2.39238927e+01] [ 2.92175454e-03 1.57156127e-05 9.99995732e-01 -3.33392433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.660281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:167.89, Y:23.94, Z:-0.33 [[ 8.91599902e-01 -4.52818922e-01 -2.15357570e-03 1.67885855e+02] [ 4.52817581e-01 8.91602503e-01 -1.10225140e-03 2.39361019e+01] [ 2.41925377e-03 7.59030620e-06 9.99997074e-01 -3.32955569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.690281693 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:167.91, Y:23.95, Z:-0.33 [[ 8.90414924e-01 -4.55149660e-01 -2.22724196e-04 1.67910247e+02] [ 4.55149646e-01 8.90414952e-01 -1.14172638e-04 2.39491041e+01] [ 2.50282592e-04 2.88181551e-07 9.99999969e-01 -3.33523219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.720281693 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:167.93, Y:23.96, Z:-0.33 [[ 8.90565668e-01 -4.54854678e-01 1.17586574e-04 1.67934173e+02] [ 4.54854674e-01 8.90565675e-01 6.01620860e-05 2.39621900e+01] [-1.32083573e-04 -9.34855237e-08 9.99999991e-01 -3.33136742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.750281693 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:167.96, Y:23.98, Z:-0.33 [[ 8.91241827e-01 -4.53528064e-01 -5.48310661e-04 1.67958160e+02] [ 4.53527977e-01 8.91241996e-01 -2.81062237e-04 2.39766486e+01] [ 6.16147100e-04 1.82019699e-06 9.99999810e-01 -3.32721419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.780281693 meters Centerline goodness : 0.998868 Centerline is valid? [True, True] Translation: X:167.98, Y:23.99, Z:-0.33 [[ 8.93437470e-01 -4.49174986e-01 -3.36440317e-03 1.67979801e+02] [ 4.49171677e-01 8.93443804e-01 -1.72439229e-03 2.39932528e+01] [ 3.78045905e-03 2.94420705e-05 9.99992854e-01 -3.32351525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.810281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:168.00, Y:24.01, Z:-0.33 [[ 8.94414586e-01 -4.47221724e-01 -3.90867108e-03 1.68004460e+02] [ 4.47217235e-01 8.94423126e-01 -2.00430472e-03 2.40071843e+01] [ 4.39237442e-03 4.46543047e-05 9.99990352e-01 -3.32885172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.840281693 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:168.03, Y:24.02, Z:-0.33 [[ 8.94974890e-01 -4.46114393e-01 -1.37653215e-03 1.68027395e+02] [ 4.46113834e-01 8.94975948e-01 -7.06129504e-04 2.40211973e+01] [ 1.54697770e-03 1.78781406e-05 9.99998803e-01 -3.32780305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.870281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:168.05, Y:24.04, Z:-0.33 [[ 8.94565435e-01 -4.46936969e-01 1.65506395e-04 1.68051803e+02] [ 4.46936961e-01 8.94565451e-01 8.47994957e-05 2.40355384e+01] [-1.85956333e-04 -1.88777231e-06 9.99999983e-01 -3.33000702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.900281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:168.08, Y:24.05, Z:-0.33 [[ 8.93975643e-01 -4.48115543e-01 9.30525801e-05 1.68076363e+02] [ 4.48115541e-01 8.93975648e-01 4.76375292e-05 2.40495899e+01] [-1.04533858e-04 -8.88483517e-07 9.99999995e-01 -3.32931461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.930281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:168.10, Y:24.06, Z:-0.33 [[ 8.92651754e-01 -4.50734421e-01 -3.36580835e-03 1.68100682e+02] [ 4.50731106e-01 8.92658099e-01 -1.72882615e-03 2.40629948e+01] [ 3.78375753e-03 2.61651735e-05 9.99992841e-01 -3.34972892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.96028169299998 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:168.13, Y:24.08, Z:-0.34 [[ 8.92127729e-01 -4.51757253e-01 -4.84762170e-03 1.68125390e+02] [ 4.51750386e-01 8.92140899e-01 -2.49105245e-03 2.40761842e+01] [ 5.45011259e-03 3.24219877e-05 9.99985148e-01 -3.35247425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.990281693 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:168.15, Y:24.09, Z:-0.34 [[ 8.91781401e-01 -4.52437525e-01 -5.12041917e-03 1.68148624e+02] [ 4.52429872e-01 8.91796101e-01 -2.63168453e-03 2.40893643e+01] [ 5.75704269e-03 3.02567335e-05 9.99983428e-01 -3.35701947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.020281693 meters Centerline goodness : 0.998747 Centerline is valid? [True, True] Translation: X:168.17, Y:24.10, Z:-0.33 [[ 8.91536271e-01 -4.52932886e-01 -3.85723141e-03 1.68172501e+02] [ 4.52928546e-01 8.91544615e-01 -1.98285983e-03 2.41029324e+01] [ 4.33699632e-03 2.07412431e-05 9.99990595e-01 -3.34322379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.050281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:168.20, Y:24.12, Z:-0.33 [[ 8.91495009e-01 -4.53019806e-01 -3.11528252e-03 1.68196660e+02] [ 4.53016974e-01 8.91500452e-01 -1.60176722e-03 2.41156984e+01] [ 3.50290804e-03 1.66916215e-05 9.99993865e-01 -3.33929778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.080281693 meters Centerline goodness : 0.998967 Centerline is valid? [True, True] Translation: X:168.22, Y:24.13, Z:-0.33 [[ 8.91551451e-01 -4.52913818e-01 -2.25450650e-03 1.68221068e+02] [ 4.52912333e-01 8.91554302e-01 -1.15978621e-03 2.41297711e+01] [ 2.53529817e-03 1.29152815e-05 9.99996786e-01 -3.33138645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.110281693 meters Centerline goodness : 0.998802 Centerline is valid? [True, True] Translation: X:168.25, Y:24.14, Z:-0.33 [[ 8.91670303e-01 -4.52681450e-01 -1.89113862e-03 1.68245313e+02] [ 4.52680404e-01 8.91672308e-01 -9.73321365e-04 2.41443745e+01] [ 2.12688046e-03 1.18003616e-05 9.99997738e-01 -3.33294807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.140281693 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:168.27, Y:24.16, Z:-0.33 [[ 8.91869814e-01 -4.52289518e-01 -1.55774902e-03 1.68268244e+02] [ 4.52288807e-01 8.91871175e-01 -8.01839384e-04 2.41583597e+01] [ 1.75197500e-03 1.05838959e-05 9.99998465e-01 -3.33066502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.170281693 meters Centerline goodness : 0.998751 Centerline is valid? [True, True] Translation: X:168.29, Y:24.17, Z:-0.33 [[ 8.92061380e-01 -4.51912116e-01 -1.39072893e-03 1.68292034e+02] [ 4.51911548e-01 8.92062464e-01 -7.16269656e-04 2.41724197e+01] [ 1.56430801e-03 1.04700323e-05 9.99998776e-01 -3.32663439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.200281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:168.31, Y:24.19, Z:-0.33 [[ 8.92300072e-01 -4.51441514e-01 -1.06843301e-03 1.68314760e+02] [ 4.51441179e-01 8.92300711e-01 -5.50340204e-04 2.41877027e+01] [ 1.20180995e-03 8.73394824e-06 9.99999278e-01 -3.32579171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.230281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:168.34, Y:24.20, Z:-0.33 [[ 8.91724774e-01 -4.52576622e-01 -1.15245340e-03 1.68337638e+02] [ 4.52576232e-01 8.91725519e-01 -5.93951061e-04 2.42039696e+01] [ 1.29648047e-03 8.06785983e-06 9.99999160e-01 -3.32132101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.260281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:168.36, Y:24.22, Z:-0.33 [[ 8.91355794e-01 -4.53303524e-01 -8.74021761e-04 1.68360484e+02] [ 4.53303300e-01 8.91356222e-01 -4.50579431e-04 2.42176000e+01] [ 9.83313979e-04 5.42963794e-06 9.99999517e-01 -3.32572716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.290281693 meters Centerline goodness : 0.999013 Centerline is valid? [True, True] Translation: X:168.38, Y:24.23, Z:-0.33 [[ 8.90868827e-01 -4.54260060e-01 -7.28668653e-04 1.68383390e+02] [ 4.54259904e-01 8.90869125e-01 -3.75700947e-04 2.42313926e+01] [ 8.19814340e-04 3.69530934e-06 9.99999664e-01 -3.33123643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.320281693 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:168.41, Y:24.25, Z:-0.33 [[ 8.90271410e-01 -4.55429739e-01 -7.54777461e-04 1.68407464e+02] [ 4.55429573e-01 8.90271730e-01 -3.89405650e-04 2.42454026e+01] [ 8.49303949e-04 2.92874021e-06 9.99999639e-01 -3.33083398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.350281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:168.43, Y:24.26, Z:-0.33 [[ 8.88645380e-01 -4.58594927e-01 -2.84261188e-04 1.68431659e+02] [ 4.58594904e-01 8.88645426e-01 -1.46803078e-04 2.42603974e+01] [ 3.19930551e-04 9.51453520e-08 9.99999949e-01 -3.32568728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.380281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:168.46, Y:24.27, Z:-0.33 [[ 8.87767856e-01 -4.60291429e-01 1.83406753e-04 1.68455700e+02] [ 4.60291419e-01 8.87767875e-01 9.45955033e-05 2.42733606e+01] [-2.06364123e-04 4.41707400e-07 9.99999979e-01 -3.32125654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.410281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:168.48, Y:24.29, Z:-0.33 [[ 8.86431426e-01 -4.62859897e-01 2.09176400e-04 1.68480818e+02] [ 4.62859884e-01 8.86431450e-01 1.07870640e-04 2.42856496e+01] [-2.35349532e-04 1.19943919e-06 9.99999972e-01 -3.32458961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.440281693 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:168.51, Y:24.30, Z:-0.33 [[ 8.85997379e-01 -4.63690218e-01 1.61970764e-04 1.68505956e+02] [ 4.63690211e-01 8.85997394e-01 8.35305465e-05 2.42974355e+01] [-1.82237972e-04 1.09641241e-06 9.99999983e-01 -3.32832289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.470281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:168.53, Y:24.31, Z:-0.33 [[ 8.85503229e-01 -4.64633124e-01 -3.02210828e-04 1.68531326e+02] [ 4.64633098e-01 8.85503281e-01 -1.56306903e-04 2.43090993e+01] [ 3.40234044e-04 -2.00688642e-06 9.99999942e-01 -3.33136032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.500281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:168.56, Y:24.32, Z:-0.33 [[ 8.85174608e-01 -4.65254300e-01 -2.08580417e-03 1.68556736e+02] [ 4.65253051e-01 8.85177065e-01 -1.07815289e-03 2.43194317e+01] [ 2.34792128e-03 -1.60731964e-05 9.99997244e-01 -3.33079723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.530281693 meters Centerline goodness : 0.999418 Centerline is valid? [True, True] Translation: X:168.58, Y:24.33, Z:-0.33 [[ 8.85579039e-01 -4.64480447e-01 -2.77110897e-03 1.68581606e+02] [ 4.64478237e-01 8.85583375e-01 -1.43311212e-03 2.43316992e+01] [ 3.11970059e-03 -1.79857552e-05 9.99995134e-01 -3.33380511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.560281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:168.60, Y:24.35, Z:-0.33 [[ 8.88279730e-01 -4.59293959e-01 -2.86010132e-03 1.68604769e+02] [ 4.59291577e-01 8.88284334e-01 -1.47935291e-03 2.43454014e+01] [ 3.22004105e-03 4.58757846e-07 9.99994816e-01 -3.32938184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.590281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:168.63, Y:24.36, Z:-0.33 [[ 8.90112823e-01 -4.55733148e-01 -2.54162368e-03 1.68629026e+02] [ 4.55731251e-01 8.90116452e-01 -1.31528337e-03 2.43598760e+01] [ 2.86175928e-03 1.24532533e-05 9.99995905e-01 -3.32951929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.620281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:168.65, Y:24.37, Z:-0.33 [[ 8.92203806e-01 -4.51626393e-01 -2.44326700e-03 1.68651702e+02] [ 4.51624623e-01 8.92207151e-01 -1.26455920e-03 2.43737777e+01] [ 2.75100860e-03 2.48049916e-05 9.99996216e-01 -3.32667177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.650281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:168.67, Y:24.39, Z:-0.33 [[ 8.96376341e-01 -4.43289956e-01 -1.86282960e-03 1.68673933e+02] [ 4.43288908e-01 8.96378276e-01 -9.64659214e-04 2.43923808e+01] [ 2.09742372e-03 3.89259992e-05 9.99997800e-01 -3.31742962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.680281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:168.70, Y:24.41, Z:-0.33 [[ 8.98423073e-01 -4.39126563e-01 -1.96050772e-03 1.68696029e+02] [ 4.39125392e-01 8.98425211e-01 -1.01535552e-03 2.44087701e+01] [ 2.20723914e-03 5.13101027e-05 9.99997563e-01 -3.31735906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.71028169299998 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:168.72, Y:24.43, Z:-0.33 [[ 9.01264261e-01 -4.33261113e-01 -2.74582019e-03 1.68717062e+02] [ 4.33258787e-01 9.01268439e-01 -1.42273984e-03 2.44297869e+01] [ 3.09113892e-03 9.26138515e-05 9.99995218e-01 -3.33424551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.740281693 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:168.74, Y:24.45, Z:-0.33 [[ 9.01777967e-01 -4.32189187e-01 -3.00085494e-03 1.68739371e+02] [ 4.32186400e-01 9.01782954e-01 -1.55555033e-03 2.44467621e+01] [ 3.37841186e-03 1.05832320e-04 9.99994288e-01 -3.33786779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.770281693 meters Centerline goodness : 0.998964 Centerline is valid? [True, True] Translation: X:168.76, Y:24.46, Z:-0.33 [[ 9.01867614e-01 -4.32005033e-01 -2.54144904e-03 1.68761660e+02] [ 4.32003032e-01 9.01871190e-01 -1.31800029e-03 2.44643059e+01] [ 2.86144243e-03 9.07480861e-05 9.99995902e-01 -3.33739976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.800281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:168.78, Y:24.49, Z:-0.33 [[ 9.01224823e-01 -4.33351839e-01 -3.44985941e-05 1.68781142e+02] [ 4.33351839e-01 9.01224824e-01 -1.79484802e-05 2.44856402e+01] [ 3.88689964e-05 1.22558673e-06 9.99999999e-01 -3.31947935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.830281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:168.80, Y:24.50, Z:-0.33 [[ 9.00632394e-01 -4.34581131e-01 7.28790015e-04 1.68802868e+02] [ 4.34580967e-01 9.00632689e-01 3.78022195e-04 2.45019471e+01] [-8.20653424e-04 -2.37407652e-05 9.99999663e-01 -3.31842908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.860281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:168.82, Y:24.52, Z:-0.33 [[ 8.99278271e-01 -4.37376844e-01 2.97187383e-04 1.68823858e+02] [ 4.37376817e-01 8.99278320e-01 1.54141605e-04 2.45232827e+01] [-3.34672139e-04 -8.63332425e-06 9.99999944e-01 -3.33293477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.890281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:168.85, Y:24.54, Z:-0.33 [[ 8.98499363e-01 -4.38974397e-01 -6.10770631e-04 1.68845553e+02] [ 4.38974283e-01 8.98499571e-01 -3.17161393e-04 2.45399630e+01] [ 6.88002881e-04 1.68567100e-05 9.99999763e-01 -3.34719448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.920281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:168.87, Y:24.56, Z:-0.33 [[ 8.97334522e-01 -4.41347518e-01 -1.76761019e-03 1.68868372e+02] [ 4.41346565e-01 8.97336262e-01 -9.18233212e-04 2.45563395e+01] [ 1.99140067e-03 4.38336767e-05 9.99998016e-01 -3.34688133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.950281693 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:168.89, Y:24.57, Z:-0.33 [[ 8.94313126e-01 -4.47430686e-01 -3.13273728e-03 1.68891171e+02] [ 4.47427727e-01 8.94318611e-01 -1.62792637e-03 2.45728595e+01] [ 3.53004946e-03 5.42024024e-05 9.99993768e-01 -3.34745054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.980281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:168.92, Y:24.59, Z:-0.33 [[ 8.92689389e-01 -4.50665416e-01 -2.51731285e-03 1.68915273e+02] [ 4.50663518e-01 8.92692938e-01 -1.30870552e-03 2.45872129e+01] [ 2.83697573e-03 3.38064660e-05 9.99995975e-01 -3.34154816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.010281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:168.94, Y:24.60, Z:-0.33 [[ 8.91224059e-01 -4.53561752e-01 -1.18873197e-03 1.68939707e+02] [ 4.53561331e-01 8.91224852e-01 -6.18325681e-04 2.46017740e+01] [ 1.33987635e-03 1.19038716e-05 9.99999102e-01 -3.33816529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.040281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:168.96, Y:24.62, Z:-0.33 [[ 8.89518717e-01 -4.56898040e-01 7.96103303e-04 1.68961758e+02] [ 4.56897853e-01 8.89519073e-01 4.14036140e-04 2.46172727e+01] [-8.97321373e-04 -4.55500688e-06 9.99999597e-01 -3.33668070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.070281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:168.99, Y:24.63, Z:-0.33 [[ 8.88929589e-01 -4.58043523e-01 5.63219733e-04 1.68985009e+02] [ 4.58043429e-01 8.88929767e-01 2.92955689e-04 2.46321275e+01] [-6.34849242e-04 -2.43788245e-06 9.99999798e-01 -3.34092399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.100281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:169.01, Y:24.65, Z:-0.33 [[ 8.88077938e-01 -4.59692709e-01 4.34860357e-04 1.69006003e+02] [ 4.59688942e-01 8.88065935e-01 -4.99712859e-03 2.46509731e+01] [ 1.91095891e-03 4.63774016e-03 9.99987420e-01 -3.32679291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.130281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:169.03, Y:24.66, Z:-0.33 [[ 8.87082687e-01 -4.61604186e-01 -2.42513507e-03 1.69032818e+02] [ 4.61610438e-01 8.87073985e-01 3.94327235e-03 2.46618311e+01] [ 3.31043209e-04 -4.61747630e-03 9.99989285e-01 -3.34272516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.160281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:169.06, Y:24.68, Z:-0.34 [[ 8.86267783e-01 -4.63172647e-01 -7.18303383e-04 1.69056250e+02] [ 4.63172496e-01 8.86268074e-01 -3.74258059e-04 2.46774429e+01] [ 8.09955452e-04 -1.00551082e-06 9.99999672e-01 -3.35451269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.190281693 meters Centerline goodness : 0.998992 Centerline is valid? [True, True] Translation: X:169.08, Y:24.69, Z:-0.34 [[ 8.84700307e-01 -4.66151835e-01 -2.79888975e-03 1.69080056e+02] [ 4.66149555e-01 8.84704734e-01 -1.45812809e-03 2.46896382e+01] [ 3.15590010e-03 -1.46948484e-05 9.99995020e-01 -3.37661344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.220281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:169.10, Y:24.70, Z:-0.34 [[ 8.83945923e-01 -4.67577052e-01 -3.36225235e-03 1.69103808e+02] [ 4.67573771e-01 8.83952318e-01 -1.75195346e-03 2.47025197e+01] [ 3.79124399e-03 -2.34688874e-05 9.99992813e-01 -3.37214224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.250281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:169.13, Y:24.72, Z:-0.33 [[ 8.83627524e-01 -4.68186116e-01 -2.03939373e-03 1.69128038e+02] [ 4.68184909e-01 8.83629878e-01 -1.06317226e-03 2.47166741e+01] [ 2.29983172e-03 -1.53650932e-05 9.99997355e-01 -3.34301413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.280281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:169.15, Y:24.73, Z:-0.33 [[ 8.83556645e-01 -4.68323835e-01 -6.63554992e-04 1.69153165e+02] [ 4.68323707e-01 8.83556894e-01 -3.46174827e-04 2.47297232e+01] [ 7.48410510e-04 -4.89346456e-06 9.99999720e-01 -3.33769714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.310281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:169.18, Y:24.74, Z:-0.34 [[ 8.82834461e-01 -4.69683280e-01 9.64508735e-04 1.69178258e+02] [ 4.69683011e-01 8.82834988e-01 5.03026441e-04 2.47408861e+01] [-1.08776517e-03 8.92428900e-06 9.99999408e-01 -3.35049858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.340281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:169.20, Y:24.75, Z:-0.34 [[ 8.81913726e-01 -4.71409733e-01 1.02189059e-03 1.69203365e+02] [ 4.71409431e-01 8.81914318e-01 5.33056959e-04 2.47521562e+01] [-1.15250818e-03 1.16186157e-05 9.99999336e-01 -3.35676030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.370281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:169.23, Y:24.76, Z:-0.34 [[ 8.80650364e-01 -4.73766488e-01 5.01155439e-04 1.69229619e+02] [ 4.73766416e-01 8.80650506e-01 2.61431172e-04 2.47633625e+01] [-5.65200120e-04 7.20115979e-06 9.99999840e-01 -3.35729504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.400281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:169.26, Y:24.77, Z:-0.33 [[ 8.78361550e-01 -4.77996824e-01 -1.52830904e-04 1.69256625e+02] [ 4.77996817e-01 8.78361564e-01 -7.98417716e-05 2.47701009e+01] [ 1.72404905e-04 -2.92274345e-06 9.99999985e-01 -3.34942777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.430281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:169.28, Y:24.78, Z:-0.33 [[ 8.77202454e-01 -4.80120201e-01 -6.68575363e-04 1.69283246e+02] [ 4.80120075e-01 8.77202709e-01 -3.49299984e-04 2.47791123e+01] [ 7.54182098e-04 -1.45896498e-05 9.99999716e-01 -3.34659500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.46028169299998 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:169.31, Y:24.79, Z:-0.33 [[ 8.76176300e-01 -4.81990430e-01 -5.63108222e-04 1.69309540e+02] [ 4.81990341e-01 8.76176481e-01 -2.94200841e-04 2.47880362e+01] [ 6.35184170e-04 -1.36409191e-05 9.99999798e-01 -3.34990146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.490281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:169.33, Y:24.80, Z:-0.34 [[ 8.76101951e-01 -4.82125558e-01 -5.63040019e-04 1.69334689e+02] [ 4.82125469e-01 8.76102132e-01 -2.94331377e-04 2.48014065e+01] [ 6.35185240e-04 -1.35916395e-05 9.99999798e-01 -3.35008467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.520281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:169.36, Y:24.81, Z:-0.34 [[ 8.75604897e-01 -4.83026914e-01 -1.03131860e-03 1.69363166e+02] [ 4.83026614e-01 8.75605504e-01 -5.39256292e-04 2.48080541e+01] [ 1.16350355e-03 -2.59788816e-05 9.99999323e-01 -3.35730932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.550281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:169.39, Y:24.82, Z:-0.34 [[ 8.76048843e-01 -4.82218013e-01 -2.05234631e-03 1.69389283e+02] [ 4.82216820e-01 8.76051246e-01 -1.07348429e-03 2.48189403e+01] [ 2.31561400e-03 -4.92512415e-05 9.99997318e-01 -3.35515480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.580281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:169.42, Y:24.83, Z:-0.34 [[ 8.78531615e-01 -4.77675753e-01 -2.84187617e-03 1.69416175e+02] [ 4.77673441e-01 8.78536210e-01 -1.48707484e-03 2.48268517e+01] [ 3.20703071e-03 -5.10465126e-05 9.99994856e-01 -3.35548410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.610281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:169.44, Y:24.84, Z:-0.34 [[ 8.79596580e-01 -4.75712513e-01 -2.73141531e-03 1.69441611e+02] [ 4.75710367e-01 8.79600820e-01 -1.42948350e-03 2.48366687e+01] [ 3.08257834e-03 -4.19937810e-05 9.99995248e-01 -3.35200440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.640281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:169.47, Y:24.85, Z:-0.34 [[ 8.80267411e-01 -4.74473329e-01 -2.08424772e-03 1.69466769e+02] [ 4.74472076e-01 8.80269878e-01 -1.09101329e-03 2.48464895e+01] [ 2.35235719e-03 -2.85338927e-05 9.99997233e-01 -3.35972451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.670281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:169.49, Y:24.85, Z:-0.34 [[ 8.80855680e-01 -4.73384030e-01 -9.11222738e-04 1.69493475e+02] [ 4.73383790e-01 8.80856151e-01 -4.77109647e-04 2.48537554e+01] [ 1.02851224e-03 -1.10933303e-05 9.99999471e-01 -3.36399226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.700281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:169.52, Y:24.86, Z:-0.34 [[ 8.80893540e-01 -4.73313466e-01 -9.66396422e-04 1.69517907e+02] [ 4.73313196e-01 8.80894070e-01 -5.06083422e-04 2.48644573e+01] [ 1.09082898e-03 -1.16025619e-05 9.99999405e-01 -3.35943246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.730281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:169.54, Y:24.87, Z:-0.34 [[ 8.80728533e-01 -4.73618876e-01 -1.55270932e-03 1.69544107e+02] [ 4.73618177e-01 8.80729902e-01 -8.13485029e-04 2.48744076e+01] [ 1.75279940e-03 -1.89318841e-05 9.99998464e-01 -3.36516553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.760281693 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:169.57, Y:24.89, Z:-0.34 [[ 8.80376321e-01 -4.74273269e-01 -1.54893713e-03 1.69569748e+02] [ 4.74272574e-01 8.80377684e-01 -8.11873606e-04 2.48856316e+01] [ 1.74869963e-03 -1.98641018e-05 9.99998471e-01 -3.37155568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.790281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:169.60, Y:24.90, Z:-0.34 [[ 8.79881080e-01 -4.75191777e-01 -1.43562429e-03 1.69595177e+02] [ 4.75191181e-01 8.79882251e-01 -7.52559521e-04 2.48961297e+01] [ 1.62079043e-03 -2.00331164e-05 9.99998686e-01 -3.36872283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.820281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:169.62, Y:24.91, Z:-0.34 [[ 8.78377205e-01 -4.77967927e-01 3.83209994e-04 1.69621287e+02] [ 4.77967885e-01 8.78377288e-01 2.00819875e-04 2.49058363e+01] [-4.32588415e-04 6.76647030e-06 9.99999906e-01 -3.36083946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.850281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:169.64, Y:24.92, Z:-0.34 [[ 8.78060410e-01 -4.78545141e-01 2.11289088e-03 1.69643989e+02] [ 4.78549259e-01 8.78044172e-01 -5.38871091e-03 2.49187647e+01] [ 7.23529902e-04 5.74273607e-03 9.99983249e-01 -3.35111935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.880281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:169.67, Y:24.92, Z:-0.34 [[ 8.77225436e-01 -4.80075178e-01 -1.83247030e-03 1.69674467e+02] [ 4.80077178e-01 8.77206780e-01 5.84531540e-03 2.49225082e+01] [-1.19873546e-03 -6.00738652e-03 9.99981237e-01 -3.35950564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.910281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:169.70, Y:24.94, Z:-0.34 [[ 8.77163623e-01 -4.80191297e-01 5.44454215e-04 1.69697938e+02] [ 4.80191213e-01 8.77163792e-01 2.85731700e-04 2.49358380e+01] [-6.14781399e-04 1.08086760e-05 9.99999811e-01 -3.36417537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.940281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:169.72, Y:24.95, Z:-0.34 [[ 8.77322712e-01 -4.79900770e-01 -3.32923042e-04 1.69723648e+02] [ 4.79900738e-01 8.77322775e-01 -1.75032921e-04 2.49477534e+01] [ 3.76079400e-04 -6.20965697e-06 9.99999929e-01 -3.35640992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.970281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:169.75, Y:24.96, Z:-0.34 [[ 8.77706800e-01 -4.79196889e-01 -1.05566650e-03 1.69747818e+02] [ 4.79196568e-01 8.77707435e-01 -5.54599949e-04 2.49597333e+01] [ 1.19232891e-03 -1.90956189e-05 9.99999289e-01 -3.36181045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.000281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:169.77, Y:24.97, Z:-0.34 [[ 8.79252541e-01 -4.76352390e-01 -1.83579250e-03 1.69772717e+02] [ 4.76351414e-01 8.79254457e-01 -9.64887385e-04 2.49724749e+01] [ 2.07375515e-03 -2.61026670e-05 9.99997849e-01 -3.36343753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.030281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:169.80, Y:24.98, Z:-0.34 [[ 8.80385801e-01 -4.74253056e-01 -2.20932913e-03 1.69796167e+02] [ 4.74251634e-01 8.80388573e-01 -1.16128757e-03 2.49848471e+01] [ 2.49581230e-03 -2.53968690e-05 9.99996885e-01 -3.36452622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.060281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:169.82, Y:25.00, Z:-0.34 [[ 8.82698685e-01 -4.69937496e-01 -1.33472720e-03 1.69820428e+02] [ 4.69936972e-01 8.82699694e-01 -7.01997942e-04 2.49980906e+01] [ 1.50805845e-03 -7.58499882e-06 9.99998863e-01 -3.36242018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.090281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:169.84, Y:25.01, Z:-0.34 [[ 8.83496259e-01 -4.68437870e-01 -5.67523606e-04 1.69844838e+02] [ 4.68437775e-01 8.83496441e-01 -2.98718669e-04 2.50121984e+01] [ 6.41336224e-04 -1.93266887e-06 9.99999794e-01 -3.35962709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.120281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:169.87, Y:25.03, Z:-0.34 [[ 8.84140793e-01 -4.67220023e-01 7.12300024e-04 1.69868784e+02] [ 4.67219873e-01 8.84141080e-01 3.74662925e-04 2.50259399e+01] [-8.04823734e-04 1.54595080e-06 9.99999676e-01 -3.36523788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.150281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:169.89, Y:25.04, Z:-0.34 [[ 8.84603325e-01 -4.66341134e-01 1.70418367e-03 1.69891145e+02] [ 4.66340271e-01 8.84604967e-01 8.97003502e-04 2.50404635e+01] [-1.92583897e-03 1.23719429e-06 9.99998146e-01 -3.37372555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.180281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:169.92, Y:25.05, Z:-0.34 [[ 8.84701012e-01 -4.66157552e-01 1.12059629e-03 1.69915750e+02] [ 4.66157179e-01 8.84701722e-01 5.89986318e-04 2.50546749e+01] [-1.26642005e-03 4.12515069e-07 9.99999198e-01 -3.37203400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.21028169299998 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:169.94, Y:25.07, Z:-0.34 [[ 8.85638073e-01 -4.64373582e-01 -1.54249417e-03 1.69937810e+02] [ 4.64372871e-01 8.85639416e-01 -8.12620772e-04 2.50698700e+01] [ 1.74345325e-03 3.39544954e-06 9.99998480e-01 -3.37720730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.240281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:169.96, Y:25.08, Z:-0.34 [[ 8.86026530e-01 -4.63628484e-01 -2.37001399e-03 1.69960915e+02] [ 4.63626802e-01 8.86029700e-01 -1.24876894e-03 2.50841148e+01] [ 2.67886764e-03 7.64040700e-06 9.99996412e-01 -3.37983856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.270281693 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:169.98, Y:25.10, Z:-0.34 [[ 8.85944256e-01 -4.63786655e-01 -2.17110329e-03 1.69984906e+02] [ 4.63785242e-01 8.85946916e-01 -1.14457013e-03 2.50981434e+01] [ 2.45431862e-03 7.09966919e-06 9.99996988e-01 -3.38646344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.300281693 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:170.01, Y:25.11, Z:-0.34 [[ 8.84762438e-01 -4.66040786e-01 -1.18936140e-03 1.70008108e+02] [ 4.66040364e-01 8.84763237e-01 -6.27223481e-04 2.51130040e+01] [ 1.34461496e-03 6.53358658e-07 9.99999096e-01 -3.39590915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.330281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:170.03, Y:25.13, Z:-0.34 [[ 8.84329747e-01 -4.66862282e-01 -7.12197691e-04 1.70031785e+02] [ 4.66862131e-01 8.84330034e-01 -3.75660171e-04 2.51270099e+01] [ 8.05199373e-04 -2.90667649e-07 9.99999676e-01 -3.40218891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.360281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:170.06, Y:25.14, Z:-0.34 [[ 8.84090969e-01 -4.67314837e-01 -3.36696815e-05 1.70056578e+02] [ 4.67314837e-01 8.84090970e-01 -1.79555039e-05 2.51409963e+01] [ 3.81579348e-05 1.39957117e-07 9.99999999e-01 -3.40154726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.390281693 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:170.08, Y:25.15, Z:-0.34 [[ 8.84291363e-01 -4.66934660e-01 8.99185757e-04 1.70080330e+02] [ 4.66934419e-01 8.84291820e-01 4.74403347e-04 2.51531766e+01] [-1.01665798e-03 3.49996945e-07 9.99999483e-01 -3.39074892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.420281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:170.11, Y:25.17, Z:-0.34 [[ 8.84165352e-01 -4.67174073e-01 -1.29736060e-04 1.70105046e+02] [ 4.67174068e-01 8.84165361e-01 -6.86865117e-05 2.51657749e+01] [ 1.46796688e-04 1.20911005e-07 9.99999989e-01 -3.39185002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.450281693 meters Centerline goodness : 0.998932 Centerline is valid? [True, True] Translation: X:170.13, Y:25.18, Z:-0.34 [[ 8.84083148e-01 -4.67328931e-01 -8.10620062e-04 1.70130117e+02] [ 4.67328735e-01 8.84083520e-01 -4.28362367e-04 2.51788153e+01] [ 9.16841965e-04 -1.18098136e-07 9.99999580e-01 -3.39298472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.480281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:170.15, Y:25.19, Z:-0.34 [[ 8.84259984e-01 -4.66992980e-01 -1.35519641e-03 1.70154812e+02] [ 4.66992431e-01 8.84261023e-01 -7.16034549e-04 2.51906176e+01] [ 1.53273047e-03 2.94232186e-07 9.99998825e-01 -3.39103751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.510281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:170.18, Y:25.20, Z:-0.34 [[ 8.84682271e-01 -4.66190372e-01 -1.95354955e-03 1.70179757e+02] [ 4.66189228e-01 8.84684428e-01 -1.03269990e-03 2.52022957e+01] [ 2.20970961e-03 2.88753814e-06 9.99997559e-01 -3.38981555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.540281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:170.21, Y:25.21, Z:-0.34 [[ 8.85687667e-01 -4.64279511e-01 -1.37518767e-03 1.70205239e+02] [ 4.64278942e-01 8.85688735e-01 -7.27349470e-04 2.52135267e+01] [ 1.55568168e-03 5.73378011e-06 9.99998790e-01 -3.39815038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.570281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:170.23, Y:25.23, Z:-0.34 [[ 8.86251263e-01 -4.63204697e-01 -3.28643461e-04 1.70230209e+02] [ 4.63204665e-01 8.86251323e-01 -1.74049673e-04 2.52261429e+01] [ 3.71881328e-04 2.02255877e-06 9.99999931e-01 -3.39902708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.600281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:170.26, Y:25.24, Z:-0.34 [[ 8.87678544e-01 -4.60462739e-01 9.32007151e-04 1.70255527e+02] [ 4.60462475e-01 8.87679033e-01 4.93057036e-04 2.52378613e+01] [-1.05435760e-03 -8.52183267e-06 9.99999444e-01 -3.38965666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.630281693 meters Centerline goodness : 0.998982 Centerline is valid? [True, True] Translation: X:170.28, Y:25.25, Z:-0.34 [[ 8.88196238e-01 -4.59463134e-01 1.03506123e-03 1.70279271e+02] [ 4.59462807e-01 8.88196841e-01 5.47819114e-04 2.52498848e+01] [-1.17104080e-03 -1.09987361e-05 9.99999314e-01 -3.39272249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.660281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:170.30, Y:25.26, Z:-0.34 [[ 8.88436008e-01 -4.58999686e-01 8.65180546e-04 1.70304271e+02] [ 4.58999458e-01 8.88436429e-01 4.57987400e-04 2.52627155e+01] [-9.78873988e-04 -9.77509582e-06 9.99999521e-01 -3.38971955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.690281693 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:170.33, Y:25.28, Z:-0.34 [[ 8.89163290e-01 -4.57589892e-01 3.65922088e-04 1.70329071e+02] [ 4.57589851e-01 8.89163365e-01 1.93672021e-04 2.52760221e+01] [-4.13986875e-04 -4.76381790e-06 9.99999914e-01 -3.38748175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.720281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:170.35, Y:25.29, Z:-0.34 [[ 8.89672985e-01 -4.56598183e-01 2.80401080e-04 1.70353504e+02] [ 4.56598158e-01 8.89673030e-01 1.48422701e-04 2.52898899e+01] [-3.17234814e-04 -4.01705061e-06 9.99999950e-01 -3.38678103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.750281693 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:170.38, Y:25.30, Z:-0.34 [[ 8.90569915e-01 -4.54845825e-01 7.08625055e-04 1.70376260e+02] [ 4.54845670e-01 8.90570197e-01 3.75577576e-04 2.53048364e+01] [-8.01910247e-04 -1.21630511e-05 9.99999678e-01 -3.39338804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.780281693 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:170.40, Y:25.32, Z:-0.34 [[ 8.90762481e-01 -4.54468170e-01 9.40314330e-04 1.70399146e+02] [ 4.54467897e-01 8.90762977e-01 4.98566624e-04 2.53186615e+01] [-1.06417985e-03 -1.67617664e-05 9.99999434e-01 -3.39312213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.810281693 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:170.42, Y:25.33, Z:-0.34 [[ 8.90838631e-01 -4.54318294e-01 1.19226468e-03 1.70423544e+02] [ 4.54317854e-01 8.90839429e-01 6.32350126e-04 2.53327346e+01] [-1.34940462e-03 -2.16547894e-05 9.99999089e-01 -3.39266943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.840281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:170.45, Y:25.35, Z:-0.34 [[ 8.90904798e-01 -4.54189894e-01 4.25891439e-04 1.70446213e+02] [ 4.54189838e-01 8.90904900e-01 2.25912384e-04 2.53466081e+01] [-4.82035891e-04 -7.83086330e-06 9.99999884e-01 -3.38881785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.870281693 meters Centerline goodness : 0.999077 Centerline is valid? [True, True] Translation: X:170.47, Y:25.36, Z:-0.34 [[ 8.90779039e-01 -4.54436687e-01 -1.34014898e-05 1.70469759e+02] [ 4.54436687e-01 8.90779040e-01 -7.31612858e-06 2.53611125e+01] [ 1.52624834e-05 4.26925382e-07 1.00000000e+00 -3.38899959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.900281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:170.49, Y:25.38, Z:-0.34 [[ 8.90553000e-01 -4.54879413e-01 -2.70293820e-04 1.70492238e+02] [ 4.54879391e-01 8.90553041e-01 -1.43679845e-04 2.53761182e+01] [ 3.06067987e-04 5.00342872e-06 9.99999953e-01 -3.39840354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.930281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:170.52, Y:25.39, Z:-0.34 [[ 8.90358907e-01 -4.55259263e-01 1.42226812e-04 1.70515807e+02] [ 4.55259257e-01 8.90358918e-01 7.54620206e-05 2.53901525e+01] [-1.60987694e-04 -2.43820960e-06 9.99999987e-01 -3.40139449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.96028169299998 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:170.54, Y:25.41, Z:-0.34 [[ 8.89866413e-01 -4.56221175e-01 8.11054556e-05 1.70538432e+02] [ 4.56221173e-01 8.89866417e-01 4.29058627e-05 2.54062113e+01] [-9.17475842e-05 -1.17846003e-06 9.99999996e-01 -3.40260722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.990281693 meters Centerline goodness : 0.999138 Centerline is valid? [True, True] Translation: X:170.56, Y:25.42, Z:-0.34 [[ 8.89474437e-01 -4.56984708e-01 -4.50290643e-04 1.70560936e+02] [ 4.56984645e-01 8.89474551e-01 -2.39409593e-04 2.54205840e+01] [ 5.09928590e-04 7.17280347e-06 9.99999870e-01 -3.39993904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.020281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:170.58, Y:25.43, Z:-0.34 [[ 8.88968954e-01 -4.57966422e-01 -9.77859477e-04 1.70584678e+02] [ 4.57966126e-01 8.88969491e-01 -5.20149750e-04 2.54349981e+01] [ 1.10749836e-03 1.45704624e-05 9.99999387e-01 -3.40017191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.050281693 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:170.61, Y:25.45, Z:-0.34 [[ 8.87754314e-01 -4.60315807e-01 -1.27879495e-03 1.70608619e+02] [ 4.60315304e-01 8.87755235e-01 -6.80283747e-04 2.54505921e+01] [ 1.44840227e-03 1.52759468e-05 9.99998951e-01 -3.40079770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.080281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:170.63, Y:25.46, Z:-0.34 [[ 8.86892283e-01 -4.61975220e-01 -9.87286383e-04 1.70631441e+02] [ 4.61974921e-01 8.86892832e-01 -5.25410957e-04 2.54648946e+01] [ 1.11834406e-03 9.88137369e-06 9.99999375e-01 -3.40529831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.110281693 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:170.65, Y:25.48, Z:-0.34 [[ 8.86111706e-01 -4.63471726e-01 -5.22459366e-05 1.70654045e+02] [ 4.63471725e-01 8.86111708e-01 -2.78879822e-05 2.54792101e+01] [ 5.92210273e-05 4.97353102e-07 9.99999998e-01 -3.40248155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.140281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:170.68, Y:25.50, Z:-0.34 [[ 8.84733888e-01 -4.66096213e-01 5.17702706e-04 1.70675985e+02] [ 4.66096131e-01 8.84734039e-01 2.75459240e-04 2.54959813e+01] [-5.86419715e-04 -2.40889549e-06 9.99999828e-01 -3.39344788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.170281693 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:170.70, Y:25.51, Z:-0.34 [[ 8.84184338e-01 -4.67138143e-01 -1.08661635e-04 1.70699145e+02] [ 4.67138140e-01 8.84184345e-01 -5.79248790e-05 2.55106604e+01] [ 1.23135837e-04 4.56276532e-07 9.99999992e-01 -3.38848116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.200281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:170.72, Y:25.53, Z:-0.34 [[ 8.83763877e-01 -4.67933098e-01 1.61921194e-04 1.70721358e+02] [ 4.67933090e-01 8.83763892e-01 8.60434955e-05 2.55283372e+01] [-1.83362704e-04 -2.73848543e-07 9.99999983e-01 -3.38764096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.230281693 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:170.75, Y:25.54, Z:-0.34 [[ 8.83684825e-01 -4.68080885e-01 1.18934786e-03 1.70745168e+02] [ 4.68080456e-01 8.83685626e-01 6.33491208e-04 2.55439194e+01] [-1.34753473e-03 -3.09607968e-06 9.99999092e-01 -3.39363310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.260281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:170.77, Y:25.56, Z:-0.34 [[ 8.83475723e-01 -4.68473485e-01 1.80038212e-03 1.70768835e+02] [ 4.68472503e-01 8.83477557e-01 9.59460536e-04 2.55594380e+01] [-2.04007901e-03 -4.23057522e-06 9.99997919e-01 -3.38505970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.290281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:170.79, Y:25.57, Z:-0.34 [[ 8.83275506e-01 -4.68849886e-01 2.04095108e-03 1.70792935e+02] [ 4.68848623e-01 8.83277864e-01 1.08815590e-03 2.55745357e+01] [-2.31290868e-03 -4.24434633e-06 9.99997325e-01 -3.38687430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.320281693 meters Centerline goodness : 0.998973 Centerline is valid? [True, True] Translation: X:170.81, Y:25.59, Z:-0.34 [[ 8.82942025e-01 -4.69479938e-01 1.40305656e-03 1.70813669e+02] [ 4.69480790e-01 8.82928862e-01 -4.94088959e-03 2.55926091e+01] [ 1.08084940e-03 5.02122716e-03 9.99986809e-01 -3.38524859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.350281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:170.84, Y:25.61, Z:-0.34 [[ 8.83242079e-01 -4.68912153e-01 -2.19591314e-03 1.70838556e+02] [ 4.68917265e-01 8.83230668e-01 4.49279255e-03 2.56078511e+01] [-1.67227196e-04 -4.99792502e-03 9.99987496e-01 -3.38581527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.380281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:170.86, Y:25.62, Z:-0.34 [[ 8.83162117e-01 -4.69067853e-01 1.56750174e-04 1.70862420e+02] [ 4.69067846e-01 8.83162131e-01 8.34842376e-05 2.56236262e+01] [-1.77595590e-04 -2.03649586e-07 9.99999984e-01 -3.38488024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.410281693 meters Centerline goodness : 0.998862 Centerline is valid? [True, True] Translation: X:170.88, Y:25.64, Z:-0.34 [[ 8.84208626e-01 -4.67091676e-01 6.87149040e-04 1.70884178e+02] [ 4.67091532e-01 8.84208893e-01 3.66776785e-04 2.56401646e+01] [-7.78901675e-04 -3.34569861e-06 9.99999697e-01 -3.38958597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.440281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:170.91, Y:25.66, Z:-0.34 [[ 8.85284403e-01 -4.65049402e-01 7.61357495e-04 1.70906065e+02] [ 4.65049224e-01 8.85284730e-01 4.06475703e-04 2.56561974e+01] [-8.63049447e-04 -5.77788752e-06 9.99999628e-01 -3.38755563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.470281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:170.93, Y:25.67, Z:-0.34 [[ 8.86290688e-01 -4.63128532e-01 8.82404716e-04 1.70929579e+02] [ 4.63128293e-01 8.86291127e-01 4.71206262e-04 2.56720837e+01] [-1.00029653e-03 -8.95913243e-06 9.99999500e-01 -3.39142738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.500281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:170.95, Y:25.69, Z:-0.34 [[ 8.87365393e-01 -4.61063713e-01 1.70645442e-03 1.70950527e+02] [ 4.61062812e-01 8.87367033e-01 9.11724097e-04 2.56905475e+01] [-1.93461430e-03 -2.22497358e-05 9.99998128e-01 -3.39001293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.530281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:170.97, Y:25.71, Z:-0.34 [[ 8.87658004e-01 -4.60499752e-01 1.80167661e-03 1.70972723e+02] [ 4.60498746e-01 8.87659832e-01 9.62923622e-04 2.57074244e+01] [-2.04270204e-03 -2.50770422e-05 9.99997913e-01 -3.39005049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.560281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:170.99, Y:25.73, Z:-0.34 [[ 8.88201247e-01 -4.59453586e-01 9.73861201e-04 1.70992782e+02] [ 4.59453291e-01 8.88201780e-01 5.20613016e-04 2.57272785e+01] [-1.10418277e-03 -1.49653957e-05 9.99999390e-01 -3.40021852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.590281693 meters Centerline goodness : 0.999080 Centerline is valid? [True, True] Translation: X:171.02, Y:25.74, Z:-0.34 [[ 8.88187168e-01 -4.59481716e-01 3.26348839e-04 1.71015947e+02] [ 4.59481683e-01 8.88187228e-01 1.74368371e-04 2.57437572e+01] [-3.69977949e-04 -4.92043624e-06 9.99999932e-01 -3.40558324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.620281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:171.04, Y:25.76, Z:-0.34 [[ 8.87995407e-01 -4.59852313e-01 -8.21908895e-05 1.71037832e+02] [ 4.59852311e-01 8.87995411e-01 -4.41157792e-05 2.57594641e+01] [ 9.32718758e-05 1.37893886e-06 9.99999996e-01 -3.40935669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.650281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:171.06, Y:25.78, Z:-0.34 [[ 8.86673993e-01 -4.62394580e-01 -6.95522797e-04 1.71057688e+02] [ 4.62394430e-01 8.86674265e-01 -3.72514828e-04 2.57805859e+01] [ 7.88951003e-04 8.69334285e-06 9.99999689e-01 -3.40977153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.680281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:171.08, Y:25.80, Z:-0.34 [[ 8.85905838e-01 -4.63863842e-01 -1.08696617e-03 1.71080673e+02] [ 4.63863477e-01 8.85906505e-01 -5.82324377e-04 2.57976473e+01] [ 1.23306962e-03 1.16806597e-05 9.99999240e-01 -3.40905739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.71028169299998 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:171.10, Y:25.82, Z:-0.34 [[ 8.84243886e-01 -4.67025135e-01 5.22459035e-04 1.71100851e+02] [ 4.67009050e-01 8.84202956e-01 -9.36371655e-03 2.58181182e+01] [ 3.91113117e-03 8.52380221e-03 9.99956023e-01 -3.39462334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.740281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:171.13, Y:25.82, Z:-0.34 [[ 8.82669255e-01 -4.69961067e-01 -5.61974665e-03 1.71128144e+02] [ 4.69991468e-01 8.82644256e-01 6.86566190e-03 2.58249525e+01] [ 1.73364331e-03 -8.70134165e-03 9.99960640e-01 -3.42259980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.770281693 meters Centerline goodness : 0.999083 Centerline is valid? [True, True] Translation: X:171.15, Y:25.84, Z:-0.34 [[ 8.81104443e-01 -4.72918846e-01 -1.65080669e-03 1.71149238e+02] [ 4.72918018e-01 8.81105990e-01 -8.85079116e-04 2.58439711e+01] [ 1.87310625e-03 -8.49084731e-07 9.99998246e-01 -3.41464920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.800281693 meters Centerline goodness : 0.998947 Centerline is valid? [True, True] Translation: X:171.17, Y:25.86, Z:-0.34 [[ 8.78083131e-01 -4.78506410e-01 -1.27715679e-03 1.71170661e+02] [ 4.78505920e-01 8.78084060e-01 -6.84798002e-04 2.58603818e+01] [ 1.44913126e-03 -9.81751224e-06 9.99998950e-01 -3.41042050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.830281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:171.19, Y:25.87, Z:-0.34 [[ 8.76685649e-01 -4.81061945e-01 -1.29560837e-03 1.71194591e+02] [ 4.81061443e-01 8.76686606e-01 -6.94946458e-04 2.58738803e+01] [ 1.47015480e-03 -1.40176477e-05 9.99998919e-01 -3.41411310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.860281693 meters Centerline goodness : 0.999132 Centerline is valid? [True, True] Translation: X:171.22, Y:25.89, Z:-0.34 [[ 8.75290455e-01 -4.83595921e-01 -1.26631305e-03 1.71218808e+02] [ 4.83595444e-01 8.75291371e-01 -6.79580364e-04 2.58875119e+01] [ 1.43703517e-03 -1.75530138e-05 9.99998967e-01 -3.41246847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.890281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:171.24, Y:25.90, Z:-0.34 [[ 8.73628538e-01 -4.86593237e-01 -4.46577911e-04 1.71242451e+02] [ 4.86593178e-01 8.73628652e-01 -2.39919521e-04 2.59021372e+01] [ 5.06886474e-04 -7.70122474e-06 9.99999872e-01 -3.41778220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.920281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:171.27, Y:25.92, Z:-0.34 [[ 8.73221567e-01 -4.87323398e-01 4.87258481e-06 1.71265832e+02] [ 4.87323398e-01 8.73221567e-01 2.45763650e-06 2.59150470e+01] [-5.45250988e-06 2.28463399e-07 1.00000000e+00 -3.42189443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.950281693 meters Centerline goodness : 0.999120 Centerline is valid? [True, True] Translation: X:171.29, Y:25.93, Z:-0.34 [[ 8.72915984e-01 -4.87870063e-01 -6.97307151e-04 1.71290799e+02] [ 4.87869919e-01 8.72916262e-01 -3.74760161e-04 2.59284834e+01] [ 7.91525015e-04 -1.30610487e-05 9.99999687e-01 -3.41961782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.980281693 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:171.32, Y:25.94, Z:-0.34 [[ 8.72664169e-01 -4.88319386e-01 -1.19413945e-03 1.71315413e+02] [ 4.88318965e-01 8.72664985e-01 -6.41888184e-04 2.59423586e+01] [ 1.35553013e-03 -2.29681230e-05 9.99999081e-01 -3.41844022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.010281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:171.34, Y:25.96, Z:-0.34 [[ 8.72253517e-01 -4.89051227e-01 -1.64332070e-03 1.71339612e+02] [ 4.89050429e-01 8.72255064e-01 -8.83625399e-04 2.59558271e+01] [ 1.86553289e-03 -3.29213339e-05 9.99998259e-01 -3.42366470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.040281693 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:171.36, Y:25.97, Z:-0.34 [[ 8.71591121e-01 -4.90231220e-01 -1.50620568e-03 1.71364444e+02] [ 4.90230552e-01 8.71592422e-01 -8.09937054e-04 2.59671448e+01] [ 1.70985388e-03 -3.24540958e-05 9.99998538e-01 -3.42409498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.070281693 meters Centerline goodness : 0.998986 Centerline is valid? [True, True] Translation: X:171.39, Y:25.98, Z:-0.34 [[ 8.71576587e-01 -4.90257345e-01 -1.41063632e-03 1.71389428e+02] [ 4.90259196e-01 8.71575113e-01 1.65593489e-03 2.59778224e+01] [ 4.17641270e-04 -2.13485150e-03 9.99997634e-01 -3.42239646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.100281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:171.42, Y:25.99, Z:-0.34 [[ 8.70799903e-01 -4.91637031e-01 7.48133702e-04 1.71415086e+02] [ 4.91637506e-01 8.70797789e-01 -1.94263922e-03 2.59934178e+01] [ 3.03600205e-04 2.05946063e-03 9.99997833e-01 -3.40632127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.130281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:171.44, Y:26.00, Z:-0.34 [[ 8.70298521e-01 -4.92524592e-01 1.02464993e-04 1.71439217e+02] [ 4.92524589e-01 8.70298527e-01 5.50288138e-05 2.60046267e+01] [-1.16278176e-04 2.57503326e-06 9.99999993e-01 -3.40919026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.160281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:171.46, Y:26.02, Z:-0.34 [[ 8.69752056e-01 -4.93488844e-01 3.49715434e-04 1.71464641e+02] [ 4.93488809e-01 8.69752126e-01 1.88022193e-04 2.60170649e+01] [-3.96952597e-04 9.04796384e-06 9.99999921e-01 -3.40237960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.190281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:171.49, Y:26.03, Z:-0.34 [[ 8.68329361e-01 -4.95987815e-01 4.55597601e-04 1.71490462e+02] [ 4.95987755e-01 8.68329481e-01 2.45112853e-04 2.60278607e+01] [-5.17181817e-04 1.31321444e-05 9.99999866e-01 -3.40352621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.220281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:171.51, Y:26.04, Z:-0.34 [[ 8.67555643e-01 -4.97340043e-01 2.96835343e-04 1.71514782e+02] [ 4.97340018e-01 8.67555694e-01 1.59738876e-04 2.60397111e+01] [-3.36965731e-04 9.04573153e-06 9.99999943e-01 -3.40851289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.250281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:171.54, Y:26.05, Z:-0.34 [[ 8.66983439e-01 -4.98336778e-01 -4.15408515e-04 1.71539776e+02] [ 4.98336728e-01 8.66983538e-01 -2.24024634e-04 2.60512167e+01] [ 4.71792058e-04 -1.27876729e-05 9.99999889e-01 -3.41340346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.280281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:171.57, Y:26.06, Z:-0.34 [[ 8.66613976e-01 -4.98972039e-01 -2.66848715e-03 1.71566623e+02] [ 4.98969972e-01 8.66618080e-01 -1.43886978e-03 2.60605112e+01] [ 3.03051500e-03 -8.45502984e-05 9.99995404e-01 -3.41662004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.310281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:171.59, Y:26.07, Z:-0.34 [[ 8.66833279e-01 -4.98588069e-01 -3.16292041e-03 1.71591088e+02] [ 4.98585162e-01 8.66839044e-01 -1.70560837e-03 2.60723948e+01] [ 3.59213889e-03 -9.85070846e-05 9.99993543e-01 -3.41172999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.340281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:171.62, Y:26.09, Z:-0.34 [[ 8.67457127e-01 -4.97507390e-01 -2.12837252e-03 1.71615803e+02] [ 4.97506068e-01 8.67459736e-01 -1.14839640e-03 2.60854629e+01] [ 2.41761316e-03 -6.26936018e-05 9.99997076e-01 -3.40174303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.370281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:171.64, Y:26.10, Z:-0.34 [[ 8.67836252e-01 -4.96849409e-01 -9.50616202e-04 1.71639869e+02] [ 4.96849145e-01 8.67836773e-01 -5.13012841e-04 2.60984484e+01] [ 1.07986982e-03 -2.71017065e-05 9.99999417e-01 -3.39826638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.400281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:171.67, Y:26.11, Z:-0.34 [[ 8.68429343e-01 -4.95812297e-01 8.01371271e-04 1.71665535e+02] [ 4.95812109e-01 8.68429713e-01 4.32320308e-04 2.61107395e+01] [-9.10284348e-04 2.18899386e-05 9.99999585e-01 -3.39957295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.430281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:171.69, Y:26.12, Z:-0.34 [[ 8.68391413e-01 -4.95877766e-01 1.26272859e-03 1.71689794e+02] [ 4.95877299e-01 8.68392330e-01 6.81619299e-04 2.61233821e+01] [-1.43454368e-03 3.42460990e-05 9.99998970e-01 -3.40042929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.46028169299998 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:171.71, Y:26.14, Z:-0.34 [[ 8.68162839e-01 -4.96276552e-01 1.69393694e-03 1.71713785e+02] [ 4.96275712e-01 8.68164490e-01 9.14588022e-04 2.61360048e+01] [-1.92450449e-03 4.66484276e-05 9.99998147e-01 -3.39428417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.490281693 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:171.74, Y:26.15, Z:-0.34 [[ 8.67531710e-01 -4.97378673e-01 1.78528271e-03 1.71738720e+02] [ 4.97377742e-01 8.67533546e-01 9.64189236e-04 2.61482106e+01] [-2.02835980e-03 5.14951466e-05 9.99997942e-01 -3.38536455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.520281693 meters Centerline goodness : 0.999187 Centerline is valid? [True, True] Translation: X:171.76, Y:26.16, Z:-0.34 [[ 8.67269049e-01 -4.97836847e-01 1.69429189e-03 1.71763749e+02] [ 4.97836008e-01 8.67270703e-01 9.15446908e-04 2.61610426e+01] [-1.92515292e-03 4.95407430e-05 9.99998146e-01 -3.38551484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.550281693 meters Centerline goodness : 0.999152 Centerline is valid? [True, True] Translation: X:171.79, Y:26.17, Z:-0.34 [[ 8.67346611e-01 -4.97700923e-01 1.91003006e-03 1.71788482e+02] [ 4.97699855e-01 8.67348712e-01 1.03239468e-03 2.61725575e+01] [-2.17048590e-03 5.51776609e-05 9.99997643e-01 -3.39223186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.580281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:171.81, Y:26.19, Z:-0.34 [[ 8.67755969e-01 -4.96985291e-01 2.27998493e-03 1.71813534e+02] [ 4.96983766e-01 8.67758962e-01 1.23276633e-03 2.61852479e+01] [-2.59114409e-03 6.33751616e-05 9.99996641e-01 -3.39140002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.610281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:171.84, Y:26.20, Z:-0.34 [[ 8.68269022e-01 -4.96088990e-01 2.14943145e-03 1.71837987e+02] [ 4.96087631e-01 8.68271680e-01 1.16266353e-03 2.61981788e+01] [-2.44307503e-03 5.68016344e-05 9.99997014e-01 -3.38214311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.640281693 meters Centerline goodness : 0.998884 Centerline is valid? [True, True] Translation: X:171.86, Y:26.21, Z:-0.34 [[ 8.69280318e-01 -4.94316765e-01 1.63202767e-03 1.71862077e+02] [ 4.94315978e-01 8.69281849e-01 8.83045171e-04 2.62108854e+01] [-1.85519606e-03 3.91235651e-05 9.99998278e-01 -3.38185555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.670281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:171.89, Y:26.22, Z:-0.34 [[ 8.71830684e-01 -4.89807344e-01 -1.56044811e-04 1.71885964e+02] [ 4.89807337e-01 8.71830698e-01 -8.47110073e-05 2.62244121e+01] [ 1.77536730e-04 -2.57823803e-06 9.99999984e-01 -3.37727443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.700281693 meters Centerline goodness : 0.998763 Centerline is valid? [True, True] Translation: X:171.91, Y:26.24, Z:-0.34 [[ 8.73259547e-01 -4.87255115e-01 -4.65732217e-04 1.71910382e+02] [ 4.87255050e-01 8.73259671e-01 -2.52494331e-04 2.62383226e+01] [ 5.29734317e-04 -6.43728932e-06 9.99999860e-01 -3.38284781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.730281693 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:171.93, Y:26.25, Z:-0.34 [[ 8.76338640e-01 -4.81694792e-01 -8.46399355e-04 1.71932972e+02] [ 4.81694574e-01 8.76339048e-01 -4.58608968e-04 2.62526688e+01] [ 9.62642357e-04 -5.80921786e-06 9.99999537e-01 -3.38777848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.760281693 meters Centerline goodness : 0.998785 Centerline is valid? [True, True] Translation: X:171.96, Y:26.27, Z:-0.34 [[ 8.77450726e-01 -4.79665819e-01 -9.61632076e-04 1.71957006e+02] [ 4.79665536e-01 8.77451253e-01 -5.21396457e-04 2.62673318e+01] [ 1.09388133e-03 -3.76206511e-06 9.99999402e-01 -3.38431765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.790281693 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:171.98, Y:26.28, Z:-0.34 [[ 8.78194585e-01 -4.78302382e-01 -1.04965172e-03 1.71981059e+02] [ 4.78302043e-01 8.78195213e-01 -5.69343610e-04 2.62820985e+01] [ 1.19411752e-03 -2.05608875e-06 9.99999287e-01 -3.38999244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.820281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:172.00, Y:26.30, Z:-0.34 [[ 8.78994256e-01 -4.76831016e-01 -1.13124571e-03 1.72002656e+02] [ 4.76830621e-01 8.78994984e-01 -6.13556991e-04 2.62983879e+01] [ 1.28692230e-03 -9.95219497e-08 9.99999172e-01 -3.39539189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.850281693 meters Centerline goodness : 0.998857 Centerline is valid? [True, True] Translation: X:172.03, Y:26.31, Z:-0.34 [[ 8.79396989e-01 -4.76088276e-01 -9.43024787e-04 1.72026316e+02] [ 4.76088001e-01 8.79397494e-01 -5.11851780e-04 2.63143377e+01] [ 1.07298027e-03 1.15812837e-06 9.99999424e-01 -3.39264467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.880281693 meters Centerline goodness : 0.998629 Centerline is valid? [True, True] Translation: X:172.05, Y:26.33, Z:-0.34 [[ 8.79917411e-01 -4.75126258e-01 -6.23073647e-04 1.72049127e+02] [ 4.75126138e-01 8.79917632e-01 -3.38197161e-04 2.63297136e+01] [ 7.08939840e-04 1.54699446e-06 9.99999749e-01 -3.39462397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.910281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:172.07, Y:26.35, Z:-0.34 [[ 8.80962184e-01 -4.73186512e-01 3.94491925e-04 1.72071372e+02] [ 4.73186464e-01 8.80962272e-01 2.13902795e-04 2.63470542e+01] [-4.48748420e-04 -1.77203423e-06 9.99999899e-01 -3.38700623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.940281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:172.09, Y:26.36, Z:-0.34 [[ 8.81359289e-01 -4.72445954e-01 7.89734592e-04 1.72094225e+02] [ 4.72445760e-01 8.81359643e-01 4.28642205e-04 2.63628653e+01] [-8.98550473e-04 -4.68102976e-06 9.99999596e-01 -3.37957182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.970281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:172.12, Y:26.38, Z:-0.34 [[ 8.81861344e-01 -4.71508596e-01 4.61969200e-04 1.72116114e+02] [ 4.71508529e-01 8.81861465e-01 2.50747797e-04 2.63807524e+01] [-5.25622577e-04 -3.30237164e-06 9.99999862e-01 -3.37964246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.000281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:172.14, Y:26.40, Z:-0.34 [[ 8.81923701e-01 -4.71391732e-01 -6.47809845e-04 1.72138608e+02] [ 4.71391601e-01 8.81923939e-01 -3.52133740e-04 2.63950855e+01] [ 7.37311944e-04 5.18297096e-06 9.99999728e-01 -3.38926210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.030281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:172.16, Y:26.41, Z:-0.34 [[ 8.81694140e-01 -4.71819990e-01 -1.15778269e-03 1.72163058e+02] [ 4.71819570e-01 8.81694900e-01 -6.29658961e-04 2.64092495e+01] [ 1.31789678e-03 8.90208658e-06 9.99999132e-01 -3.40296415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.060281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:172.19, Y:26.42, Z:-0.34 [[ 8.80909495e-01 -4.73284267e-01 -6.82122017e-04 1.72185941e+02] [ 4.73284121e-01 8.80909759e-01 -3.71001753e-04 2.64226665e+01] [ 7.76477234e-04 3.98144673e-06 9.99999699e-01 -3.39808349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.090281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:172.21, Y:26.44, Z:-0.34 [[ 8.80296927e-01 -4.74422840e-01 -5.37845708e-04 1.72209825e+02] [ 4.74422750e-01 8.80297091e-01 -2.92808061e-04 2.64365054e+01] [ 6.12378844e-04 2.59179640e-06 9.99999813e-01 -3.39213119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.120281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:172.23, Y:26.45, Z:-0.34 [[ 8.79466449e-01 -4.75960649e-01 -4.74099771e-04 1.72233026e+02] [ 4.75960579e-01 8.79466577e-01 -2.58043970e-04 2.64506177e+01] [ 5.39773679e-04 1.28821222e-06 9.99999854e-01 -3.38156601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.150281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:172.26, Y:26.46, Z:-0.34 [[ 8.79384778e-01 -4.76111676e-01 -2.89753410e-04 1.72255934e+02] [ 4.76111650e-01 8.79384826e-01 -1.57775599e-04 2.64641690e+01] [ 3.29923557e-04 7.90485707e-07 9.99999946e-01 -3.36801091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.180281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:172.28, Y:26.48, Z:-0.34 [[ 8.79350792e-01 -4.76174381e-01 3.78438356e-04 1.72280235e+02] [ 4.76174337e-01 8.79350874e-01 2.05779441e-04 2.64788909e+01] [-4.30766997e-04 -7.49681787e-07 9.99999907e-01 -3.36773212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.21028169299998 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:172.30, Y:26.49, Z:-0.34 [[ 8.78902310e-01 -4.76998842e-01 1.68330493e-03 1.72303384e+02] [ 4.76997962e-01 8.78903922e-01 9.16424324e-04 2.64936734e+01] [-1.91659665e-03 -2.51443654e-06 9.99998163e-01 -3.35885255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.240281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:172.33, Y:26.51, Z:-0.34 [[ 8.78117076e-01 -4.78442908e-01 1.66876016e-03 1.72327775e+02] [ 4.78442045e-01 8.78118661e-01 9.08741604e-04 2.65078962e+01] [-1.90015042e-03 4.23505176e-07 9.99998195e-01 -3.36121754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.270281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:172.35, Y:26.52, Z:-0.34 [[ 8.77338771e-01 -4.79869865e-01 1.26222308e-03 1.72352519e+02] [ 4.79869373e-01 8.77339679e-01 6.87578055e-04 2.65210420e+01] [-1.43734638e-03 2.46331310e-06 9.99998967e-01 -3.36707244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.300281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:172.38, Y:26.53, Z:-0.34 [[ 8.77262595e-01 -4.80009111e-01 1.26210780e-03 1.72377420e+02] [ 4.80008618e-01 8.77263503e-01 6.87789609e-04 2.65348437e+01] [-1.43734639e-03 2.45052254e-06 9.99998967e-01 -3.36741570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.330281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:172.40, Y:26.55, Z:-0.34 [[ 8.76035576e-01 -4.82246477e-01 7.04808905e-05 1.72402364e+02] [ 4.82246476e-01 8.76035579e-01 3.81927484e-05 2.65468701e+01] [-8.01620860e-05 5.30954731e-07 9.99999997e-01 -3.36978738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.360281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:172.43, Y:26.56, Z:-0.34 [[ 8.75588016e-01 -4.83058407e-01 4.49352248e-04 1.72426502e+02] [ 4.83058345e-01 8.75588131e-01 2.44996067e-04 2.65599048e+01] [-5.11794904e-04 2.54773291e-06 9.99999869e-01 -3.36921648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.390281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:172.45, Y:26.57, Z:-0.34 [[ 8.74059094e-01 -4.85816728e-01 1.67559460e-03 1.72450360e+02] [ 4.85815868e-01 8.74060700e-01 9.14057254e-04 2.65720594e+01] [-1.90863570e-03 1.50903923e-05 9.99998178e-01 -3.37170159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.420281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:172.48, Y:26.58, Z:-0.34 [[ 8.72950769e-01 -4.87804345e-01 1.96895422e-03 1.72475039e+02] [ 4.87803162e-01 8.72952989e-01 1.07446909e-03 2.65843254e+01] [-2.24293516e-03 2.25034788e-05 9.99997484e-01 -3.37749049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.450281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:172.50, Y:26.60, Z:-0.34 [[ 8.71968546e-01 -4.89559682e-01 1.47381404e-03 1.72499311e+02] [ 4.89559021e-01 8.71969792e-01 8.04477536e-04 2.65958838e+01] [-1.67896109e-03 2.00398516e-05 9.99998590e-01 -3.37823748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.480281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:172.52, Y:26.61, Z:-0.34 [[ 8.70674779e-01 -4.91859035e-01 3.45460289e-04 1.72524087e+02] [ 4.91858999e-01 8.70674847e-01 1.88425576e-04 2.66079419e+01] [-3.93462406e-04 5.86035572e-06 9.99999923e-01 -3.38009591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.510281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:172.55, Y:26.62, Z:-0.34 [[ 8.70041728e-01 -4.92977957e-01 -3.54544480e-04 1.72547840e+02] [ 4.92977919e-01 8.70041800e-01 -1.93776940e-04 2.66198934e+01] [ 4.03996278e-04 -6.18857627e-06 9.99999918e-01 -3.38116171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.540281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:172.57, Y:26.63, Z:-0.34 [[ 8.69148674e-01 -4.94549752e-01 -1.06032146e-03 1.72574352e+02] [ 4.94549413e-01 8.69149321e-01 -5.79687492e-04 2.66298029e+01] [ 1.20826199e-03 -2.05467430e-05 9.99999270e-01 -3.37883256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.570281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:172.60, Y:26.64, Z:-0.34 [[ 8.68902762e-01 -4.94981744e-01 -1.03118449e-03 1.72599942e+02] [ 4.94981423e-01 8.68903374e-01 -5.64004626e-04 2.66423087e+01] [ 1.17517168e-03 -2.03519899e-05 9.99999309e-01 -3.37032185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.600281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:172.62, Y:26.65, Z:-0.34 [[ 8.68751990e-01 -4.95246919e-01 -6.84926029e-04 1.72624050e+02] [ 4.95246777e-01 8.68752260e-01 -3.74631181e-04 2.66543626e+01] [ 7.80565974e-04 -1.37458243e-05 9.99999695e-01 -3.36603280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.630281693 meters Centerline goodness : 0.999331 Centerline is valid? [True, True] Translation: X:172.65, Y:26.67, Z:-0.34 [[ 8.69028915e-01 -4.94761301e-01 4.19659633e-06 1.72649631e+02] [ 4.94761301e-01 8.69028915e-01 2.04592228e-06 2.66669094e+01] [-4.65920669e-06 2.98347839e-07 1.00000000e+00 -3.36378193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.660281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:172.67, Y:26.68, Z:-0.34 [[ 8.69584809e-01 -4.93783555e-01 -2.45933969e-04 1.72673910e+02] [ 4.93783536e-01 8.69584844e-01 -1.34671511e-04 2.66795837e+01] [ 2.80359030e-04 -4.32984525e-06 9.99999961e-01 -3.36395017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.690281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:172.70, Y:26.69, Z:-0.34 [[ 8.70079187e-01 -4.92910506e-01 -1.20068360e-03 1.72698457e+02] [ 4.92910068e-01 8.70080015e-01 -6.57475799e-04 2.66933085e+01] [ 1.36876753e-03 -1.97730244e-05 9.99999063e-01 -3.37159072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.720281693 meters Centerline goodness : 0.998865 Centerline is valid? [True, True] Translation: X:172.72, Y:26.71, Z:-0.34 [[ 8.70673385e-01 -4.91854398e-01 -2.66592959e-03 1.72721623e+02] [ 4.91852233e-01 8.70677466e-01 -1.45986602e-03 2.67073748e+01] [ 3.03920634e-03 -4.01769264e-05 9.99995381e-01 -3.38471490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.750281693 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:172.75, Y:26.72, Z:-0.34 [[ 8.70708463e-01 -4.91792944e-01 -2.54431086e-03 1.72745801e+02] [ 4.91790970e-01 8.70712179e-01 -1.39388073e-03 2.67212091e+01] [ 2.90086316e-03 -3.76053637e-05 9.99995792e-01 -3.37921017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.780281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:172.77, Y:26.74, Z:-0.34 [[ 8.71318307e-01 -4.90715682e-01 -1.58970314e-03 1.72769977e+02] [ 4.90714909e-01 8.71319757e-01 -8.71356465e-04 2.67362204e+01] [ 1.81272803e-03 -2.08621901e-05 9.99998357e-01 -3.36760292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.810281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:172.79, Y:26.75, Z:-0.34 [[ 8.71761429e-01 -4.89928594e-01 -1.40837110e-03 1.72794098e+02] [ 4.89927985e-01 8.71762567e-01 -7.72304616e-04 2.67501826e+01] [ 1.60613932e-03 -1.67350408e-05 9.99998710e-01 -3.36190316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.840281693 meters Centerline goodness : 0.999022 Centerline is valid? [True, True] Translation: X:172.82, Y:26.76, Z:-0.34 [[ 8.71905542e-01 -4.89671178e-01 -1.69199881e-03 1.72818503e+02] [ 4.89670298e-01 8.71907184e-01 -9.28174373e-04 2.67636348e+01] [ 1.92976615e-03 -1.92411813e-05 9.99998138e-01 -3.35962321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.870281693 meters Centerline goodness : 0.998701 Centerline is valid? [True, True] Translation: X:172.84, Y:26.78, Z:-0.34 [[ 8.71806422e-01 -4.89845891e-01 -2.13682731e-03 1.72842481e+02] [ 4.89844489e-01 8.71809040e-01 -1.17220569e-03 2.67762277e+01] [ 2.43710551e-03 -2.47766296e-05 9.99997030e-01 -3.36408602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.900281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:172.87, Y:26.79, Z:-0.34 [[ 8.71109464e-01 -4.91084354e-01 -2.11148420e-03 1.72867624e+02] [ 4.91082987e-01 8.71112023e-01 -1.15892214e-03 2.67894299e+01] [ 2.40846780e-03 -2.73659243e-05 9.99997099e-01 -3.36749611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.930281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:172.89, Y:26.80, Z:-0.34 [[ 8.70859157e-01 -4.91531828e-01 -8.89441191e-04 1.72891892e+02] [ 4.91531585e-01 8.70859611e-01 -4.88525552e-04 2.68030329e+01] [ 1.01470427e-03 -1.17514883e-05 9.99999485e-01 -3.37378363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.96028169299998 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:172.92, Y:26.82, Z:-0.34 [[ 8.70625216e-01 -4.91945301e-01 -1.24661163e-03 1.72915590e+02] [ 4.91944824e-01 8.70626109e-01 -6.84591329e-04 2.68163210e+01] [ 1.42211412e-03 -1.72416632e-05 9.99998989e-01 -3.37177729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.990281693 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:172.94, Y:26.83, Z:-0.34 [[ 8.70254595e-01 -4.92599391e-01 -1.66767674e-03 1.72940104e+02] [ 4.92598539e-01 8.70256192e-01 -9.16345694e-04 2.68292126e+01] [ 1.90269734e-03 -2.40410769e-05 9.99998190e-01 -3.37078644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.020281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:172.96, Y:26.84, Z:-0.34 [[ 8.70100747e-01 -4.92869932e-01 -1.97999972e-03 1.72964208e+02] [ 4.92868732e-01 8.70102999e-01 -1.08815731e-03 2.68409680e+01] [ 2.25912372e-03 -2.90734613e-05 9.99997448e-01 -3.37262215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.050281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:172.99, Y:26.85, Z:-0.34 [[ 8.70696978e-01 -4.91815454e-01 -2.08153643e-03 1.72990271e+02] [ 4.91814123e-01 8.70699465e-01 -1.14426384e-03 2.68501137e+01] [ 2.37515930e-03 -2.74219471e-05 9.99997179e-01 -3.36878167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.080281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:173.02, Y:26.86, Z:-0.34 [[ 8.71113259e-01 -4.91078274e-01 -1.95398136e-03 1.73016374e+02] [ 4.91077099e-01 8.71115450e-01 -1.07469084e-03 2.68614559e+01] [ 2.22990068e-03 -2.33780569e-05 9.99997514e-01 -3.35946451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.110281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:173.04, Y:26.87, Z:-0.33 [[ 8.71753554e-01 -4.89943159e-01 -1.20091773e-03 1.73042811e+02] [ 4.89942714e-01 8.71754381e-01 -6.60712345e-04 2.68702837e+01] [ 1.37061679e-03 -1.24025588e-05 9.99999061e-01 -3.34648779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.140281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:173.07, Y:26.88, Z:-0.33 [[ 8.72317126e-01 -4.88939892e-01 -7.84086309e-04 1.73067869e+02] [ 4.88939701e-01 8.72317478e-01 -4.31560076e-04 2.68817456e+01] [ 8.94979128e-04 -6.91368059e-06 9.99999599e-01 -3.34792246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.170281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:173.09, Y:26.89, Z:-0.33 [[ 8.73846392e-01 -4.86201247e-01 -9.11642223e-04 1.73094415e+02] [ 4.86200987e-01 8.73846867e-01 -5.02041491e-04 2.68915190e+01] [ 1.04072890e-03 -4.53420291e-06 9.99999458e-01 -3.33835010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.200281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:173.12, Y:26.90, Z:-0.33 [[ 8.74562253e-01 -4.84913119e-01 -3.63706590e-04 1.73119275e+02] [ 4.84913078e-01 8.74562329e-01 -2.00340147e-04 2.69023426e+01] [ 4.15231648e-04 -1.15615200e-06 9.99999914e-01 -3.33954888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.230281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:173.14, Y:26.91, Z:-0.33 [[ 8.75071825e-01 -4.83993066e-01 1.12724133e-04 1.73144865e+02] [ 4.83993062e-01 8.75071832e-01 6.18349088e-05 2.69129835e+01] [-1.28569381e-04 4.47712023e-07 9.99999992e-01 -3.33782707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.260281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:173.17, Y:26.92, Z:-0.33 [[ 8.75460607e-01 -4.83284397e-01 -2.21724901e-03 1.73171665e+02] [ 4.83282853e-01 8.75463415e-01 -1.22171243e-03 2.69204198e+01] [ 2.53155494e-03 -1.99732265e-06 9.99996796e-01 -3.34614825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.290281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:173.20, Y:26.93, Z:-0.34 [[ 8.75483203e-01 -4.83235623e-01 -3.53469363e-03 1.73196760e+02] [ 4.83231698e-01 8.75490338e-01 -1.94782719e-03 2.69307017e+01] [ 4.03584961e-03 -2.78601286e-06 9.99991856e-01 -3.35162638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.320281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:173.22, Y:26.94, Z:-0.33 [[ 8.75461180e-01 -4.83276722e-01 -3.36633417e-03 1.73223422e+02] [ 4.83273158e-01 8.75467652e-01 -1.85597675e-03 2.69396323e+01] [ 3.84406703e-03 -2.02334759e-06 9.99992612e-01 -3.33714928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.350281693 meters Centerline goodness : 0.998969 Centerline is valid? [True, True] Translation: X:173.25, Y:26.95, Z:-0.33 [[ 8.75721473e-01 -4.82807047e-01 -3.04253930e-03 1.73248016e+02] [ 4.82804131e-01 8.75726759e-01 -1.67788546e-03 2.69507551e+01] [ 3.47452800e-03 4.09787855e-07 9.99993964e-01 -3.33520697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.380281693 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:173.27, Y:26.96, Z:-0.33 [[ 8.76170371e-01 -4.81992280e-01 -2.98707094e-03 1.73274035e+02] [ 4.81989463e-01 8.76175463e-01 -1.64804243e-03 2.69622107e+01] [ 3.41154199e-03 4.22923309e-06 9.99994181e-01 -3.33780745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.410281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:173.30, Y:26.97, Z:-0.33 [[ 8.76809749e-01 -4.80823752e-01 -3.63076246e-03 1.73299555e+02] [ 4.80819577e-01 8.76817267e-01 -2.00397846e-03 2.69733029e+01] [ 4.14707566e-03 1.13661817e-05 9.99991401e-01 -3.34201712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.440281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:173.33, Y:26.98, Z:-0.34 [[ 8.78173479e-01 -4.78328079e-01 -3.68645746e-03 1.73325332e+02] [ 4.78323751e-01 8.78181216e-01 -2.03494983e-03 2.69833687e+01] [ 4.21075134e-03 2.37188143e-05 9.99991134e-01 -3.35079698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.470281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:173.35, Y:27.00, Z:-0.33 [[ 8.79596126e-01 -4.75713103e-01 -2.77465260e-03 1.73349996e+02] [ 4.75710635e-01 8.79600502e-01 -1.53242395e-03 2.69958761e+01] [ 3.16957997e-03 2.79824145e-05 9.99994976e-01 -3.33966733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.500281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:173.37, Y:27.01, Z:-0.33 [[ 8.80402908e-01 -4.74221433e-01 -2.17973386e-03 1.73373713e+02] [ 4.74219906e-01 8.80405606e-01 -1.20398699e-03 2.70078044e+01] [ 2.49000634e-03 2.63204596e-05 9.99996900e-01 -3.33573494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.530281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:173.40, Y:27.02, Z:-0.33 [[ 8.81308277e-01 -4.72538367e-01 -1.79223545e-03 1.73397821e+02] [ 4.72537330e-01 8.81310099e-01 -9.90136435e-04 2.70199199e+01] [ 2.04739266e-03 2.57172803e-05 9.99997904e-01 -3.33074086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.560281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:173.42, Y:27.03, Z:-0.33 [[ 8.82038567e-01 -4.71174170e-01 -1.69313217e-03 1.73422261e+02] [ 4.71173241e-01 8.82040192e-01 -9.35974427e-04 2.70328024e+01] [ 1.93441760e-03 2.78069707e-05 9.99998129e-01 -3.33588842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.590281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:173.45, Y:27.05, Z:-0.33 [[ 8.83392337e-01 -4.68632736e-01 -1.15687738e-03 1.73445573e+02] [ 4.68632300e-01 8.83393094e-01 -6.39589179e-04 2.70457550e+01] [ 1.32170992e-03 2.28580714e-05 9.99999126e-01 -3.34194067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.620281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:173.47, Y:27.06, Z:-0.33 [[ 8.83643978e-01 -4.68159502e-01 3.43049004e-05 1.73468669e+02] [ 4.68159501e-01 8.83643979e-01 1.88573204e-05 2.70590393e+01] [-3.91415523e-05 -6.02992557e-07 9.99999999e-01 -3.34435384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.650281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:173.49, Y:27.07, Z:-0.33 [[ 8.83629046e-01 -4.68184471e-01 1.73492441e-03 1.73493543e+02] [ 4.68183489e-01 8.83630749e-01 9.59335215e-04 2.70724359e+01] [-1.98217841e-03 -3.54334953e-05 9.99998035e-01 -3.33624741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.680281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:173.52, Y:27.09, Z:-0.33 [[ 8.83784593e-01 -4.67892334e-01 1.24790753e-03 1.73517652e+02] [ 4.67891825e-01 8.83785474e-01 6.90246713e-04 2.70852082e+01] [-1.42584369e-03 -2.61436772e-05 9.99998983e-01 -3.33069891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.71028169299998 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:173.54, Y:27.10, Z:-0.33 [[ 8.85076831e-01 -4.65442717e-01 -1.44227415e-03 1.73541352e+02] [ 4.65442034e-01 8.85078005e-01 -7.98348364e-04 2.70988082e+01] [ 1.64811056e-03 3.53046242e-05 9.99998641e-01 -3.33358776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.740281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:173.57, Y:27.11, Z:-0.33 [[ 8.86141077e-01 -4.63408887e-01 -2.48879233e-03 1.73565441e+02] [ 4.63406843e-01 8.86144570e-01 -1.37811900e-03 2.71129875e+01] [ 2.84406240e-03 6.78844595e-05 9.99995953e-01 -3.34069597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.770281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:173.59, Y:27.13, Z:-0.33 [[ 8.87207844e-01 -4.61363033e-01 -2.52862727e-03 1.73589823e+02] [ 4.61360912e-01 8.87211444e-01 -1.40081097e-03 2.71275436e+01] [ 2.88970945e-03 7.62006941e-05 9.99995822e-01 -3.34469559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.800281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:173.61, Y:27.14, Z:-0.33 [[ 8.88939222e-01 -4.58023287e-01 -1.31441940e-03 1.73612839e+02] [ 4.58022710e-01 8.88940193e-01 -7.28279852e-04 2.71420585e+01] [ 1.50200937e-03 4.53625884e-05 9.99998871e-01 -3.34564205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.830281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:173.64, Y:27.16, Z:-0.33 [[ 8.89369914e-01 -4.57185158e-01 -1.69948939e-03 1.73637060e+02] [ 4.57184191e-01 8.89371535e-01 -9.42088658e-04 2.71553795e+01] [ 1.94218644e-03 6.08856288e-05 9.99998112e-01 -3.34033593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.860281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:173.66, Y:27.17, Z:-0.33 [[ 8.89643971e-01 -4.56648694e-01 -2.36130526e-03 1.73662468e+02] [ 4.56646825e-01 8.89647100e-01 -1.30937882e-03 2.71680554e+01] [ 2.69865451e-03 8.65984235e-05 9.99996355e-01 -3.34990592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.890281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:173.69, Y:27.18, Z:-0.34 [[ 8.89796827e-01 -4.56350732e-01 -2.36991122e-03 1.73688944e+02] [ 4.56348847e-01 8.89799978e-01 -1.31466506e-03 2.71782103e+01] [ 2.70869531e-03 8.82785502e-05 9.99996328e-01 -3.35863222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.920281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:173.71, Y:27.19, Z:-0.34 [[ 8.89650400e-01 -4.56641450e-01 -8.67124998e-04 1.73713850e+02] [ 4.56641197e-01 8.89650822e-01 -4.81385181e-04 2.71905968e+01] [ 9.91258894e-04 3.22995217e-05 9.99999508e-01 -3.36389514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.950281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:173.74, Y:27.20, Z:-0.34 [[ 8.89535716e-01 -4.56865147e-01 6.68464686e-04 1.73738540e+02] [ 4.56864997e-01 8.89535967e-01 3.70815442e-04 2.72037815e+01] [-7.64036032e-04 -2.44554626e-05 9.99999708e-01 -3.36060926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 190.980281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:173.76, Y:27.22, Z:-0.34 [[ 8.89956362e-01 -4.56040554e-01 2.16484060e-03 1.73762297e+02] [ 4.56038978e-01 8.89958991e-01 1.20184800e-03 2.72167624e+01] [-2.47471079e-03 -8.23405807e-05 9.99996935e-01 -3.35043600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.010281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:173.79, Y:27.23, Z:-0.34 [[ 8.90390772e-01 -4.55194232e-01 1.57625033e-03 1.73786924e+02] [ 4.55193395e-01 8.90392165e-01 8.75290696e-04 2.72299025e+01] [-1.80190822e-03 -6.18520187e-05 9.99998375e-01 -3.35549541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.040281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:173.81, Y:27.24, Z:-0.34 [[ 8.91530198e-01 -4.52957619e-01 -1.81718747e-03 1.73811774e+02] [ 4.52956500e-01 8.91532046e-01 -1.00968282e-03 2.72416282e+01] [ 2.07742439e-03 7.70558495e-05 9.99997839e-01 -3.36407763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.070281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:173.84, Y:27.25, Z:-0.34 [[ 8.92257101e-01 -4.51515959e-01 -3.25651851e-03 1.73836229e+02] [ 4.51512353e-01 8.92263032e-01 -1.81024947e-03 2.72545555e+01] [ 3.72302760e-03 1.44849612e-04 9.99993059e-01 -3.36612086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.100281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:173.86, Y:27.27, Z:-0.34 [[ 8.92965838e-01 -4.50112581e-01 -3.26759673e-03 1.73860870e+02] [ 4.50108938e-01 8.92971803e-01 -1.81718277e-03 2.72682083e+01] [ 3.73580857e-03 1.51907640e-04 9.99993010e-01 -3.36948662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.130281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:173.89, Y:27.28, Z:-0.34 [[ 8.94254835e-01 -4.47556705e-01 -1.13411837e-03 1.73885239e+02] [ 4.47556264e-01 8.94255552e-01 -6.31154199e-04 2.72815036e+01] [ 1.29666894e-03 5.68309147e-05 9.99999158e-01 -3.35556283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.160281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:173.91, Y:27.30, Z:-0.34 [[ 8.94756296e-01 -4.46554779e-01 -1.99649039e-05 1.73908533e+02] [ 4.46554779e-01 8.94756296e-01 -1.12201860e-05 2.72954220e+01] [ 2.28741512e-05 1.12390887e-06 1.00000000e+00 -3.35484060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.190281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:173.93, Y:27.31, Z:-0.34 [[ 8.94684322e-01 -4.46698963e-01 -1.99161829e-05 1.73933325e+02] [ 4.46698963e-01 8.94684322e-01 -1.13077187e-05 2.73094429e+01] [ 2.28698428e-05 1.22030041e-06 1.00000000e+00 -3.35518383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.220281693 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:173.96, Y:27.32, Z:-0.33 [[ 8.95223298e-01 -4.45616026e-01 1.26668621e-03 1.73957087e+02] [ 4.45615473e-01 8.95224191e-01 7.05095318e-04 2.73247697e+01] [-1.44816992e-03 -6.67627789e-05 9.99998949e-01 -3.34757640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.250281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:173.98, Y:27.34, Z:-0.34 [[ 8.95277690e-01 -4.45506236e-01 1.43216290e-03 1.73980164e+02] [ 4.45505528e-01 8.95278833e-01 7.97523081e-04 2.73390613e+01] [-1.63748663e-03 -7.59681331e-05 9.99998656e-01 -3.35012438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.280281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:174.00, Y:27.36, Z:-0.34 [[ 8.95017467e-01 -4.46031079e-01 -1.04540703e-04 1.74003565e+02] [ 4.46031075e-01 8.95017473e-01 -5.84886843e-05 2.73553186e+01] [ 1.19653527e-04 5.71999182e-06 9.99999993e-01 -3.35775034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.310281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:174.03, Y:27.37, Z:-0.34 [[ 8.94617318e-01 -4.46832772e-01 -5.73565526e-04 1.74026783e+02] [ 4.46832658e-01 8.94617501e-01 -3.19947990e-04 2.73701095e+01] [ 6.56085005e-04 2.99432040e-05 9.99999784e-01 -3.36543025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.340281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:174.05, Y:27.38, Z:-0.34 [[ 8.94171677e-01 -4.47723729e-01 -6.89081849e-04 1.74050297e+02] [ 4.47723566e-01 8.94171942e-01 -3.84514263e-04 2.73849228e+01] [ 7.88313815e-04 3.53035813e-05 9.99999689e-01 -3.36417048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.370281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:174.07, Y:27.40, Z:-0.34 [[ 8.92926569e-01 -4.50202141e-01 4.19088941e-04 1.74073023e+02] [ 4.50202081e-01 8.92926667e-01 2.33635030e-04 2.73992685e+01] [-4.79398681e-04 -1.99442127e-05 9.99999885e-01 -3.35097973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.400281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:174.10, Y:27.41, Z:-0.33 [[ 8.92246985e-01 -4.51547671e-01 1.38813524e-04 1.74096859e+02] [ 4.51547664e-01 8.92246996e-01 7.73275918e-05 2.74126052e+01] [-1.58773044e-04 -6.31438799e-06 9.99999987e-01 -3.34520918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.430281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:174.12, Y:27.42, Z:-0.34 [[ 8.90821303e-01 -4.54353589e-01 4.70957745e-04 1.74121471e+02] [ 4.54353514e-01 8.90821427e-01 2.62665052e-04 2.74246891e+01] [-5.38882060e-04 -2.00063176e-05 9.99999855e-01 -3.35599995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.46028169299998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:174.15, Y:27.44, Z:-0.34 [[ 8.89689553e-01 -4.56565673e-01 5.34442849e-04 1.74146522e+02] [ 4.56565576e-01 8.89689713e-01 2.98076131e-04 2.74379083e+01] [-6.11579635e-04 -2.11870131e-05 9.99999813e-01 -3.36104751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.490281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:174.17, Y:27.45, Z:-0.34 [[ 8.88525314e-01 -4.58826027e-01 1.20147363e-03 1.74170037e+02] [ 4.58825539e-01 8.88526125e-01 6.70668809e-04 2.74502318e+01] [-1.37526101e-03 -4.46394288e-05 9.99999053e-01 -3.36122550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.520281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.20, Y:27.46, Z:-0.34 [[ 8.86975857e-01 -4.61813743e-01 1.37686700e-03 1.74195952e+02] [ 4.61813105e-01 8.86976925e-01 7.68918910e-04 2.74618000e+01] [-1.57634658e-03 -4.61572840e-05 9.99998757e-01 -3.35485346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.550281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:174.22, Y:27.47, Z:-0.34 [[ 8.86641796e-01 -4.62454386e-01 1.50568708e-03 1.74220245e+02] [ 4.62453623e-01 8.86643073e-01 8.41187638e-04 2.74734319e+01] [-1.72401793e-03 -4.95216735e-05 9.99998513e-01 -3.35454848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.580281693 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:174.25, Y:27.48, Z:-0.34 [[ 8.86967243e-01 -4.61831713e-01 7.61332323e-04 1.74245793e+02] [ 4.61831518e-01 8.86967569e-01 4.25344286e-04 2.74843997e+01] [-8.71714560e-04 -2.56591858e-05 9.99999620e-01 -3.35443903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.610281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:174.27, Y:27.50, Z:-0.34 [[ 8.87453733e-01 -4.60896723e-01 2.85995588e-04 1.74269920e+02] [ 4.60896696e-01 8.87453779e-01 1.59796638e-04 2.74973584e+01] [-3.27457612e-04 -9.99770212e-06 9.99999946e-01 -3.36067218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.640281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:174.29, Y:27.51, Z:-0.34 [[ 8.87919162e-01 -4.59999519e-01 5.89657552e-05 1.74293266e+02] [ 4.59999518e-01 8.87919164e-01 3.28743678e-05 2.75106207e+01] [-6.74790174e-05 -2.06556216e-06 9.99999998e-01 -3.35655769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.670281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:174.32, Y:27.53, Z:-0.33 [[ 8.88836849e-01 -4.58223579e-01 4.55855854e-04 1.74317250e+02] [ 4.58223509e-01 8.88836965e-01 2.54802075e-04 2.75255851e+01] [-5.21937853e-04 -1.75936046e-05 9.99999864e-01 -3.34995568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.700281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:174.34, Y:27.54, Z:-0.34 [[ 8.89125399e-01 -4.57662475e-01 1.04055916e-03 1.74341490e+02] [ 4.57662107e-01 8.89126007e-01 5.82147067e-04 2.75397502e+01] [-1.19161508e-03 -4.13772462e-05 9.99999289e-01 -3.35195253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.730281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:174.36, Y:27.55, Z:-0.34 [[ 8.89331686e-01 -4.57258669e-01 1.91372649e-03 1.74364472e+02] [ 4.57257421e-01 8.89333741e-01 1.07115056e-03 2.75529695e+01] [-2.19173442e-03 -7.75424950e-05 9.99997595e-01 -3.35615292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.760281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:174.39, Y:27.57, Z:-0.34 [[ 8.89062258e-01 -4.57782001e-01 1.98506686e-03 1.74388036e+02] [ 4.57780659e-01 8.89064471e-01 1.11138730e-03 2.75673296e+01] [-2.27362552e-03 -7.93672891e-05 9.99997412e-01 -3.35429202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.790281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:174.41, Y:27.58, Z:-0.34 [[ 8.88684134e-01 -4.58514598e-01 2.20754039e-03 1.74411681e+02] [ 4.58512939e-01 8.88686872e-01 1.23648698e-03 2.75823572e+01] [-2.52875949e-03 -8.66605270e-05 9.99996799e-01 -3.35744021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.820281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:174.43, Y:27.60, Z:-0.34 [[ 8.88057326e-01 -4.59730242e-01 1.51368589e-03 1.74433478e+02] [ 4.59729463e-01 8.88058614e-01 8.48104563e-04 2.75993384e+01] [-1.73414111e-03 -5.72794671e-05 9.99998495e-01 -3.36268787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.850281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:174.46, Y:27.61, Z:-0.34 [[ 8.87751190e-01 -4.60322848e-01 8.36335990e-04 1.74456219e+02] [ 4.60322611e-01 8.87751584e-01 4.68667647e-04 2.76146879e+01] [-9.58197026e-04 -3.10758945e-05 9.99999540e-01 -3.36040691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.880281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:174.48, Y:27.63, Z:-0.34 [[ 8.87640500e-01 -4.60536665e-01 -5.68805379e-04 1.74477070e+02] [ 4.60536555e-01 8.87640682e-01 -3.19091840e-04 2.76328343e+01] [ 6.51848287e-04 2.12831710e-05 9.99999787e-01 -3.36169932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.910281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:174.50, Y:27.65, Z:-0.34 [[ 8.87591870e-01 -4.60629700e-01 -9.75348526e-04 1.74499029e+02] [ 4.60629376e-01 8.87592406e-01 -5.47337389e-04 2.76500870e+01] [ 1.11783180e-03 3.65380343e-05 9.99999375e-01 -3.35718122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.940281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:174.52, Y:27.67, Z:-0.34 [[ 8.87468116e-01 -4.60867822e-01 -1.09232694e-03 1.74521062e+02] [ 4.60867416e-01 8.87468788e-01 -6.13231568e-04 2.76675348e+01] [ 1.25202477e-03 4.08055683e-05 9.99999215e-01 -3.35828201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.970281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:174.54, Y:27.69, Z:-0.34 [[ 8.87248533e-01 -4.61290799e-01 -9.16007148e-04 1.74540430e+02] [ 4.61290514e-01 8.87249005e-01 -5.14239070e-04 2.76885457e+01] [ 1.04994018e-03 3.37124524e-05 9.99999448e-01 -3.36077188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.000281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:174.56, Y:27.71, Z:-0.34 [[ 8.86670797e-01 -4.62400893e-01 -5.58508770e-04 1.74562114e+02] [ 4.62400787e-01 8.86670973e-01 -3.13867173e-04 2.77063888e+01] [ 6.40345975e-04 2.00419615e-05 9.99999795e-01 -3.37144029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.030281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:174.58, Y:27.73, Z:-0.34 [[ 8.84917998e-01 -4.65745974e-01 -9.08626307e-04 1.74580224e+02] [ 4.65745695e-01 8.84918464e-01 -5.10413962e-04 2.77288291e+01] [ 1.04178344e-03 2.84857108e-05 9.99999457e-01 -3.38125863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.060281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:174.60, Y:27.75, Z:-0.34 [[ 8.83530625e-01 -4.68372916e-01 -6.67104557e-04 1.74602417e+02] [ 4.68372767e-01 8.83530877e-01 -3.75078089e-04 2.77465120e+01] [ 7.65083893e-04 1.89393712e-05 9.99999707e-01 -3.37784452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.090281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:174.62, Y:27.76, Z:-0.34 [[ 8.82012954e-01 -4.71225011e-01 -3.72800733e-04 1.74624623e+02] [ 4.71224964e-01 8.82013032e-01 -2.09614658e-04 2.77624815e+01] [ 4.27590774e-04 9.20983208e-06 9.99999909e-01 -3.37878975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.120281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:174.65, Y:27.78, Z:-0.34 [[ 8.78422140e-01 -4.77885310e-01 -4.17834348e-04 1.74645695e+02] [ 4.77885252e-01 8.78422239e-01 -2.34965034e-04 2.77792737e+01] [ 4.79321322e-04 6.72161513e-06 9.99999885e-01 -3.37369661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.150281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:174.67, Y:27.79, Z:-0.34 [[ 8.76660366e-01 -4.81109755e-01 7.90259152e-05 1.74668745e+02] [ 4.81109753e-01 8.76660370e-01 4.41830270e-05 2.77948717e+01] [-9.05357733e-05 -7.13370075e-07 9.99999996e-01 -3.37032545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:174.69, Y:27.81, Z:-0.34 [[ 8.74304868e-01 -4.85373926e-01 1.77467049e-03 1.74690542e+02] [ 4.85372900e-01 8.74306669e-01 9.98004987e-04 2.78104844e+01] [-2.03601184e-03 -1.11836565e-05 9.99997927e-01 -3.36231244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.21028169299998 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:174.71, Y:27.82, Z:-0.34 [[ 8.73175660e-01 -4.87400589e-01 2.22081963e-03 1.74714435e+02] [ 4.87398988e-01 8.73178484e-01 1.24931948e-03 2.78247079e+01] [-2.54809097e-03 -8.45011740e-06 9.99996754e-01 -3.36515199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.240281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:174.74, Y:27.84, Z:-0.34 [[ 8.71026638e-01 -4.91231132e-01 2.13798751e-03 1.74737818e+02] [ 4.91229659e-01 8.71029262e-01 1.20307733e-03 2.78373234e+01] [-2.45323872e-03 2.33047536e-06 9.99996991e-01 -3.37022951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.270281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:174.76, Y:27.85, Z:-0.34 [[ 8.69913459e-01 -4.93200789e-01 1.88572790e-03 1.74761918e+02] [ 4.93199647e-01 8.69915503e-01 1.06130966e-03 2.78503997e+01] [-2.16386270e-03 6.79277662e-06 9.99997659e-01 -3.36719495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.300281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:174.79, Y:27.86, Z:-0.34 [[ 8.68990226e-01 -4.94825689e-01 1.87748879e-03 1.74786534e+02] [ 4.94824560e-01 8.68992254e-01 1.05697471e-03 2.78635285e+01] [-2.15454146e-03 1.05268755e-05 9.99997679e-01 -3.37492391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.330281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.81, Y:27.87, Z:-0.34 [[ 8.67600651e-01 -4.97258841e-01 1.65979123e-03 1.74811516e+02] [ 4.97257963e-01 8.67602239e-01 9.34697553e-04 2.78747079e+01] [-1.90482521e-03 1.44001976e-05 9.99998186e-01 -3.37948258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.84, Y:27.89, Z:-0.34 [[ 8.66569525e-01 -4.99052727e-01 1.90620565e-03 1.74836438e+02] [ 4.99051572e-01 8.66571622e-01 1.07378613e-03 2.78879722e+01] [-2.18773962e-03 2.07845922e-05 9.99997607e-01 -3.37680196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.390281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:174.86, Y:27.90, Z:-0.34 [[ 8.64106196e-01 -5.03302026e-01 2.74811206e-03 1.74861299e+02] [ 5.03299645e-01 8.64110565e-01 1.54878703e-03 2.79002175e+01] [-3.15418031e-03 4.48073515e-05 9.99995025e-01 -3.38599161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.420281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:174.89, Y:27.91, Z:-0.34 [[ 8.62725304e-01 -5.05666892e-01 2.45830506e-03 1.74885507e+02] [ 5.05664995e-01 8.62728805e-01 1.38600084e-03 2.79133105e+01] [-2.82170532e-03 4.73408193e-05 9.99996018e-01 -3.38715811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.450281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:174.91, Y:27.93, Z:-0.34 [[ 8.61554885e-01 -5.07660933e-01 1.88606263e-03 1.74910367e+02] [ 5.07659821e-01 8.61556948e-01 1.06375080e-03 2.79262406e+01] [-2.16497509e-03 4.09985205e-05 9.99997656e-01 -3.38712842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.480281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:174.93, Y:27.94, Z:-0.34 [[ 8.59560116e-01 -5.11034632e-01 -1.09930970e-04 1.74934972e+02] [ 5.11034628e-01 8.59560123e-01 -6.21340841e-05 2.79370995e+01] [ 1.26244947e-04 -2.77055181e-06 9.99999992e-01 -3.39048819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.510281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:174.96, Y:27.95, Z:-0.34 [[ 8.58388649e-01 -5.12999045e-01 -9.52240027e-04 1.74960181e+02] [ 5.12998764e-01 8.58389177e-01 -5.37744095e-04 2.79501425e+01] [ 1.09325474e-03 -2.69045294e-05 9.99999402e-01 -3.38960575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.540281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:174.99, Y:27.96, Z:-0.34 [[ 8.56718963e-01 -5.15782753e-01 -8.76972658e-04 1.74985261e+02] [ 5.15782516e-01 8.56719412e-01 -4.95210022e-04 2.79603299e+01] [ 1.00674029e-03 -2.80713476e-05 9.99999493e-01 -3.38724017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.570281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:175.01, Y:27.97, Z:-0.34 [[ 8.56203559e-01 -5.16638036e-01 -7.77897392e-04 1.75011004e+02] [ 5.16637849e-01 8.56203912e-01 -4.39582569e-04 2.79715551e+01] [ 8.93143865e-04 -2.55190753e-05 9.99999601e-01 -3.38370152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.600281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.04, Y:27.98, Z:-0.34 [[ 8.55681287e-01 -5.17502883e-01 -5.49340174e-04 1.75035880e+02] [ 5.17502790e-01 8.55681463e-01 -3.10504774e-04 2.79819391e+01] [ 6.30747319e-04 -1.85919485e-05 9.99999801e-01 -3.38724175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.630281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:175.06, Y:27.99, Z:-0.34 [[ 8.54114326e-01 -5.20085157e-01 3.84168017e-04 1.75062713e+02] [ 5.20085112e-01 8.54114412e-01 2.16931209e-04 2.79885765e+01] [-4.40946142e-04 1.45160125e-05 9.99999903e-01 -3.37820515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.660281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:175.09, Y:28.00, Z:-0.34 [[ 8.53331049e-01 -5.21368017e-01 1.22923220e-03 1.75088729e+02] [ 5.21367557e-01 8.53331933e-01 6.94669276e-04 2.79993915e+01] [-1.41112143e-03 4.80989246e-05 9.99999003e-01 -3.37647325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.690281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:175.12, Y:28.01, Z:-0.34 [[ 8.53075291e-01 -5.21781646e-01 2.54212765e-03 1.75116753e+02] [ 5.21779675e-01 8.53079073e-01 1.43745569e-03 2.80074924e+01] [-2.91867390e-03 1.00172605e-04 9.99995736e-01 -3.37322384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.720281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:175.14, Y:28.02, Z:-0.34 [[ 8.53563249e-01 -5.20984235e-01 2.28181951e-03 1.75141743e+02] [ 5.20982644e-01 8.53566294e-01 1.29061917e-03 2.80181073e+01] [-2.62007646e-03 8.71632701e-05 9.99996564e-01 -3.37339183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.750281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:175.17, Y:28.03, Z:-0.34 [[ 8.54367475e-01 -5.19664320e-01 2.28277148e-03 1.75166475e+02] [ 5.19662722e-01 8.54370521e-01 1.29138826e-03 2.80288707e+01] [-2.62142106e-03 8.29511151e-05 9.99996561e-01 -3.37130117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.780281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:175.19, Y:28.04, Z:-0.34 [[ 8.55966909e-01 -5.17021200e-01 3.11934595e-03 1.75194258e+02] [ 5.17018196e-01 8.55972586e-01 1.76524999e-03 2.80375911e+01] [-3.58274629e-03 1.01763040e-04 9.99993577e-01 -3.36508462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.810281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:175.22, Y:28.05, Z:-0.34 [[ 8.56399533e-01 -5.16304632e-01 3.06053422e-03 1.75220076e+02] [ 5.16301733e-01 8.56404996e-01 1.73265429e-03 2.80480077e+01] [-3.51563423e-03 9.63147924e-05 9.99993816e-01 -3.36890898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.840281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:175.25, Y:28.06, Z:-0.34 [[ 8.56711510e-01 -5.15792386e-01 1.89831921e-03 1.75245987e+02] [ 5.15791269e-01 8.56713611e-01 1.07504562e-03 2.80584914e+01] [-2.18081625e-03 5.81325128e-05 9.99997620e-01 -3.37491424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.870281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:175.27, Y:28.06, Z:-0.34 [[ 8.57922569e-01 -5.13776374e-01 -1.64432260e-03 1.75273239e+02] [ 5.13775531e-01 8.57924143e-01 -9.31871597e-04 2.80648797e+01] [ 1.88947767e-03 -4.53390404e-05 9.99998214e-01 -3.38763978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.900281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:175.30, Y:28.07, Z:-0.34 [[ 8.58739564e-01 -5.12408780e-01 -1.89850461e-03 1.75298147e+02] [ 5.12407652e-01 8.58741661e-01 -1.07602459e-03 2.80749872e+01] [ 2.18168945e-03 -4.87834061e-05 9.99997619e-01 -3.38830094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.930281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:175.32, Y:28.08, Z:-0.34 [[ 8.61269694e-01 -5.08147898e-01 4.76210220e-04 1.75324387e+02] [ 5.08147827e-01 8.61269826e-01 2.69789256e-04 2.80830105e+01] [-5.47238337e-04 9.62387771e-06 9.99999850e-01 -3.37833223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.96028169299998 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:175.35, Y:28.09, Z:-0.34 [[ 8.62746832e-01 -5.05634850e-01 1.14133729e-03 1.75349837e+02] [ 5.05634437e-01 8.62747586e-01 6.47012696e-04 2.80946736e+01] [-1.31183816e-03 1.88912852e-05 9.99999139e-01 -3.37506113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.990281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:175.38, Y:28.10, Z:-0.34 [[ 8.66188798e-01 -4.99716339e-01 -7.39057300e-04 1.75375754e+02] [ 4.99716163e-01 8.66189113e-01 -4.19533248e-04 2.81047936e+01] [ 8.49811006e-04 -5.92387820e-06 9.99999639e-01 -3.39129348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.020281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:175.40, Y:28.12, Z:-0.34 [[ 8.68177442e-01 -4.96250850e-01 -1.73888364e-03 1.75399369e+02] [ 4.96249869e-01 8.68179183e-01 -9.86826945e-04 2.81172506e+01] [ 1.99937629e-03 -6.17988434e-06 9.99998001e-01 -3.39544216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.050281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:175.42, Y:28.13, Z:-0.34 [[ 8.70108680e-01 -4.92853504e-01 -2.51182609e-03 1.75422831e+02] [ 4.92851442e-01 8.70112305e-01 -1.42568704e-03 2.81307192e+01] [ 2.88822564e-03 2.54556165e-06 9.99995829e-01 -3.39249968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.080281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:175.45, Y:28.15, Z:-0.34 [[ 8.73166451e-01 -4.87415218e-01 -2.59866405e-03 1.75446332e+02] [ 4.87412985e-01 8.73170318e-01 -1.47574423e-03 2.81457172e+01] [ 2.98837651e-03 2.19477482e-05 9.99995535e-01 -3.39266195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.110281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:175.47, Y:28.16, Z:-0.34 [[ 8.73110564e-01 -4.87515324e-01 -2.59853551e-03 1.75471026e+02] [ 4.87513090e-01 8.73114430e-01 -1.47597055e-03 2.81599285e+01] [ 2.98837712e-03 2.18654035e-05 9.99995535e-01 -3.39300526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.140281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:175.49, Y:28.17, Z:-0.34 [[ 8.74428121e-01 -4.85150122e-01 -2.19544782e-03 1.75493136e+02] [ 4.85148519e-01 8.74430877e-01 -1.24741914e-03 2.81747789e+01] [ 2.52495291e-03 2.56601150e-05 9.99996812e-01 -3.39309182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.170281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:175.51, Y:28.19, Z:-0.34 [[ 8.76234321e-01 -4.81882733e-01 -1.56398499e-03 1.75514232e+02] [ 4.81881913e-01 8.76235717e-01 -8.88934999e-04 2.81929087e+01] [ 1.79878194e-03 2.52592751e-05 9.99998382e-01 -3.39435594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.200281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:175.54, Y:28.21, Z:-0.34 [[ 8.76752967e-01 -4.80939357e-01 -1.25307722e-03 1.75537439e+02] [ 4.80938829e-01 8.76753862e-01 -7.12591179e-04 2.82087963e+01] [ 1.44135343e-03 2.21129407e-05 9.99998961e-01 -3.38983837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.230281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:175.56, Y:28.22, Z:-0.34 [[ 8.77055064e-01 -4.80389385e-01 -6.73638922e-04 1.75560751e+02] [ 4.80389232e-01 8.77055322e-01 -3.83348883e-04 2.82238757e+01] [ 7.74975336e-04 1.26091944e-05 9.99999700e-01 -3.38080452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.260281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:175.58, Y:28.24, Z:-0.34 [[ 8.76889818e-01 -4.80686911e-01 2.08331605e-03 1.75582787e+02] [ 4.80685451e-01 8.76892292e-01 1.18505955e-03 2.82410910e+01] [-2.39648640e-03 -3.77469337e-05 9.99997128e-01 -3.36140607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.290281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.60, Y:28.26, Z:-0.34 [[ 8.76441361e-01 -4.81493411e-01 3.82585040e-03 1.75604586e+02] [ 4.81488493e-01 8.76449708e-01 2.17702394e-03 2.82564754e+01] [-4.40138815e-03 -6.59308790e-05 9.99990312e-01 -3.36355913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.320281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:175.63, Y:28.27, Z:-0.34 [[ 8.75327279e-01 -4.83518674e-01 3.44201304e-03 1.75626096e+02] [ 4.83514708e-01 8.75334044e-01 1.95896081e-03 2.82728209e+01] [-3.96010533e-03 -5.04679033e-05 9.99992157e-01 -3.36345793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.350281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:175.65, Y:28.29, Z:-0.34 [[ 8.74600770e-01 -4.84837875e-01 2.39330888e-03 1.75648587e+02] [ 4.84835962e-01 8.74604044e-01 1.36232423e-03 2.82872533e+01] [-2.75370401e-03 -3.11276131e-05 9.99996208e-01 -3.37326107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.380281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.67, Y:28.30, Z:-0.34 [[ 8.73439702e-01 -4.86929381e-01 1.69269614e-03 1.75671476e+02] [ 4.86928428e-01 8.73441342e-01 9.63756770e-04 2.83029654e+01] [-1.94775228e-03 -1.75615530e-05 9.99998103e-01 -3.37444755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.410281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:175.69, Y:28.32, Z:-0.34 [[ 8.70537684e-01 -4.92099579e-01 1.46454613e-03 1.75692919e+02] [ 4.92098872e-01 8.70538916e-01 8.34152254e-04 2.83201622e+01] [-1.68543037e-03 -5.45947350e-06 9.99998580e-01 -3.36673368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.440281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:175.72, Y:28.33, Z:-0.34 [[ 8.68870290e-01 -4.95038615e-01 1.09038736e-03 1.75717182e+02] [ 4.95038225e-01 8.68870974e-01 6.21187204e-04 2.83344872e+01] [-1.25491759e-03 5.23197970e-08 9.99999213e-01 -3.37170438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.470281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:175.74, Y:28.35, Z:-0.34 [[ 8.64974623e-01 -5.01814054e-01 1.24758637e-03 1.75740854e+02] [ 5.01813550e-01 8.64975523e-01 7.11054978e-04 2.83470141e+01] [-1.43594905e-03 1.10112324e-05 9.99998969e-01 -3.37076773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.500281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:175.76, Y:28.36, Z:-0.34 [[ 8.63209883e-01 -5.04843376e-01 1.36528055e-03 1.75764775e+02] [ 5.04842776e-01 8.63210962e-01 7.78331864e-04 2.83608199e+01] [-1.57146082e-03 1.73882641e-05 9.99998765e-01 -3.37241901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.530281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:175.79, Y:28.38, Z:-0.34 [[ 8.61920164e-01 -5.07041528e-01 1.58739601e-03 1.75788867e+02] [ 5.07040720e-01 8.61921625e-01 9.05379616e-04 2.83750433e+01] [-1.82727601e-03 2.45094695e-05 9.99998330e-01 -3.36994401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.560281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:175.81, Y:28.39, Z:-0.34 [[ 8.60925634e-01 -5.08730186e-01 8.06963781e-04 1.75813590e+02] [ 5.08729978e-01 8.60926012e-01 4.60358831e-04 2.83869050e+01] [-9.28934543e-04 1.41919483e-05 9.99999568e-01 -3.38721642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.590281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:175.84, Y:28.40, Z:-0.34 [[ 8.60715362e-01 -5.09086319e-01 -4.30176445e-04 1.75838502e+02] [ 5.09086260e-01 8.60715470e-01 -2.45814608e-04 2.83997141e+01] [ 4.95400375e-04 -7.42050844e-06 9.99999877e-01 -3.39651373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.620281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:175.86, Y:28.41, Z:-0.34 [[ 8.60469107e-01 -5.09497849e-01 -2.20411398e-03 1.75862990e+02] [ 5.09496295e-01 8.60471929e-01 -1.25899086e-03 2.84136850e+01] [ 2.53803134e-03 -3.96651647e-05 9.99996778e-01 -3.40696592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.650281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:175.89, Y:28.43, Z:-0.34 [[ 8.60575313e-01 -5.09318483e-01 -2.19399848e-03 1.75887446e+02] [ 5.09316941e-01 8.60578109e-01 -1.25372632e-03 2.84269326e+01] [ 2.52665305e-03 -3.85146762e-05 9.99996807e-01 -3.40857476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.680281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:175.91, Y:28.44, Z:-0.34 [[ 8.60818046e-01 -5.08909716e-01 -1.78655289e-03 1.75912549e+02] [ 5.08908692e-01 8.60819900e-01 -1.02139484e-03 2.84390129e+01] [ 2.05769804e-03 -2.99571842e-05 9.99997882e-01 -3.40576541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.71028169299998 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:175.94, Y:28.45, Z:-0.34 [[ 8.60782474e-01 -5.08972166e-01 -9.31010527e-04 1.75937651e+02] [ 5.08971888e-01 8.60782977e-01 -5.32347310e-04 2.84487133e+01] [ 1.07234798e-03 -1.56229515e-05 9.99999425e-01 -3.40657964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.740281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:175.96, Y:28.46, Z:-0.34 [[ 8.60115074e-01 -5.10097688e-01 -1.55203762e-03 1.75962390e+02] [ 5.10096916e-01 8.60116474e-01 -8.87523703e-04 2.84590708e+01] [ 1.78765692e-03 -2.83170901e-05 9.99998402e-01 -3.41878958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.770281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:175.99, Y:28.47, Z:-0.34 [[ 8.59926534e-01 -5.10413950e-01 -1.98876974e-03 1.75988101e+02] [ 5.10412683e-01 8.59928833e-01 -1.13782886e-03 2.84706500e+01] [ 2.29096417e-03 -3.66440742e-05 9.99997375e-01 -3.41830684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.800281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:176.01, Y:28.48, Z:-0.34 [[ 8.59900553e-01 -5.10458348e-01 -1.82023714e-03 1.76013374e+02] [ 5.10457287e-01 8.59902479e-01 -1.04163561e-03 2.84817273e+01] [ 2.09693802e-03 -3.34502713e-05 9.99997801e-01 -3.41915976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.830281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:176.04, Y:28.49, Z:-0.34 [[ 8.60150393e-01 -5.10038775e-01 -1.32303788e-03 1.76038703e+02] [ 5.10038213e-01 8.60151410e-01 -7.57534115e-04 2.84936443e+01] [ 1.52438467e-03 -2.32066097e-05 9.99998838e-01 -3.41535423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.860281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:176.06, Y:28.51, Z:-0.34 [[ 8.61380001e-01 -5.07958981e-01 -1.47220410e-03 1.76063312e+02] [ 5.07958281e-01 8.61381259e-01 -8.43299817e-04 2.85068937e+01] [ 1.69649074e-03 -2.14166657e-05 9.99998561e-01 -3.40819126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.890281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:176.09, Y:28.52, Z:-0.34 [[ 8.63118202e-01 -5.04998883e-01 -1.76018603e-03 1.76086740e+02] [ 5.04997876e-01 8.63119996e-01 -1.00842451e-03 2.85193040e+01] [ 2.02850501e-03 -1.85006539e-05 9.99997942e-01 -3.40784651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.920281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:176.11, Y:28.53, Z:-0.34 [[ 8.63526112e-01 -5.04303317e-01 -9.04510559e-04 1.76111444e+02] [ 5.04303051e-01 8.63526586e-01 -5.18586140e-04 2.85323955e+01] [ 1.04259362e-03 -8.33476143e-06 9.99999456e-01 -3.40548842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.950281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:176.14, Y:28.55, Z:-0.34 [[ 8.63509572e-01 -5.04332398e-01 2.26085087e-04 1.76135870e+02] [ 5.04332381e-01 8.63509602e-01 1.29359150e-04 2.85461844e+01] [-2.60466654e-04 2.31916620e-06 9.99999966e-01 -3.39901836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.980281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:176.16, Y:28.56, Z:-0.34 [[ 8.62866513e-01 -5.05427742e-01 2.04418821e-03 1.76159723e+02] [ 5.05426383e-01 8.62868934e-01 1.17216565e-03 2.85601009e+01] [-2.35631153e-03 2.17641676e-05 9.99997224e-01 -3.39181627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.010281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:176.18, Y:28.57, Z:-0.34 [[ 8.62394701e-01 -5.06230117e-01 2.53946034e-03 1.76184120e+02] [ 5.06228022e-01 8.62398439e-01 1.45684255e-03 2.85732432e+01] [-2.92752421e-03 2.91726838e-05 9.99995714e-01 -3.38810023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.040281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:176.21, Y:28.59, Z:-0.34 [[ 8.61996650e-01 -5.06906934e-01 2.67128876e-03 1.76208516e+02] [ 5.06904617e-01 8.62000788e-01 1.53313505e-03 2.85863634e+01] [-3.07980980e-03 3.25313284e-05 9.99995257e-01 -3.38528881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.070281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:176.23, Y:28.60, Z:-0.34 [[ 8.61978245e-01 -5.06940219e-01 2.26240438e-03 1.76231791e+02] [ 5.06938556e-01 8.61981214e-01 1.29880819e-03 2.85992254e+01] [-2.60856818e-03 2.73556070e-05 9.99996597e-01 -3.38446744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.100281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:176.26, Y:28.61, Z:-0.34 [[ 8.62243000e-01 -5.06490317e-01 2.13738580e-03 1.76255900e+02] [ 5.06488830e-01 8.62245649e-01 1.22740357e-03 2.86127173e+01] [-2.46461963e-03 2.42418997e-05 9.99996963e-01 -3.38597787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.130281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:176.28, Y:28.62, Z:-0.34 [[ 8.63132628e-01 -5.04972874e-01 2.11286614e-03 1.76281698e+02] [ 5.04971415e-01 8.63135213e-01 1.21382608e-03 2.86239842e+01] [-2.43663841e-03 1.92441166e-05 9.99997031e-01 -3.37983915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.160281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:176.31, Y:28.64, Z:-0.34 [[ 8.63169341e-01 -5.04910003e-01 2.13941577e-03 1.76307100e+02] [ 5.04908506e-01 8.63171992e-01 1.22959334e-03 2.86360503e+01] [-2.46751775e-03 1.88619524e-05 9.99996956e-01 -3.38031663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.190281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:176.33, Y:28.65, Z:-0.34 [[ 8.63037581e-01 -5.05136351e-01 1.84414647e-03 1.76331425e+02] [ 5.05135239e-01 8.63039551e-01 1.06019094e-03 2.86472648e+01] [-2.12711232e-03 1.65587467e-05 9.99997738e-01 -3.38394964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.220281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:176.36, Y:28.66, Z:-0.34 [[ 8.62459383e-01 -5.06126028e-01 5.06768312e-04 1.76357984e+02] [ 5.06125945e-01 8.62459531e-01 2.91241012e-04 2.86567599e+01] [-5.84471818e-04 5.30504699e-06 9.99999829e-01 -3.40686658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.250281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:176.38, Y:28.67, Z:-0.34 [[ 8.62514076e-01 -5.06033039e-01 1.81743503e-04 1.76382781e+02] [ 5.06033028e-01 8.62514095e-01 1.04397682e-04 2.86673514e+01] [-2.09585009e-04 1.92374484e-06 9.99999978e-01 -3.40753683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.280281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:176.41, Y:28.68, Z:-0.34 [[ 8.64193669e-01 -5.03159091e-01 -4.81177917e-04 1.76409133e+02] [ 5.03159014e-01 8.64193803e-01 -2.77205788e-04 2.86774278e+01] [ 5.55309586e-04 -2.54951945e-06 9.99999846e-01 -3.39858278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.310281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:176.43, Y:28.69, Z:-0.34 [[ 8.65836802e-01 -5.00325483e-01 -1.02184348e-03 1.76432846e+02] [ 5.00325136e-01 8.65837405e-01 -5.88645578e-04 2.86915015e+01] [ 1.17926469e-03 -1.58297290e-06 9.99999305e-01 -3.39355893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.340281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:176.46, Y:28.71, Z:-0.34 [[ 8.67703549e-01 -4.97080313e-01 -1.30877033e-03 1.76456131e+02] [ 4.97079741e-01 8.67704536e-01 -7.54180742e-04 2.87063736e+01] [ 1.51051435e-03 3.84208860e-06 9.99998859e-01 -3.39209638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.370281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:176.48, Y:28.72, Z:-0.34 [[ 8.72048388e-01 -4.89419354e-01 5.52338912e-04 1.76478447e+02] [ 4.89419251e-01 8.72048563e-01 3.18129774e-04 2.87214336e+01] [-6.37365223e-04 -7.09926049e-06 9.99999797e-01 -3.39336453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.400281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:176.50, Y:28.74, Z:-0.34 [[ 8.73905411e-01 -4.86093479e-01 1.56902638e-03 1.76501027e+02] [ 4.86092639e-01 8.73906819e-01 9.04071336e-04 2.87362439e+01] [-1.81064604e-03 -2.73806576e-05 9.99998360e-01 -3.39222186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.430281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:176.52, Y:28.75, Z:-0.34 [[ 8.76476628e-01 -4.81440259e-01 1.99919877e-03 1.76522495e+02] [ 4.81438882e-01 8.76478907e-01 1.15230845e-03 2.87545875e+01] [-2.30702324e-03 -4.74794017e-05 9.99997338e-01 -3.39504964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.46028169299998 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:176.54, Y:28.77, Z:-0.34 [[ 8.77646647e-01 -4.79306920e-01 1.11300250e-03 1.76544621e+02] [ 4.79306492e-01 8.77647352e-01 6.41670339e-04 2.87706708e+01] [-1.28438073e-03 -2.96904993e-05 9.99999175e-01 -3.40145057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.490281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:176.57, Y:28.79, Z:-0.34 [[ 8.78609198e-01 -4.77541482e-01 -9.81545247e-05 1.76567497e+02] [ 4.77541479e-01 8.78609204e-01 -5.68746925e-05 2.87869114e+01] [ 1.13399494e-04 3.09777107e-06 9.99999994e-01 -3.41239817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.520281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:176.59, Y:28.81, Z:-0.34 [[ 8.80216240e-01 -4.74571529e-01 -1.11150108e-03 1.76589004e+02] [ 4.74571097e-01 8.80216941e-01 -6.41723792e-04 2.88051352e+01] [ 1.28290592e-03 3.73694153e-05 9.99999176e-01 -3.41368515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.550281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:176.61, Y:28.83, Z:-0.34 [[ 8.81888903e-01 -4.71457094e-01 -4.13564168e-04 1.76609907e+02] [ 4.71457033e-01 8.81889000e-01 -2.39037413e-04 2.88251499e+01] [ 4.77413575e-04 1.58267058e-05 9.99999886e-01 -3.40465967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.580281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:176.63, Y:28.84, Z:-0.34 [[ 8.82654389e-01 -4.70022257e-01 -5.54521711e-04 1.76631506e+02] [ 4.70022148e-01 8.82654563e-01 -3.20333568e-04 2.88416327e+01] [ 6.40015025e-04 2.21063443e-05 9.99999795e-01 -3.40036541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.610281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:176.65, Y:28.86, Z:-0.34 [[ 8.83208384e-01 -4.68979280e-01 -1.17688936e-03 1.76653794e+02] [ 4.68978790e-01 8.83209167e-01 -6.80173647e-04 2.88587075e+01] [ 1.35842682e-03 4.87989217e-05 9.99999076e-01 -3.39724914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.640281693 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:176.68, Y:28.88, Z:-0.34 [[ 8.83570848e-01 -4.68293514e-01 -1.93435843e-03 1.76676264e+02] [ 4.68292187e-01 8.83572961e-01 -1.11826904e-03 2.88761952e+01] [ 2.23282495e-03 8.22249850e-05 9.99997504e-01 -3.39682989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.670281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:176.70, Y:28.90, Z:-0.34 [[ 8.83562952e-01 -4.68305985e-01 -2.45234838e-03 1.76695830e+02] [ 4.68303850e-01 8.83566349e-01 -1.41777241e-03 2.88961949e+01] [ 2.83076381e-03 1.04246991e-04 9.99995988e-01 -3.40662178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.700281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:176.72, Y:28.91, Z:-0.34 [[ 8.82983975e-01 -4.69398547e-01 -2.07452245e-03 1.76718939e+02] [ 4.69397021e-01 8.82986408e-01 -1.20001240e-03 2.89126251e+01] [ 2.39505920e-03 8.58170627e-05 9.99997128e-01 -3.41360846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.730281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:176.74, Y:28.93, Z:-0.34 [[ 8.80427647e-01 -4.74180298e-01 4.50613555e-04 1.76740994e+02] [ 4.74180227e-01 8.80427762e-01 2.60456389e-04 2.89301389e+01] [-5.20235972e-04 -1.56409682e-05 9.99999865e-01 -3.41312890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.760281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:176.76, Y:28.95, Z:-0.34 [[ 8.78955960e-01 -4.76900821e-01 1.42354297e-03 1.76763506e+02] [ 4.76900112e-01 8.78957112e-01 8.23667567e-04 2.89450691e+01] [-1.64404095e-03 -4.50797174e-05 9.99998648e-01 -3.40567625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.790281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:176.79, Y:28.96, Z:-0.34 [[ 8.77499854e-01 -4.79575024e-01 1.34247660e-03 1.76786588e+02] [ 4.79574396e-01 8.77500880e-01 7.76942504e-04 2.89606886e+01] [-1.55062662e-03 -3.79495291e-05 9.99998797e-01 -3.40632122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.820281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:176.81, Y:28.98, Z:-0.34 [[ 8.75513565e-01 -4.83192706e-01 -8.97961422e-04 1.76808536e+02] [ 4.83192427e-01 8.75514025e-01 -5.20068694e-04 2.89763357e+01] [ 1.03747122e-03 2.14390380e-05 9.99999462e-01 -3.41132836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.850281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:176.83, Y:28.99, Z:-0.34 [[ 8.74483549e-01 -4.85052279e-01 -1.67608485e-03 1.76830430e+02] [ 4.85051308e-01 8.74485155e-01 -9.70974162e-04 2.89920057e+01] [ 1.93668455e-03 3.61137826e-05 9.99998124e-01 -3.40984582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.880281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:176.85, Y:29.01, Z:-0.34 [[ 8.74236730e-01 -4.85499090e-01 -8.79493400e-04 1.76854399e+02] [ 4.85498822e-01 8.74237172e-01 -5.09876727e-04 2.90070902e+01] [ 1.01643051e-03 1.87599531e-05 9.99999483e-01 -3.41258432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.910281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:176.88, Y:29.02, Z:-0.34 [[ 8.74177247e-01 -4.85606948e-01 -1.83947297e-04 1.76877480e+02] [ 4.85606936e-01 8.74177266e-01 -1.06717839e-04 2.90204311e+01] [ 2.12625469e-04 3.96422348e-06 9.99999977e-01 -3.40875998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.940281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:176.90, Y:29.03, Z:-0.34 [[ 8.74229784e-01 -4.85510863e-01 1.21962457e-03 1.76902395e+02] [ 4.85510349e-01 8.74230634e-01 7.06883372e-04 2.90326771e+01] [-1.40943271e-03 -2.58381485e-05 9.99999006e-01 -3.39919641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 194.970281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:176.93, Y:29.05, Z:-0.34 [[ 8.73944318e-01 -4.86024348e-01 1.28932116e-03 1.76926983e+02] [ 4.86023774e-01 8.73945269e-01 7.47603989e-04 2.90467455e+01] [-1.49014987e-03 -2.67235231e-05 9.99998889e-01 -3.39606414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.000281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:176.95, Y:29.06, Z:-0.34 [[ 8.71915426e-01 -4.89656024e-01 6.83306313e-04 1.76951535e+02] [ 4.89655864e-01 8.71915694e-01 3.96257696e-04 2.90609690e+01] [-7.89815466e-04 -1.09182550e-05 9.99999688e-01 -3.40744773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.030281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:176.98, Y:29.08, Z:-0.34 [[ 8.71860058e-01 -4.89754605e-01 6.83220256e-04 1.76976090e+02] [ 4.89754445e-01 8.71860325e-01 3.96406003e-04 2.90754111e+01] [-7.89814300e-04 -1.10004039e-05 9.99999688e-01 -3.40779107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.060281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:177.00, Y:29.09, Z:-0.34 [[ 8.70531496e-01 -4.92111990e-01 8.39130287e-04 1.77001397e+02] [ 4.92111749e-01 8.70531900e-01 4.87007598e-04 2.90883105e+01] [-9.70151961e-04 -1.10095791e-05 9.99999529e-01 -3.41529550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.090281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:177.03, Y:29.10, Z:-0.34 [[ 8.69358102e-01 -4.94179612e-01 1.73260125e-03 1.77026598e+02] [ 4.94178588e-01 8.69359828e-01 1.00627159e-03 2.91000348e+01] [-2.00353283e-03 -1.85959223e-05 9.99997993e-01 -3.41643207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.120281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.05, Y:29.11, Z:-0.34 [[ 8.67844747e-01 -4.96829903e-01 2.35429808e-03 1.77051897e+02] [ 4.96828020e-01 8.67847940e-01 1.36784953e-03 2.91099498e+01] [-2.72276129e-03 -1.73997702e-05 9.99996293e-01 -3.40923542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.150281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:177.08, Y:29.12, Z:-0.34 [[ 8.67389217e-01 -4.97629034e-01 1.13599672e-03 1.77076099e+02] [ 4.97628596e-01 8.67389961e-01 6.60094276e-04 2.91236591e+01] [-1.31383423e-03 -7.25420416e-06 9.99999137e-01 -3.40326301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.180281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:177.10, Y:29.14, Z:-0.34 [[ 8.67135736e-01 -4.98069311e-01 -1.60497601e-03 1.77100881e+02] [ 4.98068437e-01 8.67137222e-01 -9.33259241e-04 2.91352441e+01] [ 1.85656223e-03 9.87454529e-06 9.99998277e-01 -3.41067249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.21028169299998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:177.13, Y:29.15, Z:-0.34 [[ 8.66877983e-01 -4.98518036e-01 -1.52680308e-03 1.77126247e+02] [ 4.98517245e-01 8.66879327e-01 -8.88336589e-04 2.91473870e+01] [ 1.76640583e-03 8.94176784e-06 9.99998440e-01 -3.41200782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.240281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:177.15, Y:29.16, Z:-0.34 [[ 8.66574105e-01 -4.99047768e-01 -8.03366933e-04 1.77151141e+02] [ 4.99047549e-01 8.66574477e-01 -4.67744031e-04 2.91599173e+01] [ 9.29603894e-04 4.41656600e-06 9.99999568e-01 -3.40395394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.270281693 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:177.18, Y:29.17, Z:-0.34 [[ 8.66333835e-01 -4.99465096e-01 5.51427877e-04 1.77175444e+02] [ 4.99464993e-01 8.66334010e-01 3.20826552e-04 2.91726464e+01] [-6.37962389e-04 -2.52397655e-06 9.99999797e-01 -3.39948570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.300281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:177.20, Y:29.18, Z:-0.34 [[ 8.66271776e-01 -4.99573027e-01 3.27214743e-05 1.77199426e+02] [ 4.99573026e-01 8.66271777e-01 1.89375895e-05 2.91848279e+01] [-3.78063985e-05 -5.83333601e-08 9.99999999e-01 -3.40187413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.330281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:177.23, Y:29.20, Z:-0.34 [[ 8.66072481e-01 -4.99917506e-01 -9.71726222e-04 1.77225179e+02] [ 4.99917186e-01 8.66073026e-01 -5.65991378e-04 2.91951270e+01] [ 1.12453487e-03 4.40691816e-06 9.99999368e-01 -3.41130864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.360281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:177.25, Y:29.21, Z:-0.34 [[ 8.65527398e-01 -5.00861249e-01 -5.76057685e-04 1.77248858e+02] [ 5.00861137e-01 8.65527590e-01 -3.35821628e-04 2.92092627e+01] [ 6.66793860e-04 2.13791318e-06 9.99999778e-01 -3.40878735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.390281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:177.27, Y:29.22, Z:-0.34 [[ 8.65040574e-01 -5.01701837e-01 -2.67868993e-04 1.77271997e+02] [ 5.01701813e-01 8.65040616e-01 -1.56178831e-04 2.92238594e+01] [ 3.10072765e-04 7.10666362e-07 9.99999952e-01 -3.40232683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.420281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:177.30, Y:29.24, Z:-0.34 [[ 8.63836938e-01 -5.03771511e-01 -9.57979646e-05 1.77296725e+02] [ 5.03771508e-01 8.63836943e-01 -5.60862402e-05 2.92371223e+01] [ 1.11008471e-04 1.89080867e-07 9.99999994e-01 -3.41154893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.450281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:177.32, Y:29.25, Z:-0.34 [[ 8.63177287e-01 -5.04900488e-01 -6.84269794e-04 1.77322634e+02] [ 5.04900330e-01 8.63177558e-01 -3.99255942e-04 2.92490089e+01] [ 7.92230850e-04 -8.59384243e-07 9.99999686e-01 -3.42024942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.480281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:177.35, Y:29.26, Z:-0.34 [[ 8.62087741e-01 -5.06757102e-01 -1.40212366e-03 1.77347501e+02] [ 5.06756443e-01 8.62088881e-01 -8.17850936e-04 2.92597910e+01] [ 1.62320699e-03 -5.47593048e-06 9.99998683e-01 -3.41762584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.510281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:177.37, Y:29.27, Z:-0.34 [[ 8.61808587e-01 -5.07233362e-01 -5.25064694e-04 1.77370633e+02] [ 5.07233269e-01 8.61808747e-01 -3.06481045e-04 2.92732490e+01] [ 6.07962757e-04 -2.20228464e-06 9.99999815e-01 -3.41543661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.540281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:177.40, Y:29.29, Z:-0.34 [[ 8.61286835e-01 -5.08117480e-01 1.27046360e-03 1.77395525e+02] [ 5.08116939e-01 8.61287772e-01 7.41219324e-04 2.92865360e+01] [-1.47086126e-03 7.14162807e-06 9.99998918e-01 -3.40879119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.570281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.42, Y:29.30, Z:-0.34 [[ 8.61035608e-01 -5.08541233e-01 1.86975985e-03 1.77420823e+02] [ 5.08540061e-01 8.61037638e-01 1.09145369e-03 2.92995681e+01] [-2.16498281e-03 1.10672970e-05 9.99997656e-01 -3.41256483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.600281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:177.45, Y:29.31, Z:-0.34 [[ 8.60142915e-01 -5.10052299e-01 9.04128415e-04 1.77445735e+02] [ 5.10052026e-01 8.60143391e-01 5.27867588e-04 2.93118378e+01] [-1.04692016e-03 7.11096299e-06 9.99999452e-01 -3.41395912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.630281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:177.47, Y:29.33, Z:-0.34 [[ 8.59081019e-01 -5.11839416e-01 4.63152788e-04 1.77470693e+02] [ 5.11839345e-01 8.59081144e-01 2.70394994e-04 2.93251974e+01] [-5.36284643e-04 4.76861232e-06 9.99999856e-01 -3.41872414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.660281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:177.50, Y:29.34, Z:-0.34 [[ 8.57737251e-01 -5.14087670e-01 8.21450250e-04 1.77495702e+02] [ 5.14087446e-01 8.57737645e-01 4.79985100e-04 2.93375779e+01] [-9.51343225e-04 1.05961608e-05 9.99999547e-01 -3.41981067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.690281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:177.52, Y:29.35, Z:-0.34 [[ 8.54831947e-01 -5.18900661e-01 2.10853139e-03 1.77522409e+02] [ 5.18899198e-01 8.54834547e-01 1.23298983e-03 2.93468082e+01] [-2.44224471e-03 4.01161480e-05 9.99997017e-01 -3.41430482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.720281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:177.55, Y:29.36, Z:-0.34 [[ 8.53729800e-01 -5.20713565e-01 1.67710069e-03 1.77547014e+02] [ 5.20712642e-01 8.53731446e-01 9.80987588e-04 2.93583390e+01] [-1.94260714e-03 3.57891927e-05 9.99998113e-01 -3.40997107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:177.57, Y:29.37, Z:-0.34 [[ 8.52487599e-01 -5.22746935e-01 7.32186586e-04 1.77572159e+02] [ 5.22746760e-01 8.52487913e-01 4.28295516e-04 2.93680044e+01] [-8.48070383e-04 1.76315491e-05 9.99999640e-01 -3.41047801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.780281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:177.60, Y:29.38, Z:-0.34 [[ 8.51966664e-01 -5.23595128e-01 9.72397895e-04 1.77597258e+02] [ 5.23594819e-01 8.51967218e-01 5.68939842e-04 2.93798731e+01] [-1.12634526e-03 2.44247216e-05 9.99999365e-01 -3.40608507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:177.62, Y:29.39, Z:-0.34 [[ 8.51408208e-01 -5.24501312e-01 1.56120365e-03 1.77622178e+02] [ 5.24500517e-01 8.51409638e-01 9.13910091e-04 2.93911218e+01] [-1.80857088e-03 4.07415707e-05 9.99998364e-01 -3.40385366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.840281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:177.65, Y:29.40, Z:-0.34 [[ 8.51005165e-01 -5.25155132e-01 1.51564254e-03 1.77649551e+02] [ 5.25154384e-01 8.51006513e-01 8.87464419e-04 2.93990412e+01] [-1.75587817e-03 4.07095195e-05 9.99998458e-01 -3.40298989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.870281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:177.67, Y:29.41, Z:-0.34 [[ 8.51241677e-01 -5.24773266e-01 7.91123569e-04 1.77674231e+02] [ 5.24773062e-01 8.51242045e-01 4.63338978e-04 2.94100887e+01] [-9.16585553e-04 2.07468885e-05 9.99999580e-01 -3.40520688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.900281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:177.70, Y:29.42, Z:-0.34 [[ 8.52167835e-01 -5.23268092e-01 -6.96281027e-04 1.77699548e+02] [ 5.23267934e-01 8.52168119e-01 -4.08073868e-04 2.94201243e+01] [ 8.06880527e-04 -1.65941100e-05 9.99999674e-01 -3.39935066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.930281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:177.72, Y:29.43, Z:-0.34 [[ 8.52791801e-01 -5.22250644e-01 -6.39337047e-04 1.77724382e+02] [ 5.22250509e-01 8.52792041e-01 -3.75010464e-04 2.94321599e+01] [ 7.41071001e-04 -1.40882495e-05 9.99999725e-01 -3.39653152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.96028169299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:177.75, Y:29.44, Z:-0.34 [[ 8.53499687e-01 -5.21092705e-01 -8.22244015e-04 1.77748957e+02] [ 5.21092482e-01 8.53500083e-01 -4.82167586e-04 2.94437344e+01] [ 9.53039347e-04 -1.69352911e-05 9.99999546e-01 -3.39609903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 195.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:177.77, Y:29.45, Z:-0.34 [[ 8.54874154e-01 -5.18834887e-01 -7.35024073e-04 1.77774051e+02] [ 5.18834708e-01 8.54874470e-01 -4.31110530e-04 2.94533542e+01] [ 8.52028499e-04 -1.28107505e-05 9.99999637e-01 -3.39783004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.020281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:177.80, Y:29.47, Z:-0.34 [[ 8.55993749e-01 -5.16986158e-01 1.15382124e-04 1.77798058e+02] [ 5.16986154e-01 8.55993757e-01 6.75355093e-05 2.94659902e+01] [-1.33681301e-04 1.84098650e-06 9.99999991e-01 -3.39669002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:177.82, Y:29.48, Z:-0.34 [[ 8.58545229e-01 -5.12735550e-01 1.53165676e-03 1.77822188e+02] [ 5.12734763e-01 8.58546595e-01 8.98440209e-04 2.94795224e+01] [-1.77566093e-03 1.39821142e-05 9.99998423e-01 -3.39904273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.080281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:177.84, Y:29.49, Z:-0.34 [[ 8.59603364e-01 -5.10960656e-01 1.12494009e-03 1.77844971e+02] [ 5.10960229e-01 8.59604100e-01 6.60050657e-04 2.94931128e+01] [-1.30426303e-03 7.41788203e-06 9.99999149e-01 -3.40341528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.110281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:177.87, Y:29.51, Z:-0.34 [[ 8.60320077e-01 -5.09754167e-01 -2.33179144e-04 1.77868875e+02] [ 5.09754148e-01 8.60320109e-01 -1.37140520e-04 2.95072822e+01] [ 2.70516659e-04 -8.79293229e-07 9.99999963e-01 -3.40812183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.140281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:177.89, Y:29.52, Z:-0.34 [[ 8.60046882e-01 -5.10209884e-01 -2.28798007e-03 1.77893339e+02] [ 5.10208115e-01 8.60049925e-01 -1.34365325e-03 2.95191368e+01] [ 2.65332226e-03 -1.17412094e-05 9.99996480e-01 -3.42901885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.170281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:177.92, Y:29.53, Z:-0.34 [[ 8.58305559e-01 -5.13137142e-01 -1.35672326e-03 1.77920513e+02] [ 5.13136522e-01 8.58306632e-01 -7.97242170e-04 2.95282571e+01] [ 1.57357914e-03 -1.19068661e-05 9.99998762e-01 -3.42505300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.200281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:177.94, Y:29.54, Z:-0.34 [[ 8.57538943e-01 -5.14418660e-01 -6.35438431e-04 1.77944609e+02] [ 5.14418524e-01 8.57539179e-01 -3.73498134e-04 2.95397427e+01] [ 7.37047760e-04 -6.59210462e-06 9.99999728e-01 -3.41916841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.230281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:177.97, Y:29.55, Z:-0.34 [[ 8.57258502e-01 -5.14886260e-01 -4.45154804e-06 1.77969661e+02] [ 5.14886260e-01 8.57258502e-01 -2.85927259e-06 2.95527713e+01] [ 5.28832760e-06 1.59094818e-07 1.00000000e+00 -3.41369190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.00, Y:29.56, Z:-0.34 [[ 8.58717386e-01 -5.12449021e-01 6.72382974e-04 1.77995423e+02] [ 5.12448869e-01 8.58717649e-01 3.95141145e-04 2.95649995e+01] [-7.79876819e-04 5.24732378e-06 9.99999696e-01 -3.41137237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.290281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:178.02, Y:29.58, Z:-0.34 [[ 8.59957945e-01 -5.10364603e-01 5.51511489e-04 1.78019207e+02] [ 5.10364500e-01 8.59958122e-01 3.24249712e-04 2.95772095e+01] [-6.39762360e-04 2.63076958e-06 9.99999795e-01 -3.41842035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.320281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.04, Y:29.59, Z:-0.34 [[ 8.62246545e-01 -5.06487038e-01 -1.33249962e-03 1.78044939e+02] [ 5.06486431e-01 8.62247575e-01 -7.84314339e-04 2.95885826e+01] [ 1.54618961e-03 1.37935096e-06 9.99998805e-01 -3.43429027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.350281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:178.07, Y:29.60, Z:-0.34 [[ 8.63171269e-01 -5.04903151e-01 -2.85796407e-03 1.78070170e+02] [ 5.04900348e-01 8.63176000e-01 -1.68260073e-03 2.96016906e+01] [ 3.31647640e-03 9.38555246e-06 9.99994500e-01 -3.43655156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.380281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:178.10, Y:29.61, Z:-0.34 [[ 8.64119239e-01 -5.03269838e-01 -4.17261150e-03 1.78095276e+02] [ 5.03263839e-01 8.64129313e-01 -2.45746773e-03 2.96145448e+01] [ 4.84244529e-03 2.36206634e-05 9.99988275e-01 -3.44218755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.410281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.12, Y:29.63, Z:-0.34 [[ 8.65171031e-01 -5.01455072e-01 -4.67954833e-03 1.78118951e+02] [ 5.01447497e-01 8.65183685e-01 -2.75649389e-03 2.96269105e+01] [ 5.43092671e-03 3.82908659e-05 9.99985252e-01 -3.44630152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.440281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:178.14, Y:29.64, Z:-0.34 [[ 8.66801481e-01 -4.98632632e-01 -4.54883558e-03 1.78142633e+02] [ 4.98625432e-01 8.66813415e-01 -2.68008481e-03 2.96403883e+01] [ 5.27936945e-03 5.49363768e-05 9.99986063e-01 -3.43762260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.470281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.17, Y:29.66, Z:-0.34 [[ 8.68434839e-01 -4.95788282e-01 -3.86132698e-03 1.78166309e+02] [ 4.95783061e-01 8.68443421e-01 -2.27605233e-03 2.96557324e+01] [ 4.48178408e-03 6.22226302e-05 9.99989955e-01 -3.43363868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.500281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:178.19, Y:29.67, Z:-0.34 [[ 8.69105325e-01 -4.94619129e-01 -2.80206988e-03 1.78189207e+02] [ 4.94616373e-01 8.69109840e-01 -1.65211156e-03 2.96703052e+01] [ 3.25247248e-03 4.99093095e-05 9.99994709e-01 -3.42734581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.530281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:178.21, Y:29.69, Z:-0.34 [[ 8.69548185e-01 -4.93846473e-01 -1.27068675e-03 1.78213014e+02] [ 4.93845904e-01 8.69549113e-01 -7.49695973e-04 2.96851910e+01] [ 1.47515925e-03 2.43733250e-05 9.99998912e-01 -3.42047830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.560281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:178.24, Y:29.70, Z:-0.34 [[ 8.69442716e-01 -4.94033753e-01 -1.23572116e-04 1.78236509e+02] [ 4.94033748e-01 8.69442724e-01 -7.30064676e-05 2.96987323e+01] [ 1.43506536e-04 2.42614585e-06 9.99999990e-01 -3.42353126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.26, Y:29.71, Z:-0.34 [[ 8.68579064e-01 -4.95550319e-01 -5.40323615e-04 1.78260241e+02] [ 4.95550216e-01 8.68579232e-01 -3.19099727e-04 2.97116806e+01] [ 6.27443842e-04 9.40585776e-06 9.99999803e-01 -3.43521512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.620281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:178.28, Y:29.72, Z:-0.34 [[ 8.66590255e-01 -4.99020328e-01 -2.04331367e-04 1.78283315e+02] [ 4.99020313e-01 8.66590280e-01 -1.20738139e-04 2.97247405e+01] [ 2.37322362e-04 2.66499172e-06 9.99999972e-01 -3.43591307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.650281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:178.31, Y:29.74, Z:-0.34 [[ 8.65507179e-01 -5.00896483e-01 1.91995447e-04 1.78307072e+02] [ 5.00896470e-01 8.65507200e-01 1.13121656e-04 2.97398230e+01] [-2.22835681e-04 -1.73776341e-06 9.99999975e-01 -3.42749131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.33, Y:29.75, Z:-0.34 [[ 8.64669755e-01 -5.02340712e-01 1.55529094e-04 1.78330358e+02] [ 5.02340703e-01 8.64669769e-01 9.16251952e-05 2.97547370e+01] [-1.80508371e-04 -1.09694070e-06 9.99999984e-01 -3.42581767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.71028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:178.35, Y:29.77, Z:-0.34 [[ 8.63889951e-01 -5.03680319e-01 -5.37934511e-04 1.78352334e+02] [ 5.03680219e-01 8.63890118e-01 -3.17945660e-04 2.97698968e+01] [ 6.24859280e-04 3.72308874e-06 9.99999805e-01 -3.42534656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.740281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:178.38, Y:29.79, Z:-0.34 [[ 8.64088766e-01 -5.03338851e-01 -7.77610642e-04 1.78375120e+02] [ 5.03338641e-01 8.64089116e-01 -4.59895981e-04 2.97856078e+01] [ 9.03408407e-04 5.98946700e-06 9.99999592e-01 -3.41865873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.770281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.39, Y:29.80, Z:-0.34 [[ 8.65258241e-01 -5.01326384e-01 -1.80503293e-04 1.78394948e+02] [ 5.01326373e-01 8.65258260e-01 -1.06824858e-04 2.98043579e+01] [ 2.09736085e-04 1.94002763e-06 9.99999978e-01 -3.41694118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.800281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:178.42, Y:29.82, Z:-0.34 [[ 8.66023948e-01 -5.00002518e-01 -6.38214533e-05 1.78416277e+02] [ 5.00002516e-01 8.66023950e-01 -3.78469385e-05 2.98207771e+01] [ 7.41944716e-05 8.65467862e-07 9.99999997e-01 -3.41217012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.830281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.44, Y:29.84, Z:-0.34 [[ 8.67084730e-01 -4.98160156e-01 -7.27468868e-04 1.78437766e+02] [ 4.98159970e-01 8.67085036e-01 -4.30582725e-04 2.98403415e+01] [ 8.45276526e-04 1.09558365e-05 9.99999643e-01 -3.41712835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.860281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.46, Y:29.86, Z:-0.34 [[ 8.67267150e-01 -4.97840807e-01 -1.49026402e-03 1.78460931e+02] [ 4.97840026e-01 8.67268431e-01 -8.82170198e-04 2.98568936e+01] [ 1.73163926e-03 2.31641572e-05 9.99998500e-01 -3.42104941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.890281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.48, Y:29.87, Z:-0.34 [[ 8.67120065e-01 -4.98093480e-01 -2.38274523e-03 1.78484036e+02] [ 4.98091483e-01 8.67123338e-01 -1.41090342e-03 2.98732899e+01] [ 2.76889579e-03 3.65975614e-05 9.99996166e-01 -3.42101100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.920281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:178.51, Y:29.89, Z:-0.34 [[ 8.67036636e-01 -4.98238693e-01 -2.38251563e-03 1.78508455e+02] [ 4.98236695e-01 8.67039909e-01 -1.41129113e-03 2.98879769e+01] [ 2.76889598e-03 3.65844008e-05 9.99996166e-01 -3.42135424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.950281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:178.53, Y:29.91, Z:-0.34 [[ 8.66284274e-01 -4.99544887e-01 -2.54208228e-03 1.78529120e+02] [ 4.99542618e-01 8.66288003e-01 -1.50593621e-03 2.99056797e+01] [ 2.95445811e-03 3.46904148e-05 9.99995635e-01 -3.42622816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 196.980281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:178.55, Y:29.92, Z:-0.34 [[ 8.65779378e-01 -5.00421628e-01 -2.06479379e-03 1.78552072e+02] [ 5.00420132e-01 8.65781839e-01 -1.22384744e-03 2.99226786e+01] [ 2.40010069e-03 2.63174968e-05 9.99997119e-01 -3.42689466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.010281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:178.57, Y:29.94, Z:-0.34 [[ 8.65191157e-01 -5.01439525e-01 -1.63228493e-03 1.78573329e+02] [ 5.01438592e-01 8.65192697e-01 -9.67571835e-04 2.99397125e+01] [ 1.89741976e-03 1.86439392e-05 9.99998200e-01 -3.43603744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.040281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:178.60, Y:29.95, Z:-0.34 [[ 8.64802490e-01 -5.02106794e-01 -2.32822597e-03 1.78596830e+02] [ 5.02104896e-01 8.64805624e-01 -1.38070820e-03 2.99548034e+01] [ 2.70672589e-03 2.50262316e-05 9.99996337e-01 -3.44008018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.070281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:178.62, Y:29.97, Z:-0.35 [[ 8.64429339e-01 -5.02744776e-01 -3.09977844e-03 1.78620695e+02] [ 5.02741413e-01 8.64434896e-01 -1.83900447e-03 2.99698265e+01] [ 3.60410655e-03 3.13024262e-05 9.99993505e-01 -3.45133200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.100281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:178.64, Y:29.99, Z:-0.35 [[ 8.63650510e-01 -5.04078663e-01 -3.53516144e-03 1.78643510e+02] [ 5.04074300e-01 8.63657745e-01 -2.09750719e-03 2.99852124e+01] [ 4.11047817e-03 2.95291252e-05 9.99991552e-01 -3.45133941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.130281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:178.67, Y:30.00, Z:-0.34 [[ 8.63228150e-01 -5.04810057e-01 -1.99170939e-03 1.78667342e+02] [ 5.04808673e-01 8.63230448e-01 -1.18241402e-03 3.00002628e+01] [ 2.31619868e-03 1.52608972e-05 9.99997318e-01 -3.44588020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.160281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:178.69, Y:30.02, Z:-0.34 [[ 8.63311536e-01 -5.04668834e-01 -1.60006400e-03 1.78690688e+02] [ 5.04667940e-01 8.63313018e-01 -9.50369584e-04 3.00151159e+01] [ 1.86097799e-03 1.29640208e-05 9.99998268e-01 -3.43873046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.190281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:178.71, Y:30.03, Z:-0.34 [[ 8.63705200e-01 -5.03994919e-01 -1.56491629e-03 1.78713101e+02] [ 5.03994062e-01 8.63706618e-01 -9.29522381e-04 3.00299054e+01] [ 1.82010311e-03 1.41247955e-05 9.99998344e-01 -3.44214676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.220281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:178.73, Y:30.05, Z:-0.34 [[ 8.65223336e-01 -5.01383885e-01 -1.66673043e-03 1.78734706e+02] [ 5.01382907e-01 8.65224941e-01 -9.90541242e-04 3.00480108e+01] [ 1.93873815e-03 2.13692521e-05 9.99998120e-01 -3.44169254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.250281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.76, Y:30.06, Z:-0.34 [[ 8.66072569e-01 -4.99916065e-01 -1.49453924e-03 1.78757126e+02] [ 4.99915276e-01 8.66073858e-01 -8.88604074e-04 3.00645930e+01] [ 1.73860882e-03 2.24526160e-05 9.99998488e-01 -3.43887371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.280281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:178.78, Y:30.08, Z:-0.34 [[ 8.67263830e-01 -4.97848286e-01 -7.30589083e-04 1.78777033e+02] [ 4.97848097e-01 8.67264137e-01 -4.34448755e-04 3.00839532e+01] [ 8.49903279e-04 1.30593069e-05 9.99999639e-01 -3.43385529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.310281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:178.80, Y:30.10, Z:-0.34 [[ 8.67279629e-01 -4.97821251e-01 -2.15203226e-04 1.78798611e+02] [ 4.97821235e-01 8.67279656e-01 -1.28243976e-04 3.01019163e+01] [ 2.50483956e-04 4.09065256e-06 9.99999969e-01 -3.43636663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.340281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:178.82, Y:30.12, Z:-0.34 [[ 8.66847643e-01 -4.98573123e-01 6.77531034e-05 1.78819683e+02] [ 4.98573122e-01 8.66847646e-01 4.01931097e-05 3.01194339e+01] [-7.87708224e-05 -1.06142615e-06 9.99999997e-01 -3.44090882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.370281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:178.84, Y:30.14, Z:-0.34 [[ 8.64289885e-01 -5.02994000e-01 1.73307884e-04 1.78840145e+02] [ 5.02993990e-01 8.64289903e-01 1.02884121e-04 3.01407048e+01] [-2.01538350e-04 -1.74888110e-06 9.99999980e-01 -3.44184432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.400281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:178.86, Y:30.16, Z:-0.34 [[ 8.62293130e-01 -5.06409390e-01 -2.95220719e-04 1.78862069e+02] [ 5.06409359e-01 8.62293181e-01 -1.76022213e-04 3.01580579e+01] [ 3.43706114e-04 2.28020988e-06 9.99999941e-01 -3.44038384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.430281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:178.88, Y:30.18, Z:-0.34 [[ 8.58646084e-01 -5.12562843e-01 -2.49704681e-03 1.78883484e+02] [ 5.12560684e-01 8.58649715e-01 -1.48751727e-03 3.01764322e+01] [ 2.90653461e-03 -2.63714492e-06 9.99995776e-01 -3.44498572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.46028169299998 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:178.91, Y:30.19, Z:-0.34 [[ 8.56815851e-01 -5.15613442e-01 -3.06196380e-03 1.78906478e+02] [ 5.15610214e-01 8.56821322e-01 -1.82476260e-03 3.01926195e+01] [ 3.56442800e-03 -1.52942922e-05 9.99993647e-01 -3.44853255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.490281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:178.93, Y:30.21, Z:-0.34 [[ 8.55332668e-01 -5.18071535e-01 -2.81270224e-03 1.78929119e+02] [ 5.18068822e-01 8.55337293e-01 -1.67694962e-03 3.02083662e+01] [ 3.27458898e-03 -2.28235416e-05 9.99994638e-01 -3.44663385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.520281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:178.95, Y:30.23, Z:-0.34 [[ 8.53326422e-01 -5.21372706e-01 -2.12571694e-03 1.78951003e+02] [ 5.21371165e-01 8.53329070e-01 -1.26751463e-03 3.02250836e+01] [ 2.47478359e-03 -2.66837983e-05 9.99996937e-01 -3.43540928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.550281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:178.97, Y:30.24, Z:-0.34 [[ 8.52314709e-01 -5.23026767e-01 -1.62434660e-03 1.78974928e+02] [ 5.23025870e-01 8.52316256e-01 -9.69139891e-04 3.02402420e+01] [ 1.89134312e-03 -2.35631100e-05 9.99998211e-01 -3.43750797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.580281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:179.00, Y:30.25, Z:-0.34 [[ 8.50092806e-01 -5.26632887e-01 -1.56351880e-04 1.78998541e+02] [ 5.26632878e-01 8.50092820e-01 -9.34627892e-05 3.02538687e+01] [ 1.82134189e-04 -2.88799592e-06 9.99999983e-01 -3.44199746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.610281693 meters Centerline goodness : 0.999160 Centerline is valid? [True, True] Translation: X:179.02, Y:30.27, Z:-0.34 [[ 8.48804988e-01 -5.28706046e-01 -9.36378008e-05 1.79021936e+02] [ 5.28706043e-01 8.48804993e-01 -5.60592598e-05 3.02664366e+01] [ 1.09119103e-04 -1.92349185e-06 9.99999994e-01 -3.44286903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.640281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:179.05, Y:30.28, Z:-0.35 [[ 8.46662831e-01 -5.32129725e-01 -8.23605818e-05 1.79047699e+02] [ 5.32129723e-01 8.46662835e-01 -4.94363255e-05 3.02769351e+01] [ 9.60381819e-05 -1.97061430e-06 9.99999995e-01 -3.45114952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.670281693 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:179.07, Y:30.29, Z:-0.35 [[ 8.45872922e-01 -5.33384428e-01 -2.26604113e-04 1.79072473e+02] [ 5.33384411e-01 8.45872952e-01 -1.35436224e-04 3.02885481e+01] [ 2.63917863e-04 -6.30526743e-06 9.99999965e-01 -3.45319993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.700281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:179.10, Y:30.30, Z:-0.35 [[ 8.45493462e-01 -5.33985424e-01 -6.11248650e-04 1.79097269e+02] [ 5.33985299e-01 8.45493682e-01 -3.65198951e-04 3.03003268e+01] [ 7.11817788e-04 -1.76244683e-05 9.99999747e-01 -3.45418392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.730281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:179.12, Y:30.31, Z:-0.34 [[ 8.46198258e-01 -5.32867215e-01 -1.01914525e-03 1.79123869e+02] [ 5.32866867e-01 8.46198872e-01 -6.09212767e-04 3.03105591e+01] [ 1.18702907e-03 -2.75539540e-05 9.99999295e-01 -3.43970149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.760281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:179.15, Y:30.32, Z:-0.34 [[ 8.46837204e-01 -5.31851658e-01 -7.51442747e-04 1.79148462e+02] [ 5.31851468e-01 8.46837537e-01 -4.49191518e-04 3.03229587e+01] [ 8.75253179e-04 -1.92638390e-05 9.99999617e-01 -3.43515192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.790281693 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:179.17, Y:30.33, Z:-0.34 [[ 8.48185197e-01 -5.29699792e-01 3.98140143e-05 1.79173701e+02] [ 5.29699791e-01 8.48185198e-01 2.36643676e-05 3.03333190e+01] [-4.63046681e-05 1.01770873e-06 9.99999999e-01 -3.44388006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.820281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:179.20, Y:30.35, Z:-0.34 [[ 8.48173444e-01 -5.29718545e-01 2.68675155e-04 1.79198803e+02] [ 5.29718521e-01 8.48173486e-01 1.60426419e-04 3.03453909e+01] [-3.12863993e-04 6.25277738e-06 9.99999951e-01 -3.44855118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.850281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:179.23, Y:30.36, Z:-0.34 [[ 8.47331032e-01 -5.31063941e-01 1.10109039e-03 1.79226037e+02] [ 5.31063533e-01 8.47331748e-01 6.58456378e-04 3.03550401e+01] [-1.28267128e-03 2.68184288e-05 9.99999177e-01 -3.44638028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.880281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:179.25, Y:30.37, Z:-0.34 [[ 8.46703177e-01 -5.32062199e-01 1.88307210e-03 1.79250621e+02] [ 5.32061008e-01 8.46705270e-01 1.12672567e-03 3.03676097e+01] [-2.19389521e-03 4.79070321e-05 9.99997592e-01 -3.44847467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.910281693 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:179.27, Y:30.38, Z:-0.34 [[ 8.46188679e-01 -5.32881271e-01 1.50699469e-03 1.79274908e+02] [ 5.32880509e-01 8.46190020e-01 9.02020391e-04 3.03812592e+01] [-1.75587364e-03 3.97686577e-05 9.99998458e-01 -3.43735298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.940281693 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:179.30, Y:30.39, Z:-0.34 [[ 8.45401073e-01 -5.34131731e-01 5.65238549e-04 1.79298707e+02] [ 5.34131624e-01 8.45401262e-01 3.38343737e-04 3.03931412e+01] [-6.58573508e-04 1.58756253e-05 9.99999783e-01 -3.44343788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 197.970281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:179.32, Y:30.41, Z:-0.34 [[ 8.44631506e-01 -5.35348007e-01 -3.61496181e-04 1.79323769e+02] [ 5.35347963e-01 8.44631583e-01 -2.16837826e-04 3.04054886e+01] [ 4.21414790e-04 -1.03781846e-05 9.99999911e-01 -3.44522603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.000281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:179.35, Y:30.41, Z:-0.35 [[ 8.42702452e-01 -5.38378182e-01 -1.22919091e-03 1.79350065e+02] [ 5.38377679e-01 8.42703347e-01 -7.36753144e-04 3.04139945e+01] [ 1.43249511e-03 -4.09052701e-05 9.99998973e-01 -3.45470154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.030281693 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:179.38, Y:30.43, Z:-0.35 [[ 8.41672048e-01 -5.39987962e-01 -1.07905094e-03 1.79375420e+02] [ 5.39987575e-01 8.41672739e-01 -6.47162528e-04 3.04257840e+01] [ 1.25766773e-03 -3.79754883e-05 9.99999208e-01 -3.45711425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.060281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:179.40, Y:30.44, Z:-0.35 [[ 8.41191782e-01 -5.40735913e-01 -1.02893322e-03 1.79400731e+02] [ 5.40735562e-01 8.41192410e-01 -6.17207073e-04 3.04370056e+01] [ 1.19927684e-03 -3.71912626e-05 9.99999280e-01 -3.45394815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.090281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:179.43, Y:30.44, Z:-0.34 [[ 8.41700248e-01 -5.39944468e-01 -8.14418449e-04 1.79427151e+02] [ 5.39944248e-01 8.41700642e-01 -4.88635524e-04 3.04449467e+01] [ 9.49332579e-04 -2.84559146e-05 9.99999549e-01 -3.44533461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.120281693 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:179.45, Y:30.46, Z:-0.34 [[ 8.42728926e-01 -5.38337079e-01 -1.07099684e-03 1.79451792e+02] [ 5.38336697e-01 8.42729605e-01 -6.42674297e-04 3.04560457e+01] [ 1.24853615e-03 -3.49566801e-05 9.99999220e-01 -3.43894539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.150281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:179.48, Y:30.47, Z:-0.34 [[ 8.46549607e-01 -5.32308668e-01 -1.11593781e-03 1.79477869e+02] [ 5.32308247e-01 8.46550342e-01 -6.70006006e-04 3.04660262e+01] [ 1.30134754e-03 -2.68295779e-05 9.99999153e-01 -3.44005889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.180281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:179.50, Y:30.48, Z:-0.34 [[ 8.48830796e-01 -5.28664219e-01 -6.50577661e-04 1.79503139e+02] [ 5.28664074e-01 8.48831046e-01 -3.90860526e-04 3.04789729e+01] [ 7.58864491e-04 -1.21625855e-05 9.99999712e-01 -3.44273031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.21028169299998 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:179.53, Y:30.49, Z:-0.34 [[ 8.52708835e-01 -5.22386449e-01 2.03737634e-04 1.79527250e+02] [ 5.22386434e-01 8.52708859e-01 1.22220147e-04 3.04903432e+01] [-2.37575034e-04 2.21157652e-06 9.99999972e-01 -3.42942701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.240281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:179.55, Y:30.50, Z:-0.34 [[ 8.53838882e-01 -5.20537015e-01 6.16235364e-04 1.79551539e+02] [ 5.20536883e-01 8.53839104e-01 3.69976540e-04 3.05042038e+01] [-7.18752334e-04 4.87288059e-06 9.99999742e-01 -3.42723763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.270281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:179.58, Y:30.52, Z:-0.34 [[ 8.55218368e-01 -5.18267119e-01 -8.57950591e-04 1.79576052e+02] [ 5.18266862e-01 8.55218798e-01 -5.15898220e-04 3.05183022e+01] [ 1.00110856e-03 -3.44172728e-06 9.99999499e-01 -3.43282280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.300281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:179.60, Y:30.53, Z:-0.34 [[ 8.55914389e-01 -5.17115473e-01 -1.46496198e-03 1.79598673e+02] [ 5.17114722e-01 8.55915643e-01 -8.80805088e-04 3.05322077e+01] [ 1.70936181e-03 -3.65965921e-06 9.99998539e-01 -3.44442810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.330281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:179.62, Y:30.55, Z:-0.34 [[ 8.56890369e-01 -5.15496146e-01 -1.61822708e-03 1.79621348e+02] [ 5.15495227e-01 8.56891897e-01 -9.73151259e-04 3.05465563e+01] [ 1.88830140e-03 -3.04397178e-07 9.99998217e-01 -3.44426790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.360281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:179.64, Y:30.56, Z:-0.34 [[ 8.58019218e-01 -5.13615576e-01 -1.43566377e-03 1.79644883e+02] [ 5.13614850e-01 8.58020419e-01 -8.63833677e-04 3.05621698e+01] [ 1.67550726e-03 3.80766220e-06 9.99998596e-01 -3.43810773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.390281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:179.67, Y:30.58, Z:-0.34 [[ 8.59884481e-01 -5.10488402e-01 -5.19432854e-04 1.79666302e+02] [ 5.10488307e-01 8.59884638e-01 -3.12653410e-04 3.05795001e+01] [ 6.06258271e-04 3.68141703e-06 9.99999816e-01 -3.42497577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.420281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:179.69, Y:30.60, Z:-0.34 [[ 8.60515387e-01 -5.09420772e-01 1.93530861e-03 1.79687445e+02] [ 5.09419441e-01 8.60517563e-01 1.16450288e-03 3.05968576e+01] [-2.25858901e-03 -1.61888180e-05 9.99997449e-01 -3.41826772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.450281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:179.71, Y:30.61, Z:-0.34 [[ 8.60500049e-01 -5.09442765e-01 2.78120248e-03 1.79710840e+02] [ 5.09440015e-01 8.60504543e-01 1.67410774e-03 3.06127575e+01] [-3.24609945e-03 -2.37139556e-05 9.99994731e-01 -3.41916633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.480281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:179.73, Y:30.63, Z:-0.34 [[ 8.60088700e-01 -5.10135134e-01 3.09418875e-03 1.79733382e+02] [ 5.10131733e-01 8.60094265e-01 1.86300661e-03 3.06272498e+01] [-3.61167913e-03 -2.39070652e-05 9.99993478e-01 -3.42746049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.510281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:179.76, Y:30.64, Z:-0.34 [[ 8.59057856e-01 -5.11870036e-01 2.94383874e-03 1.79757752e+02] [ 5.11866965e-01 8.59062900e-01 1.77304940e-03 3.06418827e+01] [-3.43651351e-03 -1.62982156e-05 9.99994095e-01 -3.43747233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.540281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:179.78, Y:30.65, Z:-0.34 [[ 8.55317008e-01 -5.18102199e-01 1.71086766e-03 1.79781860e+02] [ 5.18101174e-01 8.55318719e-01 1.03069897e-03 3.06539573e+01] [-1.99734454e-03 4.82818684e-06 9.99998005e-01 -3.44823379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.570281693 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:179.81, Y:30.66, Z:-0.35 [[ 8.50111619e-01 -5.26602517e-01 1.58929714e-04 1.79808413e+02] [ 5.26602508e-01 8.50111633e-01 9.55527677e-05 3.06643887e+01] [-1.85426327e-04 2.46226816e-06 9.99999983e-01 -3.45973518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.600281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:179.83, Y:30.68, Z:-0.35 [[ 8.47416398e-01 -5.30928716e-01 -3.82721541e-04 1.79834143e+02] [ 5.30928665e-01 8.47416485e-01 -2.31033649e-04 3.06761978e+01] [ 4.46986941e-04 -7.41613420e-06 9.99999900e-01 -3.46413212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.630281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:179.86, Y:30.69, Z:-0.35 [[ 8.44923479e-01 -5.34887064e-01 -3.78476019e-04 1.79860290e+02] [ 5.34887015e-01 8.44923564e-01 -2.28563234e-04 3.06879875e+01] [ 4.42038824e-04 -9.32346539e-06 9.99999902e-01 -3.46071533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.660281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:179.89, Y:30.70, Z:-0.35 [[ 8.42017540e-01 -5.39450028e-01 3.59797685e-04 1.79887312e+02] [ 5.39449985e-01 8.42017617e-01 2.16941899e-04 3.06956340e+01] [-4.19985303e-04 1.14239720e-05 9.99999912e-01 -3.45314256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.690281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:179.91, Y:30.71, Z:-0.34 [[ 8.41600490e-01 -5.40100548e-01 -1.14500253e-04 1.79912884e+02] [ 5.40100544e-01 8.41600498e-01 -6.93829285e-05 3.07065943e+01] [ 1.33837227e-04 -3.44894213e-06 9.99999991e-01 -3.44784671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.720281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:179.94, Y:30.72, Z:-0.35 [[ 8.41683153e-01 -5.39970518e-01 -1.14424066e-03 1.79937750e+02] [ 5.39970077e-01 8.41683930e-01 -6.91049189e-04 3.07172210e+01] [ 1.33623517e-03 -3.62112574e-05 9.99999107e-01 -3.45017597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.750281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:179.96, Y:30.73, Z:-0.35 [[ 8.43212207e-01 -5.37574007e-01 -2.71306846e-03 1.79964454e+02] [ 5.37571513e-01 8.43216569e-01 -1.63913212e-03 3.07277240e+01] [ 3.16885910e-03 -7.63320980e-05 9.99994976e-01 -3.45587142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.780281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:179.99, Y:30.74, Z:-0.35 [[ 8.44163418e-01 -5.36079577e-01 -2.60967394e-03 1.79988410e+02] [ 5.36077262e-01 8.44167449e-01 -1.57691655e-03 3.07408882e+01] [ 3.04835455e-03 -6.78115937e-05 9.99995351e-01 -3.45928927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.810281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:180.01, Y:30.75, Z:-0.35 [[ 8.45199905e-01 -5.34442256e-01 -2.93190495e-03 1.80013795e+02] [ 5.34439321e-01 8.45204987e-01 -1.77246372e-03 3.07531058e+01] [ 3.42534020e-03 -6.88391222e-05 9.99994131e-01 -3.45642201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.840281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:180.04, Y:30.77, Z:-0.35 [[ 8.45107796e-01 -5.34587897e-01 -2.93160689e-03 1.80038087e+02] [ 5.34584961e-01 8.45112878e-01 -1.77295669e-03 3.07680147e+01] [ 3.42533993e-03 -6.88534323e-05 9.99994131e-01 -3.45676524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.870281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:180.06, Y:30.78, Z:-0.35 [[ 8.45286781e-01 -5.34300458e-01 -3.64392032e-03 1.80063154e+02] [ 5.34295916e-01 8.45294631e-01 -2.20461625e-03 3.07816083e+01] [ 4.25811375e-03 -8.33987701e-05 9.99990931e-01 -3.45696725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.900281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:180.09, Y:30.79, Z:-0.35 [[ 8.45353770e-01 -5.34191539e-01 -4.05006955e-03 1.80086398e+02] [ 5.34185925e-01 8.45363467e-01 -2.45075144e-03 3.07947391e+01] [ 4.73295152e-03 -9.17381858e-05 9.99988795e-01 -3.45212264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.930281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:180.11, Y:30.81, Z:-0.35 [[ 8.45123951e-01 -5.34565397e-01 -2.31186041e-03 1.80111301e+02] [ 5.34563567e-01 8.45127111e-01 -1.39968690e-03 3.08067236e+01] [ 2.70204009e-03 -5.29274276e-05 9.99996348e-01 -3.45126614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.96028169299998 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:180.14, Y:30.82, Z:-0.35 [[ 8.44623514e-01 -5.35359243e-01 -1.26498703e-03 1.80135345e+02] [ 5.35358696e-01 8.44624461e-01 -7.66042877e-04 3.08187924e+01] [ 1.47854712e-03 -3.02039801e-05 9.99998907e-01 -3.45178068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 198.990281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:180.16, Y:30.83, Z:-0.34 [[ 8.43592898e-01 -5.36983256e-01 -6.85886989e-05 1.80162522e+02] [ 5.36983254e-01 8.43592901e-01 -4.18053740e-05 3.08286963e+01] [ 8.03097254e-05 -1.56426609e-06 9.99999997e-01 -3.44593235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.020281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:180.19, Y:30.84, Z:-0.34 [[ 8.43244623e-01 -5.37530004e-01 -1.55834466e-05 1.80186558e+02] [ 5.37530004e-01 8.43244623e-01 -9.58305503e-06 3.08410501e+01] [ 1.82918372e-05 -2.95710465e-07 1.00000000e+00 -3.44874518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.050281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:180.21, Y:30.85, Z:-0.34 [[ 8.43400798e-01 -5.37283495e-01 1.24110527e-03 1.80210958e+02] [ 5.37282970e-01 8.43401710e-01 7.51955051e-04 3.08520740e+01] [-1.45076334e-03 3.26252348e-05 9.99998947e-01 -3.43789545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.080281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:180.24, Y:30.87, Z:-0.34 [[ 8.44068095e-01 -5.36232745e-01 1.86942300e-03 1.80235434e+02] [ 5.36231550e-01 8.44070164e-01 1.13303467e-03 3.08657418e+01] [-2.18549447e-03 4.60851740e-05 9.99997611e-01 -3.43305495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.110281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:180.26, Y:30.88, Z:-0.34 [[ 8.46456548e-01 -5.32455292e-01 1.63570669e-03 1.80261438e+02] [ 5.32454369e-01 8.46458127e-01 9.91724997e-04 3.08774354e+01] [-1.91260645e-03 3.14870589e-05 9.99998170e-01 -3.42830281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.140281693 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:180.29, Y:30.89, Z:-0.34 [[ 8.48186884e-01 -5.29693547e-01 1.93806654e-03 1.80285833e+02] [ 5.29692244e-01 8.48189098e-01 1.17544434e-03 3.08899550e+01] [-2.26647219e-03 2.95823464e-05 9.99997431e-01 -3.42992684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.170281693 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:180.31, Y:30.90, Z:-0.34 [[ 8.50098391e-01 -5.26620991e-01 1.74877055e-03 1.80310143e+02] [ 5.26619922e-01 8.50100189e-01 1.06092436e-03 3.09033400e+01] [-2.04533521e-03 1.90473224e-05 9.99997908e-01 -3.43411123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.200281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:180.33, Y:30.92, Z:-0.34 [[ 8.53799784e-01 -5.20601302e-01 4.62909401e-04 1.80334403e+02] [ 5.20601226e-01 8.53799909e-01 2.80765670e-04 3.09181740e+01] [-5.41398978e-04 1.27353372e-06 9.99999853e-01 -3.44415981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.230281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:180.36, Y:30.93, Z:-0.34 [[ 8.55304973e-01 -5.18124631e-01 -5.19300776e-04 1.80357436e+02] [ 5.18124535e-01 8.55305131e-01 -3.15585250e-04 3.09341167e+01] [ 6.07673109e-04 8.59160873e-07 9.99999815e-01 -3.44836851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.260281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:180.38, Y:30.95, Z:-0.35 [[ 8.58236876e-01 -5.13251851e-01 -1.41503038e-03 1.80380409e+02] [ 5.13251131e-01 8.58238043e-01 -8.59877404e-04 3.09508615e+01] [ 1.65576658e-03 1.17125530e-05 9.99998629e-01 -3.46124772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.290281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:180.40, Y:30.97, Z:-0.35 [[ 8.59182645e-01 -5.11667444e-01 -1.26842926e-03 1.80403686e+02] [ 5.11666863e-01 8.59183581e-01 -7.70946901e-04 3.09651558e+01] [ 1.48428202e-03 1.33709763e-05 9.99998898e-01 -3.45500024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.320281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:180.43, Y:30.98, Z:-0.34 [[ 8.59862449e-01 -5.10525317e-01 -6.84616706e-04 1.80427714e+02] [ 5.10525147e-01 8.59862722e-01 -4.16418872e-04 3.09795062e+01] [ 8.01268761e-04 8.54890643e-06 9.99999679e-01 -3.44806297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.350281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:180.45, Y:31.00, Z:-0.34 [[ 8.61244147e-01 -5.08191205e-01 -4.66909896e-04 1.80449282e+02] [ 5.08191126e-01 8.61244274e-01 -2.84073036e-04 3.09953060e+01] [ 5.46486893e-04 7.37677439e-06 9.99999851e-01 -3.44443437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.380281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:180.47, Y:31.01, Z:-0.35 [[ 8.61961874e-01 -5.06972773e-01 -5.79545313e-04 1.80472100e+02] [ 5.06972650e-01 8.61962069e-01 -3.52766843e-04 3.10120939e+01] [ 6.78389261e-04 1.02579462e-05 9.99999770e-01 -3.45076028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.410281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:180.49, Y:31.03, Z:-0.35 [[ 8.63731514e-01 -5.03949654e-01 -1.61772803e-03 1.80493183e+02] [ 5.03948694e-01 8.63733029e-01 -9.84458605e-04 3.10299796e+01] [ 1.89340270e-03 3.50559938e-05 9.99998207e-01 -3.45755850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.440281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:180.52, Y:31.05, Z:-0.35 [[ 8.64645611e-01 -5.02379264e-01 -1.74415151e-03 1.80516413e+02] [ 5.02378144e-01 8.64647369e-01 -1.06186712e-03 3.10460646e+01] [ 2.04153604e-03 4.19151487e-05 9.99997915e-01 -3.45681541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.470281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:180.54, Y:31.07, Z:-0.34 [[ 8.66623721e-01 -4.98959380e-01 -1.69186490e-03 1.80537650e+02] [ 4.98958319e-01 8.66625371e-01 -1.03046121e-03 3.10651633e+01] [ 1.98037133e-03 4.88520573e-05 9.99998038e-01 -3.44724445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.500281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:180.56, Y:31.08, Z:-0.34 [[ 8.67527170e-01 -4.97387015e-01 -1.66333598e-03 1.80558942e+02] [ 4.97385986e-01 8.67528763e-01 -1.01312329e-03 3.10821459e+01] [ 1.94690618e-03 5.15919728e-05 9.99998103e-01 -3.44646387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.530281693 meters Centerline goodness : 0.999379 Centerline is valid? [True, True] Translation: X:180.58, Y:31.10, Z:-0.34 [[ 8.68032649e-01 -4.96505294e-01 -1.34654486e-03 1.80581412e+02] [ 4.96504618e-01 8.68033692e-01 -8.20662614e-04 3.10989180e+01] [ 1.57630964e-03 4.37962033e-05 9.99998757e-01 -3.44787309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.560281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:180.60, Y:31.11, Z:-0.34 [[ 8.68001172e-01 -4.96562069e-01 -2.78015327e-04 1.80603498e+02] [ 4.96562040e-01 8.68001216e-01 -1.69525739e-04 3.11140935e+01] [ 3.25497694e-04 9.09668177e-06 9.99999947e-01 -3.44970857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.590281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:180.63, Y:31.13, Z:-0.34 [[ 8.67490758e-01 -4.97453279e-01 1.42731730e-04 1.80626685e+02] [ 4.97453271e-01 8.67490770e-01 8.67668286e-05 3.11302237e+01] [-1.66980902e-04 -4.26705587e-06 9.99999986e-01 -3.44519840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.620281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:180.65, Y:31.15, Z:-0.35 [[ 8.67168832e-01 -4.98013979e-01 5.40747583e-04 1.80647247e+02] [ 4.98013871e-01 8.67169001e-01 3.29523283e-04 3.11498158e+01] [-6.33026742e-04 -1.64525237e-05 9.99999800e-01 -3.45082910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.650281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:180.67, Y:31.17, Z:-0.35 [[ 8.67565010e-01 -4.97322685e-01 1.04906481e-03 1.80669421e+02] [ 4.97322274e-01 8.67565644e-01 6.39796766e-04 3.11660794e+01] [-1.22831803e-03 -3.33419917e-05 9.99999245e-01 -3.45548283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.680281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:180.69, Y:31.18, Z:-0.35 [[ 8.67889904e-01 -4.96755031e-01 1.24619123e-03 1.80691881e+02] [ 4.96754451e-01 8.67890798e-01 7.60259823e-04 3.11814847e+01] [-1.45922079e-03 -4.07707865e-05 9.99998935e-01 -3.45119749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.71028169299998 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:180.71, Y:31.20, Z:-0.34 [[ 8.68696360e-01 -4.95344941e-01 1.55921019e-04 1.80714825e+02] [ 4.95344932e-01 8.68696374e-01 9.49341182e-05 3.11973298e+01] [-1.82473159e-04 -5.23423620e-06 9.99999983e-01 -3.43846386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.740281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:180.74, Y:31.21, Z:-0.34 [[ 8.68807184e-01 -4.95150358e-01 -4.48485410e-04 1.80737308e+02] [ 4.95150282e-01 8.68807299e-01 -2.74130921e-04 3.12137588e+01] [ 5.25383422e-04 1.60992361e-05 9.99999862e-01 -3.43674624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.770281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:180.76, Y:31.23, Z:-0.34 [[ 8.68711362e-01 -4.95318647e-01 -8.22421167e-05 1.80759096e+02] [ 4.95318645e-01 8.68711366e-01 -5.05001321e-05 3.12311336e+01] [ 9.64583187e-05 3.13398476e-06 9.99999995e-01 -3.44547369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.800281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:180.78, Y:31.25, Z:-0.35 [[ 8.68323071e-01 -4.95998574e-01 6.77992961e-04 1.80782850e+02] [ 4.95998401e-01 8.68323335e-01 4.14102260e-04 3.12458167e+01] [-7.94111239e-04 -2.32911214e-05 9.99999684e-01 -3.45259791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.830281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:180.81, Y:31.26, Z:-0.35 [[ 8.67317403e-01 -4.97753643e-01 1.35396384e-03 1.80806547e+02] [ 4.97752957e-01 8.67318459e-01 8.27537088e-04 3.12592611e+01] [-1.58622743e-03 -4.37978121e-05 9.99998741e-01 -3.45399777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.860281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:180.83, Y:31.27, Z:-0.35 [[ 8.66938207e-01 -4.98413073e-01 1.59821073e-03 1.80830133e+02] [ 4.98412117e-01 8.66939679e-01 9.77097157e-04 3.12741809e+01] [-1.87255029e-03 -5.05152642e-05 9.99998246e-01 -3.45991840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.890281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:180.85, Y:31.29, Z:-0.35 [[ 8.66856249e-01 -4.98554754e-01 1.84392604e-03 1.80853722e+02] [ 4.98553482e-01 8.66858208e-01 1.12782472e-03 3.12893982e+01] [-2.16070481e-03 -5.83661600e-05 9.99997664e-01 -3.46148603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.920281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:180.88, Y:31.30, Z:-0.35 [[ 8.67736639e-01 -4.97022666e-01 1.26306212e-03 1.80876985e+02] [ 4.97022067e-01 8.67737557e-01 7.72766155e-04 3.13027939e+01] [-1.48008873e-03 -4.27877601e-05 9.99998904e-01 -3.45570675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.950281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:180.90, Y:31.32, Z:-0.35 [[ 8.68534511e-01 -4.95628319e-01 6.10299608e-04 1.80901014e+02] [ 4.95628178e-01 8.68534725e-01 3.73373661e-04 3.13176459e+01] [-7.15120962e-04 -2.18062276e-05 9.99999744e-01 -3.45589462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 199.980281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:180.92, Y:31.33, Z:-0.35 [[ 8.70476608e-01 -4.92209028e-01 -8.64458771e-04 1.80922501e+02] [ 4.92208744e-01 8.70477037e-01 -5.29445656e-04 3.13339333e+01] [ 1.01308944e-03 3.53758925e-05 9.99999486e-01 -3.46678193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.010281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:180.95, Y:31.35, Z:-0.35 [[ 8.71189767e-01 -4.90944060e-01 -1.52312987e-03 1.80945577e+02] [ 4.90943177e-01 8.71191096e-01 -9.33296088e-04 3.13491805e+01] [ 1.78513335e-03 6.53077852e-05 9.99998405e-01 -3.47265169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.040281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:180.97, Y:31.36, Z:-0.35 [[ 8.71721364e-01 -4.89997406e-01 -2.09906471e-03 1.80968369e+02] [ 4.89995726e-01 8.71723886e-01 -1.28637821e-03 3.13631492e+01] [ 2.46012683e-03 9.28306346e-05 9.99996970e-01 -3.48553092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.070281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:180.99, Y:31.38, Z:-0.35 [[ 8.72599560e-01 -4.88430549e-01 -2.36772714e-03 1.80990739e+02] [ 4.88428406e-01 8.72602766e-01 -1.45119351e-03 3.13774750e+01] [ 2.77489249e-03 1.09845627e-04 9.99996144e-01 -3.48172957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.100281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:181.01, Y:31.39, Z:-0.35 [[ 8.72797646e-01 -4.88078292e-01 -1.96233611e-03 1.81013154e+02] [ 4.88076818e-01 8.72799847e-01 -1.20295632e-03 3.13929690e+01] [ 2.29986352e-03 9.21666827e-05 9.99997351e-01 -3.47727235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.130281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:181.04, Y:31.41, Z:-0.35 [[ 8.72290165e-01 -4.88987685e-01 -9.54807117e-04 1.81035762e+02] [ 4.88987336e-01 8.72290687e-01 -5.85749898e-04 3.14096683e+01] [ 1.11929384e-03 4.40552866e-05 9.99999373e-01 -3.47639993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.160281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:181.06, Y:31.42, Z:-0.35 [[ 8.72002549e-01 -4.89500414e-01 -9.48258882e-04 1.81058544e+02] [ 4.89500070e-01 8.72003064e-01 -5.81693599e-04 3.14245849e+01] [ 1.11162391e-03 4.30655115e-05 9.99999381e-01 -3.47181818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.190281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:181.08, Y:31.44, Z:-0.35 [[ 8.71869179e-01 -4.89737023e-01 -1.33533899e-03 1.81081564e+02] [ 4.89736341e-01 8.71870199e-01 -8.19573426e-04 3.14402139e+01] [ 1.56561772e-03 6.05967779e-05 9.99998773e-01 -3.46777203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.220281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:181.10, Y:31.46, Z:-0.35 [[ 8.72150279e-01 -4.89232659e-01 -2.30129063e-03 1.81102992e+02] [ 4.89230630e-01 8.72153309e-01 -1.41281486e-03 3.14588776e+01] [ 2.69827341e-03 1.06325011e-04 9.99996354e-01 -3.47034605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.250281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:181.12, Y:31.48, Z:-0.35 [[ 8.72934489e-01 -4.87833002e-01 -2.08326518e-03 1.81123535e+02] [ 4.87831336e-01 8.72936969e-01 -1.27906844e-03 3.14763070e+01] [ 2.44253098e-03 1.00260919e-04 9.99997012e-01 -3.46722977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.280281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:181.15, Y:31.49, Z:-0.35 [[ 8.73090845e-01 -4.87556445e-01 -1.04432526e-03 1.81146979e+02] [ 4.87556025e-01 8.73091468e-01 -6.41609766e-04 3.14922822e+01] [ 1.22461245e-03 5.10165379e-05 9.99999249e-01 -3.46557630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.310281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:181.17, Y:31.51, Z:-0.35 [[ 8.73141500e-01 -4.87466776e-01 2.50008010e-04 1.81170224e+02] [ 4.87466752e-01 8.73141536e-01 1.53346483e-04 3.15078206e+01] [-2.93043694e-04 -1.20225856e-05 9.99999957e-01 -3.45929720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.340281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:181.19, Y:31.52, Z:-0.35 [[ 8.73321470e-01 -4.87144253e-01 2.93818667e-04 1.81191773e+02] [ 4.87144220e-01 8.73321519e-01 1.80442610e-04 3.15244036e+01] [-3.44499745e-04 -1.44523404e-05 9.99999941e-01 -3.46048653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.370281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:181.21, Y:31.54, Z:-0.35 [[ 8.73643652e-01 -4.86565534e-01 -8.65804713e-04 1.81214421e+02] [ 4.86565245e-01 8.73644080e-01 -5.32525502e-04 3.15411026e+01] [ 1.01551372e-03 4.39670429e-05 9.99999483e-01 -3.46286166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.400281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:181.23, Y:31.56, Z:-0.35 [[ 8.75463255e-01 -4.83280275e-01 -2.06510389e-03 1.81234637e+02] [ 4.83278619e-01 8.75465684e-01 -1.26989318e-03 3.15590190e+01] [ 2.42164191e-03 1.13724260e-04 9.99997061e-01 -3.46372075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.43028169299998 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:181.26, Y:31.58, Z:-0.35 [[ 8.76372119e-01 -4.81632314e-01 -1.49127988e-03 1.81256819e+02] [ 4.81631447e-01 8.76373383e-01 -9.17591291e-04 3.15755236e+01] [ 1.74885961e-03 8.59041378e-05 9.99998467e-01 -3.45638178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.46028169299998 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:181.28, Y:31.59, Z:-0.35 [[ 8.77739423e-01 -4.79138184e-01 3.26688949e-04 1.81277407e+02] [ 4.79138142e-01 8.77739483e-01 2.00878716e-04 3.15942399e+01] [-3.82996453e-04 -1.97900316e-05 9.99999926e-01 -3.45260493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.490281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:181.30, Y:31.61, Z:-0.35 [[ 8.78062355e-01 -4.78545591e-01 7.86466011e-04 1.81299597e+02] [ 4.78545349e-01 8.78062706e-01 4.83804736e-04 3.16120812e+01] [-9.22089096e-04 -4.84510743e-05 9.99999574e-01 -3.45645208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.520281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:181.32, Y:31.63, Z:-0.35 [[ 8.78289288e-01 -4.78128989e-01 7.71619110e-04 1.81319190e+02] [ 4.78128756e-01 8.78289626e-01 4.74881403e-04 3.16320804e+01] [-9.04759625e-04 -4.81499645e-05 9.99999590e-01 -3.46219060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.550281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:181.34, Y:31.65, Z:-0.35 [[ 8.78227383e-01 -4.78243250e-01 2.37959774e-04 1.81341016e+02] [ 4.78243228e-01 8.78227416e-01 1.46309517e-04 3.16501701e+01] [-2.78954336e-04 -1.46903739e-05 9.99999961e-01 -3.45669415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.580281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:181.36, Y:31.67, Z:-0.35 [[ 8.78287834e-01 -4.78132221e-01 -2.44054931e-04 1.81361139e+02] [ 4.78132198e-01 8.78287868e-01 -1.50451430e-04 3.16682410e+01] [ 2.86286161e-04 1.54491405e-05 9.99999959e-01 -3.45154073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.610281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:181.38, Y:31.69, Z:-0.35 [[ 8.78586199e-01 -4.77583803e-01 -3.16285446e-05 1.81379779e+02] [ 4.77583803e-01 8.78586200e-01 -1.97387752e-05 3.16921584e+01] [ 3.72153222e-05 2.23693487e-06 9.99999999e-01 -3.45406245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.640281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:181.40, Y:31.71, Z:-0.35 [[ 8.78449949e-01 -4.77834366e-01 7.35862522e-05 1.81400940e+02] [ 4.77834363e-01 8.78449952e-01 4.51107651e-05 3.17109841e+01] [-8.61973135e-05 -4.46550937e-06 9.99999996e-01 -3.45739226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.670281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:181.42, Y:31.73, Z:-0.35 [[ 8.77066941e-01 -4.80366460e-01 -1.28263742e-03 1.81419440e+02] [ 4.80365815e-01 8.77067875e-01 -7.91003909e-04 3.17325358e+01] [ 1.50493182e-03 7.76282100e-05 9.99998865e-01 -3.46434119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.700281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:181.44, Y:31.75, Z:-0.35 [[ 8.76015943e-01 -4.82278588e-01 -1.85231325e-03 1.81440264e+02] [ 4.82277247e-01 8.76017895e-01 -1.14247262e-03 3.17505714e+01] [ 2.17364963e-03 1.07495696e-04 9.99997632e-01 -3.46532258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.730281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:181.46, Y:31.77, Z:-0.35 [[ 8.75963449e-01 -4.82373927e-01 -1.85216930e-03 1.81464429e+02] [ 4.82372585e-01 8.75965401e-01 -1.14270599e-03 3.17656647e+01] [ 2.17364780e-03 1.07532992e-04 9.99997632e-01 -3.46566590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.760281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:181.48, Y:31.79, Z:-0.35 [[ 8.73825757e-01 -4.86239160e-01 -1.59496233e-04 1.81483622e+02] [ 4.86239150e-01 8.73825772e-01 -9.86782362e-05 3.17879600e+01] [ 1.87353141e-04 8.67427182e-06 9.99999982e-01 -3.46108091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.790281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:181.51, Y:31.81, Z:-0.35 [[ 8.72893266e-01 -4.87910008e-01 1.08173691e-03 1.81505251e+02] [ 4.87909554e-01 8.72893935e-01 6.67571386e-04 3.18059234e+01] [-1.26995635e-03 -5.49287950e-05 9.99999192e-01 -3.45521080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.820281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:181.53, Y:31.82, Z:-0.35 [[ 8.72000679e-01 -4.89503361e-01 1.12886749e-03 1.81526887e+02] [ 4.89502868e-01 8.72001408e-01 6.96934574e-04 3.18231809e+01] [-1.32552585e-03 -5.51435502e-05 9.99999120e-01 -3.45364501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.850281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:181.55, Y:31.84, Z:-0.35 [[ 8.69541101e-01 -4.93860572e-01 -9.20015797e-05 1.81547115e+02] [ 4.93860569e-01 8.69541106e-01 -5.70753452e-05 3.18431867e+01] [ 1.08186418e-04 4.19340601e-06 9.99999994e-01 -3.47373276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.880281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:181.57, Y:31.86, Z:-0.35 [[ 8.68382809e-01 -4.95894391e-01 -2.23485009e-04 1.81569881e+02] [ 4.95894372e-01 8.68382838e-01 -1.38355979e-04 3.18603798e+01] [ 2.62680501e-04 9.32099516e-06 9.99999965e-01 -3.47708939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.910281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:181.59, Y:31.88, Z:-0.35 [[ 8.66851406e-01 -4.98566379e-01 4.52760452e-04 1.81591857e+02] [ 4.98566301e-01 8.66851524e-01 2.79667332e-04 3.18786997e+01] [-5.31908817e-04 -1.66989160e-05 9.99999858e-01 -3.46980396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.940281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:181.61, Y:31.90, Z:-0.35 [[ 8.66413098e-01 -4.99327820e-01 2.67897073e-04 1.81614307e+02] [ 4.99327792e-01 8.66413140e-01 1.65429960e-04 3.18957441e+01] [-3.14713325e-04 -9.56223019e-06 9.99999950e-01 -3.46009333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 200.970281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:181.63, Y:31.92, Z:-0.35 [[ 8.65966499e-01 -5.00101060e-01 -9.75899851e-04 1.81634568e+02] [ 5.00100697e-01 8.65967048e-01 -6.03938041e-04 3.19151874e+01] [ 1.14712717e-03 3.49419159e-05 9.99999341e-01 -3.46950939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.000281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:181.66, Y:31.93, Z:-0.35 [[ 8.65309700e-01 -5.01235069e-01 -1.59032451e-03 1.81656575e+02] [ 5.01234105e-01 8.65311160e-01 -9.84540635e-04 3.19319297e+01] [ 1.86961184e-03 5.48076808e-05 9.99998251e-01 -3.48186495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.030281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:181.68, Y:31.95, Z:-0.35 [[ 8.63661167e-01 -5.04070064e-01 -1.66109431e-03 1.81679019e+02] [ 5.04069017e-01 8.63662763e-01 -1.02877024e-03 3.19491493e+01] [ 1.95319758e-03 5.12027247e-05 9.99998091e-01 -3.49973697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.060281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:181.70, Y:31.96, Z:-0.35 [[ 8.62526798e-01 -5.06010062e-01 -1.15730356e-03 1.81702016e+02] [ 5.06009555e-01 8.62527574e-01 -7.16816987e-04 3.19634295e+01] [ 1.36092284e-03 3.26672003e-05 9.99999073e-01 -3.49681370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.090281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:181.73, Y:31.98, Z:-0.35 [[ 8.61237897e-01 -5.08200692e-01 -1.15809398e-03 1.81725607e+02] [ 5.08200186e-01 8.61238675e-01 -7.17755386e-04 3.19778576e+01] [ 1.36215911e-03 2.96145652e-05 9.99999072e-01 -3.49643174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.120281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.75, Y:31.99, Z:-0.35 [[ 8.59436804e-01 -5.11236593e-01 -2.35049190e-03 1.81748565e+02] [ 5.11234519e-01 8.59440017e-01 -1.45710141e-03 3.19942184e+01] [ 2.76503036e-03 5.06339785e-05 9.99996176e-01 -3.49404669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.150281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:181.77, Y:32.01, Z:-0.35 [[ 8.58584214e-01 -5.12668182e-01 -2.11722558e-03 1.81771706e+02] [ 5.12666502e-01 8.58586824e-01 -1.31306860e-03 3.20101749e+01] [ 2.49099048e-03 4.19493427e-05 9.99996897e-01 -3.49387774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.18028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.80, Y:32.03, Z:-0.35 [[ 8.56622220e-01 -5.15944138e-01 -1.36704620e-04 1.81795222e+02] [ 5.15944131e-01 8.56622231e-01 -8.50648670e-05 3.20252688e+01] [ 1.60992936e-04 2.33650875e-06 9.99999987e-01 -3.47039473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.21028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:181.82, Y:32.04, Z:-0.35 [[ 8.55371914e-01 -5.18014328e-01 2.10324455e-04 1.81818321e+02] [ 5.18014311e-01 8.55371940e-01 1.30376499e-04 3.20393611e+01] [-2.47442531e-04 -2.56931787e-06 9.99999969e-01 -3.46943991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.240281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:181.84, Y:32.05, Z:-0.35 [[ 8.54156544e-01 -5.20015929e-01 -1.78198298e-04 1.81842601e+02] [ 5.20015917e-01 8.54156563e-01 -1.10875984e-04 3.20535823e+01] [ 2.09866524e-04 2.03949555e-06 9.99999978e-01 -3.47734011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.270281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:181.87, Y:32.06, Z:-0.35 [[ 8.51745826e-01 -5.23954420e-01 -9.02351161e-04 1.81868327e+02] [ 5.23954120e-01 8.51746304e-01 -5.60304493e-04 3.20640629e+01] [ 1.06214828e-03 4.44640434e-06 9.99999436e-01 -3.49114223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.300281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.89, Y:32.08, Z:-0.35 [[ 8.50415861e-01 -5.26110455e-01 -8.08333782e-04 1.81892534e+02] [ 5.26110215e-01 8.50416245e-01 -5.02019791e-04 3.20759299e+01] [ 9.51538040e-04 1.65293303e-06 9.99999547e-01 -3.48564351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.330281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:181.92, Y:32.09, Z:-0.35 [[ 8.48171129e-01 -5.29722124e-01 4.54671588e-04 1.81918685e+02] [ 5.29722049e-01 8.48171251e-01 2.82170715e-04 3.20869864e+01] [-5.35111440e-04 1.52051122e-06 9.99999857e-01 -3.47443082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.94, Y:32.10, Z:-0.35 [[ 8.47521052e-01 -5.30761152e-01 8.16026959e-04 1.81943901e+02] [ 5.30760910e-01 8.47521445e-01 5.06835688e-04 3.21003467e+01] [-9.60609041e-04 3.56129565e-06 9.99999539e-01 -3.47083334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.390281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:181.97, Y:32.11, Z:-0.35 [[ 8.47867679e-01 -5.30207846e-01 -2.00500606e-04 1.81970036e+02] [ 5.30207831e-01 8.47867702e-01 -1.24913115e-04 3.21120717e+01] [ 2.36227901e-04 -3.97198348e-07 9.99999972e-01 -3.46829021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.420281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:181.99, Y:32.13, Z:-0.35 [[ 8.48913504e-01 -5.28530236e-01 -1.28521638e-03 1.81993455e+02] [ 5.28529631e-01 8.48914477e-01 -7.99259095e-04 3.21256725e+01] [ 1.51347139e-03 -7.73098016e-07 9.99998855e-01 -3.46967309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.450281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:182.02, Y:32.14, Z:-0.35 [[ 8.50288200e-01 -5.26313831e-01 -1.93081228e-03 1.82017120e+02] [ 5.26312460e-01 8.50290392e-01 -1.20128076e-03 3.21405264e+01] [ 2.27400181e-03 5.22429051e-06 9.99997414e-01 -3.47412195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.480281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:182.04, Y:32.15, Z:-0.35 [[ 8.53403963e-01 -5.21246309e-01 -1.99021802e-03 1.82041680e+02] [ 5.21244837e-01 8.53406284e-01 -1.23878620e-03 3.21545466e+01] [ 2.34417730e-03 1.97941818e-05 9.99997252e-01 -3.47867263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.510281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:182.07, Y:32.17, Z:-0.35 [[ 8.55892983e-01 -5.17151895e-01 -1.05787612e-03 1.82065234e+02] [ 5.17151475e-01 8.55893637e-01 -6.58693717e-04 3.21678984e+01] [ 1.24607414e-03 1.66891338e-05 9.99999224e-01 -3.47619468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.540281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:182.09, Y:32.18, Z:-0.35 [[ 8.57321116e-01 -5.14781838e-01 -4.04516784e-04 1.82088654e+02] [ 5.14781776e-01 8.57321211e-01 -2.52164249e-04 3.21831498e+01] [ 4.76610395e-04 7.94786647e-06 9.99999886e-01 -3.47711683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.570281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:182.11, Y:32.20, Z:-0.35 [[ 8.58859051e-01 -5.12211997e-01 -1.94032875e-05 1.82111274e+02] [ 5.12211997e-01 8.58859052e-01 -1.22623404e-05 3.21985649e+01] [ 2.29456070e-05 5.93025403e-07 1.00000000e+00 -3.47144648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.600281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:182.13, Y:32.21, Z:-0.35 [[ 8.61818020e-01 -5.07217388e-01 -4.70680455e-04 1.82133332e+02] [ 5.07217304e-01 8.61818148e-01 -2.93346291e-04 3.22148618e+01] [ 5.54431298e-04 1.40738487e-05 9.99999846e-01 -3.48022741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:182.16, Y:32.23, Z:-0.35 [[ 8.62992873e-01 -5.05215637e-01 -6.78646759e-04 1.82155698e+02] [ 5.05215460e-01 8.62993140e-01 -4.23241524e-04 3.22311618e+01] [ 7.99495734e-04 2.23915841e-05 9.99999680e-01 -3.48223930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.660281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.18, Y:32.25, Z:-0.35 [[ 8.64870395e-01 -5.01994304e-01 -9.58647402e-04 1.82175455e+02] [ 5.01993950e-01 8.64870925e-01 -5.97714708e-04 3.22496275e+01] [ 1.12915564e-03 3.57105601e-05 9.99999362e-01 -3.48121664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:182.20, Y:32.27, Z:-0.35 [[ 8.65502327e-01 -5.00903533e-01 -1.17137164e-03 1.82197239e+02] [ 5.00903002e-01 8.65503119e-01 -7.30580712e-04 3.22650521e+01] [ 1.37977627e-03 4.55757346e-05 9.99999047e-01 -3.48364087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.720281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.22, Y:32.28, Z:-0.35 [[ 8.66349511e-01 -4.99438098e-01 -3.33397713e-04 1.82219767e+02] [ 4.99438054e-01 8.66349575e-01 -2.08227145e-04 3.22810950e+01] [ 3.92835536e-04 1.38859796e-05 9.99999923e-01 -3.48111458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.24, Y:32.30, Z:-0.35 [[ 8.66471450e-01 -4.99225712e-01 9.56446747e-04 1.82242856e+02] [ 4.99225357e-01 8.66471977e-01 5.96612786e-04 3.22973810e+01] [-1.12657875e-03 -3.94654766e-05 9.99999365e-01 -3.47377686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.780281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:182.26, Y:32.32, Z:-0.35 [[ 8.66665932e-01 -4.98885013e-01 1.97665037e-03 1.82263437e+02] [ 4.98883494e-01 8.66668182e-01 1.23368226e-03 3.23151362e+01] [-2.32856557e-03 -8.30721443e-05 9.99997285e-01 -3.46389401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.810281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:182.29, Y:32.33, Z:-0.35 [[ 8.66742257e-01 -4.98754117e-01 1.47983382e-03 1.82285831e+02] [ 4.98753266e-01 8.66743518e-01 9.23846064e-04 3.23318591e+01] [-1.74340840e-03 -6.26644735e-05 9.99998478e-01 -3.46937679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.840281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.31, Y:32.35, Z:-0.35 [[ 8.67394114e-01 -4.97620396e-01 1.18021150e-03 1.82308321e+02] [ 4.97619853e-01 8.67394915e-01 7.37033950e-04 3.23485292e+01] [-1.39047258e-03 -5.20022385e-05 9.99999032e-01 -3.47016830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.870281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.33, Y:32.36, Z:-0.35 [[ 8.67588984e-01 -4.97279994e-01 1.40091548e-03 1.82330121e+02] [ 4.97279228e-01 8.67590112e-01 8.75216842e-04 3.23637905e+01] [-1.65064824e-03 -6.26823240e-05 9.99998636e-01 -3.46927017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.900281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.35, Y:32.38, Z:-0.35 [[ 8.67488638e-01 -4.97455027e-01 1.39953198e-03 1.82353037e+02] [ 4.97454262e-01 8.67489765e-01 8.74559549e-04 3.23798493e+01] [-1.64913371e-03 -6.24673228e-05 9.99998638e-01 -3.47166242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.93028169299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:182.37, Y:32.40, Z:-0.35 [[ 8.66613776e-01 -4.98977157e-01 1.53604541e-03 1.82374732e+02] [ 4.98976237e-01 8.66615135e-01 9.60196951e-04 3.23959129e+01] [-1.81027654e-03 -6.56697483e-05 9.99998359e-01 -3.48702418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.96028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:182.40, Y:32.41, Z:-0.35 [[ 8.66125701e-01 -4.99823456e-01 1.66807794e-03 1.82397171e+02] [ 4.99822373e-01 8.66127304e-01 1.04300591e-03 3.24121787e+01] [-1.96608667e-03 -6.96315470e-05 9.99998065e-01 -3.48353172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 201.990281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:182.42, Y:32.43, Z:-0.35 [[ 8.66280088e-01 -4.99556652e-01 1.40049435e-03 1.82416757e+02] [ 4.99555887e-01 8.66281218e-01 8.75939488e-04 3.24318953e+01] [-1.65080335e-03 -5.91837385e-05 9.99998636e-01 -3.47520263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.020281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.44, Y:32.45, Z:-0.35 [[ 8.66750854e-01 -4.98740995e-01 6.14087868e-04 1.82437973e+02] [ 4.98740848e-01 8.66751071e-01 3.84086146e-04 3.24487206e+01] [-7.23820823e-04 -2.66362907e-05 9.99999738e-01 -3.47717047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.050281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.46, Y:32.47, Z:-0.35 [[ 8.67566306e-01 -4.97320829e-01 -8.35445430e-04 1.82458426e+02] [ 4.97320555e-01 8.67566707e-01 -5.22871922e-04 3.24675308e+01] [ 9.84839739e-04 3.81418770e-05 9.99999514e-01 -3.48353782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.080281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:182.48, Y:32.48, Z:-0.35 [[ 8.67625810e-01 -4.97216919e-01 -8.88412516e-04 1.82480747e+02] [ 4.97216610e-01 8.67626264e-01 -5.56366735e-04 3.24847899e+01] [ 1.04744499e-03 4.09846802e-05 9.99999451e-01 -3.48203531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.110281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.50, Y:32.50, Z:-0.35 [[ 8.67032692e-01 -4.98251168e-01 2.91867654e-04 1.82500071e+02] [ 4.98251135e-01 8.67032741e-01 1.82582625e-04 3.25045347e+01] [-3.44030818e-04 -1.28817152e-05 9.99999941e-01 -3.48846995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.140281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:182.52, Y:32.52, Z:-0.35 [[ 8.66317120e-01 -4.99493847e-01 7.37872435e-04 1.82522988e+02] [ 4.99493634e-01 8.66317434e-01 4.61941012e-04 3.25211485e+01] [-8.69968448e-04 -3.16248232e-05 9.99999621e-01 -3.49535007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.170281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.55, Y:32.54, Z:-0.35 [[ 8.65391049e-01 -5.01097047e-01 2.87113582e-04 1.82545500e+02] [ 5.01097015e-01 8.65391096e-01 1.79764432e-04 3.25362188e+01] [-3.38544964e-04 -1.16947710e-05 9.99999943e-01 -3.49753078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.200281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:182.57, Y:32.55, Z:-0.35 [[ 8.62507086e-01 -5.06041231e-01 -1.94937197e-03 1.82568654e+02] [ 5.06039760e-01 8.62509286e-01 -1.22170334e-03 3.25521409e+01] [ 2.29958368e-03 6.72680625e-05 9.99997354e-01 -3.50622324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.230281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.59, Y:32.57, Z:-0.35 [[ 8.60980244e-01 -5.08634843e-01 -1.90172366e-03 1.82591035e+02] [ 5.08633449e-01 8.60982342e-01 -1.19218946e-03 3.25677904e+01] [ 2.24373958e-03 5.91713044e-05 9.99997481e-01 -3.50360096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.260281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:182.61, Y:32.58, Z:-0.35 [[ 8.58892779e-01 -5.12153242e-01 1.49995925e-03 1.82612594e+02] [ 5.12152381e-01 8.58894088e-01 9.40236470e-04 3.25838331e+01] [-1.76985129e-03 -3.93546145e-05 9.99998433e-01 -3.48396324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.290281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.64, Y:32.60, Z:-0.35 [[ 8.58029136e-01 -5.13576681e-01 4.99950346e-03 1.82635017e+02] [ 5.13567126e-01 8.58043692e-01 3.13529354e-03 3.26004655e+01] [-5.90000606e-03 -1.22592588e-04 9.99982587e-01 -3.47015588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.320281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.66, Y:32.62, Z:-0.35 [[ 8.57719028e-01 -5.14090226e-01 5.41377501e-03 1.82657678e+02] [ 5.14079023e-01 8.57736103e-01 3.39650817e-03 3.26166333e+01] [-6.38970194e-03 -1.30141519e-04 9.99979577e-01 -3.46874108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.350281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.68, Y:32.63, Z:-0.35 [[ 8.57200269e-01 -5.14957039e-01 5.19096339e-03 1.82680381e+02] [ 5.14946746e-01 8.57215978e-01 3.25804466e-03 3.26328035e+01] [-6.12752979e-03 -1.19727051e-04 9.99981219e-01 -3.47182966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:182.70, Y:32.65, Z:-0.35 [[ 8.55294633e-01 -5.18125791e-01 4.09335331e-03 1.82702910e+02] [ 5.18119422e-01 8.55304425e-01 2.57014040e-03 3.26491294e+01] [-4.83271922e-03 -7.73814391e-05 9.99988319e-01 -3.47749150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.410281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:182.73, Y:32.66, Z:-0.35 [[ 8.53946983e-01 -5.20347979e-01 3.53984826e-03 1.82726390e+02] [ 5.20343231e-01 8.53954318e-01 2.22347662e-03 3.26641092e+01] [-4.17985027e-03 -5.67950651e-05 9.99991263e-01 -3.48553976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.440281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:182.75, Y:32.68, Z:-0.35 [[ 8.51350894e-01 -5.24591677e-01 2.28651125e-03 1.82749541e+02] [ 5.24589710e-01 8.51353964e-01 1.43672233e-03 3.26796130e+01] [-2.70032300e-03 -2.36745658e-05 9.99996354e-01 -3.49493276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.470281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:182.77, Y:32.69, Z:-0.35 [[ 8.50367684e-01 -5.26187462e-01 1.24787609e-03 1.82771530e+02] [ 5.26186878e-01 8.50368599e-01 7.84271404e-04 3.26949912e+01] [-1.47382842e-03 -1.03030346e-05 9.99998914e-01 -3.49526518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.500281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:182.79, Y:32.71, Z:-0.35 [[ 8.48956044e-01 -5.28459972e-01 -1.92189224e-03 1.82792760e+02] [ 5.28458590e-01 8.48958219e-01 -1.20856018e-03 3.27115158e+01] [ 2.27028190e-03 1.03740075e-05 9.99997423e-01 -3.49521144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.530281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.82, Y:32.73, Z:-0.35 [[ 8.47964216e-01 -5.30047541e-01 -2.50859361e-03 1.82815563e+02] [ 5.30045192e-01 8.47967926e-01 -1.57814658e-03 3.27273357e+01] [ 2.96369964e-03 8.54384846e-06 9.99995608e-01 -3.49901919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.560281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:182.84, Y:32.74, Z:-0.35 [[ 8.46890745e-01 -5.31763374e-01 -1.94412594e-03 1.82839051e+02] [ 5.31761966e-01 8.46892977e-01 -1.22358028e-03 3.27425443e+01] [ 2.29712179e-03 2.42658643e-06 9.99997362e-01 -3.49394460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.590281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:182.86, Y:32.76, Z:-0.35 [[ 8.45018728e-01 -5.34736705e-01 -7.86180460e-05 1.82862831e+02] [ 5.34736703e-01 8.45018731e-01 -4.97564003e-05 3.27563932e+01] [ 9.30402950e-05 5.13535228e-09 9.99999996e-01 -3.49147738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.620281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:182.89, Y:32.77, Z:-0.35 [[ 8.44170572e-01 -5.36074664e-01 1.63359333e-05 1.82888310e+02] [ 5.36074664e-01 8.44170572e-01 1.00217343e-05 3.27688688e+01] [-1.91627120e-05 2.97226749e-07 1.00000000e+00 -3.50660963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.650281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:182.91, Y:32.78, Z:-0.35 [[ 8.44076850e-01 -5.36222221e-01 1.63264416e-05 1.82912304e+02] [ 5.36222221e-01 8.44076850e-01 1.00368401e-05 3.27841961e+01] [-1.91627481e-05 2.82736364e-07 1.00000000e+00 -3.50695289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.68028169299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:182.94, Y:32.80, Z:-0.35 [[ 8.44042882e-01 -5.36275316e-01 -6.32052035e-04 1.82936428e+02] [ 5.36275167e-01 8.44043119e-01 -3.98628657e-04 3.27981985e+01] [ 7.47253880e-04 -2.49413054e-06 9.99999721e-01 -3.50971193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.71028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:182.96, Y:32.81, Z:-0.35 [[ 8.44131378e-01 -5.36134997e-01 -1.21706461e-03 1.82960232e+02] [ 5.36134447e-01 8.44132256e-01 -7.67659542e-04 3.28120557e+01] [ 1.43893264e-03 -4.50475517e-06 9.99998965e-01 -3.51106588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.740281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:182.98, Y:32.83, Z:-0.35 [[ 8.44608603e-01 -5.35377168e-01 -2.75614301e-03 1.82984311e+02] [ 5.35374346e-01 8.44613100e-01 -1.73825521e-03 3.28250637e+01] [ 3.25849664e-03 -7.42296164e-06 9.99994691e-01 -3.50609636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.770281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.01, Y:32.84, Z:-0.35 [[ 8.45105298e-01 -5.34587819e-01 -3.59157471e-03 1.83008844e+02] [ 5.34583016e-01 8.45112930e-01 -2.26617539e-03 3.28394461e+01] [ 4.24675598e-03 -4.83801397e-06 9.99990982e-01 -3.50948668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.800281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.03, Y:32.85, Z:-0.35 [[ 8.46589907e-01 -5.32228200e-01 -4.32118141e-03 1.83033357e+02] [ 5.32221211e-01 8.46600935e-01 -2.72761622e-03 3.28530018e+01] [ 5.11003049e-03 9.34796283e-06 9.99986944e-01 -3.52965653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.830281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.06, Y:32.87, Z:-0.35 [[ 8.48256815e-01 -5.29572166e-01 -3.70089444e-03 1.83057262e+02] [ 5.29567012e-01 8.48264888e-01 -2.33638537e-03 3.28655019e+01] [ 4.37662347e-03 2.19832009e-05 9.99990422e-01 -3.53382398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.08, Y:32.88, Z:-0.35 [[ 8.48763836e-01 -5.28764535e-01 -2.83156098e-03 1.83081482e+02] [ 5.28761511e-01 8.48768559e-01 -1.78846022e-03 3.28800035e+01] [ 3.34901427e-03 2.07598985e-05 9.99994392e-01 -3.52112839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.890281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.10, Y:32.90, Z:-0.35 [[ 8.49257846e-01 -5.27975224e-01 -1.80907605e-03 1.83104481e+02] [ 5.27973987e-01 8.49259773e-01 -1.14319543e-03 3.28951480e+01] [ 2.13995438e-03 1.57225902e-05 9.99997710e-01 -3.51461749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.920281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.13, Y:32.91, Z:-0.35 [[ 8.50890760e-01 -5.25342646e-01 -1.37029994e-04 1.83126549e+02] [ 5.25342639e-01 8.50890771e-01 -8.67719986e-05 3.29100391e+01] [ 1.62182589e-04 1.84579312e-06 9.99999987e-01 -3.50500742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.950281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:183.15, Y:32.93, Z:-0.35 [[ 8.52012643e-01 -5.23521091e-01 3.51538575e-04 1.83149987e+02] [ 5.23521044e-01 8.52012715e-01 2.21988178e-04 3.29251349e+01] [-4.15730830e-04 -5.09889233e-06 9.99999914e-01 -3.50433999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 202.980281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.17, Y:32.94, Z:-0.35 [[ 8.53992150e-01 -5.20285401e-01 7.13969701e-04 1.83173092e+02] [ 5.20285205e-01 8.53992448e-01 4.51296410e-04 3.29416762e+01] [-8.44527666e-04 -1.39357186e-05 9.99999643e-01 -3.49387926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.010281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.20, Y:32.96, Z:-0.35 [[ 8.55191242e-01 -5.18311815e-01 8.96205063e-04 1.83195224e+02] [ 5.18311505e-01 8.55191711e-01 5.66775751e-04 3.29587827e+01] [-1.06019371e-03 -2.01882636e-05 9.99999438e-01 -3.49462785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.040281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:183.21, Y:32.98, Z:-0.35 [[ 8.58608471e-01 -5.12631926e-01 -3.61205658e-05 1.83213840e+02] [ 5.12631926e-01 8.58608472e-01 -2.29791898e-05 3.29797365e+01] [ 4.27932902e-05 1.21357181e-06 9.99999999e-01 -3.49956827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.070281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.24, Y:33.00, Z:-0.35 [[ 8.60053846e-01 -5.10203245e-01 -1.77057717e-04 1.83235343e+02] [ 5.10203233e-01 8.60053864e-01 -1.12365134e-04 3.29987050e+01] [ 2.09608230e-04 6.30464623e-06 9.99999978e-01 -3.50354820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.100281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.26, Y:33.02, Z:-0.35 [[ 8.61018375e-01 -5.08573846e-01 -3.79264764e-05 1.83255381e+02] [ 5.08573845e-01 8.61018376e-01 -2.41326179e-05 3.30177017e+01] [ 4.49286114e-05 1.49021355e-06 9.99999999e-01 -3.50715563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.130281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.27, Y:33.04, Z:-0.35 [[ 8.60924505e-01 -5.08732702e-01 1.87432810e-04 1.83273498e+02] [ 5.08732688e-01 8.60924525e-01 1.18597185e-04 3.30403418e+01] [-2.21699769e-04 -6.75002503e-06 9.99999975e-01 -3.51136224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.160281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.29, Y:33.06, Z:-0.35 [[ 8.57396722e-01 -5.14655875e-01 4.36456962e-04 1.83293695e+02] [ 5.14655801e-01 8.57396833e-01 2.76265699e-04 3.30604023e+01] [-5.16398582e-04 -1.22441976e-05 9.99999867e-01 -3.51239439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.190281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.31, Y:33.08, Z:-0.35 [[ 8.54858431e-01 -5.18860964e-01 6.02956647e-04 1.83314895e+02] [ 5.18860823e-01 8.54858643e-01 3.81983979e-04 3.30782114e+01] [-7.13639277e-04 -1.36916427e-05 9.99999745e-01 -3.51591523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.220281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.34, Y:33.10, Z:-0.35 [[ 8.51838463e-01 -5.23804250e-01 5.83218725e-04 1.83336284e+02] [ 5.23804120e-01 8.51838663e-01 3.69482081e-04 3.30971125e+01] [-6.90344543e-04 -9.24667696e-06 9.99999762e-01 -3.51583944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.250281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.36, Y:33.12, Z:-0.35 [[ 8.45614546e-01 -5.33793916e-01 3.07990758e-04 1.83356122e+02] [ 5.33793881e-01 8.45614602e-01 1.95074777e-04 3.31176040e+01] [-3.64571212e-04 -5.54486730e-07 9.99999934e-01 -3.51939400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.280281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.38, Y:33.13, Z:-0.35 [[ 8.42608952e-01 -5.38525758e-01 4.01823757e-04 1.83378517e+02] [ 5.38525698e-01 8.42609048e-01 2.54689693e-04 3.31336033e+01] [-4.75737294e-04 1.78860419e-06 9.99999887e-01 -3.51752757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.310281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:183.40, Y:33.15, Z:-0.35 [[ 8.37178312e-01 -5.46930042e-01 -5.12128623e-05 1.83400825e+02] [ 5.46930041e-01 8.37178314e-01 -3.26815506e-05 3.31486312e+01] [ 6.07488196e-05 -6.49567459e-07 9.99999998e-01 -3.51363674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.340281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.42, Y:33.16, Z:-0.35 [[ 8.33065203e-01 -5.53174748e-01 -2.56218835e-04 1.83424589e+02] [ 5.53174724e-01 8.33065242e-01 -1.62938248e-04 3.31625447e+01] [ 3.03580330e-04 -5.99559857e-06 9.99999954e-01 -3.51312605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.45, Y:33.18, Z:-0.35 [[ 8.31428830e-01 -5.55631263e-01 -6.23030714e-06 1.83448955e+02] [ 5.55631263e-01 8.31428830e-01 -4.22284768e-06 3.31759029e+01] [ 7.52640320e-06 4.92438843e-08 1.00000000e+00 -3.51354899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.400281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.47, Y:33.19, Z:-0.35 [[ 8.29903808e-01 -5.57906390e-01 3.60299255e-04 1.83472846e+02] [ 5.57906343e-01 8.29903886e-01 2.28780185e-04 3.31883825e+01] [-4.26651679e-04 1.11476928e-05 9.99999909e-01 -3.51067849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.43028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.50, Y:33.20, Z:-0.35 [[ 8.26384519e-01 -5.63103681e-01 1.69442039e-03 1.83498936e+02] [ 5.63102655e-01 8.26386254e-01 1.07656937e-03 3.31979899e+01] [-2.00646589e-03 6.44723567e-05 9.99997985e-01 -3.49713989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.46028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.52, Y:33.21, Z:-0.35 [[ 8.24775944e-01 -5.65454904e-01 2.32244872e-03 1.83524433e+02] [ 5.65452986e-01 8.24779208e-01 1.47615982e-03 3.32098678e+01] [-2.75020922e-03 9.57344507e-05 9.99996214e-01 -3.48891918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:183.55, Y:33.22, Z:-0.35 [[ 8.22972625e-01 -5.68077130e-01 2.10560393e-03 1.83553154e+02] [ 5.68075560e-01 8.22975313e-01 1.33883632e-03 3.32175097e+01] [-2.49342235e-03 9.43164956e-05 9.99996887e-01 -3.49022504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.520281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:183.58, Y:33.23, Z:-0.35 [[ 8.22368920e-01 -5.68952155e-01 1.67499299e-03 1.83577874e+02] [ 5.68951163e-01 8.22370622e-01 1.06531088e-03 3.32281336e+01] [-1.98357595e-03 7.69106542e-05 9.99998030e-01 -3.49451772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.61, Y:33.24, Z:-0.35 [[ 8.22142788e-01 -5.69280715e-01 8.38569929e-04 1.83605949e+02] [ 5.69280467e-01 8.22143215e-01 5.33349402e-04 3.32362295e+01] [-9.93050106e-04 3.88921156e-05 9.99999506e-01 -3.49723021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.580281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:183.63, Y:33.25, Z:-0.35 [[ 8.22427618e-01 -5.68869419e-01 6.30650409e-04 1.83632576e+02] [ 5.68869278e-01 8.22427859e-01 4.01202968e-04 3.32469325e+01] [-7.46896565e-04 2.87972415e-05 9.99999721e-01 -3.49609617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.610281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:183.66, Y:33.25, Z:-0.35 [[ 8.22734811e-01 -5.68424991e-01 6.78531695e-04 1.83662317e+02] [ 5.68424828e-01 8.22735090e-01 4.31852582e-04 3.32520665e+01] [-8.03727635e-04 3.03941090e-05 9.99999677e-01 -3.49172755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.640281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:183.69, Y:33.26, Z:-0.35 [[ 8.22545537e-01 -5.68698697e-01 7.94075215e-04 1.83688455e+02] [ 5.68698474e-01 8.22545920e-01 5.05630684e-04 3.32629046e+01] [-9.40714839e-04 3.56851000e-05 9.99999557e-01 -3.48583732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.670281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.72, Y:33.27, Z:-0.35 [[ 8.23057746e-01 -5.67955894e-01 1.43166813e-03 1.83716892e+02] [ 5.67955165e-01 8.23058989e-01 9.12185687e-04 3.32694989e+01] [-1.69642856e-03 6.23418123e-05 9.99998559e-01 -3.48215338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.700281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:183.74, Y:33.28, Z:-0.35 [[ 8.23859407e-01 -5.66792797e-01 1.26596530e-03 1.83741942e+02] [ 5.66792225e-01 8.23860378e-01 8.06866288e-04 3.32803820e+01] [-1.50030465e-03 5.27949103e-05 9.99998873e-01 -3.47532800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.730281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:183.77, Y:33.29, Z:-0.35 [[ 8.24882249e-01 -5.65303718e-01 9.90509708e-04 1.83767312e+02] [ 5.65303367e-01 8.24882843e-01 6.31385969e-04 3.32924218e+01] [-1.17397930e-03 3.91193943e-05 9.99999310e-01 -3.47165727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.760281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:183.79, Y:33.30, Z:-0.35 [[ 8.27874508e-01 -5.60912346e-01 1.06741728e-03 1.83792757e+02] [ 5.60911935e-01 8.27875195e-01 6.80692572e-04 3.33019265e+01] [-1.26549716e-03 3.51990646e-05 9.99999199e-01 -3.47500151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.790281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:183.82, Y:33.31, Z:-0.35 [[ 8.29604684e-01 -5.58350764e-01 7.02114278e-04 1.83817981e+02] [ 5.58350585e-01 8.29604981e-01 4.47737958e-04 3.33147280e+01] [-8.32472333e-04 2.05804111e-05 9.99999653e-01 -3.47853304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.820281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:183.84, Y:33.32, Z:-0.35 [[ 8.33099269e-01 -5.53121125e-01 -1.62158025e-03 1.83844319e+02] [ 5.53120157e-01 8.33100846e-01 -1.03493013e-03 3.33240263e+01] [ 1.92338159e-03 -3.47291924e-05 9.99998150e-01 -3.49794288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.850281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:183.87, Y:33.34, Z:-0.35 [[ 8.34413038e-01 -5.51133435e-01 -2.61125327e-03 1.83869308e+02] [ 5.51130915e-01 8.34417122e-01 -1.66729758e-03 3.33371781e+01] [ 3.09777788e-03 -4.79275706e-05 9.99995201e-01 -3.50161218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.880281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:183.89, Y:33.35, Z:-0.35 [[ 8.36704129e-01 -5.47649052e-01 -2.59176896e-03 1.83894866e+02] [ 5.47646551e-01 8.36708142e-01 -1.65550940e-03 3.33488967e+01] [ 3.07519234e-03 -3.42017800e-05 9.99995271e-01 -3.50769233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.910281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:183.92, Y:33.36, Z:-0.35 [[ 8.37970963e-01 -5.45710877e-01 -2.07467523e-03 1.83917966e+02] [ 5.45709267e-01 8.37973531e-01 -1.32553914e-03 3.33628706e+01] [ 2.46188405e-03 -2.14061912e-05 9.99996969e-01 -3.49850038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.940281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.94, Y:33.38, Z:-0.35 [[ 8.40638343e-01 -5.41596705e-01 -4.30860957e-04 1.83940302e+02] [ 5.41596635e-01 8.40638453e-01 -2.75444857e-04 3.33778998e+01] [ 5.11378316e-04 -1.80333614e-06 9.99999869e-01 -3.48691061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 203.970281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:183.96, Y:33.39, Z:-0.35 [[ 8.41920593e-01 -5.39601224e-01 4.83938192e-04 1.83963617e+02] [ 5.39601135e-01 8.41920732e-01 3.09080672e-04 3.33940860e+01] [-5.74217906e-04 9.12214816e-07 9.99999835e-01 -3.48473130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.000281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:183.99, Y:33.41, Z:-0.35 [[ 8.43403243e-01 -5.37280359e-01 8.85862786e-04 1.83985494e+02] [ 5.37280061e-01 8.43403708e-01 5.66255034e-04 3.34093433e+01] [-1.05137767e-03 -1.62491993e-06 9.99999447e-01 -3.48748593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.030281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.01, Y:33.43, Z:-0.35 [[ 8.45142765e-01 -5.34540637e-01 -1.19640487e-04 1.84006346e+02] [ 5.34540631e-01 8.45142773e-01 -7.66150618e-05 3.34266436e+01] [ 1.42067157e-04 7.97963744e-07 9.99999990e-01 -3.49282529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.060281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.03, Y:33.44, Z:-0.35 [[ 8.44127325e-01 -5.36140464e-01 -1.56924208e-03 1.84028070e+02] [ 5.36139524e-01 8.44128783e-01 -1.00410830e-03 3.34448152e+01] [ 1.86298550e-03 6.26255293e-06 9.99998265e-01 -3.50112906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.090281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.05, Y:33.46, Z:-0.35 [[ 8.42546881e-01 -5.38621252e-01 -1.37863110e-03 1.84050778e+02] [ 5.38620530e-01 8.42548009e-01 -8.82180730e-04 3.34602333e+01] [ 1.63672418e-03 7.19608657e-07 9.99998661e-01 -3.50137677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.120281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.07, Y:33.47, Z:-0.35 [[ 8.40486898e-01 -5.41831435e-01 -6.85156672e-04 1.84073734e+02] [ 5.41831258e-01 8.40487178e-01 -4.38601047e-04 3.34747080e+01] [ 8.13513232e-04 -2.60086797e-06 9.99999669e-01 -3.49845222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.150281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:184.10, Y:33.49, Z:-0.35 [[ 8.36379628e-01 -5.48150618e-01 1.31908874e-04 1.84097448e+02] [ 5.48150612e-01 8.36379638e-01 8.41992923e-05 3.34891050e+01] [-1.56479791e-04 1.88335739e-06 9.99999988e-01 -3.49691986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.18028169299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:184.12, Y:33.50, Z:-0.35 [[ 8.33607763e-01 -5.52355231e-01 1.34012683e-03 1.84121469e+02] [ 5.52354565e-01 8.33608840e-01 8.58022436e-04 3.35043875e+01] [-1.59107475e-03 2.49710076e-05 9.99998734e-01 -3.49629541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.21028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:184.15, Y:33.52, Z:-0.35 [[ 8.32650408e-01 -5.53794901e-01 2.12262413e-03 1.84145370e+02] [ 5.53793234e-01 8.32653113e-01 1.35954964e-03 3.35177605e+01] [-2.52032124e-03 4.34653198e-05 9.99996823e-01 -3.49212619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:184.17, Y:33.53, Z:-0.35 [[ 8.31203930e-01 -5.55956182e-01 3.57089806e-03 1.84171778e+02] [ 5.55951480e-01 8.31211596e-01 2.28800774e-03 3.35286481e+01] [-4.24020392e-03 8.34450327e-05 9.99991007e-01 -3.48727320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.270281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:184.20, Y:33.54, Z:-0.35 [[ 8.30356633e-01 -5.57218530e-01 3.92063385e-03 1.84197299e+02] [ 5.57212871e-01 8.30365883e-01 2.51315247e-03 3.35415211e+01] [-4.65593572e-03 9.78148186e-05 9.99989156e-01 -3.48991633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.300281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.22, Y:33.55, Z:-0.35 [[ 8.29022280e-01 -5.59206965e-01 3.10315492e-03 1.84224351e+02] [ 5.59203433e-01 8.29028083e-01 1.98959910e-03 3.35500941e+01] [-3.68520025e-03 8.58729046e-05 9.99993206e-01 -3.49805760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.330281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.25, Y:33.56, Z:-0.35 [[ 8.28241600e-01 -5.60365096e-01 2.60974224e-03 1.84250389e+02] [ 5.60362601e-01 8.28245708e-01 1.67374399e-03 3.35609311e+01] [-3.09941552e-03 7.61375555e-05 9.99995194e-01 -3.49731949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.360281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.28, Y:33.57, Z:-0.35 [[ 8.27214987e-01 -5.61882484e-01 1.85431911e-03 1.84278992e+02] [ 5.61881228e-01 8.27217064e-01 1.18966043e-03 3.35674705e+01] [-2.20237377e-03 5.78021626e-05 9.99997573e-01 -3.48932459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.390281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.30, Y:33.58, Z:-0.35 [[ 8.27330558e-01 -5.61712485e-01 1.79785793e-03 1.84303807e+02] [ 5.61711303e-01 8.27332509e-01 1.15378819e-03 3.35786045e+01] [-2.13552354e-03 5.53128948e-05 9.99997718e-01 -3.48773147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.420281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.33, Y:33.59, Z:-0.35 [[ 8.29905514e-01 -5.57902275e-01 1.37477101e-03 1.84330146e+02] [ 5.57901578e-01 8.29906652e-01 8.82408211e-04 3.35872314e+01] [-1.63322916e-03 3.46714768e-05 9.99998666e-01 -3.48531799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.450281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:184.36, Y:33.60, Z:-0.35 [[ 8.32211257e-01 -5.54458232e-01 7.02417007e-04 1.84355131e+02] [ 5.54458048e-01 8.32211553e-01 4.50871953e-04 3.35996675e+01] [-8.34549215e-04 1.42400482e-05 9.99999652e-01 -3.48406713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.480281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:184.38, Y:33.61, Z:-0.35 [[ 8.34889452e-01 -5.50417660e-01 5.60127748e-05 1.84379766e+02] [ 5.50417659e-01 8.34889454e-01 3.57135455e-05 3.36134777e+01] [-6.64218410e-05 1.01355800e-06 9.99999998e-01 -3.48273229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.510281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.40, Y:33.63, Z:-0.35 [[ 8.40618991e-01 -5.41626722e-01 -4.54436421e-04 1.84403059e+02] [ 5.41626643e-01 8.40619114e-01 -2.92189399e-04 3.36280470e+01] [ 5.40265528e-04 -5.14915430e-07 9.99999854e-01 -3.47574837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.540281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:184.43, Y:33.64, Z:-0.35 [[ 8.40529115e-01 -5.41766187e-01 -4.54362986e-04 1.84426915e+02] [ 5.41766108e-01 8.40529238e-01 -2.92303639e-04 3.36436187e+01] [ 5.40265602e-04 -4.68747978e-07 9.99999854e-01 -3.47609162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.570281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.45, Y:33.66, Z:-0.35 [[ 8.42942787e-01 -5.38003017e-01 -4.60735302e-04 1.84449829e+02] [ 5.38002935e-01 8.42942913e-01 -2.96537697e-04 3.36596607e+01] [ 5.47911733e-04 2.08736796e-06 9.99999850e-01 -3.48222925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.600281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.47, Y:33.68, Z:-0.35 [[ 8.46658870e-01 -5.32135757e-01 -5.42049249e-04 1.84471688e+02] [ 5.32135643e-01 8.46659044e-01 -3.48974912e-04 3.36768181e+01] [ 6.44632927e-04 7.01897959e-06 9.99999792e-01 -3.47921195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.630281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:184.49, Y:33.69, Z:-0.35 [[ 8.48111732e-01 -5.29817401e-01 1.05387953e-04 1.84494090e+02] [ 5.29817397e-01 8.48111739e-01 6.75625724e-05 3.36930797e+01] [-1.25176586e-04 -1.46423949e-06 9.99999992e-01 -3.49044429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.660281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:184.51, Y:33.71, Z:-0.35 [[ 8.50060388e-01 -5.26684886e-01 6.06626273e-04 1.84514038e+02] [ 5.26684741e-01 8.50060604e-01 3.90365467e-04 3.37111791e+01] [-7.21268687e-04 -1.23334189e-05 9.99999740e-01 -3.49940953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.690281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:184.54, Y:33.73, Z:-0.35 [[ 8.50215779e-01 -5.26434354e-01 -2.27310509e-05 1.84535795e+02] [ 5.26434354e-01 8.50215779e-01 -1.48965813e-05 3.37286372e+01] [ 2.71683704e-05 6.98902398e-07 1.00000000e+00 -3.50159622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.720281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:184.56, Y:33.75, Z:-0.35 [[ 8.49749638e-01 -5.27185140e-01 -1.17513639e-03 1.84555395e+02] [ 5.27184597e-01 8.49750450e-01 -7.57107881e-04 3.37473809e+01] [ 1.39770870e-03 2.38383446e-05 9.99999023e-01 -3.50688860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.750281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:184.58, Y:33.77, Z:-0.35 [[ 8.48328745e-01 -5.29469561e-01 -5.69633071e-04 1.84576092e+02] [ 5.29469433e-01 8.48328936e-01 -3.67088172e-04 3.37658609e+01] [ 6.77598230e-04 9.80814871e-06 9.99999770e-01 -3.51164180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.780281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:184.60, Y:33.78, Z:-0.35 [[ 8.47504312e-01 -5.30788504e-01 -7.18062318e-05 1.84599041e+02] [ 5.30788502e-01 8.47504315e-01 -4.65368381e-05 3.37825647e+01] [ 8.55573100e-05 1.32624867e-06 9.99999996e-01 -3.51842004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.810281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:184.62, Y:33.80, Z:-0.35 [[ 8.45437730e-01 -5.34073997e-01 -1.04316386e-04 1.84621965e+02] [ 5.34073993e-01 8.45437736e-01 -6.75156950e-05 3.37992459e+01] [ 1.24251386e-04 1.36764722e-06 9.99999992e-01 -3.53014144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.840281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:184.64, Y:33.81, Z:-0.35 [[ 8.44353839e-01 -5.35785854e-01 -3.36622140e-04 1.84644678e+02] [ 5.35785809e-01 8.44353906e-01 -2.17222524e-04 3.38141446e+01] [ 4.00612974e-04 3.05530678e-06 9.99999920e-01 -3.53295393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.870281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:184.67, Y:33.83, Z:-0.35 [[ 8.42812670e-01 -5.38207008e-01 -1.42029598e-04 1.84667500e+02] [ 5.38207000e-01 8.42812682e-01 -9.17907373e-05 3.38285340e+01] [ 1.69106765e-04 9.21072331e-07 9.99999986e-01 -3.51639222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.900281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:184.69, Y:33.84, Z:-0.35 [[ 8.42525267e-01 -5.38656388e-01 -6.85928691e-04 1.84691098e+02] [ 5.38656206e-01 8.42525546e-01 -4.42903860e-04 3.38443439e+01] [ 8.16485439e-04 3.67794678e-06 9.99999667e-01 -3.50634172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.93028169299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:184.71, Y:33.86, Z:-0.35 [[ 8.42652221e-01 -5.38455810e-01 -1.60434681e-03 1.84714442e+02] [ 5.38454814e-01 8.42653749e-01 -1.03598892e-03 3.38606560e+01] [ 1.90974311e-03 9.11009706e-06 9.99998176e-01 -3.50448575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.96028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:184.74, Y:33.88, Z:-0.35 [[ 8.43054250e-01 -5.37825717e-01 -1.74063204e-03 1.84736425e+02] [ 5.37824542e-01 8.43056047e-01 -1.12419580e-03 3.38770279e+01] [ 2.07207178e-03 1.16034171e-05 9.99997853e-01 -3.52384531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 204.990281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:184.76, Y:33.89, Z:-0.35 [[ 8.41796377e-01 -5.39794549e-01 8.39486857e-04 1.84760448e+02] [ 5.39794277e-01 8.41796795e-01 5.42055983e-04 3.38921175e+01] [-9.99276211e-04 -3.15056214e-06 9.99999501e-01 -3.52217854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.020281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.78, Y:33.91, Z:-0.35 [[ 8.40229918e-01 -5.42229006e-01 1.17913146e-03 1.84783961e+02] [ 5.42228471e-01 8.40230745e-01 7.61770927e-04 3.39065371e+01] [-1.40379680e-03 -7.04074722e-07 9.99999015e-01 -3.52005627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.050281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:184.81, Y:33.92, Z:-0.35 [[ 8.36574888e-01 -5.47852245e-01 -6.12322764e-04 1.84806939e+02] [ 5.47852102e-01 8.36575112e-01 -3.95949858e-04 3.39199953e+01] [ 7.29176003e-04 -4.22060569e-06 9.99999734e-01 -3.51644445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.080281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:184.83, Y:33.93, Z:-0.35 [[ 8.34855904e-01 -5.50467500e-01 -1.07284833e-03 1.84831092e+02] [ 5.50467063e-01 8.34856593e-01 -6.94022645e-04 3.39348378e+01] [ 1.27771141e-03 -1.11587658e-05 9.99999184e-01 -3.51402691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.110281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:184.85, Y:33.95, Z:-0.35 [[ 8.33635944e-01 -5.52313795e-01 -7.65003154e-04 1.84854935e+02] [ 5.52313573e-01 8.33636295e-01 -4.95143628e-04 3.39495177e+01] [ 9.11209051e-04 -9.75209948e-06 9.99999585e-01 -3.51501964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.140281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:184.88, Y:33.96, Z:-0.35 [[ 8.33007480e-01 -5.53261705e-01 1.54876637e-04 1.84878427e+02] [ 5.53261696e-01 8.33007494e-01 9.99725369e-05 3.39645471e+01] [-1.84324376e-04 2.40943996e-06 9.99999983e-01 -3.51315391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.170281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:184.90, Y:33.98, Z:-0.35 [[ 8.33635372e-01 -5.52314925e-01 -5.38114381e-04 1.84901963e+02] [ 5.52314815e-01 8.33635546e-01 -3.48642400e-04 3.39801148e+01] [ 6.41151677e-04 -6.56790740e-06 9.99999794e-01 -3.52186867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.200281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:184.92, Y:33.99, Z:-0.35 [[ 8.33856511e-01 -5.51979687e-01 -1.32061799e-03 1.84924759e+02] [ 5.51979025e-01 8.33857556e-01 -8.55315937e-04 3.39940519e+01] [ 1.57332432e-03 -1.57426701e-05 9.99998762e-01 -3.51826422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.230281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:184.95, Y:34.01, Z:-0.35 [[ 8.34795724e-01 -5.50557431e-01 -1.61694977e-03 1.84948766e+02] [ 5.50556434e-01 8.34797290e-01 -1.04773573e-03 3.40085423e+01] [ 1.92666398e-03 -1.55767937e-05 9.99998144e-01 -3.50147393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.260281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:184.97, Y:34.02, Z:-0.35 [[ 8.35581234e-01 -5.49365695e-01 -1.15520256e-03 1.84970557e+02] [ 5.49365185e-01 8.35582032e-01 -7.48653951e-04 3.40238810e+01] [ 1.37655130e-03 -9.06687586e-06 9.99999053e-01 -3.49842927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.290281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:184.99, Y:34.04, Z:-0.35 [[ 8.36757486e-01 -5.47573182e-01 -7.21506549e-04 1.84992374e+02] [ 5.47572982e-01 8.36757797e-01 -4.67940574e-04 3.40415101e+01] [ 8.59957940e-04 -3.52471412e-06 9.99999630e-01 -3.51002866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.320281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:185.01, Y:34.06, Z:-0.35 [[ 8.36617008e-01 -5.47788171e-01 -3.17729131e-04 1.85014663e+02] [ 5.47788132e-01 8.36617069e-01 -2.06137665e-04 3.40562501e+01] [ 3.78737389e-04 -1.58997102e-06 9.99999928e-01 -3.51589908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.350281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:185.04, Y:34.07, Z:-0.35 [[ 8.34535175e-01 -5.50954485e-01 4.44892426e-04 1.85038653e+02] [ 5.50954410e-01 8.34535293e-01 2.88298813e-04 3.40702695e+01] [-5.30117955e-04 4.51994414e-06 9.99999859e-01 -3.50751924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.380281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:185.06, Y:34.08, Z:-0.35 [[ 8.32841157e-01 -5.53511715e-01 6.23325972e-04 1.85061603e+02] [ 5.53511567e-01 8.32841391e-01 4.04220748e-04 3.40837797e+01] [-7.42872588e-04 8.36645965e-06 9.99999724e-01 -3.50434219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.410281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:185.09, Y:34.10, Z:-0.35 [[ 8.29445377e-01 -5.58586896e-01 1.02274756e-03 1.85086958e+02] [ 5.58586502e-01 8.29446008e-01 6.63530793e-04 3.40965135e+01] [-1.21895349e-03 2.09304354e-05 9.99999257e-01 -3.50558232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.440281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:185.11, Y:34.11, Z:-0.35 [[ 8.28149219e-01 -5.60507574e-01 3.61245178e-04 1.85110628e+02] [ 5.60507525e-01 8.28149298e-01 2.34343707e-04 3.41089878e+01] [-4.30516363e-04 8.40908208e-06 9.99999907e-01 -3.50627038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.470281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:185.14, Y:34.12, Z:-0.35 [[ 8.26561039e-01 -5.62844844e-01 -1.59092357e-03 1.85137175e+02] [ 5.62843896e-01 8.26562569e-01 -1.03347479e-03 3.41197652e+01] [ 1.89668383e-03 -4.12116285e-05 9.99998200e-01 -3.51566109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.500281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:185.16, Y:34.13, Z:-0.35 [[ 8.26164396e-01 -5.63425702e-01 -1.96708916e-03 1.85160852e+02] [ 5.63424255e-01 8.26166736e-01 -1.27792631e-03 3.41328273e+01] [ 2.34516016e-03 -5.25285249e-05 9.99997249e-01 -3.51223403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.530281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:185.19, Y:34.15, Z:-0.35 [[ 8.26233780e-01 -5.63324874e-01 -1.68125523e-03 1.85185550e+02] [ 5.63323816e-01 8.26235489e-01 -1.09278362e-03 3.41469767e+01] [ 2.00470493e-03 -4.41963722e-05 9.99997990e-01 -3.50647324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.560281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:185.21, Y:34.16, Z:-0.35 [[ 8.28056532e-01 -5.60644388e-01 4.99585437e-04 1.85209822e+02] [ 5.60644294e-01 8.28056683e-01 3.24578055e-04 3.41587288e+01] [-5.95657924e-04 1.13207455e-05 9.99999823e-01 -3.49613333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.590281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:185.24, Y:34.17, Z:-0.35 [[ 8.29503392e-01 -5.58500883e-01 9.41706041e-04 1.85235576e+02] [ 5.58500548e-01 8.29503926e-01 6.12060836e-04 3.41706079e+01] [-1.12298538e-03 1.82368000e-05 9.99999369e-01 -3.49727039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.620281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:185.26, Y:34.18, Z:-0.35 [[ 8.29707681e-01 -5.58197887e-01 5.32535634e-04 1.85259282e+02] [ 5.58197780e-01 8.29707852e-01 3.46180805e-04 3.41837674e+01] [-6.35086391e-04 1.00313353e-05 9.99999798e-01 -3.50507843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.650281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:185.28, Y:34.20, Z:-0.35 [[ 8.29874967e-01 -5.57948739e-01 -8.62266888e-04 1.85284018e+02] [ 5.57948457e-01 8.29875415e-01 -5.61247920e-04 3.41977537e+01] [ 1.02872166e-03 -1.53348813e-05 9.99999471e-01 -3.50733238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.68028169299998 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:185.31, Y:34.21, Z:-0.35 [[ 8.29675309e-01 -5.58244464e-01 -1.41448258e-03 1.85306916e+02] [ 5.58243705e-01 8.29676514e-01 -9.20684015e-04 3.42125888e+01] [ 1.68752973e-03 -2.57572047e-05 9.99998576e-01 -3.50897958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.71028169299998 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:185.33, Y:34.23, Z:-0.35 [[ 8.29632475e-01 -5.58308444e-01 -1.27954385e-03 1.85330912e+02] [ 5.58307823e-01 8.29633462e-01 -8.33286002e-04 3.42272273e+01] [ 1.52678301e-03 -2.30582133e-05 9.99998834e-01 -3.51059601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.740281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:185.35, Y:34.24, Z:-0.35 [[ 8.30082412e-01 -5.57639983e-01 -9.15306928e-04 1.85354444e+02] [ 5.57639665e-01 8.30082917e-01 -5.96387546e-04 3.42418448e+01] [ 1.09235019e-03 -1.53606352e-05 9.99999403e-01 -3.50766307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.770281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:185.38, Y:34.26, Z:-0.35 [[ 8.32057238e-01 -5.54689068e-01 -8.88656132e-04 1.85376592e+02] [ 5.54688766e-01 8.32057713e-01 -5.79036174e-04 3.42564800e+01] [ 1.06059822e-03 -1.11363339e-05 9.99999438e-01 -3.50606532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.800281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:185.40, Y:34.27, Z:-0.35 [[ 8.33246786e-01 -5.52900131e-01 -1.11309887e-03 1.85399183e+02] [ 5.52899655e-01 8.33247529e-01 -7.25606554e-04 3.42730034e+01] [ 1.32867484e-03 -1.08226516e-05 9.99999117e-01 -3.49944094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.830281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:185.42, Y:34.29, Z:-0.35 [[ 8.36103232e-01 -5.48569565e-01 -1.67865295e-03 1.85421108e+02] [ 5.48568473e-01 8.36104917e-01 -1.09455733e-03 3.42903598e+01] [ 2.00397082e-03 -5.69316644e-06 9.99997992e-01 -3.49574391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.860281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:185.44, Y:34.31, Z:-0.35 [[ 8.37560854e-01 -5.46340844e-01 -1.87033053e-03 1.85443950e+02] [ 5.46339482e-01 8.37562942e-01 -1.22004098e-03 3.43061410e+01] [ 2.23307776e-03 2.31509740e-08 9.99997507e-01 -3.50094132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.890281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:185.47, Y:34.32, Z:-0.35 [[ 8.39461286e-01 -5.43414873e-01 -2.24180790e-03 1.85465669e+02] [ 5.43412905e-01 8.39464279e-01 -1.46251212e-03 3.43219968e+01] [ 2.67666849e-03 9.49496210e-06 9.99996418e-01 -3.50557802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.920281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:185.49, Y:34.34, Z:-0.35 [[ 8.39561185e-01 -5.43260583e-01 -2.22637493e-03 1.85487826e+02] [ 5.43258639e-01 8.39564137e-01 -1.45310257e-03 3.43383395e+01] [ 2.65859789e-03 1.04711014e-05 9.99996466e-01 -3.51020512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.950281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:185.51, Y:34.35, Z:-0.35 [[ 8.38787962e-01 -5.44455356e-01 -1.76630594e-03 1.85510724e+02] [ 5.44454135e-01 8.38789822e-01 -1.15334176e-03 3.43542318e+01] [ 2.10950254e-03 5.73661604e-06 9.99997775e-01 -3.50776814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 205.980281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:185.54, Y:34.37, Z:-0.35 [[ 8.38099113e-01 -5.45515864e-01 -1.52280794e-03 1.85535232e+02] [ 5.45514957e-01 8.38100497e-01 -9.94768529e-04 3.43685705e+01] [ 1.81892810e-03 3.00011493e-06 9.99998346e-01 -3.50648501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.010281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:185.56, Y:34.38, Z:-0.35 [[ 8.36748564e-01 -5.47584071e-01 -1.87745315e-03 1.85560896e+02] [ 5.47582697e-01 8.36750671e-01 -1.22685793e-03 3.43811974e+01] [ 2.24276805e-03 -1.48924828e-06 9.99997485e-01 -3.51143769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.040281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:185.58, Y:34.40, Z:-0.35 [[ 8.36302744e-01 -5.48264318e-01 -1.98967354e-03 1.85584043e+02] [ 5.48262776e-01 8.36305111e-01 -1.30033518e-03 3.43952045e+01] [ 2.37690153e-03 -3.39005991e-06 9.99997175e-01 -3.51115246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.070281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:185.61, Y:34.41, Z:-0.35 [[ 8.36142783e-01 -5.48511174e-01 -8.59884574e-04 1.85607611e+02] [ 5.48510886e-01 8.36143225e-01 -5.62225334e-04 3.44085597e+01] [ 1.02737354e-03 -1.55539406e-06 9.99999472e-01 -3.50093195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.100281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:185.63, Y:34.42, Z:-0.35 [[ 8.37284883e-01 -5.46766797e-01 -3.08075170e-04 1.85633283e+02] [ 5.46766760e-01 8.37284940e-01 -2.01711062e-04 3.44204273e+01] [ 3.68235611e-04 4.44360126e-07 9.99999932e-01 -3.49274191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.130281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:185.66, Y:34.43, Z:-0.35 [[ 8.37875580e-01 -5.45860376e-01 -9.80866403e-04 1.85657598e+02] [ 5.45859999e-01 8.37876154e-01 -6.41901936e-04 3.44337190e+01] [ 1.17223340e-03 2.41822336e-06 9.99999313e-01 -3.49005961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.160281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:185.68, Y:34.45, Z:-0.35 [[ 8.38575102e-01 -5.44784815e-01 -1.14170383e-03 1.85682238e+02] [ 5.44784303e-01 8.38575879e-01 -7.47432901e-04 3.44476463e+01] [ 1.36459539e-03 4.79629418e-06 9.99999069e-01 -3.49923914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.190281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:185.71, Y:34.46, Z:-0.35 [[ 8.40131830e-01 -5.42382252e-01 3.82446263e-05 1.85705898e+02] [ 5.42382252e-01 8.40131831e-01 2.48860341e-05 3.44608268e+01] [-4.56282711e-05 -1.64342851e-07 9.99999999e-01 -3.49422630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.220281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:185.73, Y:34.47, Z:-0.35 [[ 8.42080744e-01 -5.39351449e-01 1.89117610e-04 1.85728960e+02] [ 5.39351435e-01 8.42080765e-01 1.23648584e-04 3.44749931e+01] [-2.25942344e-04 -2.12123776e-06 9.99999974e-01 -3.48448890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.250281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:185.75, Y:34.49, Z:-0.35 [[ 8.42976140e-01 -5.37950497e-01 7.00460177e-04 1.85752361e+02] [ 5.37950302e-01 8.42976431e-01 4.58545867e-04 3.44909169e+01] [-8.37146397e-04 -9.73046156e-06 9.99999650e-01 -3.48666448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.280281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:185.77, Y:34.51, Z:-0.35 [[ 8.43906804e-01 -5.36486244e-01 1.95344918e-03 1.85773951e+02] [ 5.36484719e-01 8.43909064e-01 1.27976268e-03 3.45083758e+01] [-2.33510854e-03 -3.20047962e-05 9.99997273e-01 -3.49101905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.310281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:185.80, Y:34.52, Z:-0.35 [[ 8.43837379e-01 -5.36595029e-01 2.06231268e-03 1.85796626e+02] [ 5.36593328e-01 8.43839898e-01 1.35163515e-03 3.45246634e+01] [-2.46554243e-03 -3.39370317e-05 9.99996960e-01 -3.49564061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.340281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:185.82, Y:34.54, Z:-0.35 [[ 8.42790556e-01 -5.38240463e-01 1.13257978e-03 1.85819913e+02] [ 5.38239951e-01 8.42791317e-01 7.42467656e-04 3.45395539e+01] [-1.35415454e-03 -1.61450409e-05 9.99999083e-01 -3.50373865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.370281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:185.84, Y:34.55, Z:-0.35 [[ 8.41466833e-01 -5.40308719e-01 -2.38717000e-04 1.85844287e+02] [ 5.40308697e-01 8.41466867e-01 -1.56874316e-04 3.45542587e+01] [ 2.85633006e-04 3.02366284e-06 9.99999959e-01 -3.51656880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.400281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:185.87, Y:34.57, Z:-0.35 [[ 8.40824483e-01 -5.41307067e-01 -9.20986253e-04 1.85866464e+02] [ 5.41306729e-01 8.40824987e-01 -6.04488503e-04 3.45691890e+01] [ 1.10160215e-03 9.73267623e-06 9.99999393e-01 -3.51822372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.43028169299998 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:185.89, Y:34.58, Z:-0.35 [[ 8.40763380e-01 -5.41401968e-01 -9.20909425e-04 1.85890197e+02] [ 5.41401630e-01 8.40763884e-01 -6.04605558e-04 3.45849597e+01] [ 1.10160202e-03 9.74834887e-06 9.99999393e-01 -3.51856704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.46028169299998 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:185.91, Y:34.60, Z:-0.35 [[ 8.40296612e-01 -5.42126284e-01 -8.33802782e-04 1.85913541e+02] [ 5.42126008e-01 8.40297026e-01 -5.47747463e-04 3.46004227e+01] [ 9.97590294e-04 8.24416444e-06 9.99999502e-01 -3.51942146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.490281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:185.94, Y:34.62, Z:-0.35 [[ 8.39170263e-01 -5.43868318e-01 7.22697834e-04 1.85936867e+02] [ 5.43868111e-01 8.39170574e-01 4.74459181e-04 3.46166364e+01] [-8.64510073e-04 -5.09972931e-06 9.99999626e-01 -3.51237257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.520281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:185.96, Y:34.63, Z:-0.35 [[ 8.38650838e-01 -5.44668617e-01 9.31965105e-04 1.85959039e+02] [ 5.44668273e-01 8.38651356e-01 6.12172749e-04 3.46318441e+01] [-1.11502508e-03 -5.78736514e-06 9.99999378e-01 -3.51330969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.550281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:185.98, Y:34.65, Z:-0.35 [[ 8.37521909e-01 -5.46403061e-01 -8.64067763e-04 1.85982217e+02] [ 5.46402766e-01 8.37522355e-01 -5.68022116e-04 3.46465899e+01] [ 1.03404509e-03 3.60195090e-06 9.99999465e-01 -3.51550651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.580281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:186.01, Y:34.66, Z:-0.35 [[ 8.36620810e-01 -5.47780064e-01 -1.61942271e-03 1.86006342e+02] [ 5.47779029e-01 8.36622377e-01 -1.06493202e-03 3.46612380e+01] [ 1.93819381e-03 3.85848883e-06 9.99998122e-01 -3.51922184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.610281693 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:186.03, Y:34.67, Z:-0.35 [[ 8.34141308e-01 -5.51549450e-01 -1.21728225e-03 1.86030665e+02] [ 5.51548869e-01 8.34142197e-01 -8.00875826e-04 3.46748213e+01] [ 1.45710911e-03 -3.34704151e-06 9.99998938e-01 -3.50898183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.640281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:186.06, Y:34.69, Z:-0.35 [[ 8.32041996e-01 -5.54712570e-01 2.86748382e-04 1.86055523e+02] [ 5.54712538e-01 8.32042045e-01 1.88406394e-04 3.46884997e+01] [-3.43098105e-04 2.30089000e-06 9.99999941e-01 -3.49834412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.670281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:186.08, Y:34.70, Z:-0.35 [[ 8.31697843e-01 -5.55228337e-01 4.37699785e-04 1.86078149e+02] [ 5.55228262e-01 8.31697958e-01 2.87889683e-04 3.47024293e+01] [-5.23878527e-04 3.58606230e-06 9.99999863e-01 -3.49739637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.700281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:186.10, Y:34.72, Z:-0.35 [[ 8.32787903e-01 -5.53591767e-01 6.80730113e-04 1.86099750e+02] [ 5.53591586e-01 8.32788182e-01 4.47973220e-04 3.47178320e+01] [-8.14898279e-04 3.77978452e-06 9.99999668e-01 -3.49154771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.730281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:186.12, Y:34.73, Z:-0.35 [[ 8.33803698e-01 -5.52060863e-01 4.43972541e-04 1.86122097e+02] [ 5.52060785e-01 8.33803816e-01 2.92121021e-04 3.47349650e+01] [-5.31454581e-04 1.52824226e-06 9.99999859e-01 -3.49007437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.760281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:186.14, Y:34.76, Z:-0.35 [[ 8.36688667e-01 -5.47678806e-01 -2.19946922e-05 1.86142670e+02] [ 5.47678806e-01 8.36688667e-01 -1.47568065e-05 3.47552690e+01] [ 2.64846999e-05 3.00825980e-07 1.00000000e+00 -3.47436597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.790281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:186.16, Y:34.77, Z:-0.35 [[ 8.38054623e-01 -5.45586057e-01 5.51054126e-04 1.86163132e+02] [ 5.45585936e-01 8.38054804e-01 3.62969544e-04 3.47734861e+01] [-6.59844679e-04 -3.54092253e-06 9.99999782e-01 -3.47875399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.820281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:186.18, Y:34.80, Z:-0.35 [[ 8.39924806e-01 -5.42699124e-01 1.99511323e-03 1.86182117e+02] [ 5.42697532e-01 8.39927175e-01 1.31493953e-03 3.47950771e+01] [-2.38936635e-03 -2.17073003e-05 9.99997145e-01 -3.49066340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.850281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:186.20, Y:34.81, Z:-0.35 [[ 8.39788728e-01 -5.42909304e-01 2.09307135e-03 1.86203060e+02] [ 5.42907550e-01 8.39791336e-01 1.37998415e-03 3.48123060e+01] [-2.50694941e-03 -2.25508943e-05 9.99996857e-01 -3.49721907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.880281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:186.22, Y:34.83, Z:-0.35 [[ 8.37366383e-01 -5.46642024e-01 1.93479243e-04 1.86222772e+02] [ 5.46642010e-01 8.37366406e-01 1.27464196e-04 3.48318989e+01] [-2.31690304e-04 -9.70350798e-07 9.99999973e-01 -3.50615812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.910281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:186.24, Y:34.85, Z:-0.35 [[ 8.35597140e-01 -5.49342081e-01 -8.35413767e-04 1.86243777e+02] [ 5.49341804e-01 8.35597558e-01 -5.51251001e-04 3.48492208e+01] [ 1.00089507e-03 1.69605407e-06 9.99999499e-01 -3.51290777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.940281693 meters Centerline goodness : 0.999463 Centerline is valid? [True, True] Translation: X:186.26, Y:34.87, Z:-0.35 [[ 8.31846820e-01 -5.55004881e-01 -6.70129084e-04 1.86264032e+02] [ 5.55004705e-01 8.31847090e-01 -4.42527411e-04 3.48686438e+01] [ 8.03049802e-04 -3.80977462e-06 9.99999678e-01 -3.50684602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 206.970281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:186.29, Y:34.89, Z:-0.35 [[ 8.30040075e-01 -5.57703752e-01 9.40773039e-06 1.86285943e+02] [ 5.57703752e-01 8.30040075e-01 5.94006659e-06 3.48857814e+01] [-1.11215906e-05 3.16233216e-07 1.00000000e+00 -3.50728628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.000281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:186.31, Y:34.90, Z:-0.35 [[ 8.26549023e-01 -5.62864602e-01 -3.90838625e-04 1.86306321e+02] [ 5.62864543e-01 8.26549115e-01 -2.58204133e-04 3.49034901e+01] [ 4.68381287e-04 -6.57083029e-06 9.99999890e-01 -3.51008301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.030281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:186.33, Y:34.92, Z:-0.35 [[ 8.24785038e-01 -5.65446247e-01 -4.27444155e-04 1.86328872e+02] [ 5.65446176e-01 8.24785149e-01 -2.82622552e-04 3.49194542e+01] [ 5.12357452e-04 -8.59381023e-06 9.99999869e-01 -3.51231476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.060281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:186.35, Y:34.93, Z:-0.35 [[ 8.21944302e-01 -5.69567749e-01 3.80062588e-04 1.86352440e+02] [ 5.69567693e-01 8.21944390e-01 2.50904746e-04 3.49343167e+01] [-4.55297563e-04 1.02416451e-05 9.99999896e-01 -3.51112907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.090281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:186.38, Y:34.95, Z:-0.35 [[ 8.20813006e-01 -5.71196852e-01 4.06547803e-04 1.86376178e+02] [ 5.71196790e-01 8.20813106e-01 2.68511700e-04 3.49487320e+01] [-4.87072803e-04 1.18209045e-05 9.99999881e-01 -3.50851334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.120281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:186.40, Y:34.96, Z:-0.35 [[ 8.19692021e-01 -5.72804355e-01 -4.02573638e-04 1.86400003e+02] [ 5.72804293e-01 8.19692120e-01 -2.66350313e-04 3.49614610e+01] [ 4.82553058e-04 -1.22706818e-05 9.99999884e-01 -3.51852647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.150281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:186.42, Y:34.98, Z:-0.35 [[ 8.19374725e-01 -5.73257331e-01 -1.04514203e-03 1.86423611e+02] [ 5.73256915e-01 8.19375391e-01 -6.91645562e-04 3.49768092e+01] [ 1.25285455e-03 -3.24180030e-05 9.99999215e-01 -3.52032451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.18028169299998 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:186.45, Y:34.99, Z:-0.35 [[ 8.19874343e-01 -5.72541054e-01 -1.67421340e-03 1.86445612e+02] [ 5.72539984e-01 8.19876051e-01 -1.10822075e-03 3.49920486e+01] [ 2.00714935e-03 -4.99523552e-05 9.99997984e-01 -3.51848903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.21028169299998 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:186.47, Y:35.01, Z:-0.35 [[ 8.20751796e-01 -5.71281586e-01 -1.95948771e-03 1.86469937e+02] [ 5.71280115e-01 8.20754133e-01 -1.29752334e-03 3.50067237e+01] [ 2.34950883e-03 -5.44717578e-05 9.99997238e-01 -3.51660577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.240281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:186.49, Y:35.02, Z:-0.35 [[ 8.20718993e-01 -5.71330993e-01 -1.10944395e-03 1.86494196e+02] [ 5.71330521e-01 8.20719742e-01 -7.35014620e-04 3.50212715e+01] [ 1.33047919e-03 -3.06187325e-05 9.99999114e-01 -3.52017271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.270281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:186.52, Y:35.03, Z:-0.35 [[ 8.19271309e-01 -5.73404709e-01 1.25005562e-03 1.86518604e+02] [ 5.73404112e-01 8.19272262e-01 8.27928989e-04 3.50330431e+01] [-1.49887427e-03 3.84885651e-05 9.99998876e-01 -3.51327318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.300281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:186.54, Y:35.05, Z:-0.35 [[ 8.17986346e-01 -5.75233641e-01 2.14372699e-03 1.86543576e+02] [ 5.75231892e-01 8.17989152e-01 1.42035981e-03 3.50466533e+01] [-2.57058417e-03 7.13051981e-05 9.99996694e-01 -3.51123642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.330281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:186.57, Y:35.06, Z:-0.35 [[ 8.16544300e-01 -5.77277804e-01 2.39656523e-03 1.86568474e+02] [ 5.77275625e-01 8.16547812e-01 1.58852750e-03 3.50604460e+01] [-2.87393176e-03 8.63756084e-05 9.99995867e-01 -3.51201825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.360281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:186.59, Y:35.07, Z:-0.35 [[ 8.14485926e-01 -5.80180138e-01 1.91920411e-03 1.86594314e+02] [ 5.80178748e-01 8.14488184e-01 1.27255531e-03 3.50725511e+01] [-2.30148039e-03 7.70030499e-05 9.99997349e-01 -3.51435473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.390281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:186.62, Y:35.09, Z:-0.35 [[ 8.13976471e-01 -5.80895334e-01 1.70738658e-03 1.86619356e+02] [ 5.80894234e-01 8.13978259e-01 1.13251447e-03 3.50861603e+01] [-2.04764793e-03 6.99708856e-05 9.99997901e-01 -3.51022575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.420281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:186.65, Y:35.10, Z:-0.35 [[ 8.14098409e-01 -5.80726362e-01 8.20318300e-04 1.86645311e+02] [ 5.80726108e-01 8.14098822e-01 5.44217414e-04 3.50967207e+01] [-9.83861560e-04 3.33337216e-05 9.99999515e-01 -3.51811116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.450281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:186.67, Y:35.11, Z:-0.35 [[ 8.14523474e-01 -5.80128388e-01 1.60111393e-03 1.86671314e+02] [ 5.80127418e-01 8.14525045e-01 1.06262221e-03 3.51063284e+01] [-1.92060471e-03 6.33193591e-05 9.99998154e-01 -3.52320019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.480281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:186.70, Y:35.12, Z:-0.35 [[ 8.14594112e-01 -5.80028875e-01 1.71397239e-03 1.86696118e+02] [ 5.80027763e-01 8.14595912e-01 1.13792876e-03 3.51180161e+01] [-2.05622644e-03 6.72014991e-05 9.99997884e-01 -3.52665609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.510281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:186.72, Y:35.13, Z:-0.35 [[ 8.14725775e-01 -5.79844986e-01 1.30554035e-03 1.86721844e+02] [ 5.79844340e-01 8.14726819e-01 8.67013927e-04 3.51297069e+01] [-1.56639241e-03 5.06315890e-05 9.99998772e-01 -3.52978407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.540281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:186.75, Y:35.14, Z:-0.35 [[ 8.15992965e-01 -5.78061594e-01 5.23014178e-04 1.86748992e+02] [ 5.78061490e-01 8.15993133e-01 3.47310035e-04 3.51389600e+01] [-6.27542571e-04 1.89318095e-05 9.99999803e-01 -3.52574093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.570281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:186.77, Y:35.15, Z:-0.35 [[ 8.19627350e-01 -5.72897005e-01 1.68723730e-04 1.86773992e+02] [ 5.72896994e-01 8.19627368e-01 1.12006970e-04 3.51509489e+01] [-2.02459044e-04 4.85734139e-06 9.99999980e-01 -3.52820146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.600281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:186.80, Y:35.17, Z:-0.35 [[ 8.21614337e-01 -5.70043396e-01 -6.38773464e-04 1.86797952e+02] [ 5.70043238e-01 8.21614585e-01 -4.25001128e-04 3.51653455e+01] [ 7.67094681e-04 -1.49414734e-05 9.99999706e-01 -3.53358156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.630281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:186.82, Y:35.18, Z:-0.35 [[ 8.25461604e-01 -5.64453599e-01 -2.29659715e-03 1.86822494e+02] [ 5.64451532e-01 8.25464798e-01 -1.52798283e-03 3.51790015e+01] [ 2.75823551e-03 -3.50266268e-05 9.99996195e-01 -3.53788974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.660281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:186.85, Y:35.19, Z:-0.35 [[ 8.27063913e-01 -5.62103444e-01 -2.23643577e-03 1.86845987e+02] [ 5.62101475e-01 8.27066936e-01 -1.48816355e-03 3.51928849e+01] [ 2.68618394e-03 -2.62974756e-05 9.99996392e-01 -3.54114063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.690281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:186.87, Y:35.21, Z:-0.35 [[ 8.28328858e-01 -5.60240328e-01 -1.44143380e-03 1.86870265e+02] [ 5.60239506e-01 8.28330112e-01 -9.59699313e-04 3.52075270e+01] [ 1.73164528e-03 -1.26015214e-05 9.99998501e-01 -3.53629928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.720281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:186.89, Y:35.22, Z:-0.35 [[ 8.29622157e-01 -5.58325060e-01 -4.51538418e-04 1.86893802e+02] [ 5.58324979e-01 8.29622280e-01 -3.00756635e-04 3.52203124e+01] [ 5.42526299e-04 -2.59080920e-06 9.99999853e-01 -3.52961657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.750281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:186.92, Y:35.23, Z:-0.35 [[ 8.28879294e-01 -5.59426618e-01 -9.87773227e-04 1.86917295e+02] [ 5.59426231e-01 8.28879882e-01 -6.57962473e-04 3.52332352e+01] [ 1.18682708e-03 -7.21478430e-06 9.99999296e-01 -3.54275073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.780281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:186.94, Y:35.25, Z:-0.35 [[ 8.28684824e-01 -5.59712795e-01 -1.74636402e-03 1.86941774e+02] [ 5.59711586e-01 8.28686664e-01 -1.16366336e-03 3.52476077e+01] [ 2.09850585e-03 -1.31500039e-05 9.99997798e-01 -3.54891416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.810281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:186.97, Y:35.26, Z:-0.36 [[ 8.28666638e-01 -5.59735533e-01 -2.78134988e-03 1.86965444e+02] [ 5.59732463e-01 8.28671306e-01 -1.85377276e-03 3.52611966e+01] [ 3.34244732e-03 -2.06521779e-05 9.99994414e-01 -3.55151970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.840281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:186.99, Y:35.28, Z:-0.35 [[ 8.28489232e-01 -5.59999362e-01 -2.51124859e-03 1.86988547e+02] [ 5.59996859e-01 8.28493038e-01 -1.67445815e-03 3.52776413e+01] [ 3.01824747e-03 -1.90207777e-05 9.99995445e-01 -3.54724227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.870281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:187.01, Y:35.29, Z:-0.35 [[ 8.28480866e-01 -5.60015257e-01 -1.53820695e-03 1.87011062e+02] [ 5.60014317e-01 8.28482294e-01 -1.02594174e-03 3.52933613e+01] [ 1.84892025e-03 -1.14448145e-05 9.99998291e-01 -3.54456457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.900281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:187.04, Y:35.31, Z:-0.35 [[ 8.28216627e-01 -5.60406575e-01 -1.29983127e-03 1.87035064e+02] [ 5.60405904e-01 8.28217647e-01 -8.67404671e-04 3.53076435e+01] [ 1.56264248e-03 -1.00341476e-05 9.99998779e-01 -3.54623727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.93028169299998 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:187.06, Y:35.32, Z:-0.35 [[ 8.27275490e-01 -5.61796302e-01 -4.21593324e-04 1.87058759e+02] [ 5.61796232e-01 8.27275598e-01 -2.81456438e-04 3.53199548e+01] [ 5.06895056e-04 -4.00752822e-06 9.99999872e-01 -3.53589854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.96028169299998 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:187.08, Y:35.34, Z:-0.35 [[ 8.26900205e-01 -5.62348683e-01 1.04128463e-04 1.87080620e+02] [ 5.62348678e-01 8.26900211e-01 6.92734850e-05 3.53351185e+01] [-1.25059701e-04 1.27424485e-06 9.99999992e-01 -3.53170403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 207.990281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:187.10, Y:35.35, Z:-0.35 [[ 8.27163113e-01 -5.61961886e-01 1.55401004e-04 1.87102100e+02] [ 5.61961876e-01 8.27163127e-01 1.03499721e-04 3.53525663e+01] [-1.86704879e-04 1.71828817e-06 9.99999983e-01 -3.53080585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.020281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:187.12, Y:35.37, Z:-0.35 [[ 8.27688829e-01 -5.61187243e-01 2.84650723e-04 1.87124093e+02] [ 5.61187211e-01 8.27688878e-01 1.89973522e-04 3.53681441e+01] [-3.42212954e-04 2.50338322e-06 9.99999941e-01 -3.53062362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.050281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:187.15, Y:35.38, Z:-0.35 [[ 8.29307797e-01 -5.58792041e-01 -1.80101162e-04 1.87145930e+02] [ 5.58792028e-01 8.29307817e-01 -1.20465446e-04 3.53849073e+01] [ 2.16674434e-04 -7.36159925e-07 9.99999977e-01 -3.52973143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.080281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:187.17, Y:35.40, Z:-0.35 [[ 8.29904729e-01 -5.57904572e-01 -7.93627387e-04 1.87168299e+02] [ 5.57904319e-01 8.29905108e-01 -5.30668925e-04 3.54023904e+01] [ 9.54698042e-04 -2.36349671e-06 9.99999544e-01 -3.52987597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.110281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:187.19, Y:35.42, Z:-0.35 [[ 8.30432330e-01 -5.57117410e-01 -1.52867759e-03 1.87189098e+02] [ 5.57116472e-01 8.30433737e-01 -1.02233034e-03 3.54225075e+01] [ 1.83902347e-03 -2.67530118e-06 9.99998309e-01 -3.53744437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.140281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:187.21, Y:35.44, Z:-0.35 [[ 8.30529266e-01 -5.56972384e-01 -1.70333029e-03 1.87210042e+02] [ 5.56971219e-01 8.30531013e-01 -1.13922914e-03 3.54391017e+01] [ 2.04918780e-03 -2.54280810e-06 9.99997900e-01 -3.53175310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.170281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:187.23, Y:35.46, Z:-0.35 [[ 8.29334508e-01 -5.58749431e-01 -1.82941221e-03 1.87231906e+02] [ 5.58748090e-01 8.29336526e-01 -1.22419051e-03 3.54570158e+01] [ 2.20121412e-03 -6.91713817e-06 9.99997577e-01 -3.53306750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.200281693 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:187.25, Y:35.47, Z:-0.35 [[ 8.28053536e-01 -5.60645333e-01 -2.03778302e-03 1.87254129e+02] [ 5.60643675e-01 8.28056043e-01 -1.36377943e-03 3.54730484e+01] [ 2.45199511e-03 -1.31877804e-05 9.99996994e-01 -3.53439773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.230281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:187.28, Y:35.49, Z:-0.35 [[ 8.25156519e-01 -5.64903310e-01 -9.84053554e-04 1.87276619e+02] [ 5.64902926e-01 8.25157106e-01 -6.58784975e-04 3.54884028e+01] [ 1.18414860e-03 -1.22940154e-05 9.99999299e-01 -3.53288904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.260281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:187.30, Y:35.50, Z:-0.35 [[ 8.23326403e-01 -5.67568152e-01 -1.63165277e-04 1.87300001e+02] [ 5.67568141e-01 8.23326419e-01 -1.09526219e-04 3.55035448e+01] [ 1.96501877e-04 -2.43158480e-06 9.99999981e-01 -3.53870723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.290281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:187.32, Y:35.52, Z:-0.35 [[ 8.19889148e-01 -5.72521540e-01 -9.33737477e-04 1.87323776e+02] [ 5.72521199e-01 8.19889679e-01 -6.25503685e-04 3.55159253e+01] [ 1.12367605e-03 -2.17408161e-05 9.99999368e-01 -3.54011006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.320281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:187.35, Y:35.53, Z:-0.35 [[ 8.18195075e-01 -5.74935947e-01 -2.34009017e-03 1.87348580e+02] [ 5.74933812e-01 8.18198419e-01 -1.56815606e-03 3.55295760e+01] [ 2.81624736e-03 -6.23393976e-05 9.99996032e-01 -3.54738979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.350281693 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:187.37, Y:35.55, Z:-0.35 [[ 8.18093125e-01 -5.75081007e-01 -2.33982025e-03 1.87372152e+02] [ 5.75078871e-01 8.18096468e-01 -1.56855880e-03 3.55455894e+01] [ 2.81624706e-03 -6.23540208e-05 9.99996032e-01 -3.54773303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.380281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:187.40, Y:35.55, Z:-0.36 [[ 8.15509802e-01 -5.78727793e-01 -4.23137745e-03 1.87399202e+02] [ 5.78720855e-01 8.15520768e-01 -2.83693001e-03 3.55534327e+01] [ 5.09258643e-03 -1.35242140e-04 9.99987024e-01 -3.56445553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.410281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:187.42, Y:35.56, Z:-0.36 [[ 8.14680338e-01 -5.79900746e-01 -3.32749716e-03 1.87424515e+02] [ 5.79896463e-01 8.14687126e-01 -2.23144953e-03 3.55642073e+01] [ 4.00488834e-03 -1.11685778e-04 9.99991974e-01 -3.55391519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.440281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:187.45, Y:35.57, Z:-0.35 [[ 8.14524433e-01 -5.80128826e-01 -7.02563492e-04 1.87454058e+02] [ 5.80128634e-01 8.14524736e-01 -4.71558748e-04 3.55711311e+01] [ 8.45820166e-04 -2.34810771e-05 9.99999642e-01 -3.53037213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.470281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:187.48, Y:35.58, Z:-0.35 [[ 8.15074105e-01 -5.79356608e-01 -3.53682163e-04 1.87480366e+02] [ 5.79356559e-01 8.15074181e-01 -2.37625087e-04 3.55820553e+01] [ 4.25946864e-04 -1.12260261e-05 9.99999909e-01 -3.53209406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.500281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:187.51, Y:35.59, Z:-0.35 [[ 8.17988945e-01 -5.75231793e-01 -1.57147117e-03 1.87510070e+02] [ 5.75230827e-01 8.17990454e-01 -1.05530033e-03 3.55868355e+01] [ 1.89249072e-03 -4.07346570e-05 9.99998208e-01 -3.54524258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.530281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:187.54, Y:35.60, Z:-0.35 [[ 8.19969048e-01 -5.72405209e-01 -1.74250211e-03 1.87535576e+02] [ 5.72404014e-01 8.19970899e-01 -1.17050346e-03 3.55972892e+01] [ 2.09880330e-03 -3.76385957e-05 9.99997797e-01 -3.54592703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.560281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:187.56, Y:35.60, Z:-0.35 [[ 8.24985683e-01 -5.65152683e-01 -1.03341042e-03 1.87564319e+02] [ 5.65152256e-01 8.24986330e-01 -6.94581687e-04 3.56045375e+01] [ 1.24509417e-03 -1.10142819e-05 9.99999225e-01 -3.52350909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.590281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:187.59, Y:35.62, Z:-0.35 [[ 8.27916714e-01 -5.60851011e-01 -2.43617537e-04 1.87589028e+02] [ 5.60850987e-01 8.27916749e-01 -1.63976864e-04 3.56164185e+01] [ 2.93661629e-04 -8.73949586e-07 9.99999957e-01 -3.51880871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.620281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:187.62, Y:35.63, Z:-0.35 [[ 8.34371038e-01 -5.51203167e-01 1.97493253e-04 1.87615073e+02] [ 5.51203151e-01 8.34371062e-01 1.32525044e-04 3.56274983e+01] [-2.37830879e-04 -1.71615516e-06 9.99999972e-01 -3.50587260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.650281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:187.64, Y:35.64, Z:-0.35 [[ 8.37738922e-01 -5.46070602e-01 6.29064026e-04 1.87637971e+02] [ 5.46070438e-01 8.37739158e-01 4.22911191e-04 3.56411299e+01] [-7.57930936e-04 -1.07758969e-05 9.99999713e-01 -3.51282946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.68028169299998 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:187.66, Y:35.66, Z:-0.35 [[ 8.43968362e-01 -5.36392951e-01 -8.19381199e-05 1.87661723e+02] [ 5.36392948e-01 8.43968366e-01 -5.53846922e-05 3.56566487e+01] [ 9.88611397e-05 2.79189821e-06 9.99999995e-01 -3.51502020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.71028169299998 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:187.68, Y:35.67, Z:-0.35 [[ 8.46506462e-01 -5.32377351e-01 -1.08033250e-03 1.87684283e+02] [ 5.32376855e-01 8.46507150e-01 -7.27368528e-04 3.56733332e+01] [ 1.30174372e-03 4.05781376e-05 9.99999152e-01 -3.51522431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.740281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:187.71, Y:35.69, Z:-0.35 [[ 8.48733165e-01 -5.28816919e-01 -2.16354246e-03 1.87706606e+02] [ 5.28814920e-01 8.48735918e-01 -1.45698306e-03 3.56912223e+01] [ 2.60675349e-03 9.24763160e-05 9.99996598e-01 -3.51273489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.770281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:187.73, Y:35.71, Z:-0.35 [[ 8.52398227e-01 -5.22884604e-01 -2.99203360e-03 1.87726033e+02] [ 5.22880743e-01 8.52403465e-01 -2.01526585e-03 3.57115435e+01] [ 3.60417130e-03 1.53332286e-04 9.99993493e-01 -3.51873898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.800281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:187.75, Y:35.73, Z:-0.35 [[ 8.53405937e-01 -5.21239960e-01 -2.68522450e-03 1.87747009e+02] [ 5.21236839e-01 8.53410150e-01 -1.80941765e-03 3.57301908e+01] [ 3.23473862e-03 1.44529837e-04 9.99994758e-01 -3.52054602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.830281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:187.76, Y:35.75, Z:-0.35 [[ 8.54459264e-01 -5.19517252e-01 -1.09114298e-03 1.87764796e+02] [ 5.19516735e-01 8.54459959e-01 -7.35449657e-04 3.57529094e+01] [ 1.31441677e-03 6.15447358e-05 9.99999134e-01 -3.51412124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.860281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:187.79, Y:35.77, Z:-0.35 [[ 8.54732172e-01 -5.19069256e-01 -1.48773622e-04 1.87785145e+02] [ 5.19069247e-01 8.54732185e-01 -1.00557701e-04 3.57730116e+01] [ 1.79358014e-04 8.72609013e-06 9.99999984e-01 -3.50317243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.890281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:187.80, Y:35.80, Z:-0.35 [[ 8.54337571e-01 -5.19715064e-01 1.88886147e-03 1.87802792e+02] [ 5.19713514e-01 8.54339652e-01 1.27360161e-03 3.57969711e+01] [-2.27563920e-03 -1.06418867e-04 9.99997405e-01 -3.49765591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.920281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:187.82, Y:35.82, Z:-0.35 [[ 8.53740339e-01 -5.20694275e-01 2.21476037e-03 1.87822898e+02] [ 5.20692146e-01 8.53743203e-01 1.49378802e-03 3.58153594e+01] [-2.66864348e-03 -1.22098762e-04 9.99996432e-01 -3.50257115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.950281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:187.84, Y:35.84, Z:-0.35 [[ 8.51866500e-01 -5.23758334e-01 8.21096295e-04 1.87840961e+02] [ 5.23758042e-01 8.51866895e-01 5.53801468e-04 3.58375422e+01] [-9.89522885e-04 -4.17091302e-05 9.99999510e-01 -3.51898643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 208.980281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:187.86, Y:35.86, Z:-0.35 [[ 8.50477144e-01 -5.26011932e-01 -2.74256904e-04 1.87861653e+02] [ 5.26011900e-01 8.50477188e-01 -1.85404814e-04 3.58562519e+01] [ 3.30774385e-04 1.34201614e-05 9.99999945e-01 -3.52203590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.010281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:187.88, Y:35.88, Z:-0.35 [[ 8.47505675e-01 -5.30783221e-01 -1.81762862e-03 1.87880357e+02] [ 5.30781807e-01 8.47507620e-01 -1.22750919e-03 3.58765810e+01] [ 2.19199538e-03 7.55568038e-05 9.99997595e-01 -3.51510310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.040281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:187.90, Y:35.89, Z:-0.35 [[ 8.46004599e-01 -5.33170721e-01 -2.28051660e-03 1.87902253e+02] [ 5.33168502e-01 8.46007668e-01 -1.54076725e-03 3.58948780e+01] [ 2.75082652e-03 8.75965588e-05 9.99996213e-01 -3.50192738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.070281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:187.92, Y:35.92, Z:-0.35 [[ 8.44090440e-01 -5.36199748e-01 -1.07638623e-03 1.87920981e+02] [ 5.36199256e-01 8.44091126e-01 -7.27346879e-04 3.59152422e+01] [ 1.29857128e-03 3.67890505e-05 9.99999156e-01 -3.50274816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.100281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:187.94, Y:35.93, Z:-0.35 [[ 8.43619644e-01 -5.36941214e-01 -1.71796382e-04 1.87942369e+02] [ 5.36941201e-01 8.43619661e-01 -1.16378844e-04 3.59344471e+01] [ 2.07419403e-04 5.93492316e-06 9.99999978e-01 -3.50465972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.130281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:187.96, Y:35.96, Z:-0.35 [[ 8.43502856e-01 -5.37124686e-01 5.95346582e-05 1.87962051e+02] [ 5.37124685e-01 8.43502858e-01 3.99900763e-05 3.59551210e+01] [-7.16973115e-05 -1.75420902e-06 9.99999997e-01 -3.50451817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.160281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:187.98, Y:35.97, Z:-0.35 [[ 8.43116853e-01 -5.37729907e-01 -7.21338243e-04 1.87983005e+02] [ 5.37729686e-01 8.43117161e-01 -4.88043698e-04 3.59724934e+01] [ 8.70608344e-04 2.35928797e-05 9.99999621e-01 -3.50536120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.190281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:188.00, Y:35.99, Z:-0.35 [[ 8.41968724e-01 -5.39523875e-01 -1.62968069e-03 1.88002730e+02] [ 5.39522751e-01 8.41970300e-01 -1.10257822e-03 3.59915823e+01] [ 1.96701001e-03 4.90865712e-05 9.99998064e-01 -3.50776142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.220281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:188.03, Y:36.01, Z:-0.35 [[ 8.41182841e-01 -5.40747280e-01 -1.95100880e-03 1.88025157e+02] [ 5.40745670e-01 8.41185102e-01 -1.32057960e-03 3.60082658e+01] [ 2.35525937e-03 5.58493404e-05 9.99997225e-01 -3.50613818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.250281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:188.05, Y:36.02, Z:-0.35 [[ 8.39156825e-01 -5.43884055e-01 -2.44079049e-03 1.88048243e+02] [ 5.43881549e-01 8.39160373e-01 -1.65226367e-03 3.60226822e+01] [ 2.94685453e-03 5.90074265e-05 9.99995656e-01 -3.50387060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.280281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:188.07, Y:36.04, Z:-0.35 [[ 8.38088870e-01 -5.45530848e-01 -1.77185291e-03 1.88070924e+02] [ 5.45529530e-01 8.38090742e-01 -1.19972486e-03 3.60374436e+01] [ 2.13946044e-03 3.88779674e-05 9.99997711e-01 -3.50513016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.310281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:188.09, Y:36.05, Z:-0.35 [[ 8.36866734e-01 -5.47405406e-01 -1.17926637e-03 1.88092665e+02] [ 5.47404824e-01 8.36867565e-01 -7.98954610e-04 3.60549244e+01] [ 1.42424185e-03 2.30824365e-05 9.99998986e-01 -3.50131904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.340281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:188.11, Y:36.07, Z:-0.35 [[ 8.37056387e-01 -5.47114745e-01 -1.43537239e-03 1.88114914e+02] [ 5.47113881e-01 8.37057618e-01 -9.72781208e-04 3.60718989e+01] [ 1.73371234e-03 2.89605630e-05 9.99998497e-01 -3.50565878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.370281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:188.14, Y:36.09, Z:-0.35 [[ 8.38800479e-01 -5.44435215e-01 -2.01333886e-03 1.88136037e+02] [ 5.44433507e-01 8.38802894e-01 -1.36454308e-03 3.60888616e+01] [ 2.43169976e-03 4.84502523e-05 9.99997042e-01 -3.49619668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.400281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:188.16, Y:36.11, Z:-0.35 [[ 8.39611819e-01 -5.43183398e-01 -1.94647520e-03 1.88157998e+02] [ 5.43181797e-01 8.39614074e-01 -1.31984380e-03 3.61056477e+01] [ 2.35120521e-03 5.08665555e-05 9.99997235e-01 -3.49718330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.43028169299998 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:188.18, Y:36.13, Z:-0.35 [[ 8.41111079e-01 -5.40856386e-01 -2.55401611e-03 1.88178594e+02] [ 5.40853617e-01 8.41114953e-01 -1.73236784e-03 3.61252246e+01] [ 3.08518335e-03 7.57649355e-05 9.99995238e-01 -3.49250742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.46028169299998 meters Centerline goodness : 0.999115 Centerline is valid? [True, True] Translation: X:188.20, Y:36.14, Z:-0.35 [[ 8.41765480e-01 -5.39835597e-01 -2.89891099e-03 1.88198884e+02] [ 5.39832023e-01 8.41770467e-01 -1.96656188e-03 3.61433276e+01] [ 3.50183776e-03 9.04589187e-05 9.99993864e-01 -3.49248258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.490281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:188.22, Y:36.16, Z:-0.35 [[ 8.42510387e-01 -5.38673304e-01 -2.70550680e-03 1.88217320e+02] [ 5.38670183e-01 8.42514726e-01 -1.83574223e-03 3.61642571e+01] [ 3.26829465e-03 8.92560550e-05 9.99994655e-01 -3.49882758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.520281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:188.24, Y:36.18, Z:-0.35 [[ 8.42289756e-01 -5.39021438e-01 -1.96392244e-03 1.88238661e+02] [ 5.39019793e-01 8.42292043e-01 -1.33324304e-03 3.61829851e+01] [ 2.37284282e-03 6.43838889e-05 9.99997183e-01 -3.49594475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.550281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:188.26, Y:36.20, Z:-0.35 [[ 8.40911788e-01 -5.41171006e-01 -1.14315257e-03 1.88258004e+02] [ 5.41170451e-01 8.40912564e-01 -7.76203997e-04 3.62017474e+01] [ 1.38135045e-03 3.40787011e-05 9.99999045e-01 -3.49414928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.580281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:188.28, Y:36.22, Z:-0.35 [[ 8.39882707e-01 -5.42765994e-01 -1.45386228e-03 1.88278912e+02] [ 5.42765097e-01 8.39883965e-01 -9.87336174e-04 3.62183495e+01] [ 1.75696811e-03 4.01408788e-05 9.99998456e-01 -3.48911597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.610281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:188.30, Y:36.24, Z:-0.35 [[ 8.38825404e-01 -5.44397743e-01 -1.74292933e-03 1.88301408e+02] [ 5.44396457e-01 8.38827214e-01 -1.18416078e-03 3.62355368e+01] [ 2.10667101e-03 4.44595946e-05 9.99997780e-01 -3.48053413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.640281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:188.32, Y:36.25, Z:-0.35 [[ 8.36960357e-01 -5.47261932e-01 -1.31836282e-03 1.88323063e+02] [ 5.47261199e-01 8.36961395e-01 -8.96154824e-04 3.62542072e+01] [ 1.59385020e-03 2.85572455e-05 9.99998729e-01 -3.47734326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.670281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:188.34, Y:36.27, Z:-0.35 [[ 8.35782359e-01 -5.49060296e-01 -8.00263700e-04 1.88342736e+02] [ 5.49060026e-01 8.35782742e-01 -5.44027208e-04 3.62727164e+01] [ 9.67550329e-04 1.52955352e-05 9.99999532e-01 -3.47913525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.700281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:188.36, Y:36.29, Z:-0.35 [[ 8.35128388e-01 -5.50054199e-01 -9.76176567e-04 1.88364172e+02] [ 5.50053799e-01 8.35128959e-01 -6.64016986e-04 3.62901973e+01] [ 1.18047865e-03 1.75898061e-05 9.99999303e-01 -3.48366078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.730281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:188.39, Y:36.31, Z:-0.35 [[ 8.34583485e-01 -5.50878955e-01 -1.66828039e-03 1.88385399e+02] [ 5.50877787e-01 8.34585152e-01 -1.13483261e-03 3.63066519e+01] [ 2.01747745e-03 2.80939464e-05 9.99997965e-01 -3.49100686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.760281693 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:188.41, Y:36.32, Z:-0.35 [[ 8.34025855e-01 -5.51717364e-01 -2.97045134e-03 1.88407544e+02] [ 5.51713665e-01 8.34031143e-01 -2.02085907e-03 3.63221041e+01] [ 3.59239197e-03 4.66101170e-05 9.99993546e-01 -3.50242529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.790281693 meters Centerline goodness : 0.998924 Centerline is valid? [True, True] Translation: X:188.43, Y:36.34, Z:-0.35 [[ 8.32891945e-01 -5.53427152e-01 -3.06519545e-03 1.88429450e+02] [ 5.53423222e-01 8.32897584e-01 -2.08624823e-03 3.63392603e+01] [ 3.70758030e-03 4.12690051e-05 9.99993126e-01 -3.48668797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.820281693 meters Centerline goodness : 0.999051 Centerline is valid? [True, True] Translation: X:188.45, Y:36.36, Z:-0.35 [[ 8.32051208e-01 -5.54692562e-01 -2.63606784e-03 1.88451749e+02] [ 5.54689659e-01 8.32055383e-01 -1.79493209e-03 3.63562063e+01] [ 3.18898992e-03 3.12758438e-05 9.99994915e-01 -3.48372128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.850281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:188.47, Y:36.37, Z:-0.35 [[ 8.31131572e-01 -5.56072435e-01 -1.93846430e-03 1.88474815e+02] [ 5.56070868e-01 8.31133832e-01 -1.32052855e-03 3.63722043e+01] [ 2.34543279e-03 1.96094486e-05 9.99997249e-01 -3.48503621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.880281693 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:188.50, Y:36.38, Z:-0.35 [[ 8.29303359e-01 -5.58797837e-01 -9.56850793e-04 1.88498367e+02] [ 5.58797457e-01 8.29303911e-01 -6.51987102e-04 3.63849027e+01] [ 1.15784909e-03 6.00930410e-06 9.99999330e-01 -3.49272326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.910281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:188.52, Y:36.40, Z:-0.35 [[ 8.28227549e-01 -5.60390687e-01 -1.18527797e-03 1.88522210e+02] [ 5.60390104e-01 8.28228397e-01 -8.08046819e-04 3.64001282e+01] [ 1.43450279e-03 5.02858959e-06 9.99998971e-01 -3.49022046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.940281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:188.55, Y:36.42, Z:-0.35 [[ 8.26214887e-01 -5.63352195e-01 -1.80682389e-03 1.88545780e+02] [ 5.63350847e-01 8.26216863e-01 -1.23213223e-03 3.64158010e+01] [ 2.18695276e-03 1.30217006e-07 9.99997609e-01 -3.49413502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 209.970281693 meters Centerline goodness : 0.998963 Centerline is valid? [True, True] Translation: X:188.57, Y:36.43, Z:-0.35 [[ 8.25196819e-01 -5.64841588e-01 -2.04698762e-03 1.88568735e+02] [ 5.64839863e-01 8.25199358e-01 -1.39616829e-03 3.64302182e+01] [ 2.47778678e-03 -4.10657167e-06 9.99996930e-01 -3.49927075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.000281693 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:188.59, Y:36.44, Z:-0.35 [[ 8.23725959e-01 -5.66979615e-01 -3.10801089e-03 1.88594067e+02] [ 5.66975651e-01 8.23731823e-01 -2.12016951e-03 3.64403796e+01] [ 3.76226037e-03 -1.57278369e-05 9.99992923e-01 -3.49821312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.030281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:188.62, Y:36.45, Z:-0.35 [[ 8.23282293e-01 -5.67618900e-01 -3.87946917e-03 1.88619609e+02] [ 5.67612725e-01 8.23291433e-01 -2.64753887e-03 3.64528957e+01] [ 4.69672683e-03 -2.23641980e-05 9.99988970e-01 -3.50001709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.060281693 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:188.64, Y:36.47, Z:-0.35 [[ 8.23498064e-01 -5.67307984e-01 -3.54813146e-03 1.88642736e+02] [ 5.67302813e-01 8.23505708e-01 -2.42237284e-03 3.64678819e+01] [ 4.29613796e-03 -1.80456093e-05 9.99990771e-01 -3.49953176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.090281693 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:188.67, Y:36.48, Z:-0.35 [[ 8.24029039e-01 -5.66539230e-01 -3.07308625e-03 1.88666363e+02] [ 5.66535342e-01 8.24034769e-01 -2.09889600e-03 3.64832799e+01] [ 3.72143684e-03 -1.14607220e-05 9.99993075e-01 -3.49372297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.120281693 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:188.69, Y:36.50, Z:-0.35 [[ 8.25060612e-01 -5.65040503e-01 -2.05329714e-03 1.88690923e+02] [ 5.65038762e-01 8.25063167e-01 -1.40301073e-03 3.64970547e+01] [ 2.48685773e-03 -2.62357837e-06 9.99996908e-01 -3.49725081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.150281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:188.72, Y:36.51, Z:-0.35 [[ 8.25019726e-01 -5.65102175e-01 -1.40860746e-03 1.88715112e+02] [ 5.65101354e-01 8.25020928e-01 -9.62963740e-04 3.65114013e+01] [ 1.70630354e-03 -1.54190208e-06 9.99998544e-01 -3.49143358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.18028169299998 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:188.74, Y:36.52, Z:-0.35 [[ 8.24243162e-01 -5.66235685e-01 -5.98990306e-04 1.88740059e+02] [ 5.66235537e-01 8.24243379e-01 -4.09606008e-04 3.65221360e+01] [ 7.25647333e-04 -1.55464676e-06 9.99999737e-01 -3.49155950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.21028169299998 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:188.77, Y:36.53, Z:-0.35 [[ 8.22660358e-01 -5.68532569e-01 -8.08372105e-04 1.88767686e+02] [ 5.68532300e-01 8.22660755e-01 -5.53069594e-04 3.65306005e+01] [ 9.79454083e-04 -4.59722283e-06 9.99999520e-01 -3.50030549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.240281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:188.79, Y:36.55, Z:-0.35 [[ 8.22563633e-01 -5.68672504e-01 -8.08285426e-04 1.88791091e+02] [ 5.68672235e-01 8.22564030e-01 -5.53196289e-04 3.65468507e+01] [ 9.79454036e-04 -4.61033084e-06 9.99999520e-01 -3.50064873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.270281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:188.82, Y:36.56, Z:-0.35 [[ 8.21789577e-01 -5.69790733e-01 -6.41528163e-04 1.88816852e+02] [ 5.69790564e-01 8.21789828e-01 -4.39303374e-04 3.65591661e+01] [ 7.77512310e-04 -4.52175949e-06 9.99999698e-01 -3.49728289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.300281693 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:188.84, Y:36.57, Z:-0.35 [[ 8.21531991e-01 -5.70162197e-01 -5.06016111e-04 1.88842565e+02] [ 5.70162092e-01 8.21532147e-01 -3.46699627e-04 3.65716322e+01] [ 6.13383523e-04 -3.68637002e-06 9.99999812e-01 -3.48850692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.330281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:188.87, Y:36.58, Z:-0.35 [[ 8.22902487e-01 -5.68181577e-01 -1.09211979e-03 1.88867745e+02] [ 5.68181085e-01 8.22903211e-01 -7.48199460e-04 3.65830086e+01] [ 1.32382203e-03 -4.82660967e-06 9.99999124e-01 -3.47777281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.360281693 meters Centerline goodness : 0.999107 Centerline is valid? [True, True] Translation: X:188.89, Y:36.60, Z:-0.35 [[ 8.24594090e-01 -5.65722558e-01 -1.60432803e-03 1.88891679e+02] [ 5.65721490e-01 8.24595651e-01 -1.09947807e-03 3.65984785e+01] [ 1.94492146e-03 -9.79726475e-07 9.99998109e-01 -3.47617421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.390281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:188.91, Y:36.61, Z:-0.35 [[ 8.29665664e-01 -5.58258335e-01 -1.58651927e-03 1.88913676e+02] [ 5.58257276e-01 8.29667181e-01 -1.08739028e-03 3.66145526e+01] [ 1.92332766e-03 1.64844558e-05 9.99998150e-01 -3.48254886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.420281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:188.93, Y:36.63, Z:-0.35 [[ 8.34634855e-01 -5.50800482e-01 -1.86771198e-03 1.88933891e+02] [ 5.50798995e-01 8.34636944e-01 -1.28045063e-03 3.66327057e+01] [ 2.26413424e-03 3.99748451e-05 9.99997436e-01 -3.47896405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.450281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:188.96, Y:36.65, Z:-0.35 [[ 8.36367912e-01 -5.48164599e-01 -2.07082598e-03 1.88955910e+02] [ 5.48162761e-01 8.36370474e-01 -1.42029522e-03 3.66502207e+01] [ 2.51053327e-03 5.27396619e-05 9.99996847e-01 -3.48271921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.480281693 meters Centerline goodness : 0.998990 Centerline is valid? [True, True] Translation: X:188.98, Y:36.67, Z:-0.35 [[ 8.37492363e-01 -5.46446653e-01 -1.61168366e-03 1.88977211e+02] [ 5.46445536e-01 8.37493912e-01 -1.10592297e-03 3.66685037e+01] [ 1.95410316e-03 4.55047013e-05 9.99998090e-01 -3.48058526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.510281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:189.00, Y:36.69, Z:-0.35 [[ 8.38856506e-01 -5.44352015e-01 8.03782500e-04 1.88995660e+02] [ 5.44351736e-01 8.38856891e-01 5.51372200e-04 3.66900415e+01] [-9.74399057e-04 -2.49817579e-05 9.99999525e-01 -3.47466665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.540281693 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:189.02, Y:36.71, Z:-0.35 [[ 8.38929887e-01 -5.44238455e-01 1.07204346e-03 1.89016528e+02] [ 5.44237959e-01 8.38930571e-01 7.35665840e-04 3.67088437e+01] [-1.29974767e-03 -3.37253138e-05 9.99999155e-01 -3.47701065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.570281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:189.03, Y:36.73, Z:-0.35 [[ 8.38202479e-01 -5.45359131e-01 -1.48979418e-04 1.89034323e+02] [ 5.45359121e-01 8.38202493e-01 -1.02463322e-04 3.67297544e+01] [ 1.80754227e-04 4.63772625e-06 9.99999984e-01 -3.48831219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.600281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:189.05, Y:36.75, Z:-0.35 [[ 8.37260278e-01 -5.46804186e-01 -6.39958167e-04 1.89054772e+02] [ 5.46804009e-01 8.37260522e-01 -4.39865311e-04 3.67494930e+01] [ 7.76331902e-04 1.83500616e-05 9.99999698e-01 -3.49728802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.630281693 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:189.07, Y:36.77, Z:-0.35 [[ 8.35479448e-01 -5.49520091e-01 -1.32730799e-03 1.89072893e+02] [ 5.49519336e-01 8.35480501e-01 -9.12014951e-04 3.67714914e+01] [ 1.61011048e-03 3.25883423e-05 9.99998703e-01 -3.50758284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.660281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:189.09, Y:36.79, Z:-0.35 [[ 8.34492734e-01 -5.51014365e-01 -2.24645958e-03 1.89094669e+02] [ 5.51012203e-01 8.34495756e-01 -1.54425829e-03 3.67896824e+01] [ 2.72556948e-03 5.08456759e-05 9.99996284e-01 -3.50640220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.690281693 meters Centerline goodness : 0.998864 Centerline is valid? [True, True] Translation: X:189.12, Y:36.81, Z:-0.35 [[ 8.32840480e-01 -5.53498676e-01 -3.99387373e-03 1.89115371e+02] [ 5.53491868e-01 8.32850052e-01 -2.74633615e-03 3.68085263e+01] [ 4.84639137e-03 7.66832821e-05 9.99988253e-01 -3.51065178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.720281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:189.14, Y:36.83, Z:-0.35 [[ 8.32282055e-01 -5.54337085e-01 -4.12038435e-03 1.89136162e+02] [ 5.54329847e-01 8.32292251e-01 -2.83380849e-03 3.68267068e+01] [ 5.00024910e-03 7.44759308e-05 9.99987496e-01 -3.51155549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.750281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:189.15, Y:36.85, Z:-0.35 [[ 8.32860938e-01 -5.53474309e-01 -2.97456089e-03 1.89154866e+02] [ 5.53470528e-01 8.32866248e-01 -2.04664032e-03 3.68485531e+01] [ 3.61017421e-03 5.82349906e-05 9.99993482e-01 -3.49419731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.780281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:189.18, Y:36.87, Z:-0.35 [[ 8.33281931e-01 -5.52841931e-01 -2.65019141e-03 1.89175503e+02] [ 5.52838924e-01 8.33286143e-01 -1.82414044e-03 3.68683891e+01] [ 3.21682910e-03 5.48943047e-05 9.99994824e-01 -3.49224723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.810281693 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:189.20, Y:36.89, Z:-0.35 [[ 8.33619844e-01 -5.52332052e-01 -2.69449820e-03 1.89195670e+02] [ 5.52328939e-01 8.33624196e-01 -1.85537939e-03 3.68884579e+01] [ 3.27098440e-03 5.84317439e-05 9.99994649e-01 -3.49662994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.840281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:189.21, Y:36.91, Z:-0.35 [[ 8.33297032e-01 -5.52822765e-01 -1.74577476e-03 1.89212023e+02] [ 5.52821458e-01 8.33298860e-01 -1.20270502e-03 3.69138250e+01] [ 2.11963483e-03 3.71087708e-05 9.99997753e-01 -3.49989523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.870281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:189.23, Y:36.94, Z:-0.35 [[ 8.30982463e-01 -5.56298600e-01 1.18706309e-04 1.89229874e+02] [ 5.56298594e-01 8.30982471e-01 8.16534355e-05 3.69359411e+01] [-1.44066554e-04 -1.81641992e-06 9.99999990e-01 -3.49428849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.900281693 meters Centerline goodness : 0.999305 Centerline is valid? [True, True] Translation: X:189.25, Y:36.95, Z:-0.35 [[ 8.28715102e-01 -5.59670147e-01 7.78909403e-04 1.89251201e+02] [ 5.59669890e-01 8.28715468e-01 5.36527131e-04 3.69548701e+01] [-9.45772488e-04 -8.69599599e-06 9.99999553e-01 -3.49229230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.93028169299998 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:189.27, Y:36.98, Z:-0.35 [[ 8.22314920e-01 -5.69032655e-01 -9.63358735e-05 1.89271095e+02] [ 5.69032652e-01 8.22314926e-01 -6.66894118e-05 3.69759790e+01] [ 1.17166880e-04 2.14407728e-08 9.99999993e-01 -3.49643706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.96028169299998 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:189.29, Y:36.99, Z:-0.35 [[ 8.18607259e-01 -5.74353407e-01 -5.64818864e-04 1.89291985e+02] [ 5.74353275e-01 8.18607454e-01 -3.89623571e-04 3.69933807e+01] [ 6.86146558e-04 -5.45688076e-06 9.99999765e-01 -3.50028406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 210.990281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:189.31, Y:37.01, Z:-0.35 [[ 8.14934970e-01 -5.79552123e-01 -5.75782437e-04 1.89313392e+02] [ 5.79551987e-01 8.14935173e-01 -3.97315896e-04 3.70093681e+01] [ 6.99490631e-04 -9.90923740e-06 9.99999755e-01 -3.49984218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.020281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:189.34, Y:37.02, Z:-0.35 [[ 8.08148434e-01 -5.88977626e-01 1.21035762e-03 1.89337230e+02] [ 5.88977036e-01 8.08149339e-01 8.34887377e-04 3.70248089e+01] [-1.46987970e-03 3.81599190e-05 9.99998919e-01 -3.49264699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.050281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:189.36, Y:37.04, Z:-0.35 [[ 8.05176980e-01 -5.93031287e-01 1.98072907e-03 1.89360827e+02] [ 5.93029716e-01 8.05179413e-01 1.36698854e-03 3.70396202e+01] [-2.40550924e-03 7.39634946e-05 9.99997104e-01 -3.49272589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.080281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:189.39, Y:37.05, Z:-0.35 [[ 8.00525637e-01 -5.99297656e-01 1.01180110e-03 1.89385610e+02] [ 5.99297250e-01 8.00526276e-01 6.98430434e-04 3.70505588e+01] [-1.22854108e-03 4.72581463e-05 9.99999244e-01 -3.50835831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.110281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:189.41, Y:37.06, Z:-0.35 [[ 7.98136905e-01 -6.02476112e-01 -1.25556799e-04 1.89411345e+02] [ 6.02476106e-01 7.98136915e-01 -8.69882459e-05 3.70630310e+01] [ 1.52619857e-04 -6.21644219e-06 9.99999988e-01 -3.51470965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.140281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:189.44, Y:37.07, Z:-0.35 [[ 7.94167658e-01 -6.07695602e-01 -1.94594410e-03 1.89440570e+02] [ 6.07694126e-01 7.94170033e-01 -1.34449371e-03 3.70679959e+01] [ 2.36245340e-03 -1.14785380e-04 9.99997203e-01 -3.51802084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.170281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:189.47, Y:37.08, Z:-0.35 [[ 7.93015196e-01 -6.09197011e-01 -2.42918681e-03 1.89466535e+02] [ 6.09194715e-01 7.93018903e-01 -1.67899233e-03 3.70778209e+01] [ 2.94922817e-03 -1.48381334e-04 9.99995640e-01 -3.51525785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.200281693 meters Centerline goodness : 0.999180 Centerline is valid? [True, True] Translation: X:189.50, Y:37.08, Z:-0.35 [[ 7.92652933e-01 -6.09665449e-01 -3.06080717e-03 1.89496149e+02] [ 6.09661805e-01 7.92658820e-01 -2.11617284e-03 3.70821390e+01] [ 3.71633326e-03 -1.88666616e-04 9.99993077e-01 -3.51444230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.230281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:189.52, Y:37.09, Z:-0.35 [[ 7.93413754e-01 -6.08672260e-01 -3.56285846e-03 1.89522421e+02] [ 6.08667310e-01 7.93421725e-01 -2.46421053e-03 3.70932337e+01] [ 4.32674590e-03 -2.13456945e-04 9.99990617e-01 -3.51756202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.260281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:189.55, Y:37.10, Z:-0.35 [[ 7.97003725e-01 -6.03958618e-01 -4.36469539e-03 1.89550816e+02] [ 6.03951112e-01 7.97015643e-01 -3.01973614e-03 3.70988712e+01] [ 5.30252617e-03 -2.29321686e-04 9.99985915e-01 -3.51397882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.290281693 meters Centerline goodness : 0.999035 Centerline is valid? [True, True] Translation: X:189.58, Y:37.11, Z:-0.35 [[ 8.02060341e-01 -5.97233130e-01 -3.43489287e-03 1.89579863e+02] [ 5.97228415e-01 8.02067683e-01 -2.37742261e-03 3.71055924e+01] [ 4.17489211e-03 -1.44579237e-04 9.99991275e-01 -3.51150768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.320281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:189.61, Y:37.12, Z:-0.35 [[ 8.04709644e-01 -5.93662702e-01 -2.64284329e-03 1.89605370e+02] [ 5.93659889e-01 8.04713978e-01 -1.82996922e-03 3.71173420e+01] [ 3.21311741e-03 -9.63561772e-05 9.99994833e-01 -3.50911925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.350281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:189.63, Y:37.13, Z:-0.35 [[ 8.07358163e-01 -5.90057857e-01 -2.12668490e-03 1.89630094e+02] [ 5.90056022e-01 8.07360961e-01 -1.47309664e-03 3.71293204e+01] [ 2.58621461e-03 -6.55466303e-05 9.99996654e-01 -3.50332807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.380281693 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:189.66, Y:37.14, Z:-0.35 [[ 8.12733032e-01 -5.82629599e-01 -2.78732672e-03 1.89656774e+02] [ 5.82626401e-01 8.12737809e-01 -1.93136512e-03 3.71405046e+01] [ 3.39063630e-03 -5.42859110e-05 9.99994250e-01 -3.50988388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.410281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:189.68, Y:37.15, Z:-0.35 [[ 8.15126922e-01 -5.79271280e-01 -3.58948527e-03 1.89680322e+02] [ 5.79265942e-01 8.15134824e-01 -2.48754927e-03 3.71539509e+01] [ 4.36688030e-03 -5.15981840e-05 9.99990464e-01 -3.51663156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.440281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:189.70, Y:37.17, Z:-0.35 [[ 8.18425952e-01 -5.74604897e-01 -2.85890466e-03 1.89704787e+02] [ 5.74601479e-01 8.18430945e-01 -1.98204156e-03 3.71665950e+01] [ 3.47870683e-03 -2.05765879e-05 9.99993949e-01 -3.52500259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.470281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:189.73, Y:37.18, Z:-0.35 [[ 8.20217337e-01 -5.72051508e-01 -7.68899661e-04 1.89729075e+02] [ 5.72051260e-01 8.20217698e-01 -5.33480825e-04 3.71806889e+01] [ 9.35843621e-04 -2.27979764e-06 9.99999562e-01 -3.51504035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.500281693 meters Centerline goodness : 0.999348 Centerline is valid? [True, True] Translation: X:189.75, Y:37.19, Z:-0.35 [[ 8.20558443e-01 -5.71562573e-01 -2.57477951e-04 1.89751991e+02] [ 5.71562545e-01 8.20558484e-01 -1.78857563e-04 3.71948262e+01] [ 3.13504005e-04 -4.01669665e-07 9.99999951e-01 -3.51088398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.530281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:189.78, Y:37.21, Z:-0.35 [[ 8.20607765e-01 -5.71491815e-01 3.84765431e-05 1.89776060e+02] [ 5.71491814e-01 8.20607766e-01 2.64358418e-05 3.72093212e+01] [-4.66820173e-05 2.95572374e-07 9.99999999e-01 -3.51348207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.560281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:189.80, Y:37.22, Z:-0.35 [[ 8.20357578e-01 -5.71850828e-01 2.71616994e-04 1.89801393e+02] [ 5.71850797e-01 8.20357623e-01 1.88305786e-04 3.72223190e+01] [-3.30505891e-04 8.46316190e-07 9.99999945e-01 -3.51328156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.590281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:189.82, Y:37.24, Z:-0.35 [[ 8.20162733e-01 -5.72130293e-01 1.41682176e-04 1.89824431e+02] [ 5.72130284e-01 8.20162745e-01 9.81596597e-05 3.72367793e+01] [-1.72362557e-04 5.53768606e-07 9.99999985e-01 -3.51153604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.620281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:189.85, Y:37.25, Z:-0.35 [[ 8.20549302e-01 -5.71575600e-01 4.20570607e-04 1.89847685e+02] [ 5.71575525e-01 8.20549410e-01 2.91949279e-04 3.72498140e+01] [-5.11970048e-04 8.29088609e-07 9.99999869e-01 -3.51069850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.650281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:189.87, Y:37.27, Z:-0.35 [[ 8.21322418e-01 -5.70463910e-01 6.43114120e-04 1.89871165e+02] [ 5.70463735e-01 8.21322670e-01 4.46701634e-04 3.72654509e+01] [-7.83031367e-04 -1.27827466e-08 9.99999693e-01 -3.50343498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.68028169299998 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:189.89, Y:37.28, Z:-0.35 [[ 8.24066953e-01 -5.66489761e-01 1.73402232e-03 1.89892815e+02] [ 5.66488479e-01 8.24068778e-01 1.20532194e-03 3.72809242e+01] [-2.11175619e-03 -1.09623168e-05 9.99997770e-01 -3.49367902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.71028169299998 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:189.92, Y:37.30, Z:-0.35 [[ 8.25801684e-01 -5.63956926e-01 2.04040991e-03 1.89915257e+02] [ 5.63955142e-01 8.25804205e-01 1.41884300e-03 3.72977426e+01] [-2.48514542e-03 -2.09832798e-05 9.99996912e-01 -3.49042767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.740281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:189.94, Y:37.32, Z:-0.35 [[ 8.27507097e-01 -5.61452267e-01 1.83212794e-03 1.89937466e+02] [ 5.61450821e-01 8.27509125e-01 1.27446229e-03 3.73154827e+01] [-2.23165233e-03 -2.59768511e-05 9.99997510e-01 -3.48713063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.770281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:189.96, Y:37.34, Z:-0.35 [[ 8.30332724e-01 -5.57267326e-01 8.34212650e-04 1.89955604e+02] [ 5.57267024e-01 8.30333143e-01 5.80375505e-04 3.73364386e+01] [-1.01609872e-03 -1.70255729e-05 9.99999484e-01 -3.49340195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.800281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:189.97, Y:37.36, Z:-0.35 [[ 8.33046127e-01 -5.53203076e-01 7.12566206e-04 1.89973385e+02] [ 5.53202854e-01 8.33046431e-01 4.95877460e-04 3.73580840e+01] [-8.67921671e-04 -1.88951382e-05 9.99999623e-01 -3.50365320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.830281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:189.99, Y:37.38, Z:-0.35 [[ 8.34221541e-01 -5.51428410e-01 1.06286218e-03 1.89994322e+02] [ 5.51427914e-01 8.34222217e-01 7.40009798e-04 3.73767179e+01] [-1.29472567e-03 -3.12402403e-05 9.99999161e-01 -3.50584991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.860281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:190.01, Y:37.40, Z:-0.35 [[ 8.36269324e-01 -5.48318042e-01 9.71278110e-04 1.90011707e+02] [ 5.48317626e-01 8.36269887e-01 6.76472640e-04 3.73995262e+01] [-1.18317279e-03 -3.31444098e-05 9.99999300e-01 -3.48752792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.890281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:190.03, Y:37.42, Z:-0.35 [[ 8.37165439e-01 -5.46949549e-01 4.67268190e-04 1.90031098e+02] [ 5.46949453e-01 8.37165569e-01 3.25376037e-04 3.74209870e+01] [-5.69145117e-04 -1.68214920e-05 9.99999838e-01 -3.48363378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.920281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:190.05, Y:37.44, Z:-0.35 [[ 8.37968341e-01 -5.45718687e-01 -4.17873847e-04 1.90049686e+02] [ 5.45718609e-01 8.37968445e-01 -2.91557726e-04 3.74424996e+01] [ 5.09273597e-04 1.62746094e-05 9.99999870e-01 -3.48542203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.950281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:190.06, Y:37.47, Z:-0.35 [[ 8.39267372e-01 -5.43715529e-01 -1.92404839e-03 1.90064034e+02] [ 5.43713879e-01 8.39269574e-01 -1.34169441e-03 3.74687845e+01] [ 2.34429536e-03 7.99085227e-05 9.99997249e-01 -3.50333005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 211.980281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:190.08, Y:37.50, Z:-0.35 [[ 8.38901453e-01 -5.44280912e-01 -1.62491690e-03 1.90080120e+02] [ 5.44279736e-01 8.38903024e-01 -1.13370315e-03 3.74953756e+01] [ 1.98020068e-03 6.66558794e-05 9.99998037e-01 -3.50972516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.010281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:190.10, Y:37.52, Z:-0.35 [[ 8.38118056e-01 -5.45488413e-01 -7.17454107e-04 1.90100023e+02] [ 5.45488184e-01 8.38118363e-01 -5.00919944e-04 3.75161618e+01] [ 8.74557487e-04 2.84673123e-05 9.99999617e-01 -3.50619726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.040281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:190.12, Y:37.54, Z:-0.35 [[ 8.35852026e-01 -5.48954804e-01 -1.16151277e-04 1.90117846e+02] [ 5.48954798e-01 8.35852034e-01 -8.12598402e-05 3.75386304e+01] [ 1.41693261e-04 4.15940157e-06 9.99999990e-01 -3.49848365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.070281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:190.14, Y:37.56, Z:-0.35 [[ 8.34081955e-01 -5.51639999e-01 -7.77513443e-04 1.90137545e+02] [ 5.51639732e-01 8.34082317e-01 -5.42962692e-04 3.75571395e+01] [ 9.48030152e-04 2.39680758e-05 9.99999550e-01 -3.49988633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.100281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:190.16, Y:37.58, Z:-0.35 [[ 8.30585191e-01 -5.56890197e-01 -1.24497894e-03 1.90156277e+02] [ 5.56889518e-01 8.30586123e-01 -8.69692846e-04 3.75791718e+01] [ 1.51838566e-03 2.90382732e-05 9.99998847e-01 -3.51282400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.130281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:190.18, Y:37.60, Z:-0.35 [[ 8.29004645e-01 -5.59241538e-01 -4.48422973e-04 1.90177769e+02] [ 5.59241450e-01 8.29004766e-01 -3.13524448e-04 3.75964966e+01] [ 5.47080677e-04 9.13651012e-06 9.99999850e-01 -3.51485709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.160281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:190.20, Y:37.61, Z:-0.35 [[ 8.28946484e-01 -5.59327745e-01 -4.48433671e-04 1.90201021e+02] [ 5.59327657e-01 8.28946605e-01 -3.13509120e-04 3.76129578e+01] [ 5.47081918e-04 9.06092774e-06 9.99999850e-01 -3.51520041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.190281693 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:190.22, Y:37.63, Z:-0.35 [[ 8.27434919e-01 -5.61561575e-01 2.29868654e-04 1.90223231e+02] [ 5.61561552e-01 8.27434951e-01 1.60439509e-04 3.76296059e+01] [-2.80298021e-04 -3.66785410e-06 9.99999961e-01 -3.51482117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.220281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:190.24, Y:37.65, Z:-0.35 [[ 8.25129154e-01 -5.64943548e-01 8.16706484e-04 1.90244909e+02] [ 5.64943259e-01 8.25129558e-01 5.70857857e-04 3.76471289e+01] [-9.96391123e-04 -9.63863812e-06 9.99999504e-01 -3.50669172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.250281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:190.27, Y:37.67, Z:-0.35 [[ 8.24334378e-01 -5.66103095e-01 3.45128739e-04 1.90266177e+02] [ 5.66103043e-01 8.24334450e-01 2.41158975e-04 3.76655512e+01] [-4.21022352e-04 -3.41720363e-06 9.99999911e-01 -3.49899472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.280281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:190.29, Y:37.68, Z:-0.35 [[ 8.24590516e-01 -5.65730041e-01 2.95953737e-05 1.90287905e+02] [ 5.65730041e-01 8.24590517e-01 2.05866186e-05 3.76820054e+01] [-3.60505330e-05 -2.32538469e-07 9.99999999e-01 -3.49912746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.310281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:190.31, Y:37.70, Z:-0.35 [[ 8.24887264e-01 -5.65297269e-01 9.49799848e-06 1.90310336e+02] [ 5.65297269e-01 8.24887264e-01 6.37270977e-06 3.76991337e+01] [-1.14372534e-05 1.12425480e-07 1.00000000e+00 -3.50652576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.340281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:190.33, Y:37.72, Z:-0.35 [[ 8.24375504e-01 -5.66043056e-01 5.35856104e-04 1.90331421e+02] [ 5.66042932e-01 8.24375678e-01 3.75008478e-04 3.77165352e+01] [-6.54017684e-04 -5.83024304e-06 9.99999786e-01 -3.51693944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.370281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:190.35, Y:37.73, Z:-0.35 [[ 8.23260670e-01 -5.67662504e-01 1.07251468e-03 1.90353584e+02] [ 5.67662008e-01 8.23261369e-01 7.50901196e-04 3.77334904e+01] [-1.30921835e-03 -9.36158794e-06 9.99999143e-01 -3.51391983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.400281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:190.38, Y:37.75, Z:-0.35 [[ 8.21271561e-01 -5.70534039e-01 1.98337784e-03 1.90375253e+02] [ 5.70532348e-01 8.21273956e-01 1.38935218e-03 3.77507125e+01] [-2.42156928e-03 -9.45422193e-06 9.99997068e-01 -3.51053842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.43028169299998 meters Centerline goodness : 0.999558 Centerline is valid? [True, True] Translation: X:190.40, Y:37.77, Z:-0.35 [[ 8.20287521e-01 -5.71950927e-01 7.20240366e-04 1.90396092e+02] [ 5.71950705e-01 8.20287838e-01 5.04585475e-04 3.77675037e+01] [-8.79402542e-04 -1.96318344e-06 9.99999613e-01 -3.51972837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.46028169299998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:190.42, Y:37.78, Z:-0.35 [[ 8.19960574e-01 -5.72419366e-01 -8.52237751e-04 1.90418231e+02] [ 5.72419054e-01 8.19961017e-01 -5.97728105e-04 3.77842232e+01] [ 1.04095288e-03 2.27635257e-06 9.99999458e-01 -3.53176066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.490281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:190.44, Y:37.80, Z:-0.35 [[ 8.19579436e-01 -5.72957817e-01 -2.98139984e-03 1.90440951e+02] [ 5.72954001e-01 8.19584858e-01 -2.09118300e-03 3.78009848e+01] [ 3.64166982e-03 5.68561583e-06 9.99993369e-01 -3.53855553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.520281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:190.46, Y:37.82, Z:-0.35 [[ 8.18870029e-01 -5.73954870e-01 -5.26153454e-03 1.90462868e+02] [ 5.73943002e-01 8.18886932e-01 -3.69094155e-03 3.78164931e+01] [ 6.42703576e-03 2.58048012e-06 9.99979346e-01 -3.54214995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.550281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:190.49, Y:37.83, Z:-0.35 [[ 8.17661762e-01 -5.75692517e-01 -2.71461412e-03 1.90485411e+02] [ 5.75689366e-01 8.17666268e-01 -1.90475316e-03 3.78317521e+01] [ 3.31620054e-03 -5.33065816e-06 9.99994501e-01 -3.53710955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.580281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:190.51, Y:37.85, Z:-0.35 [[ 8.16805480e-01 -5.76912111e-01 -1.10600515e-03 1.90508639e+02] [ 5.76911589e-01 8.16806229e-01 -7.76546112e-04 3.78474691e+01] [ 1.35139075e-03 -3.78006699e-06 9.99999087e-01 -3.53358615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.610281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:190.53, Y:37.86, Z:-0.35 [[ 8.15996609e-01 -5.78056607e-01 -3.07024746e-04 1.90532545e+02] [ 5.78056566e-01 8.15996666e-01 -2.15851141e-04 3.78629126e+01] [ 3.75305348e-04 -1.34387125e-06 9.99999930e-01 -3.53127912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.640281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:190.56, Y:37.88, Z:-0.35 [[ 8.14912917e-01 -5.79582930e-01 -7.51309940e-04 1.90557077e+02] [ 5.79582690e-01 8.14913263e-01 -5.28014186e-04 3.78762790e+01] [ 9.18280445e-04 -5.16065534e-06 9.99999578e-01 -3.53473847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.670281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:190.58, Y:37.89, Z:-0.35 [[ 8.14600864e-01 -5.80020201e-01 -1.41416650e-03 1.90579957e+02] [ 5.80019349e-01 8.14602091e-01 -9.94023452e-04 3.78917056e+01] [ 1.72853667e-03 -1.05115694e-05 9.99998506e-01 -3.53792702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.700281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:190.60, Y:37.91, Z:-0.35 [[ 8.14723146e-01 -5.79845386e-01 -2.35028492e-03 1.90602673e+02] [ 5.79843032e-01 8.14726536e-01 -1.65207301e-03 3.79058001e+01] [ 2.87278640e-03 -1.68142145e-05 9.99995873e-01 -3.54741177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.730281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:190.63, Y:37.92, Z:-0.35 [[ 8.15335680e-01 -5.78983589e-01 -2.39447875e-03 1.90625797e+02] [ 5.78981140e-01 8.15339196e-01 -1.68390620e-03 3.79210708e+01] [ 2.92726643e-03 -1.34092320e-05 9.99995715e-01 -3.54073010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.760281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:190.65, Y:37.94, Z:-0.35 [[ 8.17002320e-01 -5.76629896e-01 -2.27432098e-03 1.90647285e+02] [ 5.76627678e-01 8.17005485e-01 -1.59963585e-03 3.79368595e+01] [ 2.78053057e-03 -4.53022478e-06 9.99996134e-01 -3.53112939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.790281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:190.67, Y:37.95, Z:-0.35 [[ 8.17507190e-01 -5.75914917e-01 -2.00058815e-03 1.90669222e+02] [ 5.75913197e-01 8.17509638e-01 -1.40782248e-03 3.79542141e+01] [ 2.44628607e-03 -1.26011903e-06 9.99997008e-01 -3.52840124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.820281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:190.69, Y:37.97, Z:-0.35 [[ 8.17676969e-01 -5.75676359e-01 -1.05046148e-03 1.90690989e+02] [ 5.75675884e-01 8.17677644e-01 -7.39381581e-04 3.79707526e+01] [ 1.28458337e-03 -1.50051301e-07 9.99999175e-01 -3.52487205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.850281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:190.71, Y:37.99, Z:-0.35 [[ 8.16700343e-01 -5.77059722e-01 1.62111973e-03 1.90713986e+02] [ 5.77058594e-01 8.16701951e-01 1.14098414e-03 3.79860461e+01] [-1.98238763e-03 3.63893260e-06 9.99998035e-01 -3.52544007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.880281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:190.74, Y:38.00, Z:-0.35 [[ 8.15658237e-01 -5.78527947e-01 2.65616260e-03 1.90736125e+02] [ 5.78524925e-01 8.15662561e-01 1.87015292e-03 3.80012844e+01] [-3.24846812e-03 1.12506337e-05 9.99994724e-01 -3.52366554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.910281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:190.76, Y:38.02, Z:-0.35 [[ 8.13289424e-01 -5.81849216e-01 3.43549043e-03 1.90759542e+02] [ 5.81844185e-01 8.13296680e-01 2.41971525e-03 3.80165580e+01] [-4.20198238e-03 3.09913083e-05 9.99991171e-01 -3.52213790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.940281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:190.78, Y:38.03, Z:-0.35 [[ 8.12244329e-01 -5.83311173e-01 2.68818723e-03 1.90782756e+02] [ 5.83308098e-01 8.12248776e-01 1.89403930e-03 3.80322341e+01] [-3.28829107e-03 2.96187005e-05 9.99994593e-01 -3.52153496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 212.970281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:190.81, Y:38.05, Z:-0.35 [[ 8.11029833e-01 -5.85004481e-01 6.05365379e-04 1.90805111e+02] [ 5.85004326e-01 8.11030059e-01 4.26517423e-04 3.80470344e+01] [-7.40484123e-04 8.22301097e-06 9.99999726e-01 -3.53990587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.000281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:190.83, Y:38.06, Z:-0.35 [[ 8.10278999e-01 -5.86044284e-01 2.05143890e-04 1.90827809e+02] [ 5.86044266e-01 8.10279025e-01 1.44388547e-04 3.80641048e+01] [-2.50841874e-04 3.22839336e-06 9.99999969e-01 -3.54397763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.030281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:190.85, Y:38.08, Z:-0.35 [[ 8.09036206e-01 -5.87758418e-01 6.77145722e-04 1.90849694e+02] [ 5.87758224e-01 8.09036490e-01 4.77432184e-04 3.80791552e+01] [-8.28450383e-04 1.17380437e-05 9.99999657e-01 -3.53358574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.060281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:190.87, Y:38.09, Z:-0.35 [[ 8.08479951e-01 -5.88522946e-01 9.54862461e-04 1.90873542e+02] [ 5.88522561e-01 8.08480514e-01 6.73435787e-04 3.80944640e+01] [-1.16832011e-03 1.74987694e-05 9.99999317e-01 -3.53051104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.090281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:190.90, Y:38.11, Z:-0.35 [[ 8.07751707e-01 -5.89522098e-01 9.36008433e-04 1.90897131e+02] [ 5.89521728e-01 8.07752249e-01 6.60382576e-04 3.81094424e+01] [-1.14537304e-03 1.83721561e-05 9.99999344e-01 -3.52853746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.120281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:190.92, Y:38.12, Z:-0.35 [[ 8.05739989e-01 -5.92269424e-01 1.90245611e-05 1.90920301e+02] [ 5.92269424e-01 8.05739989e-01 1.32883768e-05 3.81231644e+01] [-2.31991489e-05 5.60689296e-07 1.00000000e+00 -3.53905814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.150281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:190.94, Y:38.14, Z:-0.36 [[ 8.04100760e-01 -5.94492874e-01 -4.35266423e-04 1.90944229e+02] [ 5.94492795e-01 8.04100878e-01 -3.07678533e-04 3.81386489e+01] [ 5.32910808e-04 -1.13582099e-05 9.99999858e-01 -3.55254762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.18028169299998 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:190.97, Y:38.15, Z:-0.36 [[ 8.00854502e-01 -5.98857982e-01 -1.08801902e-03 1.90969071e+02] [ 5.98857490e-01 8.00855240e-01 -7.68796798e-04 3.81500515e+01] [ 1.33174583e-03 -3.58739631e-05 9.99999113e-01 -3.55589942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.21028169299998 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:190.99, Y:38.16, Z:-0.36 [[ 7.99455752e-01 -6.00724349e-01 -8.69467981e-04 1.90994032e+02] [ 6.00724036e-01 7.99456225e-01 -6.14732985e-04 3.81637097e+01] [ 1.06438666e-03 -3.08584932e-05 9.99999433e-01 -3.55073578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.240281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:191.02, Y:38.18, Z:-0.35 [[ 7.98550342e-01 -6.01927815e-01 -5.06308173e-04 1.91017586e+02] [ 6.01927709e-01 7.98550503e-01 -3.58036979e-04 3.81765341e+01] [ 6.19825062e-04 -1.88503656e-05 9.99999808e-01 -3.54427931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.270281693 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:191.04, Y:38.19, Z:-0.35 [[ 7.97910087e-01 -6.02776487e-01 -2.16115735e-06 1.91043328e+02] [ 6.02776487e-01 7.97910087e-01 -1.67644808e-06 3.81868964e+01] [ 2.73493277e-06 3.49599988e-08 1.00000000e+00 -3.54175351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.300281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:191.07, Y:38.20, Z:-0.35 [[ 7.98109206e-01 -6.02512188e-01 -8.70622381e-04 1.91067008e+02] [ 6.02511874e-01 7.98109681e-01 -6.15816617e-04 3.81994981e+01] [ 1.06588917e-03 -3.30714107e-05 9.99999431e-01 -3.54138327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.330281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:191.09, Y:38.21, Z:-0.35 [[ 8.00017704e-01 -5.99972206e-01 -2.24175071e-03 1.91092281e+02] [ 5.99970115e-01 8.00020841e-01 -1.58614423e-03 3.82099515e+01] [ 2.74508974e-03 -7.60399681e-05 9.99996229e-01 -3.53620321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.360281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:191.12, Y:38.22, Z:-0.35 [[ 8.01263051e-01 -5.98309194e-01 -1.90574643e-03 1.91116387e+02] [ 5.98307676e-01 8.01265315e-01 -1.34897669e-03 3.82242968e+01] [ 2.33411367e-03 -5.93375423e-05 9.99997274e-01 -3.53274527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.390281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:191.14, Y:38.24, Z:-0.35 [[ 8.02497955e-01 -5.96653410e-01 -1.31956592e-03 1.91139652e+02] [ 5.96652680e-01 8.02499039e-01 -9.34210767e-04 3.82384242e+01] [ 1.61635042e-03 -3.76203113e-05 9.99998693e-01 -3.53053820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.420281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:191.16, Y:38.25, Z:-0.35 [[ 8.05147220e-01 -5.93074859e-01 -4.06389523e-04 1.91163938e+02] [ 5.93074789e-01 8.05147323e-01 -2.87872220e-04 3.82514916e+01] [ 4.97933212e-04 -9.23986277e-06 9.99999876e-01 -3.53177510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.450281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:191.19, Y:38.27, Z:-0.35 [[ 8.06438766e-01 -5.91317608e-01 -6.02783783e-05 1.91187435e+02] [ 5.91317606e-01 8.06438768e-01 -4.29623324e-05 3.82664506e+01] [ 7.40152048e-05 -9.97175987e-07 9.99999997e-01 -3.53076388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.480281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:191.21, Y:38.28, Z:-0.35 [[ 8.08502366e-01 -5.88492896e-01 1.88927835e-04 1.91210036e+02] [ 5.88492880e-01 8.08502388e-01 1.33618184e-04 3.82805574e+01] [-2.31381958e-04 3.15206813e-06 9.99999973e-01 -3.53378820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.510281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:191.23, Y:38.30, Z:-0.35 [[ 8.09496609e-01 -5.87124524e-01 -1.83119790e-04 1.91232842e+02] [ 5.87124509e-01 8.09496630e-01 -1.30060562e-04 3.82967765e+01] [ 2.24596598e-04 -2.23053287e-06 9.99999975e-01 -3.52888208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.540281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:191.26, Y:38.31, Z:-0.35 [[ 8.11382643e-01 -5.84514024e-01 -1.24941831e-03 1.91255520e+02] [ 5.84513353e-01 8.11383605e-01 -8.86124485e-04 3.83111727e+01] [ 1.53170973e-03 -1.13156614e-05 9.99998827e-01 -3.53905483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.570281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:191.28, Y:38.33, Z:-0.35 [[ 8.12009537e-01 -5.83642645e-01 -1.33236872e-03 1.91278961e+02] [ 5.83641880e-01 8.12010630e-01 -9.45319425e-04 3.83268059e+01] [ 1.63362629e-03 -1.00177958e-05 9.99998666e-01 -3.53948394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.600281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:191.30, Y:38.34, Z:-0.35 [[ 8.12516090e-01 -5.82937859e-01 -1.02815490e-03 1.91301554e+02] [ 5.82937402e-01 8.12516740e-01 -7.29812290e-04 3.83428478e+01] [ 1.26082828e-03 -6.36571738e-06 9.99999205e-01 -3.53692574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.630281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:191.32, Y:38.36, Z:-0.35 [[ 8.14225143e-01 -5.80548885e-01 6.39075362e-04 1.91323895e+02] [ 5.80548708e-01 8.14225394e-01 4.53378343e-04 3.83604633e+01] [-7.83559680e-04 1.86232884e-06 9.99999693e-01 -3.52986893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.660281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:191.35, Y:38.38, Z:-0.35 [[ 8.15984066e-01 -5.78072805e-01 1.35490088e-03 1.91345840e+02] [ 5.78072005e-01 8.15985191e-01 9.61850716e-04 3.83767281e+01] [-1.66159879e-03 -1.62459241e-06 9.99998620e-01 -3.53071188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.690281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:191.37, Y:38.39, Z:-0.35 [[ 8.16297615e-01 -5.77630827e-01 9.11957784e-04 1.91368592e+02] [ 5.77630464e-01 8.16298124e-01 6.47542686e-04 3.83934618e+01] [-1.11847005e-03 -1.81295266e-06 9.99999375e-01 -3.53029375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.720281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:191.39, Y:38.41, Z:-0.35 [[ 8.16202963e-01 -5.77765237e-01 2.31652393e-04 1.91390273e+02] [ 5.77765213e-01 8.16202996e-01 1.64373860e-04 3.84098251e+01] [-2.84044880e-04 -3.21737001e-07 9.99999960e-01 -3.53270337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.750281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:191.41, Y:38.43, Z:-0.35 [[ 8.14953899e-01 -5.79524811e-01 -1.06595109e-03 1.91411991e+02] [ 5.79524315e-01 8.14954596e-01 -7.57925654e-04 3.84265782e+01] [ 1.30793846e-03 -7.01093196e-08 9.99999145e-01 -3.53950114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.780281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:191.44, Y:38.44, Z:-0.35 [[ 8.13888420e-01 -5.81019457e-01 -1.42504454e-03 1.91435140e+02] [ 5.81018573e-01 8.13889668e-01 -1.01357210e-03 3.84424392e+01] [ 1.74873414e-03 -3.04275058e-06 9.99998471e-01 -3.54646141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.810281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:191.46, Y:38.46, Z:-0.36 [[ 8.11752852e-01 -5.84000539e-01 -8.23430214e-04 1.91458571e+02] [ 5.84000245e-01 8.11753270e-01 -5.85944717e-04 3.84554691e+01] [ 1.01061420e-03 -5.24115090e-06 9.99999489e-01 -3.55055944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.840281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:191.48, Y:38.47, Z:-0.35 [[ 8.10611508e-01 -5.85584309e-01 1.75264392e-05 1.91481854e+02] [ 5.85584309e-01 8.10611508e-01 1.22188459e-05 3.84702473e+01] [-2.13622977e-05 3.58470649e-07 1.00000000e+00 -3.54515069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.870281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:191.51, Y:38.48, Z:-0.35 [[ 8.08845220e-01 -5.88017987e-01 2.06334652e-03 1.91506109e+02] [ 5.88016154e-01 8.08847851e-01 1.46848741e-03 3.84838922e+01] [-2.53243041e-03 2.55020659e-05 9.99996793e-01 -3.53012376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.900281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:191.53, Y:38.50, Z:-0.35 [[ 8.08484268e-01 -5.88512605e-01 2.47020007e-03 1.91529717e+02] [ 5.88509978e-01 8.08488041e-01 1.75872317e-03 3.84989786e+01] [-3.03215797e-03 3.18373746e-05 9.99995403e-01 -3.52551930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.93028169299998 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:191.55, Y:38.51, Z:-0.35 [[ 8.08542828e-01 -5.88434386e-01 1.86237433e-03 1.91552893e+02] [ 5.88432892e-01 8.08544973e-01 1.32637655e-03 3.85140611e+01] [-2.28629897e-03 2.34500696e-05 9.99997386e-01 -3.53271451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.96028169299998 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:191.58, Y:38.53, Z:-0.36 [[ 8.09221781e-01 -5.87501598e-01 -1.40776524e-03 1.91576031e+02] [ 5.87500742e-01 8.09223005e-01 -1.00333730e-03 3.85287771e+01] [ 1.72865829e-03 -1.51407216e-05 9.99998506e-01 -3.56300132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 213.990281693 meters Centerline goodness : 0.999073 Centerline is valid? [True, True] Translation: X:191.60, Y:38.54, Z:-0.36 [[ 8.09447373e-01 -5.87187928e-01 -2.29943199e-03 1.91598953e+02] [ 5.87185641e-01 8.09450639e-01 -1.63930222e-03 3.85443379e+01] [ 2.82385517e-03 -2.32645724e-05 9.99996013e-01 -3.57283916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.020281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:191.62, Y:38.56, Z:-0.36 [[ 8.08820584e-01 -5.88051752e-01 -2.09755118e-03 1.91623790e+02] [ 5.88049850e-01 8.08823303e-01 -1.49600261e-03 3.85578961e+01] [ 2.57627523e-03 -2.34669472e-05 9.99996681e-01 -3.56485701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.050281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:191.65, Y:38.57, Z:-0.36 [[ 8.08719737e-01 -5.88190435e-01 -2.09730264e-03 1.91646875e+02] [ 5.88188532e-01 8.08722456e-01 -1.49635105e-03 3.85745971e+01] [ 2.57627512e-03 -2.34807330e-05 9.99996681e-01 -3.56520025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.080281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:191.67, Y:38.59, Z:-0.36 [[ 8.07753583e-01 -5.89517244e-01 -1.88901681e-03 1.91670069e+02] [ 5.89515703e-01 8.07755791e-01 -1.34831765e-03 3.85896644e+01] [ 2.32072077e-03 -2.44966591e-05 9.99997307e-01 -3.56316145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.110281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:191.69, Y:38.60, Z:-0.36 [[ 8.05824468e-01 -5.92152220e-01 -1.63557624e-03 1.91692127e+02] [ 5.92151069e-01 8.05826127e-01 -1.16783827e-03 3.86045235e+01] [ 2.00952809e-03 -2.74355671e-05 9.99997981e-01 -3.56222947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.140281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:191.72, Y:38.62, Z:-0.36 [[ 8.04919101e-01 -5.93383754e-01 -9.80398622e-04 1.91715094e+02] [ 5.93383341e-01 8.04919698e-01 -7.00428744e-04 3.86206875e+01] [ 1.20476520e-03 -1.79637354e-05 9.99999274e-01 -3.55791127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.170281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:191.74, Y:38.64, Z:-0.36 [[ 8.04176853e-01 -5.94389097e-01 1.09072941e-03 1.91738595e+02] [ 5.94388587e-01 8.04177593e-01 7.78978386e-04 3.86354327e+01] [-1.34015641e-03 2.18807241e-05 9.99999102e-01 -3.56172973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.200281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:191.76, Y:38.65, Z:-0.36 [[ 8.04358130e-01 -5.94142710e-01 1.56176862e-03 1.91762090e+02] [ 5.94141662e-01 8.04359646e-01 1.11595054e-03 3.86508540e+01] [-1.91925753e-03 3.02879138e-05 9.99998158e-01 -3.56365134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.230281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:191.78, Y:38.67, Z:-0.36 [[ 8.05161961e-01 -5.93052662e-01 1.66037151e-03 1.91784067e+02] [ 5.93051475e-01 8.05163672e-01 1.18681022e-03 3.86661548e+01] [-2.04071178e-03 2.91113267e-05 9.99997917e-01 -3.56361046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.260281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:191.81, Y:38.68, Z:-0.36 [[ 8.07970107e-01 -5.89223462e-01 -1.33591071e-04 1.91806941e+02] [ 5.89223454e-01 8.07970118e-01 -9.58028986e-05 3.86828582e+01] [ 1.64386909e-04 -1.30911411e-06 9.99999986e-01 -3.57103618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.290281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:191.83, Y:38.70, Z:-0.36 [[ 8.09371944e-01 -5.87293918e-01 -1.70604062e-03 1.91829468e+02] [ 5.87292649e-01 8.09373742e-01 -1.22084182e-03 3.86994997e+01] [ 2.09781746e-03 -1.38300026e-05 9.99997799e-01 -3.57334081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.320281693 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:191.85, Y:38.72, Z:-0.36 [[ 8.12419449e-01 -5.83063655e-01 -3.37845543e-03 1.91850432e+02] [ 5.83058642e-01 8.12426473e-01 -2.41774685e-03 3.87159561e+01] [ 4.15444695e-03 -5.61307138e-06 9.99991370e-01 -3.57572040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.350281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:191.87, Y:38.73, Z:-0.36 [[ 8.13587580e-01 -5.81436925e-01 -2.52018529e-03 1.91872171e+02] [ 5.81434125e-01 8.13591484e-01 -1.80439577e-03 3.87332553e+01] [ 3.09954362e-03 2.71225704e-06 9.99995196e-01 -3.57008169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.380281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:191.89, Y:38.75, Z:-0.36 [[ 8.14517877e-01 -5.80137401e-01 -1.10606430e-03 1.91894408e+02] [ 5.80136860e-01 8.14518628e-01 -7.92387559e-04 3.87509332e+01] [ 1.36060364e-03 3.74516020e-06 9.99999074e-01 -3.56201743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.410281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:191.91, Y:38.77, Z:-0.36 [[ 8.14746711e-01 -5.79815474e-01 1.34630217e-03 1.91914300e+02] [ 5.79814672e-01 8.14747824e-01 9.64263874e-04 3.87709604e+01] [-1.65599188e-03 -5.02507033e-06 9.99998629e-01 -3.55374002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.440281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:191.93, Y:38.79, Z:-0.36 [[ 8.13875548e-01 -5.81035433e-01 2.10176215e-03 1.91933548e+02] [ 5.81033481e-01 8.13878262e-01 1.50597090e-03 3.87895932e+01] [-2.58560098e-03 -4.47871431e-06 9.99996657e-01 -3.55232189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.470281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:191.95, Y:38.81, Z:-0.36 [[ 8.13053662e-01 -5.82185538e-01 1.93435549e-03 1.91954528e+02] [ 5.82183888e-01 8.13055963e-01 1.38630985e-03 3.88062923e+01] [-2.37982881e-03 -9.93701590e-07 9.99997168e-01 -3.55608262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.500281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:191.98, Y:38.82, Z:-0.36 [[ 8.11621838e-01 -5.84179538e-01 2.06366135e-03 1.91977145e+02] [ 5.84177665e-01 8.11624462e-01 1.47944839e-03 3.88233133e+01] [-2.53918151e-03 4.79224834e-06 9.99996776e-01 -3.55930205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.530281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:192.00, Y:38.84, Z:-0.36 [[ 8.07593705e-01 -5.89732210e-01 2.88585496e-03 1.91999296e+02] [ 5.89728579e-01 8.07598861e-01 2.06963824e-03 3.88390787e+01] [-3.55114551e-03 3.04443269e-05 9.99993694e-01 -3.55860587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.560281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:192.02, Y:38.85, Z:-0.36 [[ 8.05387819e-01 -5.92741215e-01 2.88307858e-03 1.92022566e+02] [ 5.92737608e-01 8.05392979e-01 2.06837863e-03 3.88549181e+01] [-3.54802451e-03 4.30621412e-05 9.99993705e-01 -3.55734062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.590281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:192.05, Y:38.87, Z:-0.36 [[ 8.02002674e-01 -5.97317803e-01 1.77542843e-03 1.92045730e+02] [ 5.97316446e-01 8.02004639e-01 1.27402391e-03 3.88683703e+01] [-2.18489900e-03 3.87220206e-05 9.99997612e-01 -3.55494329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.620281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:192.07, Y:38.88, Z:-0.36 [[ 8.00994270e-01 -5.98670260e-01 1.44871336e-03 1.92069359e+02] [ 5.98669358e-01 8.00995579e-01 1.03983537e-03 3.88842188e+01] [-1.78293151e-03 3.43981187e-05 9.99998410e-01 -3.56433630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.650281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:192.09, Y:38.90, Z:-0.36 [[ 8.00532948e-01 -5.99288078e-01 8.93763104e-04 1.92091614e+02] [ 5.99287735e-01 8.00533447e-01 6.41670120e-04 3.88989863e+01] [-1.10003251e-03 2.19431929e-05 9.99999395e-01 -3.56126420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.68028169299998 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:192.12, Y:38.91, Z:-0.36 [[ 8.00530827e-01 -5.99289818e-01 1.45227682e-03 1.92115319e+02] [ 5.99288912e-01 8.00532143e-01 1.04303133e-03 3.89133222e+01] [-1.78767233e-03 3.53546651e-05 9.99998401e-01 -3.56822707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.71028169299998 meters Centerline goodness : 0.999090 Centerline is valid? [True, True] Translation: X:192.14, Y:38.93, Z:-0.36 [[ 8.00706972e-01 -5.99054402e-01 1.47290783e-03 1.92138879e+02] [ 5.99053468e-01 8.00708326e-01 1.05826714e-03 3.89289782e+01] [-1.81332915e-03 3.49886683e-05 9.99998355e-01 -3.56580178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.740281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:192.16, Y:38.94, Z:-0.36 [[ 8.01444843e-01 -5.98068607e-01 3.24484277e-04 1.92162994e+02] [ 5.98068561e-01 8.01444909e-01 2.33032776e-04 3.89422326e+01] [-3.99425860e-04 7.30092800e-06 9.99999920e-01 -3.57480219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.770281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:192.19, Y:38.96, Z:-0.36 [[ 8.01913132e-01 -5.97440477e-01 -4.51738381e-04 1.92186247e+02] [ 5.97440389e-01 8.01913260e-01 -3.25177459e-04 3.89569989e+01] [ 5.56529174e-04 -9.12267937e-06 9.99999845e-01 -3.57720803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.800281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:192.21, Y:38.97, Z:-0.36 [[ 8.04391721e-01 -5.94097291e-01 -1.53899219e-03 1.92208518e+02] [ 5.94096260e-01 8.04393193e-01 -1.10726152e-03 3.89729362e+01] [ 1.89577591e-03 -2.36375026e-05 9.99998203e-01 -3.57314682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.830281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:192.23, Y:38.99, Z:-0.36 [[ 8.06411919e-01 -5.91350208e-01 -2.17886665e-03 1.92229172e+02] [ 5.91348130e-01 8.06414863e-01 -1.56803052e-03 3.89903494e+01] [ 2.68432562e-03 -2.39902180e-05 9.99996397e-01 -3.56841479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.860281693 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:192.25, Y:39.01, Z:-0.36 [[ 8.11811842e-01 -5.83913313e-01 -2.60324380e-03 1.92248531e+02] [ 5.83910305e-01 8.11816015e-01 -1.87417313e-03 3.90115242e+01] [ 3.20770965e-03 1.41506103e-06 9.99994855e-01 -3.57370848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.890281693 meters Centerline goodness : 0.998837 Centerline is valid? [True, True] Translation: X:192.27, Y:39.03, Z:-0.36 [[ 8.15111783e-01 -5.79298639e-01 -2.42250992e-03 1.92268643e+02] [ 5.79296013e-01 8.15115382e-01 -1.74434872e-03 3.90303078e+01] [ 2.98512394e-03 1.84888509e-05 9.99995544e-01 -3.57388551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.920281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:192.29, Y:39.05, Z:-0.36 [[ 8.18437192e-01 -5.74592038e-01 -2.13387297e-03 1.92288670e+02] [ 5.74589983e-01 8.18439973e-01 -1.53723431e-03 3.90502509e+01] [ 2.62972953e-03 3.20276954e-05 9.99996542e-01 -3.57568661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.950281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:192.31, Y:39.08, Z:-0.36 [[ 8.23975669e-01 -5.66620752e-01 -2.24074785e-03 1.92305648e+02] [ 5.66618454e-01 8.23978713e-01 -1.61484948e-03 3.90752970e+01] [ 2.76133576e-03 6.09475987e-05 9.99996186e-01 -3.57342755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 214.980281693 meters Centerline goodness : 0.998832 Centerline is valid? [True, True] Translation: X:192.33, Y:39.10, Z:-0.36 [[ 8.25641305e-01 -5.64191773e-01 -2.01952160e-03 1.92325068e+02] [ 5.64189897e-01 8.25643773e-01 -1.45601043e-03 3.90963741e+01] [ 2.48887454e-03 6.27486686e-05 9.99996901e-01 -3.57659577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.010281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:192.34, Y:39.12, Z:-0.36 [[ 8.27175850e-01 -5.61943098e-01 -2.59823595e-04 1.92341240e+02] [ 5.61943067e-01 8.27175891e-01 -1.87638613e-04 3.91219991e+01] [ 3.20362037e-04 9.20406166e-06 9.99999949e-01 -3.57453659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.040281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:192.36, Y:39.14, Z:-0.36 [[ 8.26870497e-01 -5.62392185e-01 4.58582519e-04 1.92359514e+02] [ 5.62392089e-01 8.26870624e-01 3.30610631e-04 3.91424592e+01] [-5.65121250e-04 -1.54689963e-05 9.99999840e-01 -3.58044127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.070281693 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:192.38, Y:39.17, Z:-0.36 [[ 8.25993499e-01 -5.63679369e-01 5.55035343e-04 1.92376245e+02] [ 5.63679227e-01 8.25993686e-01 4.00214104e-04 3.91676639e+01] [-6.84048122e-04 -1.77123549e-05 9.99999766e-01 -3.58478401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.100281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:192.40, Y:39.19, Z:-0.36 [[ 8.25450432e-01 -5.64474543e-01 2.72897304e-04 1.92395748e+02] [ 5.64474509e-01 8.25450477e-01 1.96707080e-04 3.91886582e+01] [-3.36299348e-04 -8.32837260e-06 9.99999943e-01 -3.58213858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.130281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:192.42, Y:39.21, Z:-0.36 [[ 8.24885142e-01 -5.65300362e-01 -5.78213262e-05 1.92415082e+02] [ 5.65300360e-01 8.24885144e-01 -4.20316759e-05 3.92095839e+01] [ 7.14564746e-05 1.98488842e-06 9.99999997e-01 -3.58357409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.160281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:192.43, Y:39.23, Z:-0.36 [[ 8.23334882e-01 -5.67555544e-01 6.13747833e-04 1.92432333e+02] [ 5.67555371e-01 8.23335110e-01 4.43089098e-04 3.92331829e+01] [-7.56797814e-04 -1.64748309e-05 9.99999714e-01 -3.58413518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.190281693 meters Centerline goodness : 0.999007 Centerline is valid? [True, True] Translation: X:192.45, Y:39.25, Z:-0.36 [[ 8.22114151e-01 -5.69322056e-01 8.48469524e-04 1.92452419e+02] [ 5.69321726e-01 8.22114588e-01 6.12916572e-04 3.92512844e+01] [-1.04648610e-03 -2.08352528e-05 9.99999452e-01 -3.58839451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.220281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:192.47, Y:39.27, Z:-0.36 [[ 8.18643801e-01 -5.74301575e-01 -1.67030380e-04 1.92472111e+02] [ 5.74301562e-01 8.18643818e-01 -1.21010050e-04 3.92722376e+01] [ 2.06234650e-04 3.13831869e-06 9.99999979e-01 -3.60078655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.250281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:192.49, Y:39.29, Z:-0.36 [[ 8.16807911e-01 -5.76909011e-01 -9.11187719e-04 1.92492025e+02] [ 5.76908635e-01 8.16808419e-01 -6.58910435e-04 3.92906519e+01] [ 1.12439717e-03 1.25311928e-05 9.99999368e-01 -3.60059472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.280281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:192.51, Y:39.31, Z:-0.36 [[ 8.14931426e-01 -5.79555922e-01 -1.30553064e-03 1.92512169e+02] [ 5.79555153e-01 8.14932471e-01 -9.44201745e-04 3.93086186e+01] [ 1.61113702e-03 1.28326645e-05 9.99998702e-01 -3.60315555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.310281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:192.53, Y:39.33, Z:-0.36 [[ 8.10778554e-01 -5.85351722e-01 -1.22357010e-03 1.92533607e+02] [ 5.85351052e-01 8.10779478e-01 -8.85390986e-04 3.93269342e+01] [ 1.51031067e-03 1.63797672e-06 9.99998859e-01 -3.60257798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.340281693 meters Centerline goodness : 0.999237 Centerline is valid? [True, True] Translation: X:192.56, Y:39.34, Z:-0.36 [[ 8.08355987e-01 -5.88692499e-01 -1.31901419e-03 1.92556575e+02] [ 5.88691725e-01 8.08357063e-01 -9.54820384e-04 3.93435773e+01] [ 1.62833003e-03 -4.65796298e-06 9.99998674e-01 -3.59874005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.370281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:192.58, Y:39.36, Z:-0.36 [[ 8.03820230e-01 -5.94871734e-01 -8.11871630e-04 1.92578751e+02] [ 5.94871443e-01 8.03820639e-01 -5.88045569e-04 3.93603978e+01] [ 1.00241086e-03 -1.02763239e-05 9.99999498e-01 -3.60392887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.400281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:192.60, Y:39.38, Z:-0.36 [[ 8.01813687e-01 -5.97573832e-01 -5.71540263e-04 1.92600445e+02] [ 5.97573688e-01 8.01813891e-01 -4.14015608e-04 3.93760234e+01] [ 7.05673815e-04 -9.57404241e-06 9.99999751e-01 -3.60061962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.43028169299998 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:192.63, Y:39.39, Z:-0.36 [[ 7.98213972e-01 -6.02373947e-01 -2.86653075e-04 1.92625210e+02] [ 6.02373911e-01 7.98214024e-01 -2.07926590e-04 3.93903589e+01] [ 3.54060066e-04 -6.70242451e-06 9.99999937e-01 -3.59526648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.46028169299998 meters Centerline goodness : 0.999334 Centerline is valid? [True, True] Translation: X:192.65, Y:39.41, Z:-0.36 [[ 7.96291873e-01 -6.04912600e-01 -7.50767494e-06 1.92649007e+02] [ 6.04912600e-01 7.96291873e-01 -5.71447200e-06 3.94052511e+01] [ 9.43505668e-06 8.90044221e-09 1.00000000e+00 -3.58860007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.490281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:192.67, Y:39.42, Z:-0.36 [[ 7.93255050e-01 -6.08889405e-01 3.43993855e-04 1.92674194e+02] [ 6.08889354e-01 7.93255125e-01 2.49189602e-04 3.94157018e+01] [-4.24603797e-04 1.17832858e-05 9.99999910e-01 -3.57458894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.520281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:192.70, Y:39.43, Z:-0.36 [[ 7.92073526e-01 -6.10425528e-01 4.51920178e-04 1.92698031e+02] [ 6.10425440e-01 7.92073655e-01 3.27488542e-04 3.94281514e+01] [-5.57861433e-04 1.64685690e-05 9.99999844e-01 -3.57300127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.550281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:192.72, Y:39.44, Z:-0.36 [[ 7.91045191e-01 -6.11757554e-01 4.47135841e-04 1.92722330e+02] [ 6.11757469e-01 7.91045318e-01 3.24037887e-04 3.94407041e+01] [-5.51937338e-04 1.72100782e-05 9.99999848e-01 -3.57746506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.580281693 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:192.75, Y:39.45, Z:-0.36 [[ 7.90106079e-01 -6.12967185e-01 1.90106985e-03 1.92749179e+02] [ 6.12969854e-01 7.90104877e-01 -1.49683695e-03 3.94519659e+01] [-5.84532631e-04 2.34795848e-03 9.99997073e-01 -3.57379796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.610281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:192.78, Y:39.46, Z:-0.36 [[ 7.89950181e-01 -6.13170965e-01 -2.79866889e-04 1.92776080e+02] [ 6.13169752e-01 7.89947522e-01 2.40159781e-03 3.94641273e+01] [-1.25150989e-03 -2.06874853e-03 9.99997077e-01 -3.56916326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.640281693 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:192.80, Y:39.47, Z:-0.36 [[ 7.91089920e-01 -6.11699740e-01 4.09555859e-04 1.92802093e+02] [ 6.11699668e-01 7.91090026e-01 2.97090586e-04 3.94739944e+01] [-5.05725789e-04 1.54998151e-05 9.99999872e-01 -3.55685625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.670281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:192.83, Y:39.49, Z:-0.36 [[ 7.92359522e-01 -6.10054199e-01 -5.12846752e-04 1.92827553e+02] [ 6.10054085e-01 7.92359687e-01 -3.72529168e-04 3.94869803e+01] [ 6.33622075e-04 -1.76872229e-05 9.99999799e-01 -3.55896800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.700281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:192.85, Y:39.50, Z:-0.36 [[ 7.94896924e-01 -6.06742784e-01 -1.44051658e-03 1.92853160e+02] [ 6.06741884e-01 7.94898228e-01 -1.04613417e-03 3.94968888e+01] [ 1.77979843e-03 -4.24529095e-05 9.99998415e-01 -3.56696719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.730281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:192.88, Y:39.51, Z:-0.36 [[ 7.95694200e-01 -6.05697220e-01 -1.27202260e-03 1.92877678e+02] [ 6.05696516e-01 7.95695216e-01 -9.24224012e-04 3.95104848e+01] [ 1.57194221e-03 -3.50599711e-05 9.99998764e-01 -3.56844409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.760281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:192.90, Y:39.52, Z:-0.36 [[ 7.96328125e-01 -6.04864303e-01 -8.32700093e-04 1.92902126e+02] [ 6.04864000e-01 7.96328560e-01 -6.05278770e-04 3.95233522e+01] [ 1.02921439e-03 -2.16698013e-05 9.99999470e-01 -3.56907115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.790281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:192.93, Y:39.53, Z:-0.36 [[ 7.96968089e-01 -6.04021122e-01 5.90831727e-04 1.92930465e+02] [ 6.04020970e-01 7.96968308e-01 4.29269577e-04 3.95324352e+01] [-7.30162053e-04 1.47605990e-05 9.99999733e-01 -3.56130455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.820281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:192.95, Y:39.55, Z:-0.36 [[ 7.97287186e-01 -6.03599635e-01 7.89840547e-04 1.92954470e+02] [ 6.03599362e-01 7.97287577e-01 5.74149892e-04 3.95454255e+01] [-9.76286722e-04 1.89848986e-05 9.99999523e-01 -3.56301001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.850281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:192.98, Y:39.56, Z:-0.36 [[ 7.99898662e-01 -6.00135071e-01 -1.64653683e-04 1.92980059e+02] [ 6.00135059e-01 7.99898679e-01 -1.20008014e-04 3.95577624e+01] [ 2.03727282e-04 -2.82019747e-06 9.99999979e-01 -3.55877334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.880281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:193.00, Y:39.57, Z:-0.36 [[ 8.02235088e-01 -5.97007652e-01 -8.53157020e-04 1.93002376e+02] [ 5.97007329e-01 8.02235541e-01 -6.20891375e-04 3.95726185e+01] [ 1.05510979e-03 -1.12401468e-05 9.99999443e-01 -3.56131872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.910281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:193.03, Y:39.59, Z:-0.36 [[ 8.05062651e-01 -5.93188570e-01 -1.20324918e-03 1.93025301e+02] [ 5.93187923e-01 8.05063551e-01 -8.76066035e-04 3.95890725e+01] [ 1.48836441e-03 -8.46483451e-06 9.99998892e-01 -3.55777181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.940281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:193.05, Y:39.61, Z:-0.36 [[ 8.10529596e-01 -5.85696434e-01 -1.20876957e-03 1.93047361e+02] [ 5.85695772e-01 8.10530498e-01 -8.80442124e-04 3.96064330e+01] [ 1.49541641e-03 5.65317386e-06 9.99998882e-01 -3.55458731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 215.970281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:193.07, Y:39.62, Z:-0.36 [[ 8.12718380e-01 -5.82656165e-01 -7.92866726e-04 1.93068164e+02] [ 5.82655879e-01 8.12718766e-01 -5.77608275e-04 3.96229523e+01] [ 9.80924690e-04 7.46440191e-06 9.99999519e-01 -3.55853838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.000281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:193.09, Y:39.64, Z:-0.36 [[ 8.12650743e-01 -5.82750496e-01 -7.92792692e-04 1.93091101e+02] [ 5.82750210e-01 8.12651130e-01 -5.77709899e-04 3.96398592e+01] [ 9.80924607e-04 7.47627122e-06 9.99999519e-01 -3.55882213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.030281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:193.11, Y:39.66, Z:-0.36 [[ 8.16282791e-01 -5.77652482e-01 -1.24430530e-04 1.93111583e+02] [ 5.77652475e-01 8.16282800e-01 -9.09160173e-05 3.96590168e+01] [ 1.54088365e-04 2.33557660e-06 9.99999988e-01 -3.56372605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.060281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:193.13, Y:39.68, Z:-0.36 [[ 8.17446768e-01 -5.76004120e-01 -1.85880677e-04 1.93132457e+02] [ 5.76004104e-01 8.17446789e-01 -1.35624927e-04 3.96767568e+01] [ 2.30068079e-04 3.79812490e-06 9.99999974e-01 -3.55890774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.090281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:193.15, Y:39.69, Z:-0.36 [[ 8.18121251e-01 -5.75045506e-01 -5.33242793e-04 1.93153676e+02] [ 5.75045375e-01 8.18121425e-01 -3.89084071e-04 3.96949509e+01] [ 6.59998400e-04 1.16791457e-05 9.99999782e-01 -3.55923625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.120281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:193.17, Y:39.71, Z:-0.36 [[ 8.18681572e-01 -5.74245730e-01 -1.52472297e-03 1.93172512e+02] [ 5.74244654e-01 8.18682991e-01 -1.11223876e-03 3.97142328e+01] [ 1.88696312e-03 3.50053621e-05 9.99998219e-01 -3.56291307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.150281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:193.19, Y:39.73, Z:-0.36 [[ 8.18688081e-01 -5.74236544e-01 -1.48894650e-03 1.93192704e+02] [ 5.74235517e-01 8.18689434e-01 -1.08668174e-03 3.97332878e+01] [ 1.84299714e-03 3.46474274e-05 9.99998301e-01 -3.56860697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.18028169299998 meters Centerline goodness : 0.999311 Centerline is valid? [True, True] Translation: X:193.22, Y:39.75, Z:-0.36 [[ 8.18338359e-01 -5.74734641e-01 -1.55675187e-03 1.93215257e+02] [ 5.74733518e-01 8.18339839e-01 -1.13660841e-03 3.97506838e+01] [ 1.92720030e-03 3.54127809e-05 9.99998142e-01 -3.57076683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.21028169299998 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:193.24, Y:39.77, Z:-0.36 [[ 8.17867552e-01 -5.75403601e-01 -1.83398920e-03 1.93237186e+02] [ 5.75402043e-01 8.17869607e-01 -1.33951713e-03 3.97678034e+01] [ 2.27072700e-03 4.02664695e-05 9.99997421e-01 -3.57182823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.240281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:193.26, Y:39.79, Z:-0.36 [[ 8.17227188e-01 -5.76312389e-01 -1.93769103e-03 1.93257497e+02] [ 5.76310652e-01 8.17229484e-01 -1.41544726e-03 3.97853856e+01] [ 2.39927803e-03 4.00299983e-05 9.99997121e-01 -3.56638618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.270281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:193.28, Y:39.80, Z:-0.36 [[ 8.17180877e-01 -5.76379268e-01 -1.53442072e-03 1.93278514e+02] [ 5.76378178e-01 8.17182317e-01 -1.12141335e-03 3.98034218e+01] [ 1.90026089e-03 3.19909289e-05 9.99998194e-01 -3.55705100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.300281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:193.30, Y:39.82, Z:-0.36 [[ 8.17355505e-01 -5.76133292e-01 -6.39445222e-04 1.93297716e+02] [ 5.76133102e-01 8.17355755e-01 -4.67648837e-04 3.98241893e+01] [ 7.92082296e-04 1.38297922e-05 9.99999686e-01 -3.55564572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.330281693 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:193.32, Y:39.84, Z:-0.36 [[ 8.17566092e-01 -5.75834563e-01 -4.91505398e-04 1.93317605e+02] [ 5.75834451e-01 8.17566240e-01 -3.59480005e-04 3.98422552e+01] [ 6.08839232e-04 1.08729213e-05 9.99999815e-01 -3.56426145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.360281693 meters Centerline goodness : 0.999301 Centerline is valid? [True, True] Translation: X:193.34, Y:39.86, Z:-0.36 [[ 8.17603321e-01 -5.75781676e-01 -5.20373812e-04 1.93337390e+02] [ 5.75781550e-01 8.17603487e-01 -3.80713950e-04 3.98602837e+01] [ 6.44667559e-04 1.16513493e-05 9.99999792e-01 -3.56919051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.390281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:193.36, Y:39.88, Z:-0.36 [[ 8.16898418e-01 -5.76780359e-01 -1.17941608e-03 1.93355768e+02] [ 5.76779714e-01 8.16899269e-01 -8.63088903e-04 3.98819522e+01] [ 1.46127687e-03 2.47926879e-05 9.99998932e-01 -3.57574747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.420281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:193.38, Y:39.90, Z:-0.36 [[ 8.15988924e-01 -5.78064964e-01 -1.72469958e-03 1.93376680e+02] [ 5.78063586e-01 8.15990746e-01 -1.26249987e-03 3.99015549e+01] [ 2.13714584e-03 3.31998874e-05 9.99997716e-01 -3.57243115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.450281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:193.39, Y:39.92, Z:-0.36 [[ 8.14178149e-01 -5.80613530e-01 -1.36762934e-03 1.93394348e+02] [ 5.80612667e-01 8.14179297e-01 -1.00154655e-03 3.99229672e+01] [ 1.69500697e-03 2.13744007e-05 9.99998563e-01 -3.56652669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.480281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:193.41, Y:39.94, Z:-0.36 [[ 8.13439667e-01 -5.81649012e-01 -5.78159018e-04 1.93414997e+02] [ 5.81648858e-01 8.13439873e-01 -4.23688820e-04 3.99426856e+01] [ 7.16735781e-04 8.35975998e-06 9.99999743e-01 -3.55646518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.510281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:193.44, Y:39.96, Z:-0.35 [[ 8.12923928e-01 -5.82369883e-01 8.46055153e-05 1.93435247e+02] [ 5.82369880e-01 8.12923932e-01 6.17570787e-05 3.99621038e+01] [-1.04743311e-04 -9.32103201e-07 9.99999995e-01 -3.54998220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.540281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:193.45, Y:39.98, Z:-0.35 [[ 8.12007511e-01 -5.83646287e-01 9.02187489e-04 1.93454115e+02] [ 5.83645913e-01 8.12008012e-01 6.61080877e-04 3.99825165e+01] [-1.11842087e-03 -1.02445976e-05 9.99999375e-01 -3.54982424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.570281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:193.48, Y:40.00, Z:-0.36 [[ 8.11127476e-01 -5.84869071e-01 6.22741916e-04 1.93475135e+02] [ 5.84868893e-01 8.11127715e-01 4.56375764e-04 4.00005467e+01] [-7.72043297e-04 -5.95654637e-06 9.99999702e-01 -3.55029477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.600281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:193.50, Y:40.02, Z:-0.36 [[ 8.08881741e-01 -5.87971364e-01 -5.40293686e-05 1.93495466e+02] [ 5.87971363e-01 8.08881743e-01 -3.98630989e-05 4.00193173e+01] [ 6.71417305e-05 4.76811340e-07 9.99999998e-01 -3.55883952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.630281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:193.52, Y:40.04, Z:-0.36 [[ 8.07619910e-01 -5.89703126e-01 -5.50778688e-04 1.93516789e+02] [ 5.89702988e-01 8.07620098e-01 -4.04213874e-04 4.00362275e+01] [ 6.83186123e-04 1.65533450e-06 9.99999767e-01 -3.55800431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.660281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:193.54, Y:40.05, Z:-0.36 [[ 8.06379826e-01 -5.91396697e-01 -1.23439032e-03 1.93539028e+02] [ 5.91396002e-01 8.06380771e-01 -9.06211023e-04 4.00527687e+01] [ 1.53131882e-03 7.36786808e-07 9.99998828e-01 -3.55817806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.690281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:193.56, Y:40.07, Z:-0.36 [[ 8.04964615e-01 -5.93319992e-01 -1.83153497e-03 1.93561879e+02] [ 5.93318468e-01 8.04966699e-01 -1.34501100e-03 4.00686162e+01] [ 2.27234657e-03 -3.99725637e-06 9.99997418e-01 -3.55507056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.720281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:193.58, Y:40.09, Z:-0.35 [[ 8.05845791e-01 -5.92125109e-01 -6.45408701e-04 1.93581770e+02] [ 5.92124919e-01 8.05846049e-01 -4.74109754e-04 4.00864444e+01] [ 8.00832342e-04 -1.03225396e-07 9.99999679e-01 -3.54146604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.750281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:193.60, Y:40.11, Z:-0.35 [[ 8.06900729e-01 -5.90687059e-01 -1.10500785e-04 1.93602503e+02] [ 5.90687053e-01 8.06900737e-01 -8.14130071e-05 4.01050806e+01] [ 1.37252775e-04 4.20831527e-07 9.99999991e-01 -3.53323125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.780281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:193.62, Y:40.12, Z:-0.35 [[ 8.08101161e-01 -5.89043626e-01 3.48274559e-04 1.93623413e+02] [ 5.89043570e-01 8.08101236e-01 2.55739808e-04 4.01242294e+01] [-4.32083005e-04 -1.51474636e-06 9.99999907e-01 -3.53910327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:193.64, Y:40.14, Z:-0.35 [[ 8.09667514e-01 -5.86888762e-01 3.11543171e-04 1.93643673e+02] [ 5.86888717e-01 8.09667574e-01 2.28896861e-04 4.01425344e+01] [-3.86583399e-04 -2.48918057e-06 9.99999925e-01 -3.54176933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.840281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:193.66, Y:40.16, Z:-0.35 [[ 8.12750505e-01 -5.82611880e-01 1.17869992e-04 1.93661935e+02] [ 5.82611874e-01 8.12750514e-01 8.64556514e-05 4.01648208e+01] [-1.46168986e-04 -1.59441773e-06 9.99999989e-01 -3.53977605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.870281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:193.68, Y:40.19, Z:-0.35 [[ 8.14597745e-01 -5.80026141e-01 -4.35670073e-04 1.93678361e+02] [ 5.80026052e-01 8.14597861e-01 -3.20586939e-04 4.01881352e+01] [ 5.40844714e-04 8.44940476e-06 9.99999854e-01 -3.53891666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.900281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:193.70, Y:40.21, Z:-0.35 [[ 8.14481011e-01 -5.80190051e-01 -4.32600894e-04 1.93698425e+02] [ 5.80189964e-01 8.14481126e-01 -3.18550094e-04 4.02075355e+01] [ 5.37164858e-04 8.46230587e-06 9.99999856e-01 -3.54109394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.93028169299998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:193.72, Y:40.23, Z:-0.35 [[ 8.13537054e-01 -5.81513033e-01 -2.34197257e-04 1.93719393e+02] [ 5.81513007e-01 8.13537087e-01 -1.72624697e-04 4.02268195e+01] [ 2.90911666e-04 4.24783662e-06 9.99999958e-01 -3.53798958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.96028169299998 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:193.74, Y:40.25, Z:-0.35 [[ 8.10897721e-01 -5.85187727e-01 -4.58212572e-04 1.93738106e+02] [ 5.85187630e-01 8.10897850e-01 -3.37495282e-04 4.02472805e+01] [ 5.69061687e-04 5.53382584e-06 9.99999838e-01 -3.53799577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 216.990281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:193.76, Y:40.27, Z:-0.35 [[ 8.09883656e-01 -5.86589203e-01 -1.25337177e-03 1.93759559e+02] [ 5.86588477e-01 8.09884625e-01 -9.23403531e-04 4.02659546e+01] [ 1.55674507e-03 1.26359879e-05 9.99998788e-01 -3.54422895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.020281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:193.78, Y:40.28, Z:-0.36 [[ 8.08329803e-01 -5.88725494e-01 -2.28529564e-03 1.93779148e+02] [ 5.88723086e-01 8.08333034e-01 -1.68372208e-03 4.02849824e+01] [ 2.83853007e-03 1.55964371e-05 9.99995971e-01 -3.56124349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.050281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:193.80, Y:40.30, Z:-0.36 [[ 8.07683080e-01 -5.89610454e-01 -2.74858670e-03 1.93800316e+02] [ 5.89606974e-01 8.07687756e-01 -2.02589655e-03 4.03026686e+01] [ 3.41448961e-03 1.56964753e-05 9.99994171e-01 -3.55960905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.080281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:193.82, Y:40.32, Z:-0.36 [[ 8.06299527e-01 -5.91496816e-01 -3.54799329e-03 1.93820611e+02] [ 5.91491034e-01 8.06307333e-01 -2.61547975e-03 4.03211115e+01] [ 4.40782095e-03 1.02538641e-05 9.99990285e-01 -3.56936539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.110281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:193.84, Y:40.34, Z:-0.36 [[ 8.05285050e-01 -5.92873195e-01 -4.16694737e-03 1.93842838e+02] [ 5.92865230e-01 8.05295831e-01 -3.07304275e-03 4.03385298e+01] [ 5.17755001e-03 4.23717363e-06 9.99986596e-01 -3.57189644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.140281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:193.86, Y:40.35, Z:-0.36 [[ 8.03097232e-01 -5.95840045e-01 -3.07845042e-03 1.93864637e+02] [ 5.95835718e-01 8.03103132e-01 -2.27073365e-03 4.03546671e+01] [ 3.82530721e-03 -1.06308081e-05 9.99992683e-01 -3.56658797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.170281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:193.89, Y:40.37, Z:-0.36 [[ 8.01558241e-01 -5.97914373e-01 -1.67006104e-03 1.93887100e+02] [ 5.97913103e-01 8.01559981e-01 -1.23248415e-03 4.03719119e+01] [ 2.07557408e-03 -1.06435523e-05 9.99997846e-01 -3.55912366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.200281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:193.91, Y:40.39, Z:-0.36 [[ 8.00291671e-01 -5.99610790e-01 -3.75241213e-04 1.93908992e+02] [ 5.99610726e-01 8.00291759e-01 -2.77050062e-04 4.03876371e+01] [ 4.66424657e-04 -3.27779937e-06 9.99999891e-01 -3.55206216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.230281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:193.93, Y:40.40, Z:-0.35 [[ 7.98536041e-01 -6.01947001e-01 1.64709984e-05 1.93933003e+02] [ 6.01947001e-01 7.98536041e-01 1.19370248e-05 4.04027829e+01] [-2.03381421e-05 3.82523607e-07 1.00000000e+00 -3.54991988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.260281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:193.96, Y:40.42, Z:-0.36 [[ 7.97999447e-01 -6.02658094e-01 -3.22827674e-04 1.93955813e+02] [ 6.02658046e-01 7.97999513e-01 -2.38660259e-04 4.04194075e+01] [ 4.01446863e-04 -4.10394062e-06 9.99999919e-01 -3.56138404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.290281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:193.98, Y:40.44, Z:-0.36 [[ 7.97369057e-01 -6.03491459e-01 -8.03505615e-04 1.93977638e+02] [ 6.03491167e-01 7.97369462e-01 -5.93757370e-04 4.04358013e+01] [ 9.99018342e-04 -1.14647871e-05 9.99999501e-01 -3.56028717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.320281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:194.00, Y:40.45, Z:-0.36 [[ 7.97211625e-01 -6.03699816e-01 -3.95973547e-04 1.94000825e+02] [ 6.03699745e-01 7.97211723e-01 -2.92860769e-04 4.04523069e+01] [ 4.92474746e-04 -5.57711993e-06 9.99999879e-01 -3.55793482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.350281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:194.02, Y:40.47, Z:-0.36 [[ 7.96824086e-01 -6.04211355e-01 -1.20025807e-04 1.94023849e+02] [ 6.04211349e-01 7.96824095e-01 -8.89595630e-05 4.04677966e+01] [ 1.49389833e-04 -1.63583223e-06 9.99999989e-01 -3.56271972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.380281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:194.05, Y:40.48, Z:-0.36 [[ 7.96290250e-01 -6.04914018e-01 -9.32168663e-04 1.94046531e+02] [ 6.04913625e-01 7.96290795e-01 -6.89653873e-04 4.04847825e+01] [ 1.15945862e-03 -1.47168704e-05 9.99999328e-01 -3.56453635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.410281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:194.07, Y:40.50, Z:-0.36 [[ 7.94262395e-01 -6.07570852e-01 -2.21535857e-03 1.94069510e+02] [ 6.07568642e-01 7.94265483e-01 -1.63932252e-03 4.05006795e+01] [ 2.75558742e-03 -4.39301649e-05 9.99996202e-01 -3.57820135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.440281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:194.09, Y:40.52, Z:-0.36 [[ 7.92799594e-01 -6.09478891e-01 -2.07008222e-03 1.94093230e+02] [ 6.09476966e-01 7.92802295e-01 -1.53242754e-03 4.05155660e+01] [ 2.57514817e-03 -4.67595019e-05 9.99996683e-01 -3.58325194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.470281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:194.12, Y:40.53, Z:-0.36 [[ 7.91426059e-01 -6.11263498e-01 -1.31484024e-03 1.94116516e+02] [ 6.11262723e-01 7.91427151e-01 -9.73525477e-04 4.05289222e+01] [ 1.63568085e-03 -3.32393920e-05 9.99998662e-01 -3.57946654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.500281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:194.14, Y:40.54, Z:-0.36 [[ 7.88022102e-01 -6.15646335e-01 -8.70244139e-04 1.94140437e+02] [ 6.15645998e-01 7.88022582e-01 -6.44512260e-04 4.05414557e+01] [ 1.08256364e-03 -2.78724162e-05 9.99999414e-01 -3.57933594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.530281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:194.16, Y:40.56, Z:-0.36 [[ 7.86379217e-01 -6.17742492e-01 -1.39339384e-03 1.94163877e+02] [ 6.17741631e-01 7.86380450e-01 -1.03234956e-03 4.05560904e+01] [ 1.73346386e-03 -4.89391422e-05 9.99998496e-01 -3.58223553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.560281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:194.19, Y:40.57, Z:-0.36 [[ 7.84135746e-01 -6.20586795e-01 -1.77795171e-03 1.94188555e+02] [ 6.20585401e-01 7.84137759e-01 -1.31760823e-03 4.05673329e+01] [ 2.21184934e-03 -7.01871676e-05 9.99997551e-01 -3.58215282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.590281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:194.21, Y:40.58, Z:-0.36 [[ 7.83657654e-01 -6.21190348e-01 -1.79799444e-03 1.94212807e+02] [ 6.21188922e-01 7.83659713e-01 -1.33297363e-03 4.05820410e+01] [ 2.23704616e-03 -7.22992454e-05 9.99997495e-01 -3.58100843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.24, Y:40.60, Z:-0.36 [[ 7.83608006e-01 -6.21252590e-01 -1.92686791e-03 1.94237585e+02] [ 6.21250951e-01 7.83610371e-01 -1.42902505e-03 4.05960733e+01] [ 2.39769919e-03 -7.72730538e-05 9.99997123e-01 -3.57945466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.650281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:194.26, Y:40.61, Z:-0.36 [[ 7.83635622e-01 -6.21216807e-01 -2.21150090e-03 1.94260866e+02] [ 6.21214647e-01 7.83638738e-01 -1.64072555e-03 4.06112607e+01] [ 2.75226406e-03 -8.80857611e-05 9.99996209e-01 -3.58198357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.68028169299998 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:194.28, Y:40.63, Z:-0.36 [[ 7.83490720e-01 -6.21398349e-01 -2.52668331e-03 1.94283332e+02] [ 6.21395529e-01 7.83494787e-01 -1.87481998e-03 4.06256123e+01] [ 3.14465324e-03 -1.01165657e-04 9.99995050e-01 -3.58845586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.71028169299998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:194.31, Y:40.64, Z:-0.36 [[ 7.82485591e-01 -6.22657503e-01 -3.73285250e-03 1.94308920e+02] [ 6.22651357e-01 7.82494479e-01 -2.77091901e-03 4.06375775e+01] [ 4.64626998e-03 -1.56061475e-04 9.99989194e-01 -3.59520860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.740281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:194.33, Y:40.65, Z:-0.36 [[ 7.81542458e-01 -6.23839503e-01 -3.95745954e-03 1.94332868e+02] [ 6.23832607e-01 7.81552458e-01 -2.93814966e-03 4.06513408e+01] [ 4.92589605e-03 -1.72503597e-04 9.99987853e-01 -3.59817580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.770281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:194.36, Y:40.66, Z:-0.36 [[ 7.79565546e-01 -6.26313422e-01 -3.00963858e-03 1.94360280e+02] [ 6.26309448e-01 7.79571342e-01 -2.23544886e-03 4.06619421e+01] [ 3.74631961e-03 -1.42286167e-04 9.99992972e-01 -3.58797277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.800281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.38, Y:40.67, Z:-0.36 [[ 7.78308115e-01 -6.27880322e-01 -1.66736867e-03 1.94384567e+02] [ 6.27879105e-01 7.78309897e-01 -1.23871721e-03 4.06741889e+01] [ 2.07549570e-03 -8.28022939e-05 9.99997843e-01 -3.57918035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.41, Y:40.69, Z:-0.36 [[ 7.77060959e-01 -6.29425154e-01 -4.91760114e-04 1.94409473e+02] [ 6.29425048e-01 7.77061114e-01 -3.65641937e-04 4.06871218e+01] [ 6.12271895e-04 -2.54000594e-05 9.99999812e-01 -3.56585458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.43, Y:40.70, Z:-0.36 [[ 7.76960994e-01 -6.29548546e-01 -4.91708935e-04 1.94432219e+02] [ 6.29548440e-01 7.76961149e-01 -3.65710775e-04 4.07042651e+01] [ 6.12271426e-04 -2.54115855e-05 9.99999812e-01 -3.56613827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.890281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:194.46, Y:40.71, Z:-0.36 [[ 7.75240723e-01 -6.31665727e-01 4.79700945e-04 1.94459851e+02] [ 6.31665627e-01 7.75240871e-01 3.56512087e-04 4.07123718e+01] [-5.97080245e-04 2.66279104e-05 9.99999821e-01 -3.56298615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.920281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:194.49, Y:40.72, Z:-0.36 [[ 7.74337043e-01 -6.32773374e-01 -2.83581050e-05 1.94485868e+02] [ 6.32773373e-01 7.74337044e-01 -2.13157927e-05 4.07247203e+01] [ 3.54467973e-05 -1.43864585e-06 9.99999999e-01 -3.57133082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.950281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:194.52, Y:40.73, Z:-0.36 [[ 7.74277751e-01 -6.32842358e-01 -2.12453477e-03 1.94515095e+02] [ 6.32840395e-01 7.74280656e-01 -1.58109590e-03 4.07304866e+01] [ 2.64557063e-03 -1.20284044e-04 9.99996493e-01 -3.57435664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 217.980281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:194.54, Y:40.74, Z:-0.36 [[ 7.74934429e-01 -6.32036742e-01 -2.48735913e-03 1.94540870e+02] [ 6.32034044e-01 7.74938409e-01 -1.85180223e-03 4.07422193e+01] [ 3.09795718e-03 -1.37070346e-04 9.99995192e-01 -3.57439375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.010281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:194.57, Y:40.75, Z:-0.36 [[ 7.77954999e-01 -6.28318417e-01 -1.40976116e-03 1.94568689e+02] [ 6.28317543e-01 7.77956273e-01 -1.05004704e-03 4.07514052e+01] [ 1.75649643e-03 -6.88883184e-05 9.99998455e-01 -3.55785430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.040281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:194.59, Y:40.77, Z:-0.35 [[ 7.80008817e-01 -6.25767761e-01 -9.76754208e-04 1.94593171e+02] [ 6.25767339e-01 7.80009428e-01 -7.27874270e-04 4.07653291e+01] [ 1.21735774e-03 -4.34725338e-05 9.99999258e-01 -3.54754362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.070281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.62, Y:40.78, Z:-0.36 [[ 7.84100943e-01 -6.20632086e-01 -1.23532478e-03 1.94618428e+02] [ 6.20631404e-01 7.84101914e-01 -9.20794170e-04 4.07766043e+01] [ 1.54009493e-03 -4.46857766e-05 9.99998813e-01 -3.55212543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.100281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:194.64, Y:40.79, Z:-0.36 [[ 7.85874372e-01 -6.18385185e-01 -1.11092230e-03 1.94641322e+02] [ 6.18384631e-01 7.85875157e-01 -8.28368816e-04 4.07904697e+01] [ 1.38529724e-03 -3.59834549e-05 9.99999040e-01 -3.55856992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.67, Y:40.80, Z:-0.36 [[ 7.88803296e-01 -6.14645717e-01 4.99039516e-05 1.94667488e+02] [ 6.14645716e-01 7.88803298e-01 3.69976520e-05 4.08026500e+01] [-6.21048498e-05 1.48938022e-06 9.99999998e-01 -3.55759965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.160281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:194.69, Y:40.82, Z:-0.36 [[ 7.89939124e-01 -6.13185079e-01 4.89132891e-04 1.94691009e+02] [ 6.13184971e-01 7.89939275e-01 3.64688835e-04 4.08164321e+01] [-6.10007033e-04 1.18469583e-05 9.99999814e-01 -3.56037976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.72, Y:40.83, Z:-0.36 [[ 7.90532839e-01 -6.12419638e-01 -1.32090501e-04 1.94715203e+02] [ 6.12419630e-01 7.90532850e-01 -9.88025900e-05 4.08311714e+01] [ 1.64930526e-04 -2.78812359e-06 9.99999986e-01 -3.56522879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.220281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:194.74, Y:40.84, Z:-0.36 [[ 7.91259491e-01 -6.11474971e-01 -2.60354563e-03 1.94740257e+02] [ 6.11471883e-01 7.91263772e-01 -1.94396161e-03 4.08436233e+01] [ 3.24877521e-03 -5.38168737e-05 9.99994721e-01 -3.58110410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.250281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:194.76, Y:40.86, Z:-0.36 [[ 7.91609278e-01 -6.11018532e-01 -3.33217372e-03 1.94762354e+02] [ 6.11013468e-01 7.91616289e-01 -2.48849980e-03 4.08584084e+01] [ 4.15832249e-03 -6.60834874e-05 9.99991352e-01 -3.58029844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.280281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:194.79, Y:40.87, Z:-0.36 [[ 7.92704992e-01 -6.09597975e-01 -3.01734322e-03 1.94785653e+02] [ 6.09593809e-01 7.92710733e-01 -2.25419576e-03 4.08720787e+01] [ 3.76603353e-03 -5.24415175e-05 9.99992907e-01 -3.57670701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.310281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:194.81, Y:40.89, Z:-0.36 [[ 7.93356084e-01 -6.08753571e-01 -2.28341055e-03 1.94809526e+02] [ 6.08751180e-01 7.93359369e-01 -1.70666864e-03 4.08869383e+01] [ 2.85050578e-03 -3.60329202e-05 9.99995937e-01 -3.57127206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.340281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:194.83, Y:40.90, Z:-0.36 [[ 7.94405037e-01 -6.07384602e-01 -2.14067802e-03 1.94832874e+02] [ 6.07382495e-01 7.94407921e-01 -1.60024502e-03 4.09012675e+01] [ 2.67253576e-03 -2.89676469e-05 9.99996428e-01 -3.56535964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.86, Y:40.92, Z:-0.36 [[ 7.97677773e-01 -6.03081275e-01 -1.77373463e-03 1.94856451e+02] [ 6.03079816e-01 7.97679745e-01 -1.32658631e-03 4.09156882e+01] [ 2.21491155e-03 -1.15151437e-05 9.99997547e-01 -3.56229845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.400281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:194.88, Y:40.93, Z:-0.36 [[ 7.99622553e-01 -6.00501635e-01 -1.24816799e-03 1.94877681e+02] [ 6.00500909e-01 7.99623528e-01 -9.33888990e-04 4.09318090e+01] [ 1.55886636e-03 -2.76731600e-06 9.99998785e-01 -3.56272280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.43028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.90, Y:40.95, Z:-0.36 [[ 8.03554055e-01 -5.95231686e-01 -3.46722676e-04 1.94898645e+02] [ 5.95231630e-01 8.03554130e-01 -2.59659125e-04 4.09485424e+01] [ 4.33167777e-04 2.26983878e-06 9.99999906e-01 -3.56325230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.46028169299998 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:194.92, Y:40.97, Z:-0.36 [[ 8.05521416e-01 -5.92566625e-01 -2.06986798e-04 1.94920124e+02] [ 5.92566604e-01 8.05521443e-01 -1.55187856e-04 4.09663520e+01] [ 2.58691448e-04 2.35367745e-06 9.99999967e-01 -3.55370190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:194.94, Y:40.99, Z:-0.35 [[ 8.10133242e-01 -5.86245670e-01 -3.78841808e-04 1.94937506e+02] [ 5.86245602e-01 8.10133331e-01 -2.83790764e-04 4.09881755e+01] [ 4.73283482e-04 7.81398780e-06 9.99999888e-01 -3.53817292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.520281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.96, Y:41.01, Z:-0.35 [[ 8.12633541e-01 -5.82775011e-01 1.24462702e-04 1.94956998e+02] [ 5.82775003e-01 8.12633550e-01 9.29965543e-05 4.10090498e+01] [-1.55338635e-04 -3.03836783e-06 9.99999988e-01 -3.54120892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.550281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:194.97, Y:41.03, Z:-0.36 [[ 8.16462175e-01 -5.77397640e-01 1.21764224e-03 1.94974340e+02] [ 5.77396921e-01 8.16463082e-01 9.12198907e-04 4.10331465e+01] [-1.52086143e-03 -4.17130247e-05 9.99998843e-01 -3.55370825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.580281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:194.99, Y:41.05, Z:-0.35 [[ 8.17547977e-01 -5.75858853e-01 1.37368890e-03 1.94993472e+02] [ 5.75857935e-01 8.17549129e-01 1.02945683e-03 4.10531114e+01] [-1.71587999e-03 -5.05806912e-05 9.99998527e-01 -3.54819066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.610281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.01, Y:41.07, Z:-0.36 [[ 8.17933377e-01 -5.75310396e-01 1.71418246e-03 1.95012311e+02] [ 5.75308965e-01 8.17935171e-01 1.28504840e-03 4.10743457e+01] [-2.14139183e-03 -6.48994431e-05 9.99997705e-01 -3.55337463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.640281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:195.03, Y:41.10, Z:-0.36 [[ 8.17177432e-01 -5.76386161e-01 -1.94472883e-04 1.95027888e+02] [ 5.76386142e-01 8.17177455e-01 -1.46102440e-04 4.11007814e+01] [ 2.43130280e-04 7.30014220e-06 9.99999970e-01 -3.55092811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.670281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:195.05, Y:41.12, Z:-0.36 [[ 8.16289727e-01 -5.77641597e-01 -1.12539708e-03 1.95046413e+02] [ 5.77640981e-01 8.16290502e-01 -8.44444965e-04 4.11209309e+01] [ 1.40643748e-03 3.92362770e-05 9.99999010e-01 -3.56135095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.700281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:195.06, Y:41.14, Z:-0.36 [[ 8.12767157e-01 -5.82587875e-01 -9.57715929e-04 1.95064394e+02] [ 5.82587432e-01 8.12767720e-01 -7.19020346e-04 4.11442801e+01] [ 1.19729313e-03 2.64428581e-05 9.99999283e-01 -3.56100566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.730281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.08, Y:41.16, Z:-0.36 [[ 8.10229748e-01 -5.86112164e-01 -5.34475319e-04 1.95084844e+02] [ 5.86112027e-01 8.10229925e-01 -4.01526187e-04 4.11640565e+01] [ 6.68387279e-04 1.20660490e-05 9.99999777e-01 -3.56022422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.760281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.10, Y:41.18, Z:-0.36 [[ 8.05583503e-01 -5.92482253e-01 -1.80586556e-05 1.95104436e+02] [ 5.92482253e-01 8.05583503e-01 -1.37953861e-05 4.11846390e+01] [ 2.27212765e-05 4.13902497e-07 1.00000000e+00 -3.56109575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.790281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.13, Y:41.20, Z:-0.36 [[ 8.03360652e-01 -5.95492760e-01 -1.88582310e-04 1.95125844e+02] [ 5.95492743e-01 8.03360674e-01 -1.41933411e-04 4.12021498e+01] [ 2.36019930e-04 1.72432106e-06 9.99999972e-01 -3.56099651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.820281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.15, Y:41.22, Z:-0.36 [[ 8.01439919e-01 -5.98075097e-01 -4.85178683e-04 1.95147026e+02] [ 5.98074985e-01 8.01440066e-01 -3.64768435e-04 4.12182848e+01] [ 6.07000553e-04 2.16675142e-06 9.99999816e-01 -3.56759885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.850281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.17, Y:41.23, Z:-0.36 [[ 7.98928242e-01 -6.01424437e-01 -1.52034134e-03 1.95169894e+02] [ 6.01423350e-01 7.98929688e-01 -1.14330868e-03 4.12348411e+01] [ 1.90225961e-03 -9.47189057e-07 9.99998191e-01 -3.56609940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.19, Y:41.25, Z:-0.36 [[ 7.98282727e-01 -6.02280787e-01 -1.59383528e-03 1.95192232e+02] [ 6.02279594e-01 7.98284318e-01 -1.19903684e-03 4.12519157e+01] [ 1.99449056e-03 -2.76406955e-06 9.99998011e-01 -3.55861692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.910281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:195.21, Y:41.27, Z:-0.36 [[ 7.98739145e-01 -6.01676189e-01 -1.24167590e-03 1.95213565e+02] [ 6.01675464e-01 7.98740110e-01 -9.34253375e-04 4.12691131e+01] [ 1.55389436e-03 -8.61181175e-07 9.99998793e-01 -3.55896755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:195.24, Y:41.29, Z:-0.36 [[ 7.99349970e-01 -6.00864092e-01 -1.40328713e-03 1.95235632e+02] [ 6.00863163e-01 7.99351201e-01 -1.05635200e-03 4.12865379e+01] [ 1.75644323e-03 1.21139611e-06 9.99998457e-01 -3.55471206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 218.970281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:195.26, Y:41.30, Z:-0.36 [[ 8.00117506e-01 -5.99841453e-01 -1.48595444e-03 1.95257435e+02] [ 5.99840410e-01 8.00118886e-01 -1.11869985e-03 4.13030063e+01] [ 1.85998275e-03 3.75581239e-06 9.99998270e-01 -3.55379635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.000281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:195.28, Y:41.32, Z:-0.36 [[ 8.00391792e-01 -5.99475847e-01 -1.29897952e-03 1.95280049e+02] [ 5.99475049e-01 8.00392846e-01 -9.78420205e-04 4.13197970e+01] [ 1.62623319e-03 4.41369176e-06 9.99998678e-01 -3.55599012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.030281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:195.30, Y:41.34, Z:-0.35 [[ 7.99257385e-01 -6.00987176e-01 1.43041235e-03 1.95303488e+02] [ 6.00986210e-01 7.99258665e-01 1.07735320e-03 4.13360213e+01] [-1.79074492e-03 -1.42440724e-06 9.99998397e-01 -3.54582628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.060281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.33, Y:41.35, Z:-0.35 [[ 7.98405463e-01 -6.02116398e-01 2.13536664e-03 1.95325938e+02] [ 6.02114248e-01 7.98408319e-01 1.60903937e-03 4.13522147e+01] [-2.67372348e-03 1.06885170e-06 9.99996426e-01 -3.54562416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.090281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:195.35, Y:41.37, Z:-0.35 [[ 7.97368323e-01 -6.03490940e-01 1.56306416e-03 1.95348237e+02] [ 6.03489790e-01 7.97369855e-01 1.17818770e-03 4.13696416e+01] [-1.95736585e-03 3.84371006e-06 9.99998084e-01 -3.54777333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.120281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:195.37, Y:41.39, Z:-0.36 [[ 7.96481945e-01 -6.04661598e-01 -9.29565675e-04 1.95367949e+02] [ 6.04661191e-01 7.96482487e-01 -7.01259084e-04 4.13884871e+01] [ 1.16440722e-03 -3.53208952e-06 9.99999322e-01 -3.55595875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.150281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:195.39, Y:41.41, Z:-0.36 [[ 7.96494983e-01 -6.04643773e-01 -1.28412672e-03 1.95388195e+02] [ 6.04642997e-01 7.96496019e-01 -9.68983501e-04 4.14057789e+01] [ 1.60869166e-03 -4.64773100e-06 9.99998706e-01 -3.55376395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.18028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:195.41, Y:41.42, Z:-0.35 [[ 7.95934117e-01 -6.05383027e-01 5.20948618e-04 1.95409383e+02] [ 6.05382900e-01 7.95934288e-01 3.92941079e-04 4.14240985e+01] [-6.52520727e-04 2.61817453e-06 9.99999787e-01 -3.53689246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.21028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:195.43, Y:41.44, Z:-0.35 [[ 7.95303982e-01 -6.06209466e-01 1.28824790e-03 1.95431215e+02] [ 6.06208687e-01 7.95305025e-01 9.72391423e-04 4.14410466e+01] [-1.61402291e-03 7.60029748e-06 9.99998697e-01 -3.53583625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.45, Y:41.46, Z:-0.36 [[ 7.92851397e-01 -6.09414491e-01 8.00258000e-04 1.95454282e+02] [ 6.09414192e-01 7.92851801e-01 6.04189055e-04 4.14554511e+01] [-1.00268756e-03 8.65644624e-06 9.99999497e-01 -3.55412673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.270281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:195.48, Y:41.47, Z:-0.36 [[ 7.91199079e-01 -6.11558650e-01 1.85598172e-04 1.95478773e+02] [ 6.11558634e-01 7.91199101e-01 1.39989752e-04 4.14701836e+01] [-2.32457051e-04 2.74440201e-06 9.99999973e-01 -3.56309855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:195.50, Y:41.48, Z:-0.36 [[ 7.89536160e-01 -6.13704041e-01 -5.09502391e-05 1.95502737e+02] [ 6.13704040e-01 7.89536161e-01 -3.86335132e-05 4.14835584e+01] [ 6.39365994e-05 -7.65811897e-07 9.99999998e-01 -3.56658981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.330281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:195.53, Y:41.49, Z:-0.36 [[ 7.86985622e-01 -6.16971162e-01 4.63744543e-04 1.95528342e+02] [ 6.16971063e-01 7.86985759e-01 3.50368389e-04 4.14945335e+01] [-5.81127544e-04 1.03820786e-05 9.99999831e-01 -3.55264568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.360281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:195.55, Y:41.51, Z:-0.36 [[ 7.86921148e-01 -6.17052343e-01 1.22996722e-03 1.95553714e+02] [ 6.17051643e-01 7.86922109e-01 9.29925915e-04 4.15063934e+01] [-1.54170136e-03 2.71749251e-05 9.99998811e-01 -3.55090737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.390281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:195.58, Y:41.52, Z:-0.36 [[ 7.87478938e-01 -6.16341159e-01 7.05348764e-04 1.95577390e+02] [ 6.16340929e-01 7.87479254e-01 5.33373122e-04 4.15208694e+01] [-8.84187327e-04 1.47152124e-05 9.99999609e-01 -3.55991806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.420281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:195.60, Y:41.54, Z:-0.36 [[ 7.88706174e-01 -6.14770244e-01 -3.42399552e-04 1.95600820e+02] [ 6.14770189e-01 7.88706249e-01 -2.59356803e-04 4.15350692e+01] [ 4.29497512e-04 -5.94072570e-06 9.99999908e-01 -3.55945213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.450281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:195.62, Y:41.55, Z:-0.36 [[ 7.91833940e-01 -6.10733047e-01 -2.03907675e-03 1.95624778e+02] [ 6.10731095e-01 7.91836565e-01 -1.54394033e-03 4.15496641e+01] [ 2.55755091e-03 -2.27832271e-05 9.99996729e-01 -3.55795792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.480281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:195.65, Y:41.57, Z:-0.36 [[ 7.92964603e-01 -6.09265058e-01 -1.79653973e-03 1.95647180e+02] [ 6.09263539e-01 7.92966638e-01 -1.36085580e-03 4.15658832e+01] [ 2.25371796e-03 -1.54556707e-05 9.99997460e-01 -3.55655849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.510281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:195.67, Y:41.58, Z:-0.36 [[ 7.94012875e-01 -6.07900883e-01 -2.64046809e-04 1.95670950e+02] [ 6.07900850e-01 7.94012919e-01 -2.00285334e-04 4.15810432e+01] [ 3.31410209e-04 -1.48514578e-06 9.99999945e-01 -3.55353299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.540281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:195.69, Y:41.60, Z:-0.36 [[ 7.93903937e-01 -6.08043147e-01 2.65774894e-04 1.95692785e+02] [ 6.08043114e-01 7.93903981e-01 2.01226456e-04 4.15967715e+01] [-3.33354114e-04 1.84811822e-06 9.99999944e-01 -3.55771030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.570281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:195.72, Y:41.61, Z:-0.36 [[ 7.93649449e-01 -6.08375285e-01 2.54804829e-04 1.95715586e+02] [ 6.08375254e-01 7.93649490e-01 1.92966030e-04 4.16131467e+01] [-3.19621486e-04 1.86956949e-06 9.99999949e-01 -3.56215018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.600281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:195.74, Y:41.63, Z:-0.36 [[ 7.93280716e-01 -6.08856056e-01 -9.40623870e-05 1.95738539e+02] [ 6.08856051e-01 7.93280722e-01 -7.15846083e-05 4.16298241e+01] [ 1.18202601e-04 -4.83764172e-07 9.99999993e-01 -3.56458198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.630281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:195.76, Y:41.65, Z:-0.36 [[ 7.93315635e-01 -6.08810243e-01 -6.25333635e-04 1.95760344e+02] [ 6.08810058e-01 7.93315882e-01 -4.74695236e-04 4.16456352e+01] [ 7.85086426e-04 -4.12625390e-06 9.99999692e-01 -3.56258426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.660281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:195.78, Y:41.66, Z:-0.36 [[ 7.94122778e-01 -6.07757174e-01 -4.79985364e-04 1.95783172e+02] [ 6.07757065e-01 7.94122923e-01 -3.64577230e-04 4.16620167e+01] [ 6.02741807e-04 -2.19541312e-06 9.99999818e-01 -3.56058593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.690281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:195.81, Y:41.68, Z:-0.36 [[ 7.94864636e-01 -6.06786723e-01 -2.87363071e-04 1.95805211e+02] [ 6.06786684e-01 7.94864688e-01 -2.18418640e-04 4.16778214e+01] [ 3.60948289e-04 -7.54831510e-07 9.99999935e-01 -3.55989972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.720281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:195.83, Y:41.69, Z:-0.36 [[ 7.95836373e-01 -6.05511617e-01 -3.86291567e-04 1.95826871e+02] [ 6.05511545e-01 7.95836467e-01 -2.93636590e-04 4.16938911e+01] [ 4.85225282e-04 -2.17324999e-07 9.99999882e-01 -3.55975370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.750281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:195.85, Y:41.71, Z:-0.36 [[ 7.98113947e-01 -6.02506230e-01 -6.09583140e-04 1.95849112e+02] [ 6.02506051e-01 7.98114179e-01 -4.63454840e-04 4.17113638e+01] [ 7.65751375e-04 2.61224055e-06 9.99999707e-01 -3.56819279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.780281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:195.87, Y:41.73, Z:-0.36 [[ 7.99043650e-01 -6.01272812e-01 -5.00142531e-04 1.95870823e+02] [ 6.01272692e-01 7.99043807e-01 -3.80401394e-04 4.17278712e+01] [ 6.28360808e-04 3.23527289e-06 9.99999803e-01 -3.57444763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.810281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:195.89, Y:41.75, Z:-0.36 [[ 7.98942841e-01 -6.01406756e-01 -5.00079737e-04 1.95893382e+02] [ 6.01406636e-01 7.98942998e-01 -3.80483962e-04 4.17452749e+01] [ 6.28360830e-04 3.23366563e-06 9.99999803e-01 -3.57473132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.840281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:195.92, Y:41.76, Z:-0.36 [[ 8.00080098e-01 -5.99893101e-01 3.24070889e-04 1.95916581e+02] [ 5.99893050e-01 8.00080163e-01 2.46294958e-04 4.17605468e+01] [-4.07033335e-04 -2.64782008e-06 9.99999917e-01 -3.56118095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.870281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:195.94, Y:41.78, Z:-0.36 [[ 8.00114330e-01 -5.99847050e-01 7.58411828e-04 1.95937750e+02] [ 5.99846773e-01 8.00114690e-01 5.76930190e-04 4.17765190e+01] [-9.52886317e-04 -6.67922507e-06 9.99999546e-01 -3.55590834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.900281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:195.96, Y:41.79, Z:-0.36 [[ 7.99966738e-01 -6.00043794e-01 8.14124675e-04 1.95959758e+02] [ 6.00043474e-01 7.99967152e-01 6.19541134e-04 4.17939997e+01] [-1.02302481e-03 -7.10210146e-06 9.99999477e-01 -3.55673668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.93028169299998 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:195.98, Y:41.81, Z:-0.36 [[ 7.99230483e-01 -6.01024647e-01 -9.34096658e-05 1.95981538e+02] [ 6.01024643e-01 7.99230488e-01 -7.13453809e-05 4.18094910e+01] [ 1.17536185e-04 8.79892191e-07 9.99999993e-01 -3.56851855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.96028169299998 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:196.01, Y:41.82, Z:-0.36 [[ 7.98611592e-01 -6.01846454e-01 -6.08576803e-04 1.96005623e+02] [ 6.01846275e-01 7.98611824e-01 -4.63880771e-04 4.18248314e+01] [ 7.65201628e-04 4.19087907e-06 9.99999707e-01 -3.57348056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 219.990281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:196.03, Y:41.84, Z:-0.36 [[ 7.96778137e-01 -6.04270273e-01 -1.42748895e-03 1.96030660e+02] [ 6.04269294e-01 7.96779415e-01 -1.08789270e-03 4.18363684e+01] [ 1.79477503e-03 4.22138037e-06 9.99998389e-01 -3.57870508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.020281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:196.05, Y:41.85, Z:-0.36 [[ 7.96245832e-01 -6.04972062e-01 -1.17473131e-03 1.96054093e+02] [ 6.04971399e-01 7.96246698e-01 -8.95755138e-04 4.18514994e+01] [ 1.47728276e-03 2.56244875e-06 9.99998909e-01 -3.57776572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.050281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:196.08, Y:41.86, Z:-0.36 [[ 7.97563536e-01 -6.03234897e-01 -2.56592059e-04 1.96078661e+02] [ 6.03234865e-01 7.97563577e-01 -1.95889228e-04 4.18635439e+01] [ 3.22815699e-04 1.44882896e-06 9.99999948e-01 -3.56060343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.080281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.10, Y:41.88, Z:-0.36 [[ 7.98947048e-01 -6.01401354e-01 1.60699818e-04 1.96102643e+02] [ 6.01401342e-01 7.98947064e-01 1.22363590e-04 4.18782871e+01] [-2.01980277e-04 -1.11694281e-06 9.99999980e-01 -3.56198606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.110281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:196.13, Y:41.89, Z:-0.36 [[ 8.00330833e-01 -5.99558551e-01 3.18911531e-04 1.96125492e+02] [ 5.99558501e-01 8.00330897e-01 2.43196808e-04 4.18931281e+01] [-4.01045477e-04 -3.43178449e-06 9.99999920e-01 -3.56025500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.140281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:196.15, Y:41.91, Z:-0.36 [[ 8.03037050e-01 -5.95929064e-01 2.19520829e-04 1.96149924e+02] [ 5.95929040e-01 8.03037080e-01 1.67341533e-04 4.19079381e+01] [-2.76007048e-04 -3.56261403e-06 9.99999962e-01 -3.57262983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.170281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:196.17, Y:41.92, Z:-0.36 [[ 8.04846960e-01 -5.93481306e-01 -1.14425255e-03 1.96173836e+02] [ 5.93480663e-01 8.04847773e-01 -8.74006176e-04 4.19218186e+01] [ 1.43965544e-03 2.43494515e-05 9.99998963e-01 -3.58509639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.200281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.20, Y:41.94, Z:-0.36 [[ 8.05223855e-01 -5.92968990e-01 -1.52337578e-03 1.96196433e+02] [ 5.92967848e-01 8.05225295e-01 -1.16400340e-03 4.19375612e+01] [ 1.91687863e-03 3.39704438e-05 9.99998162e-01 -3.58885537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.230281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.22, Y:41.95, Z:-0.36 [[ 8.05427061e-01 -5.92692839e-01 -1.56464991e-03 1.96218855e+02] [ 5.92691633e-01 8.05428580e-01 -1.19600645e-03 4.19537257e+01] [ 1.96907822e-03 3.59410459e-05 9.99998061e-01 -3.58838633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.260281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:196.24, Y:41.97, Z:-0.36 [[ 8.05565578e-01 -5.92505088e-01 -1.34913014e-03 1.96240922e+02] [ 5.92504191e-01 8.05566707e-01 -1.03141088e-03 4.19700019e+01] [ 1.69793052e-03 3.15038399e-05 9.99998558e-01 -3.58765040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.290281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:196.26, Y:41.99, Z:-0.36 [[ 8.06364800e-01 -5.91418306e-01 -4.43719939e-04 1.96264301e+02] [ 5.91418208e-01 8.06364922e-01 -3.39547029e-04 4.19857212e+01] [ 5.58614522e-04 1.13747207e-05 9.99999844e-01 -3.57883612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.320281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:196.28, Y:42.00, Z:-0.36 [[ 8.07772775e-01 -5.89493282e-01 -9.02483509e-04 1.96284772e+02] [ 5.89492879e-01 8.07773278e-01 -6.90403102e-04 4.20026403e+01] [ 1.13599005e-03 2.56812273e-05 9.99999354e-01 -3.58604857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.350281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:196.31, Y:42.02, Z:-0.36 [[ 8.08678528e-01 -5.88249671e-01 -1.16732835e-03 1.96306018e+02] [ 5.88248994e-01 8.08679370e-01 -8.93425966e-04 4.20212124e+01] [ 1.46955189e-03 3.58146653e-05 9.99998920e-01 -3.59201692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.380281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:196.33, Y:42.04, Z:-0.36 [[ 8.09739865e-01 -5.86787677e-01 -1.25407495e-03 1.96326854e+02] [ 5.86786894e-01 8.09740835e-01 -9.59897159e-04 4.20389087e+01] [ 1.57873152e-03 4.13922495e-05 9.99998753e-01 -3.59928840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.410281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:196.35, Y:42.06, Z:-0.36 [[ 8.11594946e-01 -5.84217798e-01 -1.79110617e-03 1.96347147e+02] [ 5.84216192e-01 8.11596920e-01 -1.37144097e-03 4.20564739e+01] [ 2.25487647e-03 6.66613339e-05 9.99997456e-01 -3.59056940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.440281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.37, Y:42.07, Z:-0.36 [[ 8.12065254e-01 -5.83563340e-01 -1.96249628e-03 1.96368268e+02] [ 5.83561408e-01 8.12067622e-01 -1.50324077e-03 4.20741895e+01] [ 2.47091590e-03 7.54925080e-05 9.99996944e-01 -3.58963798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.470281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:196.39, Y:42.09, Z:-0.36 [[ 8.13025180e-01 -5.82226609e-01 -1.49446548e-03 1.96388119e+02] [ 5.82225486e-01 8.13026551e-01 -1.14515448e-03 4.20929130e+01] [ 1.88177952e-03 6.09235356e-05 9.99998228e-01 -3.58522473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.500281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:196.41, Y:42.11, Z:-0.36 [[ 8.13356359e-01 -5.81763664e-01 -1.57263327e-03 1.96409392e+02] [ 5.81762418e-01 8.13357877e-01 -1.20552333e-03 4.21106016e+01] [ 1.98044333e-03 6.56211261e-05 9.99998037e-01 -3.58391943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.530281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:196.43, Y:42.13, Z:-0.36 [[ 8.13346095e-01 -5.81777325e-01 -1.80950432e-03 1.96429778e+02] [ 5.81775676e-01 8.13348104e-01 -1.38724653e-03 4.21281390e+01] [ 2.27882549e-03 7.55859484e-05 9.99997401e-01 -3.58837873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.560281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:196.45, Y:42.15, Z:-0.36 [[ 8.12731056e-01 -5.82638816e-01 -4.90082709e-04 1.96449178e+02] [ 5.82638695e-01 8.12731204e-01 -3.76011611e-04 4.21465279e+01] [ 6.17384470e-04 2.00551640e-05 9.99999809e-01 -3.58708786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.590281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:196.47, Y:42.16, Z:-0.36 [[ 8.12455016e-01 -5.83023882e-01 2.14739579e-05 1.96470199e+02] [ 5.83023882e-01 8.12455016e-01 1.62726479e-05 4.21639732e+01] [-2.69339671e-05 -7.00964046e-07 1.00000000e+00 -3.58223977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.620281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:196.49, Y:42.18, Z:-0.36 [[ 8.11315745e-01 -5.84608037e-01 4.52965482e-04 1.96491877e+02] [ 5.84607934e-01 8.11315871e-01 3.47362705e-04 4.21824237e+01] [-5.70569113e-04 -1.70136165e-05 9.99999837e-01 -3.57798762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.650281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:196.51, Y:42.20, Z:-0.36 [[ 8.10794258e-01 -5.85331248e-01 2.35597240e-05 1.96512454e+02] [ 5.85331248e-01 8.10794259e-01 1.79562537e-05 4.22003974e+01] [-2.96124453e-05 -7.68584695e-07 1.00000000e+00 -3.58022779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.68028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.53, Y:42.22, Z:-0.36 [[ 8.10481813e-01 -5.85763764e-01 -2.08818495e-04 1.96533102e+02] [ 5.85763742e-01 8.10481840e-01 -1.60569713e-04 4.22189386e+01] [ 2.63299517e-04 7.82052931e-06 9.99999965e-01 -3.58257116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.71028169299998 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:196.55, Y:42.24, Z:-0.36 [[ 8.10814933e-01 -5.85301938e-01 8.86408017e-04 1.96552333e+02] [ 5.85301544e-01 8.10815417e-01 6.80641833e-04 4.22399531e+01] [-1.11709427e-03 -3.30585813e-05 9.99999376e-01 -3.57849893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.740281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:196.57, Y:42.26, Z:-0.36 [[ 8.11366857e-01 -5.84534376e-01 1.84022779e-03 1.96571718e+02] [ 5.84532671e-01 8.11368941e-01 1.41376933e-03 4.22590147e+01] [-2.31950044e-03 -7.14123174e-05 9.99997307e-01 -3.57514803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.770281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:196.59, Y:42.28, Z:-0.36 [[ 8.13044772e-01 -5.82196964e-01 2.21237020e-03 1.96588439e+02] [ 5.82194489e-01 8.13047776e-01 1.70009805e-03 4.22822327e+01] [-2.78855459e-03 -9.42260888e-05 9.99996108e-01 -3.57029146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.800281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:196.61, Y:42.30, Z:-0.36 [[ 8.13754215e-01 -5.81206058e-01 1.89637469e-03 1.96606617e+02] [ 5.81204236e-01 8.13756420e-01 1.45755733e-03 4.23022595e+01] [-2.39032823e-03 -8.39124128e-05 9.99997140e-01 -3.57117327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.830281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:196.62, Y:42.33, Z:-0.36 [[ 8.15476373e-01 -5.78789635e-01 9.18417475e-04 1.96623570e+02] [ 5.78789206e-01 8.15476889e-01 7.05998189e-04 4.23262103e+01] [-1.15757266e-03 -4.41547219e-05 9.99999329e-01 -3.56968250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.860281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:196.64, Y:42.35, Z:-0.36 [[ 8.16067341e-01 -5.77956757e-01 2.84855299e-04 1.96642012e+02] [ 5.77956716e-01 8.16067391e-01 2.18979289e-04 4.23463464e+01] [-3.59021680e-04 -1.40678135e-05 9.99999935e-01 -3.57623881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.890281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:196.66, Y:42.37, Z:-0.36 [[ 8.16450767e-01 -5.77414774e-01 -5.69055764e-04 1.96657994e+02] [ 5.77414609e-01 8.16450965e-01 -4.37936463e-04 4.23704650e+01] [ 7.17477111e-04 2.89724497e-05 9.99999742e-01 -3.57889241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.920281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:196.68, Y:42.39, Z:-0.36 [[ 8.15987683e-01 -5.78069277e-01 -1.11552386e-04 1.96678137e+02] [ 5.78069270e-01 8.15987691e-01 -8.60854102e-05 4.23907899e+01] [ 1.40788705e-04 5.75962781e-06 9.99999990e-01 -3.58199283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.950281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:196.70, Y:42.41, Z:-0.36 [[ 8.15245036e-01 -5.79116046e-01 3.69653953e-04 1.96697526e+02] [ 5.79115976e-01 8.15245120e-01 2.84402685e-04 4.24098784e+01] [-4.66060740e-04 -1.77853677e-05 9.99999891e-01 -3.57992830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 220.980281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:196.71, Y:42.43, Z:-0.36 [[ 8.13622792e-01 -5.81391732e-01 1.26776090e-03 1.96714799e+02] [ 5.81390915e-01 8.13623777e-01 9.76003439e-04 4.24317604e+01] [-1.59892074e-03 -5.70339741e-05 9.99998720e-01 -3.58074400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.010281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:196.73, Y:42.45, Z:-0.36 [[ 8.12553343e-01 -5.82885924e-01 1.03150574e-03 1.96733117e+02] [ 5.82885385e-01 8.12553996e-01 7.94284768e-04 4.24542020e+01] [-1.30113152e-03 -4.41491260e-05 9.99999153e-01 -3.57844492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.040281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:196.75, Y:42.47, Z:-0.36 [[ 8.12209119e-01 -5.83366191e-01 4.84090587e-04 1.96753162e+02] [ 5.83366072e-01 8.12209263e-01 3.72774817e-04 4.24740865e+01] [-6.10647084e-04 -2.03690814e-05 9.99999813e-01 -3.57848052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.070281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:196.77, Y:42.49, Z:-0.36 [[ 8.11943491e-01 -5.83736042e-01 -8.21896871e-08 1.96772716e+02] [ 5.83736042e-01 8.11943491e-01 -2.99230603e-07 4.24939872e+01] [ 2.41405108e-07 1.94981259e-07 1.00000000e+00 -3.58147821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.100281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:196.79, Y:42.52, Z:-0.36 [[ 8.11233640e-01 -5.84721670e-01 -7.41443447e-04 1.96789627e+02] [ 5.84721391e-01 8.11233978e-01 -5.71781859e-04 4.25157860e+01] [ 9.35817361e-04 3.03108349e-05 9.99999562e-01 -3.58420525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.130281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:196.81, Y:42.54, Z:-0.36 [[ 8.10549608e-01 -5.85669310e-01 -8.89894995e-04 1.96809766e+02] [ 5.85668908e-01 8.10550096e-01 -6.86605111e-04 4.25355913e+01] [ 1.12342802e-03 3.53436732e-05 9.99999368e-01 -3.58182085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.160281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:196.83, Y:42.56, Z:-0.36 [[ 8.09447089e-01 -5.87192721e-01 -3.43864198e-04 1.96828709e+02] [ 5.87192661e-01 8.09447162e-01 -2.65558727e-04 4.25574477e+01] [ 4.34274051e-04 1.30412053e-05 9.99999906e-01 -3.59080849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.190281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:196.85, Y:42.58, Z:-0.36 [[ 8.08743363e-01 -5.88161586e-01 -3.49149143e-04 1.96848286e+02] [ 5.88161524e-01 8.08743438e-01 -2.69586263e-04 4.25769523e+01] [ 4.40932362e-04 1.26700090e-05 9.99999903e-01 -3.59240538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.220281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:196.87, Y:42.60, Z:-0.36 [[ 8.07869397e-01 -5.89361390e-01 -4.36128675e-04 1.96868455e+02] [ 5.89361294e-01 8.07869514e-01 -3.36949900e-04 4.25967340e+01] [ 5.50920323e-04 1.51741523e-05 9.99999848e-01 -3.59461657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.250281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:196.89, Y:42.62, Z:-0.36 [[ 8.06211028e-01 -5.91627218e-01 -1.00681848e-03 1.96886736e+02] [ 5.91626707e-01 8.06211656e-01 -7.77610895e-04 4.26166305e+01] [ 1.27176457e-03 3.12577757e-05 9.99999191e-01 -3.59133962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.280281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:196.91, Y:42.64, Z:-0.36 [[ 8.04190326e-01 -5.94371386e-01 -7.58312378e-04 1.96907503e+02] [ 5.94371097e-01 8.04190684e-01 -5.86005013e-04 4.26360612e+01] [ 9.58132361e-04 2.05406032e-05 9.99999541e-01 -3.59022769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.310281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:196.93, Y:42.65, Z:-0.36 [[ 8.03052122e-01 -5.95908783e-01 -1.12419169e-04 1.96928458e+02] [ 5.95908776e-01 8.03052130e-01 -8.71086699e-05 4.26544374e+01] [ 1.42187274e-04 2.96123291e-06 9.99999990e-01 -3.59289983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.340281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:196.95, Y:42.67, Z:-0.36 [[ 8.01613454e-01 -5.97842490e-01 4.76418526e-04 1.96948478e+02] [ 5.97842377e-01 8.01613596e-01 3.68119312e-04 4.26718703e+01] [-6.01980934e-04 -1.02662097e-05 9.99999819e-01 -3.59158662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.370281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:196.97, Y:42.69, Z:-0.36 [[ 7.98702921e-01 -6.01724077e-01 1.33403553e-03 1.96970439e+02] [ 6.01723194e-01 7.98704034e-01 1.03129687e-03 4.26888296e+01] [-1.68605572e-03 -2.09797013e-05 9.99998578e-01 -3.60150371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.400281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:196.99, Y:42.71, Z:-0.36 [[ 7.97100485e-01 -6.03843662e-01 1.90995354e-03 1.96992994e+02] [ 6.03841856e-01 7.97102773e-01 1.47717063e-03 4.27052055e+01] [-2.41440938e-03 -2.41435377e-05 9.99997085e-01 -3.59910310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.43028169299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:197.02, Y:42.72, Z:-0.36 [[ 7.94706269e-01 -6.06989552e-01 2.37263524e-03 1.97015245e+02] [ 6.06986776e-01 7.94709811e-01 1.83575548e-03 4.27223860e+01] [-2.99984090e-03 -1.87281776e-05 9.99995500e-01 -3.59353022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.46028169299998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:197.04, Y:42.74, Z:-0.36 [[ 7.94118341e-01 -6.07761495e-01 1.42322100e-03 1.97036278e+02] [ 6.07760497e-01 7.94119616e-01 1.10147679e-03 4.27398680e+01] [-1.79964290e-03 -9.72542357e-06 9.99998381e-01 -3.59930828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.490281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:197.06, Y:42.76, Z:-0.36 [[ 7.93674922e-01 -6.08341980e-01 3.91512189e-04 1.97057281e+02] [ 6.08341905e-01 7.93675018e-01 3.02958216e-04 4.27572964e+01] [-4.95035645e-04 -2.27706734e-06 9.99999877e-01 -3.60957070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.520281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:197.08, Y:42.77, Z:-0.36 [[ 7.92623414e-01 -6.09711142e-01 -6.68882644e-04 1.97078379e+02] [ 6.09710922e-01 7.92623696e-01 -5.18305819e-04 4.27743917e+01] [ 8.46189066e-04 2.99627378e-06 9.99999642e-01 -3.61404975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.550281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:197.10, Y:42.79, Z:-0.36 [[ 7.91838854e-01 -6.10729097e-01 -1.09495367e-03 1.97100057e+02] [ 6.10728507e-01 7.91839611e-01 -8.48668783e-04 4.27913251e+01] [ 1.38533441e-03 3.28949491e-06 9.99999040e-01 -3.61785776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.580281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:197.12, Y:42.81, Z:-0.36 [[ 7.91239521e-01 -6.11505070e-01 -1.25250974e-03 1.97121637e+02] [ 6.11504299e-01 7.91240513e-01 -9.71049912e-04 4.28080406e+01] [ 1.58483840e-03 2.41797437e-06 9.99998744e-01 -3.61538515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.610281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:197.14, Y:42.83, Z:-0.36 [[ 7.90608460e-01 -6.12321695e-01 6.35788652e-04 1.97142938e+02] [ 6.12321497e-01 7.90608716e-01 4.92772664e-04 4.28264851e+01] [-8.04395443e-04 -2.83177633e-07 9.99999676e-01 -3.60525668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.640281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:197.16, Y:42.84, Z:-0.36 [[ 7.90577862e-01 -6.12358593e-01 1.89698878e-03 1.97164461e+02] [ 6.12356825e-01 7.90580138e-01 1.47124648e-03 4.28448674e+01] [-2.40065207e-03 -1.50087368e-06 9.99997118e-01 -3.59616775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.670281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:197.19, Y:42.86, Z:-0.36 [[ 7.90474697e-01 -6.12491760e-01 1.89673414e-03 1.97186841e+02] [ 6.12489992e-01 7.90476973e-01 1.47157473e-03 4.28624762e+01] [-2.40065205e-03 -1.51190990e-06 9.99997118e-01 -3.59645144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.700281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:197.21, Y:42.88, Z:-0.36 [[ 7.90791687e-01 -6.12079381e-01 2.70900906e-03 1.97207220e+02] [ 6.12075770e-01 7.90796327e-01 2.10257539e-03 4.28805748e+01] [-3.42921746e-03 -4.58033745e-06 9.99994120e-01 -3.60516842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.730281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:197.23, Y:42.90, Z:-0.36 [[ 7.90883727e-01 -6.11963841e-01 1.78520927e-03 1.97228007e+02] [ 6.11962272e-01 7.90885742e-01 1.38595977e-03 4.28981944e+01] [-2.26005383e-03 -3.65230735e-06 9.99997446e-01 -3.60645650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.760281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:197.25, Y:42.92, Z:-0.36 [[ 7.90970347e-01 -6.11854204e-01 5.85315361e-04 1.97248715e+02] [ 6.11854035e-01 7.90970564e-01 4.54422765e-04 4.29168940e+01] [-7.41007700e-04 -1.30736655e-06 9.99999725e-01 -3.61731760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.790281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:197.27, Y:42.94, Z:-0.36 [[ 7.90907405e-01 -6.11933744e-01 -1.60281160e-03 1.97267501e+02] [ 6.11932476e-01 7.90909029e-01 -1.24567475e-03 4.29379895e+01] [ 2.02994858e-03 4.40090631e-06 9.99997940e-01 -3.62125355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.820281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:197.29, Y:42.96, Z:-0.36 [[ 7.90732525e-01 -6.12159535e-01 -1.66676525e-03 1.97285836e+02] [ 6.12158164e-01 7.90734281e-01 -1.29553113e-03 4.29583883e+01] [ 2.11104016e-03 4.09464575e-06 9.99997772e-01 -3.62188375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.850281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:197.31, Y:42.98, Z:-0.36 [[ 7.90386385e-01 -6.12608122e-01 -8.07127374e-04 1.97306179e+02] [ 6.12607800e-01 7.90386797e-01 -6.27774023e-04 4.29778104e+01] [ 1.02252228e-03 1.73151566e-06 9.99999477e-01 -3.61386125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.880281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:197.33, Y:43.00, Z:-0.36 [[ 7.89744598e-01 -6.13435617e-01 4.62455951e-04 1.97326785e+02] [ 6.13435512e-01 7.89744733e-01 3.59460886e-04 4.29975567e+01] [-5.85728262e-04 -1.95390088e-07 9.99999828e-01 -3.60960871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.910281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:197.35, Y:43.02, Z:-0.36 [[ 7.88034605e-01 -6.15623187e-01 3.09075869e-03 1.97346016e+02] [ 6.15618492e-01 7.88040666e-01 2.40435565e-03 4.30175152e+01] [-3.91582063e-03 8.01274656e-06 9.99992333e-01 -3.60472871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.940281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:197.37, Y:43.04, Z:-0.36 [[ 7.87097157e-01 -6.16819897e-01 3.35859403e-03 1.97367160e+02] [ 6.16814360e-01 7.87104323e-01 2.61362404e-03 4.30354996e+01] [-4.25569919e-03 1.44529764e-05 9.99990944e-01 -3.60286788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 221.970281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:197.39, Y:43.05, Z:-0.36 [[ 7.85298575e-01 -6.19116583e-01 8.97470019e-04 1.97387026e+02] [ 6.19116189e-01 7.85299088e-01 6.98483687e-04 4.30539500e+01] [-1.13722522e-03 7.11997370e-06 9.99999353e-01 -3.61841045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.000281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:197.41, Y:43.07, Z:-0.36 [[ 7.84258484e-01 -6.20434134e-01 3.40350537e-04 1.97408219e+02] [ 6.20434077e-01 7.84258558e-01 2.64805409e-04 4.30728557e+01] [-4.31217136e-04 3.48918305e-06 9.99999907e-01 -3.62381973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.030281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:197.43, Y:43.09, Z:-0.36 [[ 7.83170455e-01 -6.21806685e-01 6.96124999e-04 1.97429469e+02] [ 6.21806449e-01 7.83170765e-01 5.42059670e-04 4.30918976e+01] [-8.82241074e-04 8.32989486e-06 9.99999611e-01 -3.61919812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.060281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:197.45, Y:43.11, Z:-0.36 [[ 7.80872575e-01 -6.24688167e-01 1.64824752e-03 1.97450542e+02] [ 6.24685404e-01 7.80874175e-01 1.91543850e-03 4.31093466e+01] [-2.48362568e-03 -4.66077227e-04 9.99996807e-01 -3.61075174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.090281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:197.47, Y:43.12, Z:-0.36 [[ 7.78352142e-01 -6.27826514e-01 1.34594120e-03 1.97472078e+02] [ 6.27826616e-01 7.78353122e-01 3.98374394e-04 4.31248367e+01] [-1.29772754e-03 5.34942145e-04 9.99999015e-01 -3.61330943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.120281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:197.50, Y:43.14, Z:-0.36 [[ 7.77563303e-01 -6.28804661e-01 8.53817058e-05 1.97495170e+02] [ 6.28804456e-01 7.77563146e-01 7.13854040e-04 4.31405752e+01] [-5.15264416e-04 -5.01378309e-04 9.99999742e-01 -3.62393469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.150281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:197.52, Y:43.16, Z:-0.36 [[ 7.76625383e-01 -6.29962686e-01 -1.71117477e-04 1.97517578e+02] [ 6.29962404e-01 7.76625246e-01 -7.72718539e-04 4.31575190e+01] [ 6.19677999e-04 4.92315254e-04 9.99999687e-01 -3.62571465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.18028169299998 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:197.54, Y:43.17, Z:-0.36 [[ 7.74769863e-01 -6.32243252e-01 -3.60318578e-04 1.97539936e+02] [ 6.32243189e-01 7.74769947e-01 -2.81320429e-04 4.31720966e+01] [ 4.57026949e-04 -9.85037598e-06 9.99999896e-01 -3.62692057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.21028169299998 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:197.56, Y:43.19, Z:-0.36 [[ 7.73734182e-01 -6.33510365e-01 -1.81977985e-04 1.97563271e+02] [ 6.33510349e-01 7.73734203e-01 -1.42253986e-04 4.31882045e+01] [ 2.30921966e-04 -5.21816499e-06 9.99999973e-01 -3.62641639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.240281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:197.59, Y:43.20, Z:-0.36 [[ 7.71723795e-01 -6.35957705e-01 -4.25498650e-04 1.97586912e+02] [ 6.35957619e-01 7.71723912e-01 -3.32329774e-04 4.32010808e+01] [ 5.39715163e-04 -1.41323135e-05 9.99999854e-01 -3.62894659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.270281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:197.61, Y:43.22, Z:-0.36 [[ 7.70602466e-01 -6.37315724e-01 -7.12184190e-04 1.97610762e+02] [ 6.37315482e-01 7.70602795e-01 -5.56263394e-04 4.32164245e+01] [ 9.03326535e-04 -2.52280674e-05 9.99999592e-01 -3.62877438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.300281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:197.63, Y:43.23, Z:-0.36 [[ 7.69531933e-01 -6.38607608e-01 -9.62621084e-04 1.97633929e+02] [ 6.38607167e-01 7.69532534e-01 -7.52030803e-04 4.32304422e+01] [ 1.22102083e-03 -3.60250049e-05 9.99999254e-01 -3.62614462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.330281693 meters Centerline goodness : 0.999391 Centerline is valid? [True, True] Translation: X:197.66, Y:43.24, Z:-0.36 [[ 7.68039410e-01 -6.40402377e-01 -5.10617166e-04 1.97659097e+02] [ 6.40402253e-01 7.68039579e-01 -3.99154089e-04 4.32418408e+01] [ 6.47793421e-04 -2.04343129e-05 9.99999790e-01 -3.62682323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.360281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:197.68, Y:43.26, Z:-0.36 [[ 7.67942151e-01 -6.40519195e-01 -1.17394704e-04 1.97682121e+02] [ 6.40519189e-01 7.67942160e-01 -9.19777531e-05 4.32572577e+01] [ 1.49065859e-04 -4.55996678e-06 9.99999989e-01 -3.61974924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.390281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:197.71, Y:43.27, Z:-0.36 [[ 7.69641353e-01 -6.38476444e-01 1.35588173e-04 1.97705349e+02] [ 6.38476435e-01 7.69641365e-01 1.05786598e-04 4.32731578e+01] [-1.71896517e-04 5.15211287e-06 9.99999985e-01 -3.61458075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.420281693 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:197.73, Y:43.29, Z:-0.36 [[ 7.71019483e-01 -6.36803098e-01 3.28193202e-03 1.97725851e+02] [ 6.36808533e-01 7.70989705e-01 -7.05463536e-03 4.32924439e+01] [ 1.96207786e-03 7.52922362e-03 9.99969730e-01 -3.60189778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.450281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:197.75, Y:43.30, Z:-0.36 [[ 7.72858446e-01 -6.34554349e-01 -5.53178106e-03 1.97754370e+02] [ 6.34577940e-01 7.72839606e-01 5.45718624e-03 4.32997771e+01] [ 8.12298230e-04 -7.72797871e-03 9.99969809e-01 -3.62385048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.480281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:197.78, Y:43.32, Z:-0.36 [[ 7.72883612e-01 -6.34546037e-01 -1.49941559e-03 1.97775873e+02] [ 6.34544954e-01 7.72885065e-01 -1.17363066e-03 4.33181174e+01] [ 1.90359860e-03 -4.43666888e-05 9.99998187e-01 -3.62347542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.510281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:197.80, Y:43.33, Z:-0.36 [[ 7.71881541e-01 -6.35765412e-01 -1.10832256e-03 1.97799435e+02] [ 6.35764820e-01 7.71882336e-01 -8.67909778e-04 4.33333957e+01] [ 1.40728162e-03 -3.47089569e-05 9.99999009e-01 -3.62839700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.540281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:197.83, Y:43.34, Z:-0.36 [[ 7.68693161e-01 -6.39616027e-01 1.47053638e-03 1.97825719e+02] [ 6.39614993e-01 7.68694565e-01 1.15137253e-03 4.33448407e+01] [-1.86682965e-03 5.55249263e-05 9.99998256e-01 -3.61509159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.570281693 meters Centerline goodness : 0.999159 Centerline is valid? [True, True] Translation: X:197.85, Y:43.35, Z:-0.36 [[ 7.65332629e-01 -6.43631310e-01 2.16868932e-03 1.97852773e+02] [ 6.43629076e-01 7.65335696e-01 1.69873379e-03 4.33542021e+01] [-2.75313360e-03 9.57351015e-05 9.99996206e-01 -3.61289583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.600281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:197.88, Y:43.37, Z:-0.36 [[ 7.63882124e-01 -6.45355268e-01 8.23663182e-04 1.97878191e+02] [ 6.45354946e-01 7.63882567e-01 6.45241685e-04 4.33675432e+01] [-1.04559207e-03 3.86665197e-05 9.99999453e-01 -3.61783124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.630281693 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:197.90, Y:43.38, Z:-0.36 [[ 7.62582984e-01 -6.46890261e-01 -4.27903057e-04 1.97903680e+02] [ 6.46890174e-01 7.62583104e-01 -3.35760065e-04 4.33806695e+01] [ 5.43511557e-04 -2.07613708e-05 9.99999852e-01 -3.62595754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.660281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:197.93, Y:43.39, Z:-0.36 [[ 7.61907468e-01 -6.47684824e-01 -1.17421588e-03 1.97932512e+02] [ 6.47684172e-01 7.61908370e-01 -9.21174062e-04 4.33871333e+01] [ 1.49127537e-03 -5.86716439e-05 9.99998886e-01 -3.62026149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.690281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:197.96, Y:43.40, Z:-0.36 [[ 7.62767035e-01 -6.46673207e-01 -4.62104151e-04 1.97958284e+02] [ 6.46673106e-01 7.62767175e-01 -3.62837136e-04 4.33993164e+01] [ 5.87114933e-04 -2.20701199e-05 9.99999827e-01 -3.60815422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.720281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:197.99, Y:43.41, Z:-0.36 [[ 7.66077394e-01 -6.42748289e-01 2.51886368e-04 1.97986799e+02] [ 6.42748259e-01 7.66077435e-01 1.97449985e-04 4.34065754e+01] [-3.19875103e-04 1.06375544e-05 9.99999949e-01 -3.60111251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.750281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:198.01, Y:43.42, Z:-0.36 [[ 7.68122033e-01 -6.40303469e-01 9.93875448e-05 1.98011831e+02] [ 6.40303464e-01 7.68122040e-01 7.77618184e-05 4.34195088e+01] [-1.26132926e-04 3.90762321e-06 9.99999992e-01 -3.60730372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.780281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:198.04, Y:43.43, Z:-0.36 [[ 7.73869291e-01 -6.33344825e-01 -8.08115057e-04 1.98037845e+02] [ 6.33344507e-01 7.73869713e-01 -6.34970056e-04 4.34292805e+01] [ 1.02753077e-03 -2.04314047e-05 9.99999472e-01 -3.60769563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.810281693 meters Centerline goodness : 0.998708 Centerline is valid? [True, True] Translation: X:198.06, Y:43.45, Z:-0.36 [[ 7.77105446e-01 -6.29369848e-01 -8.49073850e-04 1.98060762e+02] [ 6.29369494e-01 7.77105909e-01 -6.67392532e-04 4.34450875e+01] [ 1.07985704e-03 -1.57468086e-05 9.99999417e-01 -3.60267369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.840281693 meters Centerline goodness : 0.998791 Centerline is valid? [True, True] Translation: X:198.08, Y:43.46, Z:-0.36 [[ 7.80604460e-01 -6.25024981e-01 -6.70870541e-04 1.98081741e+02] [ 6.25024759e-01 7.80604748e-01 -5.27548567e-04 4.34612791e+01] [ 8.53415763e-04 -7.50393371e-06 9.99999636e-01 -3.59683317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.870281693 meters Centerline goodness : 0.998505 Centerline is valid? [True, True] Translation: X:198.10, Y:43.48, Z:-0.36 [[ 7.87591131e-01 -6.16196465e-01 -1.45804912e-03 1.98101653e+02] [ 6.16195398e-01 7.87592481e-01 -1.14672936e-03 4.34804764e+01] [ 1.85495910e-03 4.71071468e-06 9.99998280e-01 -3.60364241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.900281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:198.12, Y:43.50, Z:-0.36 [[ 7.90473693e-01 -6.12492955e-01 -1.92884740e-03 1.98121318e+02] [ 6.12491076e-01 7.90476046e-01 -1.51722666e-03 4.34985141e+01] [ 2.45399831e-03 1.79259463e-05 9.99996989e-01 -3.61276913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.93028169299998 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:198.14, Y:43.52, Z:-0.36 [[ 7.94433345e-01 -6.07347021e-01 -2.29259368e-03 1.98141188e+02] [ 6.07344343e-01 7.94436652e-01 -1.80408126e-03 4.35191525e+01] [ 2.91702383e-03 4.08285124e-05 9.99995745e-01 -3.61077640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.96028169299998 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:198.16, Y:43.54, Z:-0.36 [[ 7.95333255e-01 -6.06170644e-01 -1.47108429e-03 1.98161233e+02] [ 6.06169539e-01 7.95334615e-01 -1.15808398e-03 4.35373959e+01] [ 1.87200077e-03 2.93362153e-05 9.99998247e-01 -3.60562512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 222.990281693 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:198.18, Y:43.56, Z:-0.36 [[ 7.95500594e-01 -6.05952749e-01 -2.65811998e-04 1.98182113e+02] [ 6.05952713e-01 7.95500639e-01 -2.09556833e-04 4.35561146e+01] [ 3.38435153e-04 5.63308418e-06 9.99999943e-01 -3.60093279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.020281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:198.20, Y:43.58, Z:-0.36 [[ 7.94635945e-01 -6.07084176e-01 1.58707166e-03 1.98202470e+02] [ 6.07082890e-01 7.94637529e-01 1.24979809e-03 4.35751945e+01] [-2.01987935e-03 -2.96504319e-05 9.99997960e-01 -3.59155436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.050281693 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:198.22, Y:43.59, Z:-0.36 [[ 7.93509483e-01 -6.08556651e-01 1.22627584e-03 1.98223864e+02] [ 6.08555884e-01 7.93510430e-01 9.65979185e-04 4.35938585e+01] [-1.56091573e-03 -2.02562640e-05 9.99998782e-01 -3.59972829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.080281693 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:198.24, Y:43.61, Z:-0.36 [[ 7.93226953e-01 -6.08925483e-01 8.70502826e-04 1.98244868e+02] [ 6.08925097e-01 7.93227430e-01 6.85910921e-04 4.36113201e+01] [-1.10817536e-03 -1.40120115e-05 9.99999386e-01 -3.60821136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.110281693 meters Centerline goodness : 0.998962 Centerline is valid? [True, True] Translation: X:198.27, Y:43.63, Z:-0.36 [[ 7.93603332e-01 -6.08435419e-01 3.04877310e-04 1.98266762e+02] [ 6.08435371e-01 7.93603391e-01 2.40137385e-04 4.36289917e+01] [-3.88059757e-04 -5.07569017e-06 9.99999925e-01 -3.60143578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.140281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:198.29, Y:43.65, Z:-0.36 [[ 7.94642450e-01 -6.07077641e-01 -3.38947098e-04 1.98287947e+02] [ 6.07077582e-01 7.94642522e-01 -2.67599090e-04 4.36462554e+01] [ 4.31795200e-04 6.87841151e-06 9.99999907e-01 -3.59091543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.170281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:198.31, Y:43.66, Z:-0.36 [[ 7.94684089e-01 -6.07022907e-01 -6.23692965e-04 1.98310150e+02] [ 6.07022707e-01 7.94684334e-01 -4.92431779e-04 4.36637367e+01] [ 7.94556398e-04 1.27319077e-05 9.99999684e-01 -3.58948758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.200281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:198.33, Y:43.68, Z:-0.36 [[ 7.93938578e-01 -6.07996266e-01 -1.44064815e-03 1.98333066e+02] [ 6.07995202e-01 7.93939884e-01 -1.13752597e-03 4.36803056e+01] [ 1.83539957e-03 2.72185808e-05 9.99998315e-01 -3.59444022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.230281693 meters Centerline goodness : 0.998983 Centerline is valid? [True, True] Translation: X:198.36, Y:43.70, Z:-0.36 [[ 7.93577635e-01 -6.08467247e-01 -1.46494186e-03 1.98355910e+02] [ 6.08466147e-01 7.93578987e-01 -1.15714601e-03 4.36971714e+01] [ 1.86663253e-03 2.69176631e-05 9.99998257e-01 -3.60410524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.260281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:198.38, Y:43.71, Z:-0.36 [[ 7.93046041e-01 -6.09161228e-01 -7.58041708e-04 1.98377847e+02] [ 6.09160934e-01 7.93046404e-01 -5.98972860e-04 4.37136998e+01] [ 9.66033294e-04 1.32436612e-05 9.99999533e-01 -3.60998800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.290281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:198.40, Y:43.73, Z:-0.36 [[ 7.91946153e-01 -6.10587169e-01 2.14474011e-03 1.98400859e+02] [ 6.10584819e-01 7.91949056e-01 1.69453027e-03 4.37290678e+01] [-2.73318335e-03 -3.24309781e-05 9.99996264e-01 -3.59796289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.320281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:198.42, Y:43.75, Z:-0.36 [[ 7.91404415e-01 -6.11288299e-01 2.38078374e-03 1.98422775e+02] [ 6.11285403e-01 7.91407995e-01 1.88177337e-03 4.37450102e+01] [-3.03447732e-03 -3.39054061e-05 9.99995395e-01 -3.59567151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.350281693 meters Centerline goodness : 0.999060 Centerline is valid? [True, True] Translation: X:198.45, Y:43.76, Z:-0.36 [[ 7.91383626e-01 -6.11319327e-01 -7.97800296e-04 1.98445413e+02] [ 6.11319002e-01 7.91384028e-01 -6.31177305e-04 4.37615547e+01] [ 1.01721730e-03 1.17929034e-05 9.99999483e-01 -3.60476584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.380281693 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:198.47, Y:43.78, Z:-0.36 [[ 7.91817694e-01 -6.10750778e-01 -2.86818224e-03 1.98466843e+02] [ 6.10746565e-01 7.91822888e-01 -2.26895054e-03 4.37782646e+01] [ 3.65685565e-03 4.48627327e-05 9.99993313e-01 -3.61530277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.410281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:198.49, Y:43.80, Z:-0.36 [[ 7.92733975e-01 -6.09556368e-01 -3.72551523e-03 1.98489385e+02] [ 6.09549241e-01 7.92742726e-01 -2.94828874e-03 4.37955014e+01] [ 4.75052328e-03 6.63236704e-05 9.99988714e-01 -3.61838611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.440281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:198.51, Y:43.81, Z:-0.36 [[ 7.94013344e-01 -6.07897515e-01 -1.84981031e-03 1.98510982e+02] [ 6.07895752e-01 7.94015498e-01 -1.46449284e-03 4.38119688e+01] [ 2.35903961e-03 3.83350247e-05 9.99997217e-01 -3.60483749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.470281693 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:198.53, Y:43.83, Z:-0.36 [[ 7.94204123e-01 -6.07650321e-01 -9.47843899e-04 1.98533230e+02] [ 6.07649857e-01 7.94204689e-01 -7.50825641e-04 4.38296887e+01] [ 1.20902151e-03 2.03516103e-05 9.99999269e-01 -3.60390030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.500281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:198.55, Y:43.85, Z:-0.36 [[ 7.94574813e-01 -6.07165051e-01 -1.21121048e-03 1.98554669e+02] [ 6.07164293e-01 7.94575736e-01 -9.59533088e-04 4.38456349e+01] [ 1.54499341e-03 2.70170707e-05 9.99998806e-01 -3.61606176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.530281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:198.58, Y:43.86, Z:-0.36 [[ 7.94419941e-01 -6.07366893e-01 -1.55400896e-03 1.98576739e+02] [ 6.07365645e-01 7.94421460e-01 -1.23158292e-03 4.38630402e+01] [ 1.98256076e-03 3.45423769e-05 9.99998034e-01 -3.62182924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.560281693 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:198.60, Y:43.88, Z:-0.36 [[ 7.94541218e-01 -6.07207540e-01 -1.80448638e-03 1.98598252e+02] [ 6.07205857e-01 7.94543266e-01 -1.43058482e-03 4.38806902e+01] [ 2.30240439e-03 4.09639091e-05 9.99997349e-01 -3.61377297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.590281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:198.62, Y:43.90, Z:-0.36 [[ 7.95627660e-01 -6.05784661e-01 -1.25315370e-03 1.98618539e+02] [ 6.05783847e-01 7.95628647e-01 -9.93964839e-04 4.39005023e+01] [ 1.59917363e-03 3.16856536e-05 9.99998721e-01 -3.60377935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.620281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:198.64, Y:43.92, Z:-0.36 [[ 7.95521202e-01 -6.05924457e-01 -1.25298732e-03 1.98640746e+02] [ 6.05923642e-01 7.95522188e-01 -9.94174591e-04 4.39183510e+01] [ 1.59917391e-03 3.16723269e-05 9.99998721e-01 -3.60410798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.650281693 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:198.66, Y:43.94, Z:-0.36 [[ 7.96264001e-01 -6.04948422e-01 -1.02378400e-03 1.98661726e+02] [ 6.04947877e-01 7.96264658e-01 -8.12693819e-04 4.39368880e+01] [ 1.30684086e-03 2.77828771e-05 9.99999146e-01 -3.59972532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.68028169299998 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:198.68, Y:43.96, Z:-0.36 [[ 7.97777359e-01 -6.02951512e-01 -8.71393522e-04 1.98681164e+02] [ 6.02951116e-01 7.97777835e-01 -6.91784590e-04 4.39551922e+01] [ 1.11229100e-03 2.64823874e-05 9.99999381e-01 -3.59622686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.71028169299998 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:198.70, Y:43.97, Z:-0.36 [[ 7.97952684e-01 -6.02719289e-01 -9.86384520e-04 1.98702765e+02] [ 6.02718781e-01 7.97953293e-01 -7.83478595e-04 4.39737834e+01] [ 1.25930644e-03 3.06663724e-05 9.99999207e-01 -3.59136404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.740281693 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:198.72, Y:43.99, Z:-0.36 [[ 7.97737372e-01 -6.03004748e-01 5.99136199e-04 1.98723362e+02] [ 6.03004561e-01 7.97737597e-01 4.75630236e-04 4.39929609e+01] [-7.64760762e-04 -1.81461539e-05 9.99999707e-01 -3.58219581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.770281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:198.75, Y:44.01, Z:-0.36 [[ 7.97446755e-01 -6.03387031e-01 1.66281473e-03 1.98745260e+02] [ 6.03385587e-01 7.97448487e-01 1.32103941e-03 4.40103155e+01] [-2.12310714e-03 -5.01401513e-05 9.99997745e-01 -3.57519713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.800281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:198.77, Y:44.03, Z:-0.36 [[ 7.97069849e-01 -6.03881951e-01 2.49891738e-03 1.98767485e+02] [ 6.03878689e-01 7.97073763e-01 1.98620026e-03 4.40266841e+01] [-3.19125197e-03 -7.40973866e-05 9.99994905e-01 -3.57614991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.830281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:198.79, Y:44.04, Z:-0.36 [[ 7.95993672e-01 -6.05300279e-01 2.37630375e-03 1.98789963e+02] [ 6.05297334e-01 7.95997216e-01 1.88925521e-03 4.40416517e+01] [-3.03509788e-03 -6.54648689e-05 9.99995392e-01 -3.58617612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.860281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:198.81, Y:44.06, Z:-0.36 [[ 7.95258376e-01 -6.06268678e-01 1.55124256e-03 1.98812294e+02] [ 6.06267424e-01 7.95259888e-01 1.23359618e-03 4.40585575e+01] [-1.98153171e-03 -4.05598615e-05 9.99998036e-01 -3.59458938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.890281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:198.84, Y:44.07, Z:-0.36 [[ 7.94350649e-01 -6.07459466e-01 2.07125475e-04 1.98835432e+02] [ 6.07459444e-01 7.94350676e-01 1.64535850e-04 4.40739564e+01] [-2.64479121e-04 -4.87883309e-06 9.99999965e-01 -3.60126413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.920281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:198.86, Y:44.09, Z:-0.36 [[ 7.94034797e-01 -6.07871915e-01 -6.89850406e-04 1.98857762e+02] [ 6.07871667e-01 7.94035096e-01 -5.49258678e-04 4.40894985e+01] [ 8.81644358e-04 1.67899864e-05 9.99999611e-01 -3.59896146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.950281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:198.88, Y:44.10, Z:-0.36 [[ 7.93435154e-01 -6.08651978e-01 -1.85102828e-03 1.98880644e+02] [ 6.08650194e-01 7.93437312e-01 -1.47402791e-03 4.41044092e+01] [ 2.36584491e-03 4.29168431e-05 9.99997200e-01 -3.60514878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 223.980281693 meters Centerline goodness : 0.999378 Centerline is valid? [True, True] Translation: X:198.90, Y:44.12, Z:-0.36 [[ 7.93277343e-01 -6.08857430e-01 -1.92036004e-03 1.98902653e+02] [ 6.08855510e-01 7.93279666e-01 -1.52985360e-03 4.41213966e+01] [ 2.45484530e-03 4.43764038e-05 9.99996986e-01 -3.60947137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.010281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:198.92, Y:44.14, Z:-0.36 [[ 7.93307414e-01 -6.08818667e-01 -1.78258281e-03 1.98924697e+02] [ 6.08817011e-01 7.93309415e-01 -1.42066075e-03 4.41388923e+01] [ 2.27906451e-03 4.17539712e-05 9.99997402e-01 -3.60918321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.040281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:198.95, Y:44.16, Z:-0.36 [[ 7.93600255e-01 -6.08437669e-01 -1.49637749e-03 1.98946484e+02] [ 6.08436500e-01 7.93601665e-01 -1.19307443e-03 4.41557302e+01] [ 1.91343909e-03 3.63734859e-05 9.99998169e-01 -3.60215642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.070281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:198.97, Y:44.17, Z:-0.36 [[ 7.93758192e-01 -6.08231696e-01 -1.46158956e-03 1.98966987e+02] [ 6.08230580e-01 7.93759537e-01 -1.16572308e-03 4.41733519e+01] [ 1.86918038e-03 3.63187769e-05 9.99998252e-01 -3.59523570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.100281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:198.99, Y:44.19, Z:-0.36 [[ 7.94189769e-01 -6.07668422e-01 -1.30340937e-03 1.98986370e+02] [ 6.07667533e-01 7.94190838e-01 -1.04002632e-03 4.41933350e+01] [ 1.66714693e-03 3.39387072e-05 9.99998610e-01 -3.60025272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.130281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:199.01, Y:44.21, Z:-0.36 [[ 7.94175317e-01 -6.07687079e-01 -1.40731847e-03 1.99006761e+02] [ 6.07686042e-01 7.94176563e-01 -1.12302831e-03 4.42112689e+01] [ 1.80010914e-03 3.66735778e-05 9.99998379e-01 -3.60137073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.160281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:199.03, Y:44.23, Z:-0.36 [[ 7.93775605e-01 -6.08208832e-01 -1.51818432e-03 1.99027056e+02] [ 6.08207626e-01 7.93777056e-01 -1.21173942e-03 4.42287579e+01] [ 1.94209050e-03 3.84779152e-05 9.99998113e-01 -3.60521095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.190281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:199.05, Y:44.25, Z:-0.36 [[ 7.92564787e-01 -6.09786580e-01 -1.17719899e-03 1.99046636e+02] [ 6.09785856e-01 7.92565661e-01 -9.40104246e-04 4.42486142e+01] [ 1.50627045e-03 2.72542250e-05 9.99998865e-01 -3.59692830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.220281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:199.07, Y:44.27, Z:-0.36 [[ 7.91957778e-01 -6.10574132e-01 -1.45144532e-03 1.99065120e+02] [ 6.10573032e-01 7.91959108e-01 -1.15950852e-03 4.42697587e+01] [ 1.85745125e-03 3.20684182e-05 9.99998274e-01 -3.59133808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.250281693 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:199.08, Y:44.29, Z:-0.36 [[ 7.91829376e-01 -6.10740510e-01 -1.50598188e-03 1.99084706e+02] [ 6.10739326e-01 7.91830808e-01 -1.20319723e-03 4.42890049e+01] [ 1.92732414e-03 3.29645607e-05 9.99998142e-01 -3.59532510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.280281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:199.10, Y:44.31, Z:-0.36 [[ 7.91637720e-01 -6.10989530e-01 -1.23101673e-03 1.99104949e+02] [ 6.10988738e-01 7.91638676e-01 -9.84039032e-04 4.43091378e+01] [ 1.57575800e-03 2.68650569e-05 9.99998758e-01 -3.59339325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.310281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:199.12, Y:44.33, Z:-0.36 [[ 7.91565173e-01 -6.11084448e-01 6.12026113e-04 1.99123941e+02] [ 6.11084252e-01 7.91565409e-01 4.89011134e-04 4.43304255e+01] [-7.83285800e-04 -1.30846627e-05 9.99999693e-01 -3.58808624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.340281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:199.14, Y:44.35, Z:-0.36 [[ 7.91367794e-01 -6.11338919e-01 1.31937800e-03 1.99144723e+02] [ 6.11338010e-01 7.91368893e-01 1.05490700e-03 4.43492344e+01] [-1.68902041e-03 -2.82334990e-05 9.99998573e-01 -3.58904422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.370281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:199.16, Y:44.37, Z:-0.36 [[ 7.90585856e-01 -6.12349993e-01 1.22103715e-03 1.99164500e+02] [ 6.12349215e-01 7.90586798e-01 9.76620751e-04 4.43682828e+01] [-1.56336956e-03 -2.44014102e-05 9.99998778e-01 -3.58908342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.400281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:199.18, Y:44.39, Z:-0.36 [[ 7.90045678e-01 -6.13047229e-01 9.60253103e-04 1.99184682e+02] [ 6.13046748e-01 7.90046261e-01 7.68247917e-04 4.43860192e+01] [-1.22961663e-03 -1.82709043e-05 9.99999244e-01 -3.59516496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.43028169299998 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:199.20, Y:44.40, Z:-0.36 [[ 7.89411349e-01 -6.13864482e-01 3.44790417e-04 1.99204700e+02] [ 6.13864420e-01 7.89411425e-01 2.75823705e-04 4.44035767e+01] [-4.41499870e-04 -6.08379361e-06 9.99999903e-01 -3.59838481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.46028169299998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:199.22, Y:44.42, Z:-0.36 [[ 7.88420110e-01 -6.15136503e-01 -9.01015280e-04 1.99224551e+02] [ 6.15136080e-01 7.88420625e-01 -7.21804190e-04 4.44229156e+01] [ 1.15438714e-03 1.48379318e-05 9.99999334e-01 -3.60765506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.490281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:199.24, Y:44.44, Z:-0.36 [[ 7.87769600e-01 -6.15968635e-01 -1.30294438e-03 1.99244071e+02] [ 6.15967750e-01 7.87770678e-01 -1.04399377e-03 4.44411934e+01] [ 1.66948880e-03 1.98548371e-05 9.99998606e-01 -3.61108980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.520281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:199.26, Y:44.46, Z:-0.36 [[ 7.85733999e-01 -6.18563167e-01 -1.30067255e-03 1.99263751e+02] [ 6.18562288e-01 7.85735075e-01 -1.04258872e-03 4.44612127e+01] [ 1.66689102e-03 1.46504154e-05 9.99998611e-01 -3.60947004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.550281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:199.28, Y:44.48, Z:-0.36 [[ 7.84379001e-01 -6.20280947e-01 -1.06260811e-03 1.99283939e+02] [ 6.20280362e-01 7.84379721e-01 -8.52069292e-04 4.44788000e+01] [ 1.36201060e-03 9.23031754e-06 9.99999072e-01 -3.61901366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.580281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:199.31, Y:44.50, Z:-0.36 [[ 7.81699607e-01 -6.23652599e-01 -1.77753619e-03 1.99305115e+02] [ 6.23650969e-01 7.81701628e-01 -1.42573450e-03 4.44975032e+01] [ 2.27866596e-03 5.93393158e-06 9.99997404e-01 -3.62941723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.610281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:199.33, Y:44.52, Z:-0.36 [[ 7.80420118e-01 -6.25250257e-01 -2.56040171e-03 1.99326803e+02] [ 6.25246882e-01 7.80424318e-01 -2.05429774e-03 4.45155653e+01] [ 3.28264995e-03 2.33209869e-06 9.99994612e-01 -3.62797155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.640281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:199.35, Y:44.53, Z:-0.36 [[ 7.79322882e-01 -6.26616248e-01 -2.81484644e-03 1.99348752e+02] [ 6.26612175e-01 7.79327966e-01 -2.25924425e-03 4.45336240e+01] [ 3.60936770e-03 -3.13630754e-06 9.99993486e-01 -3.63356347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.670281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:199.37, Y:44.55, Z:-0.36 [[ 7.77195522e-01 -6.29254273e-01 -2.48624170e-03 1.99369878e+02] [ 6.29251107e-01 7.77199498e-01 -1.99594603e-03 4.45497102e+01] [ 3.18826337e-03 -1.32300253e-05 9.99994917e-01 -3.62886312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.700281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:199.39, Y:44.57, Z:-0.36 [[ 7.76055847e-01 -6.30660097e-01 -2.27234303e-03 1.99391980e+02] [ 6.30657457e-01 7.76059174e-01 -1.82498880e-03 4.45669981e+01] [ 2.91442027e-03 -1.67768517e-05 9.99995753e-01 -3.62185063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.730281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:199.41, Y:44.58, Z:-0.36 [[ 7.74159754e-01 -6.32986892e-01 -2.06656144e-03 1.99414702e+02] [ 6.32984714e-01 7.74162512e-01 -1.66036720e-03 4.45837445e+01] [ 2.65084507e-03 -2.27123368e-05 9.99996486e-01 -3.61532609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.760281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:199.44, Y:44.60, Z:-0.36 [[ 7.73164093e-01 -6.34203167e-01 -1.90513239e-03 1.99437028e+02] [ 6.34201319e-01 7.73166439e-01 -1.53117246e-03 4.45996301e+01] [ 2.44405885e-03 -2.43899080e-05 9.99997013e-01 -3.61232077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.790281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:199.46, Y:44.61, Z:-0.36 [[ 7.72273749e-01 -6.35288073e-01 -1.52321004e-03 1.99460152e+02] [ 6.35286893e-01 7.72275251e-01 -1.22474164e-03 4.46148631e+01] [ 1.95440118e-03 -2.18395547e-05 9.99998090e-01 -3.61245645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.820281693 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:199.49, Y:44.63, Z:-0.36 [[ 7.71059251e-01 -6.36762783e-01 -8.88932698e-04 1.99485040e+02] [ 6.36762381e-01 7.71059763e-01 -7.14953214e-04 4.46267398e+01] [ 1.14067583e-03 -1.47676121e-05 9.99999349e-01 -3.60943267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.850281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:199.51, Y:44.64, Z:-0.36 [[ 7.70460260e-01 -6.37487256e-01 -9.93192642e-04 1.99506784e+02] [ 6.37486755e-01 7.70460900e-01 -7.99179044e-04 4.46421459e+01] [ 1.27468255e-03 -1.74114605e-05 9.99999187e-01 -3.60741167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.880281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:199.53, Y:44.66, Z:-0.36 [[ 7.70782585e-01 -6.37095537e-01 -1.86620003e-03 1.99529155e+02] [ 6.37093768e-01 7.70784844e-01 -1.50171335e-03 4.46573104e+01] [ 2.39517357e-03 -3.14499137e-05 9.99997131e-01 -3.60657163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.910281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:199.55, Y:44.67, Z:-0.36 [[ 7.71665265e-01 -6.36026319e-01 -1.80036633e-03 1.99552009e+02] [ 6.36024668e-01 7.71667364e-01 -1.44932341e-03 4.46739513e+01] [ 2.31109178e-03 -2.66848644e-05 9.99997329e-01 -3.60180667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.940281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:199.57, Y:44.69, Z:-0.36 [[ 7.73071960e-01 -6.34316697e-01 -1.43962495e-03 1.99573631e+02] [ 6.34315638e-01 7.73073300e-01 -1.15920255e-03 4.46902583e+01] [ 1.84823714e-03 -1.70296325e-05 9.99998292e-01 -3.59288506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 224.970281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:199.59, Y:44.71, Z:-0.36 [[ 7.76380470e-01 -6.30264226e-01 -6.08832195e-04 1.99594929e+02] [ 6.30264035e-01 7.76380709e-01 -4.90608778e-04 4.47080420e+01] [ 7.81898733e-04 -2.82596249e-06 9.99999694e-01 -3.57734886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.000281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:199.62, Y:44.73, Z:-0.36 [[ 7.79538425e-01 -6.26354051e-01 6.68509708e-04 1.99615327e+02] [ 6.26353820e-01 7.79538712e-01 5.38342541e-04 4.47250704e+01] [-8.58322227e-04 -9.35087110e-07 9.99999632e-01 -3.58950155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.030281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:199.64, Y:44.74, Z:-0.36 [[ 7.80529778e-01 -6.25118109e-01 7.84343184e-04 1.99637388e+02] [ 6.25117790e-01 7.80530172e-01 6.31871915e-04 4.47427199e+01] [-1.00719810e-03 -2.88796798e-06 9.99999493e-01 -3.59000190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.060281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:199.66, Y:44.76, Z:-0.36 [[ 7.81045883e-01 -6.24473494e-01 4.28430253e-04 1.99658889e+02] [ 6.24473399e-01 7.81046001e-01 3.45141527e-04 4.47609776e+01] [-5.50155471e-04 -2.02807277e-06 9.99999849e-01 -3.59668708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.090281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:199.68, Y:44.78, Z:-0.36 [[ 7.81427815e-01 -6.23993957e-01 -1.45335293e-03 1.99679176e+02] [ 6.23992856e-01 7.81429166e-01 -1.17245452e-03 4.47802227e+01] [ 1.86729691e-03 9.30673038e-06 9.99998257e-01 -3.60255652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.120281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:199.70, Y:44.80, Z:-0.36 [[ 7.81450386e-01 -6.23965618e-01 -1.48359832e-03 1.99700448e+02] [ 6.23964470e-01 7.81451794e-01 -1.19729833e-03 4.47981303e+01] [ 1.90643357e-03 9.91660324e-06 9.99998183e-01 -3.60164727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.150281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:199.72, Y:44.82, Z:-0.36 [[ 7.80989646e-01 -6.24543870e-01 -3.57004216e-04 1.99721339e+02] [ 6.24543803e-01 7.80989728e-01 -2.88304006e-04 4.48154264e+01] [ 4.58875125e-04 2.19767290e-06 9.99999895e-01 -3.59519403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.18028169299998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:199.74, Y:44.83, Z:-0.36 [[ 7.80620257e-01 -6.25005319e-01 -6.04346362e-04 1.99742787e+02] [ 6.25005128e-01 7.80620491e-01 -4.88149975e-04 4.48336732e+01] [ 7.76861485e-04 3.34018351e-06 9.99999698e-01 -3.59155779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.21028169299998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:199.76, Y:44.85, Z:-0.36 [[ 7.80689651e-01 -6.24916879e-01 -1.60102324e-03 1.99763607e+02] [ 6.24915541e-01 7.80691292e-01 -1.29326072e-03 4.48521767e+01] [ 2.05808535e-03 9.13095316e-06 9.99997882e-01 -3.59207718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.240281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:199.78, Y:44.87, Z:-0.36 [[ 7.81695366e-01 -6.23651557e-01 -3.33026264e-03 1.99783240e+02] [ 6.23645754e-01 7.81702459e-01 -2.69044433e-03 4.48713030e+01] [ 4.28117429e-03 2.62037102e-05 9.99990835e-01 -3.60408954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.270281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:199.80, Y:44.89, Z:-0.36 [[ 7.82037776e-01 -6.23222541e-01 -3.25289395e-03 1.99803942e+02] [ 6.23216997e-01 7.82044540e-01 -2.62893802e-03 4.48894201e+01] [ 4.18232139e-03 2.86700450e-05 9.99991254e-01 -3.60896040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.300281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:199.82, Y:44.91, Z:-0.36 [[ 7.81914206e-01 -6.23381462e-01 -2.39323705e-03 1.99823630e+02] [ 6.23378460e-01 7.81917868e-01 -1.93494926e-03 4.49088913e+01] [ 3.07752631e-03 2.10718871e-05 9.99995264e-01 -3.60629991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.330281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:199.84, Y:44.93, Z:-0.36 [[ 7.81132622e-01 -6.24361240e-01 -2.20676177e-03 1.99844064e+02] [ 6.24358689e-01 7.81135739e-01 -1.78460388e-03 4.49270464e+01] [ 2.83801797e-03 1.62014248e-05 9.99995973e-01 -3.60470634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.360281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:199.87, Y:44.95, Z:-0.36 [[ 7.80060015e-01 -6.25699043e-01 -2.66096861e-03 1.99865501e+02] [ 6.25695340e-01 7.80064553e-01 -2.15267205e-03 4.49453617e+01] [ 3.42265213e-03 1.42577356e-05 9.99994143e-01 -3.60797842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.390281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:199.89, Y:44.96, Z:-0.36 [[ 7.76849559e-01 -6.29671316e-01 -4.33545286e-03 1.99887200e+02] [ 6.29661542e-01 7.76861657e-01 -3.50840588e-03 4.49637792e+01] [ 5.57718964e-03 -4.36436783e-06 9.99984447e-01 -3.60761060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.420281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:199.91, Y:44.98, Z:-0.36 [[ 7.74711575e-01 -6.32298875e-01 -4.48416623e-03 1.99907948e+02] [ 6.32288458e-01 7.74724552e-01 -3.62961787e-03 4.49816309e+01] [ 5.76899697e-03 -2.33795755e-05 9.99983359e-01 -3.61020261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.450281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:199.93, Y:45.00, Z:-0.36 [[ 7.70312513e-01 -6.37661254e-01 -2.59948771e-03 1.99930266e+02] [ 6.37657781e-01 7.70316898e-01 -2.10499827e-03 4.49984223e+01] [ 3.34470515e-03 -3.60770551e-05 9.99994406e-01 -3.60887330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.480281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:199.95, Y:45.02, Z:-0.36 [[ 7.70244020e-01 -6.37743987e-01 -2.59930973e-03 1.99952302e+02] [ 6.37740513e-01 7.70248405e-01 -2.10521805e-03 4.50164832e+01] [ 3.34470433e-03 -3.61535075e-05 9.99994406e-01 -3.60920199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.510281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:199.97, Y:45.03, Z:-0.36 [[ 7.68023965e-01 -6.40419802e-01 -1.29102940e-03 1.99974789e+02] [ 6.40418948e-01 7.68025050e-01 -1.04621672e-03 4.50329445e+01] [ 1.66156083e-03 -2.32801769e-05 9.99998619e-01 -3.59834175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.540281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:200.00, Y:45.05, Z:-0.36 [[ 7.64315092e-01 -6.44842785e-01 4.73237382e-04 1.99997912e+02] [ 6.44842671e-01 7.64315238e-01 3.83281360e-04 4.50478261e+01] [-6.08858761e-04 1.22159291e-05 9.99999815e-01 -3.58208996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.570281693 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:200.02, Y:45.06, Z:-0.36 [[ 7.62736635e-01 -6.46709054e-01 4.74240083e-04 2.00020845e+02] [ 6.46708940e-01 7.62736782e-01 3.84208971e-04 4.50638836e+01] [-6.10191775e-04 1.36450439e-05 9.99999814e-01 -3.57639627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.600281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:200.04, Y:45.08, Z:-0.36 [[ 7.61053843e-01 -6.48688673e-01 2.33425200e-04 2.00043022e+02] [ 6.48688645e-01 7.61053878e-01 1.89063445e-04 4.50790902e+01] [-3.00292469e-04 7.53281514e-06 9.99999955e-01 -3.58403541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.630281693 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:200.07, Y:45.09, Z:-0.36 [[ 7.58359712e-01 -6.51835985e-01 -6.28715316e-04 2.00068851e+02] [ 6.51835786e-01 7.58359972e-01 -5.10373285e-04 4.50923812e+01] [ 8.09472202e-04 -2.27726045e-05 9.99999672e-01 -3.59919432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.660281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:200.09, Y:45.11, Z:-0.36 [[ 7.57793176e-01 -6.52494680e-01 -4.40951471e-04 2.00091520e+02] [ 6.52494582e-01 7.57793305e-01 -3.58124822e-04 4.51074433e+01] [ 5.67824613e-04 -1.63338992e-05 9.99999839e-01 -3.59877925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.690281693 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:200.12, Y:45.12, Z:-0.36 [[ 7.57851452e-01 -6.52427001e-01 -4.30833141e-04 2.00115857e+02] [ 6.52426907e-01 7.57851574e-01 -3.50028714e-04 4.51198573e+01] [ 5.54875758e-04 -1.58173651e-05 9.99999846e-01 -3.58961736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.720281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:200.14, Y:45.14, Z:-0.36 [[ 7.57517646e-01 -6.52814118e-01 -8.62362116e-04 2.00139953e+02] [ 6.52813742e-01 7.57518136e-01 -7.00655868e-04 4.51352883e+01] [ 1.11065299e-03 -3.22026569e-05 9.99999383e-01 -3.58875126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.750281693 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:200.17, Y:45.15, Z:-0.36 [[ 7.56417575e-01 -6.54088271e-01 -9.92805632e-04 2.00165708e+02] [ 6.54087774e-01 7.56418226e-01 -8.06899390e-04 4.51472607e+01] [ 1.27875970e-03 -3.90291466e-05 9.99999182e-01 -3.59130803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.780281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:200.19, Y:45.16, Z:-0.36 [[ 7.55539658e-01 -6.55101991e-01 -1.09837536e-03 2.00188898e+02] [ 6.55101384e-01 7.55540455e-01 -8.93000583e-04 4.51631252e+01] [ 1.41487348e-03 -4.48498602e-05 9.99998998e-01 -3.59204897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.810281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:200.21, Y:45.18, Z:-0.36 [[ 7.54952786e-01 -6.55777761e-01 -1.34909375e-03 2.00211386e+02] [ 6.55776845e-01 7.54953989e-01 -1.09700030e-03 4.51783087e+01] [ 1.73789211e-03 -5.65210113e-05 9.99998488e-01 -3.59106064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.840281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:200.24, Y:45.19, Z:-0.36 [[ 7.55294138e-01 -6.55380779e-01 -2.60756712e-03 2.00237345e+02] [ 6.55377356e-01 7.55298632e-01 -2.12102788e-03 4.51911879e+01] [ 3.35957279e-03 -1.06940519e-04 9.99994351e-01 -3.59913274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.870281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:200.26, Y:45.21, Z:-0.36 [[ 7.56086032e-01 -6.54465170e-01 -3.04185602e-03 2.00260824e+02] [ 6.54460501e-01 7.56092142e-01 -2.47506296e-03 4.52055680e+01] [ 3.91976593e-03 -1.19414083e-04 9.99992311e-01 -3.60037756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.900281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:200.29, Y:45.22, Z:-0.36 [[ 7.58681357e-01 -6.51452989e-01 -3.40603088e-03 2.00285103e+02] [ 6.51447102e-01 7.58688994e-01 -2.77200944e-03 4.52190500e+01] [ 4.38995198e-03 -1.15777058e-04 9.99990357e-01 -3.60237717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.93028169299998 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:200.31, Y:45.24, Z:-0.36 [[ 7.60270299e-01 -6.49600306e-01 -2.91803051e-03 2.00307553e+02] [ 6.49595967e-01 7.60275894e-01 -2.37586662e-03 4.52359693e+01] [ 3.76187194e-03 -8.92400296e-05 9.99992920e-01 -3.59874086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.96028169299998 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:200.33, Y:45.25, Z:-0.36 [[ 7.62142766e-01 -6.47405145e-01 -2.23202206e-03 2.00330372e+02] [ 6.47402595e-01 7.62146033e-01 -1.81807452e-03 4.52526044e+01] [ 2.87815756e-03 -5.93845318e-05 9.99995856e-01 -3.59783121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 225.990281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:200.35, Y:45.27, Z:-0.36 [[ 7.65478736e-01 -6.43458365e-01 -1.90695535e-03 2.00353176e+02] [ 6.43456490e-01 7.65481111e-01 -1.55383634e-03 4.52669283e+01] [ 2.45956729e-03 -3.76141144e-05 9.99996975e-01 -3.59010719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.020281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:200.38, Y:45.28, Z:-0.36 [[ 7.66807852e-01 -6.41871718e-01 -2.53296052e-03 2.00375442e+02] [ 6.41868399e-01 7.66812034e-01 -2.06462008e-03 4.52833821e+01] [ 3.26752585e-03 -4.26604237e-05 9.99994661e-01 -3.59552330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.050281693 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:200.40, Y:45.30, Z:-0.36 [[ 7.68721525e-01 -6.39577301e-01 -2.84482147e-03 2.00398814e+02] [ 6.39573095e-01 7.68726788e-01 -2.31968526e-03 4.52987490e+01] [ 3.67050851e-03 -3.62792760e-05 9.99993263e-01 -3.60224708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.080281693 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:200.42, Y:45.31, Z:-0.36 [[ 7.69125694e-01 -6.39093448e-01 -2.28734964e-03 2.00420774e+02] [ 6.39090725e-01 7.69129094e-01 -1.86578775e-03 4.53140611e+01] [ 2.95167988e-03 -2.67986442e-05 9.99995643e-01 -3.59595532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.110281693 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:200.44, Y:45.33, Z:-0.36 [[ 7.69319170e-01 -6.38863110e-01 -1.39296634e-03 2.00442977e+02] [ 6.38862099e-01 7.69320431e-01 -1.13683427e-03 4.53294454e+01] [ 1.79791895e-03 -1.53250024e-05 9.99998384e-01 -3.59085840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.140281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:200.47, Y:45.34, Z:-0.36 [[ 7.70760902e-01 -6.37124304e-01 5.04083434e-04 2.00466037e+02] [ 6.37124171e-01 7.70761066e-01 4.11162976e-04 4.53436304e+01] [-6.50489810e-04 4.25539377e-06 9.99999788e-01 -3.57690233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.170281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:200.49, Y:45.36, Z:-0.36 [[ 7.71920800e-01 -6.35717658e-01 1.15686566e-03 2.00488237e+02] [ 6.35716957e-01 7.71921666e-01 9.44361534e-04 4.53601286e+01] [-1.49335697e-03 6.46680653e-06 9.99998885e-01 -3.57891138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.200281693 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:200.51, Y:45.38, Z:-0.36 [[ 7.75715108e-01 -6.31081570e-01 1.45680777e-03 2.00510594e+02] [ 6.31080449e-01 7.75716476e-01 1.18971765e-03 4.53755911e+01] [-1.88087867e-03 -3.51906032e-06 9.99998231e-01 -3.57994540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.230281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:200.53, Y:45.39, Z:-0.36 [[ 7.77827215e-01 -6.28477136e-01 1.14539913e-03 2.00532563e+02] [ 6.28476440e-01 7.77828059e-01 9.35677107e-04 4.53926561e+01] [-1.47897525e-03 -7.93875036e-06 9.99998906e-01 -3.58372576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.260281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:200.55, Y:45.41, Z:-0.36 [[ 7.79560029e-01 -6.26327253e-01 5.76588916e-04 2.00554212e+02] [ 6.26327076e-01 7.79560243e-01 4.71053561e-04 4.54101667e+01] [-7.44519478e-04 -6.08127777e-06 9.99999723e-01 -3.58808876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.290281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:200.58, Y:45.43, Z:-0.36 [[ 7.82238874e-01 -6.22978496e-01 -3.70050881e-04 2.00575143e+02] [ 6.22978423e-01 7.82238962e-01 -3.02856340e-04 4.54274504e+01] [ 4.78141204e-04 6.37228838e-06 9.99999886e-01 -3.58602191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.320281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:200.60, Y:45.44, Z:-0.36 [[ 7.82982687e-01 -6.22043466e-01 -1.94095981e-04 2.00597092e+02] [ 6.22043446e-01 7.82982711e-01 -1.59059957e-04 4.54446534e+01] [ 2.50916005e-04 3.80506030e-06 9.99999969e-01 -3.58705660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.350281693 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:200.62, Y:45.46, Z:-0.36 [[ 7.83083150e-01 -6.21917011e-01 1.03484935e-04 2.00619619e+02] [ 6.21917006e-01 7.83083157e-01 8.44344703e-05 4.54597299e+01] [-1.33548543e-04 -1.76017017e-06 9.99999991e-01 -3.58974074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.380281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:200.64, Y:45.48, Z:-0.36 [[ 7.82421589e-01 -6.22749076e-01 -2.15197660e-04 2.00641117e+02] [ 6.22749051e-01 7.82421618e-01 -1.76410992e-04 4.54761772e+01] [ 2.78235084e-04 4.01363022e-06 9.99999961e-01 -3.59162057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.410281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:200.66, Y:45.49, Z:-0.36 [[ 7.81645824e-01 -6.23722205e-01 -6.45485431e-04 2.00663151e+02] [ 6.23721981e-01 7.81646091e-01 -5.28878039e-04 4.54941793e+01] [ 8.34414140e-04 1.07918595e-05 9.99999652e-01 -3.59321138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.440281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:200.68, Y:45.51, Z:-0.36 [[ 7.81866143e-01 -6.23442738e-01 -2.11827442e-03 2.00682783e+02] [ 6.23440324e-01 7.81869011e-01 -1.73553702e-03 4.55121040e+01] [ 2.73822108e-03 3.63399412e-05 9.99996250e-01 -3.59125808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.470281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:200.70, Y:45.53, Z:-0.36 [[ 7.82792707e-01 -6.22277516e-01 -2.50419753e-03 2.00703601e+02] [ 6.22274133e-01 7.82796711e-01 -2.05250072e-03 4.55307151e+01] [ 3.23750265e-03 4.83852500e-05 9.99994758e-01 -3.59133707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.500281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:200.72, Y:45.55, Z:-0.36 [[ 7.85956385e-01 -6.18279957e-01 -1.56672219e-03 2.00722244e+02] [ 6.18278624e-01 7.85957946e-01 -1.28472391e-03 4.55517482e+01] [ 2.02569680e-03 4.10661250e-05 9.99997947e-01 -3.58420632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.530281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:200.74, Y:45.57, Z:-0.36 [[ 7.87323424e-01 -6.16539820e-01 -6.90382867e-04 2.00740894e+02] [ 6.16539560e-01 7.87323726e-01 -5.66442704e-04 4.55712719e+01] [ 8.92789294e-04 2.03252598e-05 9.99999601e-01 -3.58697451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.560281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:200.76, Y:45.59, Z:-0.36 [[ 7.88439322e-01 -6.15112476e-01 -2.78868056e-04 2.00760130e+02] [ 6.15112433e-01 7.88439371e-01 -2.29030869e-04 4.55904305e+01] [ 3.60750300e-04 9.04173456e-06 9.99999935e-01 -3.58462256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.590281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:200.78, Y:45.61, Z:-0.36 [[ 7.88885413e-01 -6.14540307e-01 1.27355018e-04 2.00778817e+02] [ 6.14540298e-01 7.88885423e-01 1.04244306e-04 4.56114689e+01] [-1.64530845e-04 -3.97202147e-06 9.99999986e-01 -3.58690911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.620281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:200.80, Y:45.63, Z:-0.36 [[ 7.88167860e-01 -6.15460237e-01 3.47978996e-04 2.00798505e+02] [ 6.15460171e-01 7.88167936e-01 2.85418424e-04 4.56309766e+01] [-4.49929579e-04 -1.07904158e-05 9.99999899e-01 -3.58860477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.650281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:200.82, Y:45.65, Z:-0.36 [[ 7.86990700e-01 -6.16964804e-01 2.64152465e-04 2.00817651e+02] [ 6.16964766e-01 7.86990744e-01 2.16739611e-04 4.56504028e+01] [-3.41606256e-04 -7.59929482e-06 9.99999942e-01 -3.59204093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.68028169299998 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:200.84, Y:45.67, Z:-0.36 [[ 7.83931543e-01 -6.20846844e-01 -7.28822831e-04 2.00835440e+02] [ 6.20846555e-01 7.83931882e-01 -5.98967122e-04 4.56712039e+01] [ 9.43214301e-04 1.70620767e-05 9.99999555e-01 -3.59263871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.71028169299998 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:200.86, Y:45.69, Z:-0.36 [[ 7.82387969e-01 -6.22789923e-01 -1.33360456e-03 2.00855214e+02] [ 6.22788959e-01 7.82389105e-01 -1.09600070e-03 4.56898203e+01] [ 1.72597587e-03 2.69435654e-05 9.99998510e-01 -3.59287113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.740281693 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:200.87, Y:45.71, Z:-0.36 [[ 7.79798566e-01 -6.26027936e-01 -1.79421258e-03 2.00874978e+02] [ 6.26026199e-01 7.79800630e-01 -1.47509799e-03 4.57099342e+01] [ 2.32258065e-03 2.70552223e-05 9.99997302e-01 -3.59651978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.770281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:200.90, Y:45.73, Z:-0.36 [[ 7.78785675e-01 -6.27288082e-01 -1.59192063e-03 2.00895147e+02] [ 6.27286716e-01 7.78787302e-01 -1.30929849e-03 4.57292989e+01] [ 2.06107491e-03 2.10722428e-05 9.99997876e-01 -3.59293967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.800281693 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:200.92, Y:45.75, Z:-0.36 [[ 7.78182913e-01 -6.28036254e-01 -1.34811025e-03 2.00915601e+02] [ 6.28035274e-01 7.78184081e-01 -1.10922462e-03 4.57489111e+01] [ 1.74571121e-03 1.65188513e-05 9.99998476e-01 -3.58386613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.830281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:200.93, Y:45.77, Z:-0.36 [[ 7.78014464e-01 -6.28245997e-01 -6.79034221e-04 2.00934718e+02] [ 6.28245748e-01 7.78014761e-01 -5.58999982e-04 4.57686984e+01] [ 8.79488148e-04 8.30970965e-06 9.99999613e-01 -3.57153699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.860281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:200.95, Y:45.79, Z:-0.36 [[ 7.77942140e-01 -6.28335629e-01 -6.04018214e-04 2.00954902e+02] [ 6.28335432e-01 7.77942374e-01 -4.97501565e-04 4.57870692e+01] [ 7.82489322e-04 7.50138602e-06 9.99999694e-01 -3.57010238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.890281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:200.97, Y:45.81, Z:-0.36 [[ 7.77567890e-01 -6.28798982e-01 -1.29094487e-04 2.00974474e+02] [ 6.28798973e-01 7.77567900e-01 -1.06589769e-04 4.58066102e+01] [ 1.67403268e-04 1.70630113e-06 9.99999986e-01 -3.57835541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.920281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:201.00, Y:45.83, Z:-0.36 [[ 7.77421753e-01 -6.28979659e-01 -8.22795097e-05 2.00995288e+02] [ 6.28979655e-01 7.77421757e-01 -6.80620756e-05 4.58260228e+01] [ 1.06775542e-04 1.16080045e-06 9.99999994e-01 -3.57953885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.950281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:201.02, Y:45.84, Z:-0.36 [[ 7.77283852e-01 -6.29149972e-01 -3.55632398e-04 2.01015684e+02] [ 6.29149903e-01 7.77283933e-01 -2.93366525e-04 4.58445569e+01] [ 4.60998890e-04 4.28297396e-06 9.99999894e-01 -3.57722540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 226.980281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:201.04, Y:45.86, Z:-0.36 [[ 7.75911798e-01 -6.30840885e-01 -8.11808629e-04 2.01036431e+02] [ 6.30840530e-01 7.75912223e-01 -6.69573010e-04 4.58631582e+01] [ 1.05228627e-03 7.40781319e-06 9.99999446e-01 -3.57926752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.010281693 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:201.06, Y:45.88, Z:-0.36 [[ 7.74777405e-01 -6.32233598e-01 -8.06442387e-04 2.01056974e+02] [ 6.32233248e-01 7.74777825e-01 -6.65234666e-04 4.58799674e+01] [ 1.04539738e-03 5.54909863e-06 9.99999454e-01 -3.57652368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.040281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:201.08, Y:45.90, Z:-0.36 [[ 7.72431085e-01 -6.35098126e-01 7.67837190e-04 2.01078621e+02] [ 6.35097810e-01 7.72431467e-01 6.33171817e-04 4.58968762e+01] [-9.95227841e-04 -1.42987558e-06 9.99999505e-01 -3.56983891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.070281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:201.10, Y:45.91, Z:-0.36 [[ 7.71705395e-01 -6.35977628e-01 1.80027954e-03 2.01100406e+02] [ 6.35975893e-01 7.71707494e-01 1.48539839e-03 4.59149172e+01] [-2.33396936e-03 -1.35556242e-06 9.99997276e-01 -3.57068791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.100281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:201.12, Y:45.93, Z:-0.36 [[ 7.71705749e-01 -6.35974768e-01 2.51609816e-03 2.01122381e+02] [ 6.35971377e-01 7.71709851e-01 2.07689048e-03 4.59328770e+01] [-3.26254768e-03 -2.58191492e-06 9.99994678e-01 -3.56968768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.130281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:201.14, Y:45.95, Z:-0.36 [[ 7.73105522e-01 -6.34272706e-01 2.44660327e-03 2.01143977e+02] [ 6.34269489e-01 7.73109393e-01 2.02026494e-03 4.59500479e+01] [-3.17289087e-03 -1.00721738e-05 9.99994966e-01 -3.57534880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.160281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:201.17, Y:45.97, Z:-0.36 [[ 7.74280641e-01 -6.32839840e-01 1.79630880e-03 2.01165536e+02] [ 6.32838101e-01 7.74282724e-01 1.48375571e-03 4.59680599e+01] [-2.32983060e-03 -1.20706714e-05 9.99997286e-01 -3.57351031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.190281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:201.19, Y:45.99, Z:-0.36 [[ 7.77534751e-01 -6.28839713e-01 5.72011452e-04 2.01185315e+02] [ 6.28839535e-01 7.77534961e-01 4.72476272e-04 4.59862148e+01] [-7.41870745e-04 -7.66330425e-06 9.99999725e-01 -3.57833553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.220281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:201.20, Y:46.00, Z:-0.36 [[ 7.79419649e-01 -6.26502174e-01 1.89902283e-04 2.01204810e+02] [ 6.26502154e-01 7.79419673e-01 1.56795670e-04 4.60048521e+01] [-2.46246403e-04 -3.23543612e-06 9.99999970e-01 -3.57729927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.250281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:201.22, Y:46.03, Z:-0.36 [[ 7.83160002e-01 -6.21820159e-01 -3.18060321e-04 2.01223499e+02] [ 6.21820103e-01 7.83160067e-01 -2.63299200e-04 4.60264279e+01] [ 4.12816893e-04 8.42910065e-06 9.99999915e-01 -3.58501741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.280281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:201.24, Y:46.05, Z:-0.36 [[ 7.84523350e-01 -6.20099272e-01 -8.09490793e-05 2.01242633e+02] [ 6.20099268e-01 7.84523354e-01 -6.72123796e-05 4.60457437e+01] [ 1.05184791e-04 2.53321637e-06 9.99999994e-01 -3.58204867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.310281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:201.26, Y:46.07, Z:-0.36 [[ 7.85256348e-01 -6.19170555e-01 5.39950632e-04 2.01262139e+02] [ 6.19170394e-01 7.85256534e-01 4.46560940e-04 4.60656816e+01] [-7.00497146e-04 -1.63433669e-05 9.99999755e-01 -3.58364901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.340281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:201.28, Y:46.09, Z:-0.36 [[ 7.85508840e-01 -6.18850217e-01 5.20496919e-04 2.01281392e+02] [ 6.18850068e-01 7.85509012e-01 4.30653096e-04 4.60851746e+01] [-6.75364782e-04 -1.61722603e-05 9.99999772e-01 -3.58914183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.370281693 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:201.30, Y:46.11, Z:-0.36 [[ 7.84918914e-01 -6.19598252e-01 -5.51723117e-04 2.01298929e+02] [ 6.19598084e-01 7.84919108e-01 -4.57116518e-04 4.61073252e+01] [ 7.16286612e-04 1.69528147e-05 9.99999743e-01 -3.60230158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.400281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:201.32, Y:46.13, Z:-0.36 [[ 7.84027671e-01 -6.20725664e-01 -5.10942307e-04 2.01316433e+02] [ 6.20725520e-01 7.84027838e-01 -4.23460344e-04 4.61285938e+01] [ 6.63445695e-04 1.48496981e-05 9.99999780e-01 -3.60054001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.43028169299998 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:201.34, Y:46.15, Z:-0.36 [[ 7.83926941e-01 -6.20852873e-01 -5.10872732e-04 2.01338241e+02] [ 6.20852729e-01 7.83927107e-01 -4.23544303e-04 4.61469247e+01] [ 6.63445680e-04 1.48510604e-05 9.99999780e-01 -3.60086864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.46028169299998 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:201.36, Y:46.17, Z:-0.36 [[ 7.83377699e-01 -6.21545935e-01 1.74773190e-04 2.01358250e+02] [ 6.21545918e-01 7.83377719e-01 1.44603409e-04 4.61673487e+01] [-2.26791084e-04 -4.64952279e-06 9.99999974e-01 -3.59666020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.490281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:201.38, Y:46.19, Z:-0.36 [[ 7.82836056e-01 -6.22227852e-01 4.59073228e-04 2.01377204e+02] [ 6.22227735e-01 7.82836190e-01 3.80386044e-04 4.61880230e+01] [-5.96065927e-04 -1.21318153e-05 9.99999822e-01 -3.59135500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.520281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:201.40, Y:46.21, Z:-0.36 [[ 7.82474120e-01 -6.22682888e-01 5.22397435e-04 2.01396410e+02] [ 6.22682738e-01 7.82474294e-01 4.33052649e-04 4.62091868e+01] [-6.78417038e-04 -1.35646253e-05 9.99999770e-01 -3.58910640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.550281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:201.41, Y:46.23, Z:-0.36 [[ 7.82970028e-01 -6.22059382e-01 2.45843219e-04 2.01412824e+02] [ 6.22059349e-01 7.82970067e-01 2.03719820e-04 4.62328675e+01] [-3.19213707e-04 -6.57744031e-06 9.99999949e-01 -3.60131115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.580281693 meters Centerline goodness : 0.999475 Centerline is valid? [True, True] Translation: X:201.43, Y:46.26, Z:-0.36 [[ 7.83623833e-01 -6.21235181e-01 7.34143613e-04 2.01428107e+02] [ 6.21234883e-01 7.83624176e-01 6.09163264e-04 4.62571828e+01] [-9.53726335e-04 -2.12792304e-05 9.99999545e-01 -3.61237305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.610281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:201.45, Y:46.28, Z:-0.36 [[ 7.83754711e-01 -6.21069046e-01 1.33935087e-03 2.01446601e+02] [ 6.21068052e-01 7.83755854e-01 1.11183211e-03 4.62791568e+01] [-1.74024860e-03 -3.95756201e-05 9.99998485e-01 -3.60290316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.640281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:201.46, Y:46.30, Z:-0.36 [[ 7.83711290e-01 -6.21120505e-01 2.43561282e-03 2.01464854e+02] [ 6.21117216e-01 7.83715071e-01 2.02286819e-03 4.63008837e+01] [-3.16527139e-03 -7.25435846e-05 9.99994988e-01 -3.60068531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.670281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:201.48, Y:46.32, Z:-0.36 [[ 7.83464073e-01 -6.21430053e-01 2.95563148e-03 2.01483202e+02] [ 6.21425208e-01 7.83469643e-01 2.45547416e-03 4.63216031e+01] [-3.84155298e-03 -8.70718798e-05 9.99992617e-01 -3.60280074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.700281693 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:201.50, Y:46.34, Z:-0.36 [[ 7.81540259e-01 -6.23850402e-01 2.34497630e-03 2.01500068e+02] [ 6.23847362e-01 7.81543775e-01 1.94866258e-03 4.63437518e+01] [-3.04837557e-03 -6.00509777e-05 9.99995352e-01 -3.61424466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.730281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:201.52, Y:46.37, Z:-0.36 [[ 7.78208453e-01 -6.28004618e-01 1.34335615e-03 2.01517833e+02] [ 6.28003625e-01 7.78209612e-01 1.11658767e-03 4.63656474e+01] [-1.74663489e-03 -2.53054305e-05 9.99998474e-01 -3.61950159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.760281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:201.54, Y:46.38, Z:-0.36 [[ 7.76649508e-01 -6.29931246e-01 1.47217319e-03 2.01537734e+02] [ 6.29930057e-01 7.76650903e-01 1.22412205e-03 4.63847597e+01] [-1.91447736e-03 -2.33476478e-05 9.99998167e-01 -3.61798413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.790281693 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:201.56, Y:46.40, Z:-0.36 [[ 7.75232239e-01 -6.31670331e-01 2.75107094e-03 2.01557938e+02] [ 6.31666186e-01 7.75237120e-01 2.28856292e-03 4.64032203e+01] [-3.57834961e-03 -3.64092736e-05 9.99993597e-01 -3.61686641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.820281693 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:201.58, Y:46.42, Z:-0.36 [[ 7.73019526e-01 -6.34369899e-01 3.95518484e-03 2.01579162e+02] [ 6.34361360e-01 7.73029644e-01 3.29153174e-03 4.64219658e+01] [-5.14552379e-03 -3.54018721e-05 9.99986761e-01 -3.60693250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.850281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:201.60, Y:46.44, Z:-0.36 [[ 7.71772571e-01 -6.35888937e-01 3.51559411e-03 2.01599996e+02] [ 6.35882202e-01 7.71780577e-01 2.92674651e-03 4.64399642e+01] [-4.57435298e-03 -2.32789491e-05 9.99989537e-01 -3.61422106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.880281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:201.62, Y:46.46, Z:-0.36 [[ 7.70374606e-01 -6.37586744e-01 2.47183659e-03 2.01621086e+02] [ 6.37583421e-01 7.70378571e-01 2.05851328e-03 4.64578122e+01] [-3.21673072e-03 -9.82432315e-06 9.99994826e-01 -3.62543978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.910281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:201.64, Y:46.47, Z:-0.36 [[ 7.67495285e-01 -6.41054377e-01 5.22729042e-04 2.01642442e+02] [ 6.41054229e-01 7.67495463e-01 4.35277384e-04 4.64738358e+01] [-6.80228641e-04 1.02432277e-06 9.99999769e-01 -3.64011624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.940281693 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:201.66, Y:46.49, Z:-0.36 [[ 7.66074415e-01 -6.42751488e-01 7.17428495e-04 2.01663787e+02] [ 6.42751210e-01 7.66074751e-01 5.97706464e-04 4.64897410e+01] [-9.33780575e-04 3.24040295e-06 9.99999564e-01 -3.64133452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 227.970281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:201.69, Y:46.51, Z:-0.36 [[ 7.63457180e-01 -6.45855952e-01 1.79571973e-03 2.01685819e+02] [ 6.45854217e-01 7.63459291e-01 1.49693344e-03 4.65058873e+01] [-2.33776228e-03 1.69285826e-05 9.99997267e-01 -3.63438881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.000281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:201.71, Y:46.52, Z:-0.36 [[ 7.62485129e-01 -6.47002195e-01 2.14188646e-03 2.01706261e+02] [ 6.46999730e-01 7.62488137e-01 1.78613943e-03 4.65228593e+01] [-2.78879915e-03 2.38952061e-05 9.99996111e-01 -3.63663824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.030281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:201.73, Y:46.54, Z:-0.36 [[ 7.61846149e-01 -6.47754557e-01 2.11622544e-03 2.01728037e+02] [ 6.47752152e-01 7.61849088e-01 1.76536503e-03 4.65406824e+01] [-2.75576767e-03 2.58530316e-05 9.99996203e-01 -3.63397154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.060281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:201.75, Y:46.56, Z:-0.36 [[ 7.62319564e-01 -6.47198524e-01 1.71836945e-03 2.01749760e+02] [ 6.47196935e-01 7.62321501e-01 1.43393080e-03 4.65569614e+01] [-2.23798788e-03 1.90099382e-05 9.99997496e-01 -3.63616143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.090281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:201.77, Y:46.57, Z:-0.36 [[ 7.62605984e-01 -6.46861011e-01 1.71638494e-03 2.01771925e+02] [ 6.46859425e-01 7.62607915e-01 1.43278120e-03 4.65746097e+01] [-2.23573904e-03 1.76122590e-05 9.99997501e-01 -3.63818075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.120281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:201.79, Y:46.59, Z:-0.36 [[ 7.62837906e-01 -6.46587271e-01 1.79726978e-03 2.01792581e+02] [ 6.46585529e-01 7.62840023e-01 1.50084233e-03 4.65923749e+01] [-2.34145487e-03 1.71892067e-05 9.99997259e-01 -3.63827619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.150281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:201.81, Y:46.61, Z:-0.36 [[ 7.62450937e-01 -6.47043660e-01 1.75210782e-03 2.01813014e+02] [ 6.47042005e-01 7.62452950e-01 1.46360649e-03 4.66092877e+01] [-2.28291707e-03 1.77592163e-05 9.99997394e-01 -3.64766241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.18028169299998 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:201.83, Y:46.63, Z:-0.37 [[ 7.61675740e-01 -6.47955423e-01 1.95876362e-03 2.01834921e+02] [ 6.47953356e-01 7.61678258e-01 1.63683274e-03 4.66262846e+01] [-2.55254231e-03 2.24516766e-05 9.99996742e-01 -3.65825054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.21028169299998 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:201.86, Y:46.64, Z:-0.37 [[ 7.60563241e-01 -6.49262747e-01 1.20089865e-03 2.01858041e+02] [ 6.49261971e-01 7.60564189e-01 1.00375676e-03 4.66412721e+01] [-1.56506238e-03 1.62773332e-05 9.99998775e-01 -3.65740850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.240281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:201.88, Y:46.66, Z:-0.37 [[ 7.60287721e-01 -6.49585141e-01 1.31375787e-03 2.01878958e+02] [ 6.49584213e-01 7.60288855e-01 1.09840524e-03 4.66581788e+01] [-1.71234319e-03 1.82923509e-05 9.99998534e-01 -3.65123159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.270281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:201.90, Y:46.68, Z:-0.36 [[ 7.61002512e-01 -6.48743849e-01 2.56817547e-03 2.01899269e+02] [ 6.48740293e-01 7.61006845e-01 2.14817144e-03 4.66768209e+01] [-3.34801212e-03 3.13150424e-05 9.99994395e-01 -3.64212985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.300281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:201.92, Y:46.70, Z:-0.36 [[ 7.61747694e-01 -6.47865104e-01 3.35521199e-03 2.01920381e+02] [ 6.47859021e-01 7.61755083e-01 2.80760306e-03 4.66950683e+01] [-4.37479784e-03 3.50192011e-05 9.99990430e-01 -3.64830294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.330281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:201.94, Y:46.71, Z:-0.37 [[ 7.62796450e-01 -6.46629312e-01 3.47977450e-03 2.01941873e+02] [ 6.46622752e-01 7.62804386e-01 2.91291526e-03 4.67136990e+01] [-4.53796364e-03 2.81399456e-05 9.99989703e-01 -3.65617833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.360281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:201.96, Y:46.73, Z:-0.37 [[ 7.65148746e-01 -6.43848382e-01 2.58016071e-03 2.01960938e+02] [ 6.43844757e-01 7.65153097e-01 2.16040735e-03 4.67325466e+01] [-3.36519273e-03 8.18996889e-06 9.99994338e-01 -3.66105620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.390281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:201.98, Y:46.75, Z:-0.37 [[ 7.66221569e-01 -6.42573666e-01 1.89512547e-03 2.01980628e+02] [ 6.42571705e-01 7.66223913e-01 1.58723020e-03 4.67511103e+01] [-2.47200278e-03 1.58398745e-06 9.99996945e-01 -3.66041099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.420281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:202.00, Y:46.77, Z:-0.37 [[ 7.67636708e-01 -6.40882145e-01 1.99038738e-03 2.02001135e+02] [ 6.40879975e-01 7.67639288e-01 1.66760524e-03 4.67702404e+01] [-2.59663798e-03 -4.51557990e-06 9.99996629e-01 -3.66297170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.450281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:202.02, Y:46.79, Z:-0.37 [[ 7.68110385e-01 -6.40312461e-01 2.52751738e-03 2.02021390e+02] [ 6.40308958e-01 7.68114543e-01 2.11830950e-03 4.67887713e+01] [-3.29780283e-03 -8.70350718e-06 9.99994562e-01 -3.66403761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.480281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:202.04, Y:46.81, Z:-0.37 [[ 7.68498383e-01 -6.39841448e-01 3.62721266e-03 2.02041465e+02] [ 6.39834221e-01 7.68506943e-01 3.04108975e-03 4.68084297e+01] [-4.73335338e-03 -1.62577657e-05 9.99988798e-01 -3.67053530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.510281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:202.06, Y:46.83, Z:-0.37 [[ 7.69492831e-01 -6.38642873e-01 4.00781563e-03 2.02060550e+02] [ 6.38634028e-01 7.69503268e-01 3.36138315e-03 4.68281856e+01] [-5.23075062e-03 -2.70327958e-05 9.99986319e-01 -3.67459520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.540281693 meters Centerline goodness : 0.999462 Centerline is valid? [True, True] Translation: X:202.08, Y:46.85, Z:-0.37 [[ 7.69638943e-01 -6.38470963e-01 3.27511808e-03 2.02081368e+02] [ 6.38465050e-01 7.69645911e-01 2.74783767e-03 4.68465535e+01] [-4.27509580e-03 -2.37944536e-05 9.99990861e-01 -3.67455981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.570281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:202.10, Y:46.87, Z:-0.37 [[ 7.69833533e-01 -6.38243871e-01 1.04512819e-03 2.02101181e+02] [ 6.38243269e-01 7.69834242e-01 8.77009712e-04 4.68670096e+01] [-1.36432154e-03 -8.10544993e-06 9.99999069e-01 -3.68800615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.600281693 meters Centerline goodness : 0.999336 Centerline is valid? [True, True] Translation: X:202.12, Y:46.89, Z:-0.37 [[ 7.70126732e-01 -6.37890902e-01 1.15320737e-04 2.02120424e+02] [ 6.37890895e-01 7.70126741e-01 9.65788203e-05 4.68857527e+01] [-1.50418334e-04 -8.15882962e-07 9.99999989e-01 -3.68800722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.630281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:202.14, Y:46.90, Z:-0.37 [[ 7.70175236e-01 -6.37832243e-01 -3.68119816e-04 2.02139621e+02] [ 6.37832168e-01 7.70175324e-01 -3.09458276e-04 4.69042314e+01] [ 4.80899265e-04 3.53844085e-06 9.99999884e-01 -3.69312932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.660281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:202.16, Y:46.92, Z:-0.37 [[ 7.69180313e-01 -6.39031474e-01 6.49172306e-04 2.02159530e+02] [ 6.39031241e-01 7.69180587e-01 5.45221038e-04 4.69236834e+01] [-8.47744139e-04 -4.53190379e-06 9.99999641e-01 -3.69086818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.690281693 meters Centerline goodness : 0.999719 Centerline is valid? [True, True] Translation: X:202.18, Y:46.94, Z:-0.37 [[ 7.68068458e-01 -6.40365675e-01 1.62694869e-03 2.02180777e+02] [ 6.40364215e-01 7.68070181e-01 1.36735785e-03 4.69425504e+01] [-2.12521981e-03 -8.38471242e-06 9.99997742e-01 -3.68414757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.720281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:202.20, Y:46.96, Z:-0.37 [[ 7.65357439e-01 -6.43599275e-01 2.82210368e-03 2.02201930e+02] [ 6.43594901e-01 7.65362642e-01 2.37270781e-03 4.69591830e+01] [-3.68700575e-03 3.21963040e-07 9.99993203e-01 -3.67825620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.750281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:202.22, Y:46.98, Z:-0.37 [[ 7.63808209e-01 -6.45435154e-01 3.23761237e-03 2.02223646e+02] [ 6.45429410e-01 7.63815071e-01 2.72295950e-03 4.69761261e+01] [-4.23043091e-03 9.83142192e-06 9.99991052e-01 -3.68188882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.780281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:202.25, Y:46.99, Z:-0.37 [[ 7.62164773e-01 -6.47373898e-01 3.44906879e-03 2.02245060e+02] [ 6.47367394e-01 7.62172577e-01 2.90189704e-03 4.69939347e+01] [-4.50739804e-03 2.10909774e-05 9.99989841e-01 -3.67665127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.810281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:202.27, Y:47.01, Z:-0.37 [[ 7.60284206e-01 -6.49581322e-01 3.46877658e-03 2.02265707e+02] [ 6.49574763e-01 7.60292118e-01 2.91931111e-03 4.70118392e+01] [-4.53361347e-03 3.37235977e-05 9.99989723e-01 -3.67491157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.840281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:202.29, Y:47.03, Z:-0.37 [[ 7.59896203e-01 -6.50033695e-01 3.73578857e-03 2.02286862e+02] [ 6.50026088e-01 7.59905385e-01 3.14513358e-03 4.70303636e+01] [-4.88328866e-03 3.83849647e-05 9.99988076e-01 -3.67631091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.870281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:202.31, Y:47.05, Z:-0.37 [[ 7.60048171e-01 -6.49853670e-01 4.12138993e-03 2.02307745e+02] [ 6.49844401e-01 7.60059344e-01 3.47099563e-03 4.70470850e+01] [-5.38814017e-03 4.01382977e-05 9.99985483e-01 -3.67553739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.900281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:202.33, Y:47.06, Z:-0.37 [[ 7.60027187e-01 -6.49877579e-01 4.21972950e-03 2.02329644e+02] [ 6.49867857e-01 7.60038900e-01 3.55511579e-03 4.70645741e+01] [-5.51754861e-03 4.02819080e-05 9.99984777e-01 -3.67219689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.93028169299998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.35, Y:47.08, Z:-0.37 [[ 7.59756645e-01 -6.50195368e-01 3.97786494e-03 2.02351623e+02] [ 6.50186726e-01 7.59767058e-01 3.35258027e-03 4.70816108e+01] [-5.20208290e-03 3.92098411e-05 9.99986468e-01 -3.67825355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.96028169299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:202.37, Y:47.10, Z:-0.37 [[ 7.58814606e-01 -6.51294648e-01 3.95909962e-03 2.02374570e+02] [ 6.51286097e-01 7.58824933e-01 3.33791266e-03 4.70961213e+01] [-5.17822816e-03 4.56496546e-05 9.99986592e-01 -3.68109216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 228.990281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:202.40, Y:47.11, Z:-0.37 [[ 7.58156763e-01 -6.52060144e-01 3.98641091e-03 2.02397110e+02] [ 6.52051478e-01 7.58167241e-01 3.36216370e-03 4.71124895e+01] [-5.21469910e-03 5.02979779e-05 9.99986402e-01 -3.67864659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.020281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:202.42, Y:47.13, Z:-0.37 [[ 7.57437204e-01 -6.52895201e-01 4.09124886e-03 2.02421178e+02] [ 6.52886078e-01 7.57448251e-01 3.45190708e-03 4.71270739e+01] [-5.35264286e-03 5.65165766e-05 9.99985673e-01 -3.67649696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.050281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:202.44, Y:47.14, Z:-0.37 [[ 7.57531642e-01 -6.52787305e-01 3.81376710e-03 2.02444295e+02] [ 6.52779371e-01 7.57541241e-01 3.21899643e-03 4.71438318e+01] [-4.99040587e-03 5.10568305e-05 9.99987547e-01 -3.67337346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.080281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:202.47, Y:47.16, Z:-0.37 [[ 7.58135510e-01 -6.52087007e-01 3.61722007e-03 2.02466774e+02] [ 6.52079856e-01 7.58144138e-01 3.05427767e-03 4.71602057e+01] [-4.73402898e-03 4.31599804e-05 9.99988794e-01 -3.67351887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:202.49, Y:47.18, Z:-0.37 [[ 7.60213066e-01 -6.49667327e-01 2.90834383e-03 2.02488278e+02] [ 6.49662684e-01 7.60218629e-01 2.45641645e-03 4.71759296e+01] [-3.80683067e-03 2.20425834e-05 9.99992754e-01 -3.67642197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.140281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.51, Y:47.19, Z:-0.37 [[ 7.61339856e-01 -6.48349682e-01 2.07707613e-03 2.02509502e+02] [ 6.48347307e-01 7.61342689e-01 1.75484346e-03 4.71928950e+01] [-2.71911893e-03 1.06344467e-05 9.99996303e-01 -3.68058571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.170281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:202.53, Y:47.21, Z:-0.37 [[ 7.62289511e-01 -6.47234399e-01 1.52766745e-03 2.02531058e+02] [ 6.47233112e-01 7.62291042e-01 1.29108439e-03 4.72103462e+01] [-2.00016145e-03 4.57686774e-06 9.99998000e-01 -3.69451578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.200281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:202.55, Y:47.23, Z:-0.37 [[ 7.63355464e-01 -6.45977400e-01 1.27825432e-03 2.02553918e+02] [ 6.45976496e-01 7.63356535e-01 1.08066276e-03 4.72271682e+01] [-1.67384751e-03 7.92421492e-07 9.99998599e-01 -3.69563659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.230281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.57, Y:47.25, Z:-0.37 [[ 7.63280463e-01 -6.46065024e-01 1.70861320e-03 2.02574695e+02] [ 6.46063408e-01 7.63282375e-01 1.44511560e-03 4.72450234e+01] [-2.23779298e-03 8.43961487e-07 9.99997496e-01 -3.68752250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.260281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:202.60, Y:47.26, Z:-0.36 [[ 7.63639300e-01 -6.45641290e-01 1.53138321e-03 2.02596181e+02] [ 6.45639990e-01 7.63640835e-01 1.29565375e-03 4.72629821e+01] [-2.00595431e-03 -6.89880564e-07 9.99997988e-01 -3.61148789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.290281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:202.62, Y:47.28, Z:-0.36 [[ 7.63526208e-01 -6.45775027e-01 1.53114793e-03 2.02617799e+02] [ 6.45773727e-01 7.63527743e-01 1.29593175e-03 4.72815275e+01] [-2.00595428e-03 -7.02752266e-07 9.99997988e-01 -3.61181653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.320281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.64, Y:47.30, Z:-0.37 [[ 7.63867998e-01 -6.45369775e-01 1.88012092e-03 2.02639665e+02] [ 6.45367811e-01 7.63870312e-01 1.59194234e-03 4.72996265e+01] [-2.46356002e-03 -2.66428524e-06 9.99996965e-01 -3.68477786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.350281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:202.66, Y:47.32, Z:-0.37 [[ 7.64905142e-01 -6.44137790e-01 2.57524075e-03 2.02660709e+02] [ 6.44134096e-01 7.64909477e-01 2.18139554e-03 4.73170014e+01] [-3.37494536e-03 -9.76028913e-06 9.99994305e-01 -3.68722896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.68, Y:47.34, Z:-0.37 [[ 7.65478275e-01 -6.43455036e-01 2.93720143e-03 2.02681910e+02] [ 6.43450222e-01 7.65483910e-01 2.48894575e-03 4.73353459e+01] [-3.84990511e-03 -1.52909825e-05 9.99992589e-01 -3.68808421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.410281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:202.70, Y:47.35, Z:-0.37 [[ 7.66053022e-01 -6.42769840e-01 3.11441973e-03 2.02702408e+02] [ 6.42764419e-01 7.66059353e-01 2.63989973e-03 4.73525949e+01] [-4.08267829e-03 -2.04649802e-05 9.99991666e-01 -3.68856036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.440281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:202.72, Y:47.37, Z:-0.37 [[ 7.67052799e-01 -6.41579207e-01 2.47477351e-03 2.02724880e+02] [ 6.41575776e-01 7.67056791e-01 2.09837785e-03 4.73689828e+01] [-3.24456742e-03 -2.18118690e-05 9.99994736e-01 -3.69520690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.470281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:202.75, Y:47.39, Z:-0.37 [[ 7.67294740e-01 -6.41291459e-01 2.01175995e-03 2.02745941e+02] [ 6.41289189e-01 7.67297377e-01 1.70634426e-03 4.73852761e+01] [-2.63788213e-03 -1.91490743e-05 9.99996521e-01 -3.70400640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:202.77, Y:47.40, Z:-0.37 [[ 7.67533597e-01 -6.41001061e-01 3.13330670e-03 2.02768536e+02] [ 6.40995548e-01 7.67539992e-01 2.65871808e-03 4.74013314e+01] [-4.10917931e-03 -3.22198068e-05 9.99991557e-01 -3.70447540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.530281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:202.79, Y:47.42, Z:-0.37 [[ 7.67286266e-01 -6.41291579e-01 4.11062261e-03 2.02790309e+02] [ 6.41282087e-01 7.67297276e-01 3.48936584e-03 4.74191545e+01] [-5.39177046e-03 -4.12738457e-05 9.99985463e-01 -3.69593194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.560281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:202.81, Y:47.44, Z:-0.37 [[ 7.67097798e-01 -6.41512388e-01 4.77745245e-03 2.02811941e+02] [ 6.41499561e-01 7.67112674e-01 4.05694554e-03 4.74374101e+01] [-6.26742514e-03 -4.73403471e-05 9.99980358e-01 -3.69415584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.590281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.83, Y:47.45, Z:-0.37 [[ 7.67730837e-01 -6.40753333e-01 4.95264974e-03 2.02832618e+02] [ 6.40739525e-01 7.67746809e-01 4.20687115e-03 4.74540770e+01] [-6.49794775e-03 -5.63862692e-05 9.99978887e-01 -3.69500197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.620281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:202.85, Y:47.47, Z:-0.37 [[ 7.68124324e-01 -6.40285641e-01 4.39552420e-03 2.02854600e+02] [ 6.40274750e-01 7.68136899e-01 3.73488128e-03 4.74716528e+01] [-5.76775518e-03 -5.45100039e-05 9.99983365e-01 -3.69659395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.650281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:202.88, Y:47.49, Z:-0.37 [[ 7.68437102e-01 -6.39915188e-01 3.60161960e-03 2.02877186e+02] [ 6.39907867e-01 7.68445541e-01 3.06137764e-03 4.74889737e+01] [-4.72667057e-03 -4.77714500e-05 9.99988828e-01 -3.70038789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.68028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:202.90, Y:47.51, Z:-0.37 [[ 7.68474667e-01 -6.39868421e-01 3.88452012e-03 2.02899338e+02] [ 6.39859898e-01 7.68484483e-01 3.30308464e-03 4.75068022e+01] [-5.09873299e-03 -5.27882234e-05 9.99987000e-01 -3.69884482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.71028169299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:202.92, Y:47.52, Z:-0.37 [[ 7.68771403e-01 -6.39509429e-01 4.26848057e-03 2.02920128e+02] [ 6.39499125e-01 7.68783251e-01 3.63083148e-03 4.75234372e+01] [-5.60348733e-03 -6.15898205e-05 9.99984298e-01 -3.69112705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.740281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.94, Y:47.54, Z:-0.37 [[ 7.69104500e-01 -6.39108827e-01 4.26333737e-03 2.02942135e+02] [ 6.39098534e-01 7.69116313e-01 3.62775982e-03 4.75403339e+01] [-5.59753565e-03 -6.54337407e-05 9.99984332e-01 -3.68692429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.770281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:202.96, Y:47.56, Z:-0.37 [[ 7.69315082e-01 -6.38859208e-01 3.63545671e-03 2.02963456e+02] [ 6.38851716e-01 7.69323670e-01 3.09460455e-03 4.75588900e+01] [-4.77385951e-03 -5.82081974e-05 9.99988603e-01 -3.69289673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:202.98, Y:47.58, Z:-0.37 [[ 7.70436513e-01 -6.37514255e-01 1.77633216e-03 2.02984272e+02] [ 6.37512461e-01 7.70438560e-01 1.51249390e-03 4.75781825e+01] [-2.33279121e-03 -3.28466364e-05 9.99997279e-01 -3.70092644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.830281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.00, Y:47.60, Z:-0.37 [[ 7.71214314e-01 -6.36573254e-01 1.72443622e-03 2.03004696e+02] [ 6.36571561e-01 7.71216241e-01 1.46876898e-03 4.75958898e+01] [-2.26489227e-03 -3.50086028e-05 9.99997435e-01 -3.70357606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:203.03, Y:47.61, Z:-0.37 [[ 7.72025165e-01 -6.35588839e-01 1.99288638e-03 2.03025611e+02] [ 6.35586573e-01 7.72027736e-01 1.69798274e-03 4.76145987e+01] [-2.61778244e-03 -4.42335804e-05 9.99996573e-01 -3.70415286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.890281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:203.05, Y:47.63, Z:-0.37 [[ 7.73281578e-01 -6.34059023e-01 2.18083285e-03 2.03045126e+02] [ 6.34056301e-01 7.73284651e-01 1.85881679e-03 4.76343327e+01] [-2.86500413e-03 -5.46179709e-05 9.99995894e-01 -3.71124043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.920281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.06, Y:47.65, Z:-0.37 [[ 7.73166344e-01 -6.34200453e-01 1.89486200e-03 2.03064633e+02] [ 6.34198397e-01 7.73168664e-01 1.61559318e-03 4.76529747e+01] [-2.48965785e-03 -4.74038343e-05 9.99996900e-01 -3.71794237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.950281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:203.08, Y:47.67, Z:-0.37 [[ 7.71518366e-01 -6.36206721e-01 6.47895661e-04 2.03084990e+02] [ 6.36206481e-01 7.71518638e-01 5.52421695e-04 4.76729003e+01] [-8.51317972e-04 -1.40080649e-05 9.99999638e-01 -3.71946884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 229.980281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.11, Y:47.69, Z:-0.37 [[ 7.70244426e-01 -6.37748662e-01 4.09541674e-04 2.03105688e+02] [ 6.37748567e-01 7.70244535e-01 3.49217605e-04 4.76916013e+01] [-5.38160297e-04 -7.79829874e-06 9.99999855e-01 -3.71874402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.010281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.13, Y:47.71, Z:-0.37 [[ 7.68866288e-01 -6.39409440e-01 4.46665039e-04 2.03125848e+02] [ 6.39409326e-01 7.68866418e-01 3.81024288e-04 4.77100983e+01] [-5.87056275e-04 -7.35493833e-06 9.99999828e-01 -3.71732014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.040281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.15, Y:47.73, Z:-0.37 [[ 7.66773414e-01 -6.41917129e-01 9.64795704e-04 2.03145458e+02] [ 6.41916601e-01 7.66774021e-01 8.23649106e-04 4.77302424e+01] [-1.26849475e-03 -1.22338582e-05 9.99999195e-01 -3.71185867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.070281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.16, Y:47.75, Z:-0.37 [[ 7.66128515e-01 -6.42685749e-01 1.45833892e-03 2.03164502e+02] [ 6.42684542e-01 7.66129903e-01 1.24559937e-03 4.77488965e+01] [-1.91780601e-03 -1.70373169e-05 9.99998161e-01 -3.70987975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.100281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.18, Y:47.77, Z:-0.37 [[ 7.66171735e-01 -6.42629844e-01 2.78515431e-03 2.03183826e+02] [ 6.42625437e-01 7.66176796e-01 2.37997024e-03 4.77699892e+01] [-3.66336051e-03 -3.36549252e-05 9.99993289e-01 -3.69907523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.20, Y:47.79, Z:-0.37 [[ 7.66557691e-01 -6.42168525e-01 2.98191198e-03 2.03203814e+02] [ 6.42163467e-01 7.66563490e-01 2.54909568e-03 4.77896985e+01] [-3.92277387e-03 -3.91539686e-05 9.99992305e-01 -3.69131953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.160281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:203.22, Y:47.81, Z:-0.37 [[ 7.67694815e-01 -6.40808047e-01 3.11732598e-03 2.03221063e+02] [ 6.40802504e-01 7.67701143e-01 2.66581450e-03 4.78108075e+01] [-4.10145010e-03 -4.89416709e-05 9.99991588e-01 -3.69228197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.190281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.24, Y:47.83, Z:-0.37 [[ 7.68356015e-01 -6.40016679e-01 2.77214358e-03 2.03239948e+02] [ 6.40012287e-01 7.68361014e-01 2.37147600e-03 4.78311524e+01] [-3.64779125e-03 -4.79318934e-05 9.99993346e-01 -3.69181975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.220281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.26, Y:47.85, Z:-0.37 [[ 7.68848147e-01 -6.39427171e-01 2.32799691e-03 2.03258867e+02] [ 6.39424069e-01 7.68851671e-01 1.99223860e-03 4.78520710e+01] [-3.06377580e-03 -4.31517004e-05 9.99995306e-01 -3.69092701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.27, Y:47.88, Z:-0.37 [[ 7.69604665e-01 -6.38517591e-01 1.98640004e-03 2.03274341e+02] [ 6.38515328e-01 7.69607228e-01 1.70048002e-03 4.78755479e+01] [-2.61453424e-03 -4.03504833e-05 9.99996581e-01 -3.69228444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.280281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:203.29, Y:47.90, Z:-0.37 [[ 7.69707320e-01 -6.38394539e-01 1.74737825e-03 2.03293125e+02] [ 6.38392787e-01 7.69709303e-01 1.49637068e-03 4.78966602e+01] [-2.30024817e-03 -3.62537948e-05 9.99997354e-01 -3.69479959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:203.31, Y:47.92, Z:-0.37 [[ 7.68975037e-01 -6.39277576e-01 1.25430770e-03 2.03309699e+02] [ 6.39276674e-01 7.68976059e-01 1.07444142e-03 4.79192457e+01] [-1.65139890e-03 -2.43689795e-05 9.99998636e-01 -3.70685604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.340281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.33, Y:47.94, Z:-0.37 [[ 7.68048240e-01 -6.40391424e-01 8.51654090e-04 2.03328870e+02] [ 6.40391008e-01 7.68048712e-01 7.29692468e-04 4.79393600e+01] [-1.12140062e-03 -1.50473946e-05 9.99999371e-01 -3.71343930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.370281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.35, Y:47.96, Z:-0.37 [[ 7.66623438e-01 -6.42096869e-01 3.39566803e-04 2.03347608e+02] [ 6.42096803e-01 7.66623513e-01 2.90897000e-04 4.79591444e+01] [-4.47103948e-04 -4.97369978e-06 9.99999900e-01 -3.71967979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.40028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.37, Y:47.98, Z:-0.37 [[ 7.63543489e-01 -6.45756368e-01 2.29972315e-04 2.03366107e+02] [ 6.45756338e-01 7.63543524e-01 1.96965433e-04 4.79806087e+01] [-3.02785555e-04 -1.88559414e-06 9.99999954e-01 -3.71767049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.43028169299998 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:203.39, Y:48.00, Z:-0.37 [[ 7.61951957e-01 -6.47633285e-01 5.85900479e-04 2.03385662e+02] [ 6.47633090e-01 7.61952183e-01 5.02461210e-04 4.79992925e+01] [-7.71838752e-04 -3.40276506e-06 9.99999702e-01 -3.72287596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.46028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.40, Y:48.02, Z:-0.37 [[ 7.59704477e-01 -6.50268482e-01 -1.00106426e-04 2.03404660e+02] [ 6.50268476e-01 7.59704483e-01 -8.61798945e-05 4.80178490e+01] [ 1.32091370e-04 3.75198688e-07 9.99999991e-01 -3.73028379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.42, Y:48.04, Z:-0.37 [[ 7.59171960e-01 -6.50889523e-01 -8.73772656e-04 2.03424995e+02] [ 6.50889091e-01 7.59172463e-01 -7.50543891e-04 4.80374961e+01] [ 1.15186529e-03 1.06278705e-06 9.99999337e-01 -3.73089994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.520281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:203.44, Y:48.06, Z:-0.37 [[ 7.58906996e-01 -6.51196768e-01 -1.71512042e-03 2.03442665e+02] [ 6.51195101e-01 7.58908934e-01 -1.47325053e-03 4.80579338e+01] [ 2.26099619e-03 1.18211347e-06 9.99997444e-01 -3.73371624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.550281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:203.46, Y:48.08, Z:-0.37 [[ 7.59122869e-01 -6.50945071e-01 -1.72752609e-03 2.03462952e+02] [ 6.50943378e-01 7.59124835e-01 -1.48457532e-03 4.80770382e+01] [ 2.27778495e-03 2.45340469e-06 9.99997406e-01 -3.73453168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.580281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:203.48, Y:48.10, Z:-0.37 [[ 7.59257027e-01 -6.50789694e-01 -1.24114298e-03 2.03482946e+02] [ 6.50788819e-01 7.59258042e-01 -1.06701822e-03 4.80955009e+01] [ 1.63675225e-03 2.41911094e-06 9.99998661e-01 -3.73983608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:203.50, Y:48.11, Z:-0.37 [[ 7.59153023e-01 -6.50910419e-01 -1.52120228e-03 2.03502964e+02] [ 6.50909104e-01 7.59154547e-01 -1.30823382e-03 4.81145950e+01] [ 2.00637065e-03 2.98524847e-06 9.99997987e-01 -3.73795595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.640281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.52, Y:48.13, Z:-0.37 [[ 7.58646763e-01 -6.51497173e-01 -2.55377136e-03 2.03520973e+02] [ 6.51493470e-01 7.58651062e-01 -2.19676091e-03 4.81349765e+01] [ 3.36860488e-03 2.80019237e-06 9.99994326e-01 -3.74148697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.670281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.54, Y:48.16, Z:-0.37 [[ 7.58154164e-01 -6.52069166e-01 -2.84011601e-03 2.03540658e+02] [ 6.52064586e-01 7.58159483e-01 -2.44401370e-03 4.81556716e+01] [ 3.74692686e-03 1.00009644e-06 9.99992980e-01 -3.73397960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.700281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.56, Y:48.17, Z:-0.37 [[ 7.57659850e-01 -6.52646451e-01 -2.03997223e-03 2.03561334e+02] [ 6.52644089e-01 7.57662596e-01 -1.75621603e-03 4.81746411e+01] [ 2.69179881e-03 -7.61446928e-07 9.99996377e-01 -3.72791591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.730281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:203.58, Y:48.19, Z:-0.37 [[ 7.56648302e-01 -6.53821299e-01 -1.02777908e-03 2.03581244e+02] [ 6.53820700e-01 7.56649000e-01 -8.85097422e-04 4.81932415e+01] [ 1.35636356e-03 -2.27577605e-06 9.99999080e-01 -3.72922771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.760281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.60, Y:48.21, Z:-0.37 [[ 7.55158247e-01 -6.55542256e-01 -6.09627125e-04 2.03601920e+02] [ 6.55542046e-01 7.55158493e-01 -5.25358947e-04 4.82118992e+01] [ 8.04760090e-04 -2.90707136e-06 9.99999676e-01 -3.72898494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.790281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:203.62, Y:48.23, Z:-0.37 [[ 7.51301922e-01 -6.59958566e-01 3.37316338e-04 2.03624138e+02] [ 6.59958502e-01 7.51301998e-01 2.90360699e-04 4.82296711e+01] [-4.45052469e-04 4.46623427e-06 9.99999901e-01 -3.73151660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.65, Y:48.25, Z:-0.37 [[ 7.47434003e-01 -6.64334422e-01 1.47875955e-03 2.03647760e+02] [ 6.64333201e-01 7.47435465e-01 1.27433544e-03 4.82452442e+01] [-1.95186223e-03 2.99074239e-05 9.99998095e-01 -3.72504996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.850281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.67, Y:48.26, Z:-0.37 [[ 7.45643774e-01 -6.66342800e-01 1.62336300e-03 2.03670157e+02] [ 6.66341331e-01 7.45645540e-01 1.39949551e-03 4.82621584e+01] [-2.14299713e-03 3.81887477e-05 9.99997703e-01 -3.72353334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.69, Y:48.28, Z:-0.37 [[ 7.44077089e-01 -6.68091552e-01 1.72179811e-03 2.03692822e+02] [ 6.68089903e-01 7.44079079e-01 1.48492282e-03 4.82787673e+01] [-2.27321834e-03 4.54188830e-05 9.99997415e-01 -3.72027772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.910281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:203.71, Y:48.29, Z:-0.37 [[ 7.43049506e-01 -6.69235114e-01 1.33928516e-03 2.03714804e+02] [ 6.69234118e-01 7.43050712e-01 1.15539800e-03 4.82940168e+01] [-1.76838970e-03 3.77774077e-05 9.99998436e-01 -3.72508331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.940281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:203.74, Y:48.31, Z:-0.37 [[ 7.42360640e-01 -6.69998917e-01 -1.45994499e-03 2.03740073e+02] [ 6.69997732e-01 7.42362074e-01 -1.26055917e-03 4.83072603e+01] [ 1.92838107e-03 -4.23703175e-05 9.99998140e-01 -3.73215775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 230.970281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.76, Y:48.32, Z:-0.37 [[ 7.42637700e-01 -6.69688128e-01 -2.65667895e-03 2.03762311e+02] [ 6.69684202e-01 7.42642448e-01 -2.29436922e-03 4.83227459e+01] [ 3.50947439e-03 -7.52508393e-05 9.99993839e-01 -3.73588981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.79, Y:48.34, Z:-0.37 [[ 7.44510691e-01 -6.67603472e-01 -3.07154601e-03 2.03785919e+02] [ 6.67598203e-01 7.44517023e-01 -2.65347139e-03 4.83364733e+01] [ 4.05828501e-03 -7.50207797e-05 9.99991762e-01 -3.74241664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.030281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:203.81, Y:48.35, Z:-0.37 [[ 7.45690371e-01 -6.66287087e-01 -2.71813868e-03 2.03808920e+02] [ 6.66282949e-01 7.45695323e-01 -2.34905868e-03 4.83528302e+01] [ 3.59205076e-03 -5.93790115e-05 9.99993547e-01 -3.74644628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:203.83, Y:48.37, Z:-0.37 [[ 7.48536533e-01 -6.63092044e-01 -1.41409799e-03 2.03833515e+02] [ 6.63090917e-01 7.48537868e-01 -1.22269180e-03 4.83678446e+01] [ 1.86926310e-03 -2.24460515e-05 9.99998253e-01 -3.74429922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.090281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:203.86, Y:48.39, Z:-0.37 [[ 7.49560461e-01 -6.61934756e-01 -1.22224155e-03 2.03855542e+02] [ 6.61933912e-01 7.49561457e-01 -1.05724370e-03 4.83850295e+01] [ 1.61597151e-03 -1.65750494e-05 9.99998694e-01 -3.74624394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.120281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:203.88, Y:48.40, Z:-0.37 [[ 7.50532996e-01 -6.60831950e-01 -1.16417042e-03 2.03877158e+02] [ 6.60831183e-01 7.50533899e-01 -1.00719532e-03 4.84018472e+01] [ 1.53933621e-03 -1.33867992e-05 9.99998815e-01 -3.74920779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.15028169299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:203.90, Y:48.42, Z:-0.38 [[ 7.51415890e-01 -6.59828000e-01 -1.08201292e-03 2.03899428e+02] [ 6.59827335e-01 7.51416669e-01 -9.36535167e-04 4.84194771e+01] [ 1.43099467e-03 -1.02142984e-05 9.99998976e-01 -3.75009525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.18028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.92, Y:48.43, Z:-0.37 [[ 7.52728016e-01 -6.58331451e-01 -4.83689756e-04 2.03922652e+02] [ 6.58331318e-01 7.52728172e-01 -4.18979446e-04 4.84343137e+01] [ 6.39914252e-04 -3.05054736e-06 9.99999795e-01 -3.73892092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.21028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:203.94, Y:48.45, Z:-0.37 [[ 7.52620310e-01 -6.58454581e-01 -4.83638457e-04 2.03944054e+02] [ 6.58454448e-01 7.52620465e-01 -4.19038671e-04 4.84531053e+01] [ 6.39914133e-04 -3.07687842e-06 9.99999795e-01 -3.73924955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:203.97, Y:48.47, Z:-0.37 [[ 7.52903628e-01 -6.58130714e-01 -2.99346704e-04 2.03966503e+02] [ 6.58130663e-01 7.52903688e-01 -2.59567837e-04 4.84699295e+01] [ 3.96208803e-04 -1.57967803e-06 9.99999922e-01 -3.73664854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.270281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:203.99, Y:48.48, Z:-0.37 [[ 7.52978846e-01 -6.58044509e-01 -5.31522284e-04 2.03988905e+02] [ 6.58044348e-01 7.52979033e-01 -4.60871951e-04 4.84849941e+01] [ 7.03499392e-04 -2.73840438e-06 9.99999753e-01 -3.73110007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.300281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.01, Y:48.50, Z:-0.37 [[ 7.53040817e-01 -6.57973444e-01 -6.89489483e-04 2.04010484e+02] [ 6.57973172e-01 7.53041132e-01 -5.97972960e-04 4.85022812e+01] [ 9.12664269e-04 -3.36753629e-06 9.99999584e-01 -3.73658063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.330281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.03, Y:48.52, Z:-0.37 [[ 7.53310823e-01 -6.57663911e-01 -9.92021109e-04 2.04031485e+02] [ 6.57663348e-01 7.53311476e-01 -8.60353626e-04 4.85194745e+01] [ 1.31312442e-03 -4.30222554e-06 9.99999138e-01 -3.74021497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.05, Y:48.54, Z:-0.37 [[ 7.54362657e-01 -6.56457534e-01 -6.97697728e-04 2.04053564e+02] [ 6.56457255e-01 7.54362980e-01 -6.05479275e-04 4.85371241e+01] [ 9.23788769e-04 -1.25778027e-06 9.99999573e-01 -3.74433644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.390281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.07, Y:48.55, Z:-0.37 [[ 7.54749528e-01 -6.56013069e-01 6.65740664e-05 2.04074937e+02] [ 6.56013066e-01 7.54749530e-01 5.74806860e-05 4.85547385e+01] [-8.79548265e-05 2.89936777e-07 9.99999996e-01 -3.73995006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.10, Y:48.57, Z:-0.37 [[ 7.54804471e-01 -6.55949497e-01 6.83232101e-04 2.04097459e+02] [ 6.55949230e-01 7.54804781e-01 5.92814382e-04 4.85705761e+01] [-9.04563152e-04 7.06624417e-07 9.99999591e-01 -3.73607272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.450281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.12, Y:48.59, Z:-0.37 [[ 7.53980533e-01 -6.56896722e-01 2.27973223e-04 2.04119563e+02] [ 6.56896692e-01 7.53980568e-01 1.97676520e-04 4.85877589e+01] [-3.01740438e-04 7.10608330e-07 9.99999954e-01 -3.73725048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.480281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.14, Y:48.60, Z:-0.37 [[ 7.52653866e-01 -6.58416304e-01 -3.58125543e-04 2.04140612e+02] [ 6.58416230e-01 7.52653952e-01 -3.11352057e-04 4.86040974e+01] [ 4.74543875e-04 -1.45534079e-06 9.99999887e-01 -3.74483920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.510281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:204.16, Y:48.62, Z:-0.37 [[ 7.49414350e-01 -6.62100904e-01 -7.24852198e-04 2.04163853e+02] [ 6.62100604e-01 7.49414700e-01 -6.30182280e-04 4.86203503e+01] [ 9.60459150e-04 -7.65743439e-06 9.99999539e-01 -3.74507245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.540281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:204.19, Y:48.64, Z:-0.37 [[ 7.47664582e-01 -6.64076265e-01 -6.21841274e-04 2.04185790e+02] [ 6.64076045e-01 7.47664841e-01 -5.40869137e-04 4.86372380e+01] [ 8.24107213e-04 -8.56119626e-06 9.99999660e-01 -3.74984780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.570281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:204.21, Y:48.65, Z:-0.37 [[ 7.45366191e-01 -6.66655141e-01 -4.05711393e-04 2.04209192e+02] [ 6.66655048e-01 7.45366301e-01 -3.53070379e-04 4.86518547e+01] [ 5.37779784e-04 -7.30282493e-06 9.99999855e-01 -3.74659753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.600281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:204.23, Y:48.67, Z:-0.37 [[ 7.45241514e-01 -6.66794611e-01 -1.80446941e-04 2.04231531e+02] [ 6.66794593e-01 7.45241536e-01 -1.57262630e-04 4.86681841e+01] [ 2.39338430e-04 -3.12240368e-06 9.99999971e-01 -3.74094935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:204.25, Y:48.68, Z:-0.37 [[ 7.47067362e-01 -6.64748301e-01 2.29486452e-04 2.04254985e+02] [ 6.64748271e-01 7.47067397e-01 1.99429807e-04 4.86842168e+01] [-3.04012472e-04 3.56322188e-06 9.99999954e-01 -3.73392992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.660281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:204.28, Y:48.70, Z:-0.37 [[ 7.48367753e-01 -6.63284000e-01 2.04027132e-04 2.04276022e+02] [ 6.63283976e-01 7.48367781e-01 1.77340444e-04 4.87021219e+01] [-2.70314410e-04 2.61205768e-06 9.99999963e-01 -3.72945859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.690281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:204.30, Y:48.72, Z:-0.37 [[ 7.49697169e-01 -6.61780931e-01 3.93744756e-04 2.04296321e+02] [ 6.61780842e-01 7.49697272e-01 3.42655157e-04 4.87196324e+01] [-5.21952018e-04 3.68513487e-06 9.99999864e-01 -3.73171892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.720281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.32, Y:48.74, Z:-0.37 [[ 7.52040244e-01 -6.59116069e-01 1.21652933e-03 2.04315670e+02] [ 6.59115217e-01 7.52041228e-01 1.05957581e-03 4.87378483e+01] [-1.61326365e-03 4.98934444e-06 9.99998699e-01 -3.73808532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.750281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.34, Y:48.76, Z:-0.37 [[ 7.52890719e-01 -6.58143999e-01 1.42892110e-03 2.04335385e+02] [ 6.58142822e-01 7.52892075e-01 1.24504960e-03 4.87570195e+01] [-1.89524530e-03 3.04787441e-06 9.99998204e-01 -3.73766862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.780281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.35, Y:48.78, Z:-0.37 [[ 7.55091049e-01 -6.55616858e-01 2.01045387e-03 2.04353569e+02] [ 6.55614516e-01 7.55093726e-01 1.75253120e-03 4.87785058e+01] [-2.66707010e-03 -5.23788245e-06 9.99996443e-01 -3.73481276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.810281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.37, Y:48.80, Z:-0.37 [[ 7.56420578e-01 -6.54083026e-01 1.81783941e-03 2.04373384e+02] [ 6.54081105e-01 7.56422762e-01 1.58519820e-03 4.87987705e+01] [-2.41190634e-03 -1.00621304e-05 9.99997091e-01 -3.73820255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.840281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:204.39, Y:48.82, Z:-0.37 [[ 7.57809217e-01 -6.52475749e-01 7.66304265e-04 2.04392463e+02] [ 6.52475407e-01 7.57809605e-01 6.68326402e-04 4.88178577e+01] [-1.01677950e-03 -6.46922056e-06 9.99999483e-01 -3.73977125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.870281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.41, Y:48.84, Z:-0.37 [[ 7.58745898e-01 -6.51386595e-01 -4.07588481e-04 2.04411397e+02] [ 6.51386498e-01 7.58746008e-01 -3.55986032e-04 4.88367546e+01] [ 5.41140661e-04 4.60530849e-06 9.99999854e-01 -3.74738562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.90028169299998 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.43, Y:48.86, Z:-0.37 [[ 7.59274353e-01 -6.50769010e-01 -1.46736426e-03 2.04429342e+02] [ 6.50767748e-01 7.59275770e-01 -1.28145274e-03 4.88587671e+01] [ 1.94806386e-03 1.80608663e-05 9.99998102e-01 -3.74670887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.93028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.45, Y:48.88, Z:-0.37 [[ 7.59042701e-01 -6.51039917e-01 -1.09723903e-03 2.04447102e+02] [ 6.51039212e-01 7.59043494e-01 -9.58591810e-04 4.88787473e+01] [ 1.45693368e-03 1.32664820e-05 9.99998939e-01 -3.74292327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.96028169299998 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.46, Y:48.90, Z:-0.37 [[ 7.57675071e-01 -6.52631474e-01 8.03966637e-04 2.04464078e+02] [ 6.52631096e-01 7.57675497e-01 7.02168858e-04 4.88998703e+01] [-1.06740332e-03 -7.32221114e-06 9.99999430e-01 -3.74153160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 231.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.48, Y:48.92, Z:-0.37 [[ 7.56568054e-01 -6.53913034e-01 1.58848431e-03 2.04483097e+02] [ 6.53911561e-01 7.56569722e-01 1.38808649e-03 4.89193292e+01] [-2.10948698e-03 -1.14536391e-05 9.99997775e-01 -3.74258637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.020281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:204.50, Y:48.94, Z:-0.37 [[ 7.55531409e-01 -6.55109784e-01 1.86047071e-03 2.04503133e+02] [ 6.55107765e-01 7.55533699e-01 1.62641373e-03 4.89388828e+01] [-2.47112786e-03 -9.99784840e-06 9.99996947e-01 -3.74570652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.52, Y:48.96, Z:-0.38 [[ 7.54119701e-01 -6.56736163e-01 1.04377201e-03 2.04521739e+02] [ 6.56735529e-01 7.54120423e-01 9.12672090e-04 4.89582408e+01] [-1.38651456e-03 -2.78183943e-06 9.99999039e-01 -3.75024669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.080281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:204.54, Y:48.98, Z:-0.38 [[ 7.53421952e-01 -6.57536927e-01 7.43317961e-04 2.04541053e+02] [ 6.57536605e-01 7.53422319e-01 6.50133117e-04 4.89766065e+01] [-9.87518873e-04 -1.06579367e-06 9.99999512e-01 -3.75109742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.110281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.56, Y:49.00, Z:-0.38 [[ 7.52721166e-01 -6.58338017e-01 1.37904261e-03 2.04561470e+02] [ 6.58336911e-01 7.52722429e-01 1.20668736e-03 4.89963959e+01] [-1.83244446e-03 -4.24464605e-07 9.99998321e-01 -3.75286055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.140281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:204.58, Y:49.02, Z:-0.37 [[ 7.51551187e-01 -6.59669181e-01 2.71734253e-03 2.04580826e+02] [ 6.59664892e-01 7.51556100e-01 2.37882889e-03 4.90163688e+01] [-3.61147546e-03 4.72378968e-06 9.99993479e-01 -3.74125947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.170281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:204.60, Y:49.04, Z:-0.37 [[ 7.51120256e-01 -6.60162185e-01 2.06169530e-03 2.04601539e+02] [ 6.60159716e-01 7.51123086e-01 1.80544032e-03 4.90354369e+01] [-2.74047036e-03 4.94538771e-06 9.99996245e-01 -3.74450179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.200281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.62, Y:49.05, Z:-0.38 [[ 7.49868152e-01 -6.61587227e-01 3.10343904e-04 2.04620893e+02] [ 6.61587171e-01 7.49868216e-01 2.71682243e-04 4.90537021e+01] [-4.12458532e-04 1.59368438e-06 9.99999915e-01 -3.76083288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.230281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.64, Y:49.07, Z:-0.38 [[ 7.48862795e-01 -6.62725061e-01 9.32852139e-05 2.04641385e+02] [ 6.62725056e-01 7.48862800e-01 8.14868116e-05 4.90722496e+01] [-1.23861179e-04 8.00007132e-07 9.99999992e-01 -3.76548537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.260281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:204.66, Y:49.09, Z:-0.38 [[ 7.48046050e-01 -6.63646705e-01 3.97589285e-04 2.04662122e+02] [ 6.63646614e-01 7.48046155e-01 3.48292909e-04 4.90907683e+01] [-5.28558577e-04 3.31964790e-06 9.99999860e-01 -3.76179780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.290281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:204.68, Y:49.11, Z:-0.38 [[ 7.47329748e-01 -6.64452165e-01 1.25221745e-03 2.04681698e+02] [ 6.64451258e-01 7.47330797e-01 1.09793048e-03 4.91088303e+01] [-1.66534294e-03 1.15213522e-05 9.99998613e-01 -3.76433054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.320281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:204.70, Y:49.13, Z:-0.38 [[ 7.47547461e-01 -6.64207120e-01 1.30189239e-03 2.04701505e+02] [ 6.64206138e-01 7.47548595e-01 1.14191383e-03 4.91279361e+01] [-1.73169512e-03 1.10901344e-05 9.99998501e-01 -3.76146458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.350281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.72, Y:49.15, Z:-0.38 [[ 7.49583280e-01 -6.61909899e-01 4.39075370e-04 2.04717056e+02] [ 6.61909787e-01 7.49583408e-01 3.85114603e-04 4.91512129e+01] [-5.84034780e-04 1.95281682e-06 9.99999829e-01 -3.76692188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.380281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:204.74, Y:49.17, Z:-0.38 [[ 7.51114015e-01 -6.60172488e-01 1.49645257e-04 2.04735302e+02] [ 6.60172475e-01 7.51114030e-01 1.31105474e-04 4.91734910e+01] [-1.98952879e-04 3.16520536e-07 9.99999980e-01 -3.77301476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.410281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:204.75, Y:49.19, Z:-0.38 [[ 7.52496893e-01 -6.58595798e-01 3.87716396e-05 2.04752724e+02] [ 6.58595797e-01 7.52496894e-01 3.37726611e-05 4.91942288e+01] [-5.14180710e-05 1.21016365e-07 9.99999999e-01 -3.77754484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.77, Y:49.22, Z:-0.38 [[ 7.54265405e-01 -6.56569640e-01 8.10004760e-05 2.04769983e+02] [ 6.56569636e-01 7.54265410e-01 7.08802191e-05 4.92163666e+01] [-1.07633657e-04 -2.80044154e-07 9.99999994e-01 -3.77987193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.470281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:204.79, Y:49.24, Z:-0.38 [[ 7.54109579e-01 -6.56748593e-01 1.66124059e-04 2.04788207e+02] [ 6.56748577e-01 7.54109598e-01 1.45735903e-04 4.92365541e+01] [-2.20987596e-04 -7.99101297e-07 9.99999976e-01 -3.77719910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:204.81, Y:49.26, Z:-0.38 [[ 7.53250640e-01 -6.57733506e-01 3.28347314e-04 2.04806704e+02] [ 6.57733443e-01 7.53250712e-01 2.88370318e-04 4.92582029e+01] [-4.36998668e-04 -1.25011755e-06 9.99999905e-01 -3.77932430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.530281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:204.82, Y:49.28, Z:-0.38 [[ 7.50924662e-01 -6.60387807e-01 3.09128762e-04 2.04823304e+02] [ 6.60387752e-01 7.50924726e-01 2.71631611e-04 4.92801972e+01] [-4.11514635e-04 1.69972707e-07 9.99999915e-01 -3.79230055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.560281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.84, Y:49.30, Z:-0.38 [[ 7.49817706e-01 -6.61644394e-01 -3.22283006e-04 2.04842916e+02] [ 6.61644333e-01 7.49817775e-01 -2.83661953e-04 4.92991789e+01] [ 4.29336867e-04 -5.41969639e-07 9.99999908e-01 -3.79444530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.590281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:204.86, Y:49.32, Z:-0.38 [[ 7.47942283e-01 -6.63763701e-01 -3.01061235e-04 2.04861665e+02] [ 6.63763648e-01 7.47942344e-01 -2.65163865e-04 4.93207766e+01] [ 4.01182594e-04 -1.50623711e-06 9.99999920e-01 -3.77871132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:204.88, Y:49.34, Z:-0.38 [[ 7.47636487e-01 -6.64108065e-01 4.00790103e-04 2.04880002e+02] [ 6.64107972e-01 7.47636595e-01 3.52484564e-04 4.93405090e+01] [-5.33733190e-04 2.63758149e-06 9.99999858e-01 -3.76863279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.65028169299998 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:204.90, Y:49.36, Z:-0.38 [[ 7.47847916e-01 -6.63869322e-01 1.00882746e-03 2.04899367e+02] [ 6.63868728e-01 7.47848597e-01 8.88009214e-04 4.93601804e+01] [-1.34397228e-03 5.63316363e-06 9.99999097e-01 -3.76430381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.68028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:204.92, Y:49.38, Z:-0.38 [[ 7.49285483e-01 -6.62244325e-01 1.92843498e-03 2.04917655e+02] [ 6.62242147e-01 7.49287965e-01 1.69835393e-03 4.93795529e+01] [-2.56967837e-03 4.53897743e-06 9.99996698e-01 -3.76850513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.71028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:204.94, Y:49.40, Z:-0.38 [[ 7.49654533e-01 -6.61824551e-01 2.51906367e-03 2.04936576e+02] [ 6.61820830e-01 7.49658765e-01 2.21934396e-03 4.93981313e+01] [-3.35725448e-03 3.42754995e-06 9.99994364e-01 -3.77336938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.740281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:204.96, Y:49.42, Z:-0.38 [[ 7.49854410e-01 -6.61596282e-01 2.95347776e-03 2.04955383e+02] [ 6.61591161e-01 7.49860227e-01 2.60307119e-03 4.94192775e+01] [-3.93687772e-03 2.07036874e-06 9.99992250e-01 -3.78176545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.770281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:204.98, Y:49.44, Z:-0.38 [[ 7.49523682e-01 -6.61972607e-01 2.55308900e-03 2.04975077e+02] [ 6.61968780e-01 7.49528030e-01 2.25094299e-03 4.94377417e+01] [-3.40367437e-03 2.93013277e-06 9.99994207e-01 -3.78461033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:205.00, Y:49.46, Z:-0.38 [[ 7.48475896e-01 -6.63159479e-01 1.82723822e-03 2.04995573e+02] [ 6.63157521e-01 7.48478127e-01 1.61149319e-03 4.94565176e+01] [-2.43632482e-03 5.58295796e-06 9.99997032e-01 -3.79071399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:205.02, Y:49.48, Z:-0.38 [[ 7.45523835e-01 -6.66478667e-01 -6.30179320e-04 2.05015427e+02] [ 6.66478435e-01 7.45524102e-01 -5.56308124e-04 4.94750518e+01] [ 8.40581369e-04 -5.25996058e-06 9.99999647e-01 -3.79311597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.860281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:205.04, Y:49.49, Z:-0.38 [[ 7.43742573e-01 -6.68465665e-01 -7.99640306e-04 2.05036118e+02] [ 6.68465292e-01 7.43743003e-01 -7.06114921e-04 4.94939339e+01] [ 1.06674046e-03 -9.36406225e-06 9.99999431e-01 -3.79751882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.890281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:205.06, Y:49.51, Z:-0.38 [[ 7.41965376e-01 -6.70438199e-01 -4.83714215e-05 2.05057295e+02] [ 6.70438198e-01 7.41965377e-01 -4.29927979e-05 4.95121447e+01] [ 6.47139340e-05 -5.30881233e-07 9.99999998e-01 -3.79386861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.920281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:205.08, Y:49.53, Z:-0.38 [[ 7.39715139e-01 -6.72919200e-01 1.12395442e-03 2.05079339e+02] [ 6.72918469e-01 7.39715992e-01 9.92547937e-04 4.95284854e+01] [-1.49931162e-03 2.21269510e-05 9.99998876e-01 -3.78956822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.950281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:205.10, Y:49.55, Z:-0.38 [[ 7.38852931e-01 -6.73865713e-01 1.16106859e-03 2.05100617e+02] [ 6.73864933e-01 7.38853843e-01 1.02568147e-03 4.95473797e+01] [-1.54903156e-03 2.45756489e-05 9.99998800e-01 -3.79821387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 232.980281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:205.12, Y:49.57, Z:-0.38 [[ 7.38352803e-01 -6.74414663e-01 -3.72925248e-05 2.05120418e+02] [ 6.74414662e-01 7.38352804e-01 -3.32241717e-05 4.95661332e+01] [ 4.99419088e-05 -6.19465289e-07 9.99999999e-01 -3.81082069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.010281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:205.14, Y:49.58, Z:-0.38 [[ 7.37980114e-01 -6.74822288e-01 -4.81471367e-04 2.05141672e+02] [ 6.74822153e-01 7.37980271e-01 -4.26042986e-04 4.95847709e+01] [ 6.42819672e-04 -1.04962941e-05 9.99999793e-01 -3.81402460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.040281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:205.16, Y:49.60, Z:-0.38 [[ 7.37632450e-01 -6.75201596e-01 -1.08290625e-03 2.05163402e+02] [ 6.75200917e-01 7.37633245e-01 -9.58237932e-04 4.96030507e+01] [ 1.44579143e-03 -2.43519011e-05 9.99998955e-01 -3.81153552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.070281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:205.18, Y:49.62, Z:-0.38 [[ 7.37381316e-01 -6.75474809e-01 -1.60540856e-03 2.05183867e+02] [ 6.75473315e-01 7.37383063e-01 -1.42089828e-03 4.96200809e+01] [ 2.14358207e-03 -3.66667972e-05 9.99997702e-01 -3.80871859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.100281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:205.21, Y:49.64, Z:-0.38 [[ 7.37307979e-01 -6.75554858e-01 -1.60529923e-03 2.05205088e+02] [ 6.75553365e-01 7.37309726e-01 -1.42102180e-03 4.96390788e+01] [ 2.14358091e-03 -3.67345868e-05 9.99997702e-01 -3.80904734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.130281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:205.23, Y:49.66, Z:-0.38 [[ 7.37716743e-01 -6.75109596e-01 -1.02019415e-03 2.05226402e+02] [ 6.75108991e-01 7.37717448e-01 -9.03404489e-04 4.96559519e+01] [ 1.36251206e-03 -2.22856242e-05 9.99999072e-01 -3.80962594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.160281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:205.25, Y:49.67, Z:-0.38 [[ 7.38035140e-01 -6.74762061e-01 -5.42443991e-04 2.05248449e+02] [ 6.74761889e-01 7.38035339e-01 -4.80706333e-04 4.96733826e+01] [ 7.24705231e-04 -1.12423665e-05 9.99999737e-01 -3.80913742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.190281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:205.27, Y:49.69, Z:-0.38 [[ 7.39037987e-01 -6.73663509e-01 -5.74058599e-04 2.05272238e+02] [ 6.73663317e-01 7.39038210e-01 -5.08893772e-04 4.96891402e+01] [ 7.67074404e-04 -1.06303910e-05 9.99999706e-01 -3.80402935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.220281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.29, Y:49.71, Z:-0.38 [[ 7.39306760e-01 -6.73368470e-01 -6.47072444e-04 2.05293787e+02] [ 6.73368226e-01 7.39307043e-01 -5.73608283e-04 4.97069990e+01] [ 8.64634947e-04 -1.16455425e-05 9.99999626e-01 -3.80564351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.250281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:205.31, Y:49.72, Z:-0.38 [[ 7.39545965e-01 -6.73105820e-01 -5.66300039e-04 2.05314552e+02] [ 6.73105633e-01 7.39546182e-01 -5.02172900e-04 4.97246922e+01] [ 7.56820533e-04 -9.79980338e-06 9.99999714e-01 -3.80874009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.280281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.34, Y:49.74, Z:-0.38 [[ 7.40269713e-01 -6.72309733e-01 -6.11818344e-04 2.05336052e+02] [ 6.72309514e-01 7.40269966e-01 -5.42762396e-04 4.97404594e+01] [ 8.17815186e-04 -9.54073062e-06 9.99999666e-01 -3.80310120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.310281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:205.36, Y:49.76, Z:-0.38 [[ 7.40447085e-01 -6.72114422e-01 -5.63261771e-04 2.05358117e+02] [ 6.72114237e-01 7.40447299e-01 -4.99767629e-04 4.97565093e+01] [ 7.52966689e-04 -8.52477113e-06 9.99999716e-01 -3.80209728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.340281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:205.38, Y:49.77, Z:-0.38 [[ 7.39992645e-01 -6.72614666e-01 6.29902497e-04 2.05383051e+02] [ 6.72614434e-01 7.39992913e-01 5.58607358e-04 4.97708706e+01] [-8.41850885e-04 1.03161755e-05 9.99999646e-01 -3.79628364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.370281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:205.40, Y:49.79, Z:-0.38 [[ 7.39520712e-01 -6.73133309e-01 8.15702711e-04 2.05404422e+02] [ 6.73132920e-01 7.39521161e-01 7.23721976e-04 4.97867006e+01] [-1.09039078e-03 1.38689571e-05 9.99999405e-01 -3.79909921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.40028169299998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:205.43, Y:49.80, Z:-0.38 [[ 7.38793149e-01 -6.73931826e-01 7.59409681e-04 2.05427363e+02] [ 6.73931489e-01 7.38793540e-01 6.74018031e-04 4.98033830e+01] [-1.01528917e-03 1.38301936e-05 9.99999485e-01 -3.80358533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.43028169299998 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:205.45, Y:49.82, Z:-0.38 [[ 7.38082755e-01 -6.74710127e-01 3.03575272e-04 2.05453074e+02] [ 6.74710073e-01 7.38082817e-01 2.69371740e-04 4.98164058e+01] [-4.05811532e-04 6.00665813e-06 9.99999918e-01 -3.79394085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.46028169299998 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:205.48, Y:49.83, Z:-0.38 [[ 7.37996463e-01 -6.74804564e-01 -1.46491983e-04 2.05475900e+02] [ 6.74804551e-01 7.37996478e-01 -1.30439269e-04 4.98330675e+01] [ 1.96131581e-04 -2.58973735e-06 9.99999981e-01 -3.78801544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.490281693 meters Centerline goodness : 0.998251 Centerline is valid? [True, True] Translation: X:205.50, Y:49.85, Z:-0.38 [[ 7.40327777e-01 -6.72246053e-01 -1.67142469e-04 2.05498053e+02] [ 6.72246036e-01 7.40327796e-01 -1.48861731e-04 4.98485630e+01] [ 2.23811927e-04 -2.15438751e-06 9.99999975e-01 -3.77432929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.520281693 meters Centerline goodness : 0.997929 Centerline is valid? [True, True] Translation: X:205.52, Y:49.87, Z:-0.38 [[ 7.42364625e-01 -6.69996054e-01 2.25293478e-04 2.05519790e+02] [ 6.69996024e-01 7.42364659e-01 2.00057416e-04 4.98665229e+01] [-3.01287595e-04 2.43018652e-06 9.99999955e-01 -3.77685095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.550281693 meters Centerline goodness : 0.997319 Centerline is valid? [True, True] Translation: X:205.54, Y:49.88, Z:-0.38 [[ 7.44964568e-01 -6.67103854e-01 4.91596031e-04 2.05540598e+02] [ 6.67103710e-01 7.44964730e-01 4.37007378e-04 4.98842950e+01] [-6.57751010e-04 2.39052372e-06 9.99999784e-01 -3.77834792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.580281693 meters Centerline goodness : 0.996851 Centerline is valid? [True, True] Translation: X:205.56, Y:49.90, Z:-0.38 [[ 7.48104240e-01 -6.63581015e-01 5.30947637e-04 2.05560879e+02] [ 6.63580847e-01 7.48104429e-01 4.72197867e-04 4.99030549e+01] [-7.10545818e-04 -9.26543698e-07 9.99999748e-01 -3.77639038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.610281693 meters Centerline goodness : 0.996556 Centerline is valid? [True, True] Translation: X:205.58, Y:49.92, Z:-0.38 [[ 7.54355303e-01 -6.56466355e-01 -3.53122761e-05 2.05577995e+02] [ 6.56466354e-01 7.54355304e-01 -3.17112584e-05 4.99243429e+01] [ 4.74553771e-05 7.40234775e-07 9.99999999e-01 -3.78480784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.640281693 meters Centerline goodness : 0.996223 Centerline is valid? [True, True] Translation: X:205.60, Y:49.94, Z:-0.38 [[ 7.56613986e-01 -6.53861802e-01 -1.40017475e-04 2.05596982e+02] [ 6.53861791e-01 7.56613999e-01 -1.24982591e-04 4.99441728e+01] [ 1.87660524e-04 3.01149957e-06 9.99999982e-01 -3.78912857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.670281693 meters Centerline goodness : 0.995951 Centerline is valid? [True, True] Translation: X:205.62, Y:49.96, Z:-0.38 [[ 7.59171982e-01 -6.50889980e-01 -3.67091289e-04 2.05616967e+02] [ 6.50889898e-01 7.59172071e-01 -3.27287762e-04 4.99644877e+01] [ 4.91713779e-04 9.53168759e-06 9.99999879e-01 -3.78345821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.700281693 meters Centerline goodness : 0.996230 Centerline is valid? [True, True] Translation: X:205.64, Y:49.98, Z:-0.38 [[ 7.58933544e-01 -6.51167722e-01 -6.88250404e-04 2.05636713e+02] [ 6.51167433e-01 7.58933856e-01 -6.13650001e-04 4.99843518e+01] [ 9.21925607e-04 1.75533218e-05 9.99999575e-01 -3.78856762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.730281693 meters Centerline goodness : 0.995935 Centerline is valid? [True, True] Translation: X:205.66, Y:50.01, Z:-0.38 [[ 7.58161148e-01 -6.52065977e-01 -1.27900910e-03 2.05655708e+02] [ 6.52064980e-01 7.58162226e-01 -1.14056126e-03 5.00053166e+01] [ 1.71341758e-03 3.07321873e-05 9.99998532e-01 -3.79366712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.760281693 meters Centerline goodness : 0.995914 Centerline is valid? [True, True] Translation: X:205.67, Y:50.03, Z:-0.38 [[ 7.55936619e-01 -6.54641276e-01 -2.15102393e-03 2.05673831e+02] [ 6.54638466e-01 7.55939678e-01 -1.91873852e-03 5.00273391e+01] [ 2.88212977e-03 4.23017041e-05 9.99995846e-01 -3.81075798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.790281693 meters Centerline goodness : 0.996000 Centerline is valid? [True, True] Translation: X:205.69, Y:50.05, Z:-0.38 [[ 7.54623081e-01 -6.56154306e-01 -2.35203728e-03 2.05693290e+02] [ 6.56150951e-01 7.54626746e-01 -2.09847936e-03 5.00455459e+01] [ 3.15183651e-03 4.02694646e-05 9.99995032e-01 -3.81149139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.820281693 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:205.71, Y:50.06, Z:-0.38 [[ 7.53233206e-01 -6.57749872e-01 -2.20054402e-03 2.05714114e+02] [ 6.57746940e-01 7.53236420e-01 -1.96418706e-03 5.00646509e+01] [ 2.94947369e-03 3.20898193e-05 9.99995650e-01 -3.80087293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.850281693 meters Centerline goodness : 0.996249 Centerline is valid? [True, True] Translation: X:205.73, Y:50.09, Z:-0.38 [[ 7.51878219e-01 -6.59300875e-01 -1.22505048e-03 2.05732466e+02] [ 6.59299968e-01 7.51879217e-01 -1.09379415e-03 5.00852266e+01] [ 1.64222943e-03 1.47242546e-05 9.99998651e-01 -3.78465956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.880281693 meters Centerline goodness : 0.995975 Centerline is valid? [True, True] Translation: X:205.75, Y:50.10, Z:-0.38 [[ 7.52019662e-01 -6.59140094e-01 -8.74720553e-04 2.05751350e+02] [ 6.59139631e-01 7.52020170e-01 -7.81384162e-04 5.01043800e+01] [ 1.17284913e-03 1.10532710e-05 9.99999312e-01 -3.78121717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.910281693 meters Centerline goodness : 0.996016 Centerline is valid? [True, True] Translation: X:205.77, Y:50.12, Z:-0.38 [[ 7.53220715e-01 -6.57766389e-01 -1.38979301e-03 2.05771447e+02] [ 6.57765218e-01 7.53221997e-01 -1.24175905e-03 5.01222885e+01] [ 1.86361003e-03 2.11611360e-05 9.99998263e-01 -3.79274752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.940281693 meters Centerline goodness : 0.995918 Centerline is valid? [True, True] Translation: X:205.79, Y:50.14, Z:-0.38 [[ 7.53281180e-01 -6.57696678e-01 -1.59452692e-03 2.05792070e+02] [ 6.57695135e-01 7.53282868e-01 -1.42512475e-03 5.01409961e+01] [ 2.13842963e-03 2.48070522e-05 9.99997713e-01 -3.80026825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 233.970281693 meters Centerline goodness : 0.996009 Centerline is valid? [True, True] Translation: X:205.81, Y:50.16, Z:-0.38 [[ 7.53322136e-01 -6.57650566e-01 -1.22170927e-03 2.05812322e+02] [ 6.57649659e-01 7.53323126e-01 -1.09239736e-03 5.01597336e+01] [ 1.63875759e-03 1.94704307e-05 9.99998657e-01 -3.78961009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.000281693 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:205.83, Y:50.18, Z:-0.38 [[ 7.53098707e-01 -6.57907425e-01 3.97066436e-04 2.05833524e+02] [ 6.57907330e-01 7.53098811e-01 3.54792853e-04 5.01784391e+01] [-5.32451114e-04 -5.96111975e-06 9.99999858e-01 -3.78041948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.030281693 meters Centerline goodness : 0.996123 Centerline is valid? [True, True] Translation: X:205.86, Y:50.20, Z:-0.38 [[ 7.52762120e-01 -6.58292244e-01 7.15339649e-04 2.05855361e+02] [ 6.58291934e-01 7.52762460e-01 6.39650682e-04 5.01959479e+01] [-9.59557916e-04 -1.06024827e-05 9.99999540e-01 -3.77771756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.060281693 meters Centerline goodness : 0.996067 Centerline is valid? [True, True] Translation: X:205.88, Y:50.21, Z:-0.38 [[ 7.52500861e-01 -6.58590386e-01 1.07613871e-03 2.05876869e+02] [ 6.58589683e-01 7.52501630e-01 9.62770015e-04 5.02126376e+01] [-1.44386721e-03 -1.57514102e-05 9.99998958e-01 -3.77283060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.090281693 meters Centerline goodness : 0.996356 Centerline is valid? [True, True] Translation: X:205.90, Y:50.23, Z:-0.38 [[ 7.52301355e-01 -6.58818590e-01 8.58419398e-04 2.05897744e+02] [ 6.58818143e-01 7.52301844e-01 7.68191441e-04 5.02304254e+01] [-1.15188930e-03 -1.23691884e-05 9.99999337e-01 -3.77232326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.120281693 meters Centerline goodness : 0.996100 Centerline is valid? [True, True] Translation: X:205.92, Y:50.25, Z:-0.38 [[ 7.52404573e-01 -6.58700731e-01 8.39645390e-04 2.05917982e+02] [ 6.58700302e-01 7.52405042e-01 7.51631951e-04 5.02493650e+01] [-1.12685394e-03 -1.24566453e-05 9.99999365e-01 -3.77760311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.15028169299998 meters Centerline goodness : 0.996143 Centerline is valid? [True, True] Translation: X:205.94, Y:50.27, Z:-0.38 [[ 7.52738397e-01 -6.58318543e-01 1.26586842e-03 2.05938607e+02] [ 6.58317567e-01 7.52739461e-01 1.13372503e-03 5.02676569e+01] [-1.69922132e-03 -2.00549400e-05 9.99998556e-01 -3.77697850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.18028169299998 meters Centerline goodness : 0.996301 Centerline is valid? [True, True] Translation: X:205.96, Y:50.28, Z:-0.38 [[ 7.53350692e-01 -6.57615768e-01 2.05835116e-03 2.05961469e+02] [ 6.57613182e-01 7.53353503e-01 1.84432592e-03 5.02847526e+01] [-2.76352386e-03 -3.58253469e-05 9.99996181e-01 -3.76850020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.21028169299998 meters Centerline goodness : 0.996150 Centerline is valid? [True, True] Translation: X:205.98, Y:50.30, Z:-0.38 [[ 7.53687854e-01 -6.57230640e-01 1.58274851e-03 2.05982273e+02] [ 6.57229110e-01 7.53689515e-01 1.41856400e-03 5.03020866e+01] [-2.12522468e-03 -2.89260603e-05 9.99997741e-01 -3.76509544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.240281693 meters Centerline goodness : 0.996133 Centerline is valid? [True, True] Translation: X:206.00, Y:50.32, Z:-0.38 [[ 7.54143189e-01 -6.56709677e-01 6.71551959e-04 2.06001578e+02] [ 6.56709401e-01 7.54143488e-01 6.01912169e-04 5.03205332e+01] [-9.01728083e-04 -1.29134782e-05 9.99999593e-01 -3.76711877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.270281693 meters Centerline goodness : 0.996174 Centerline is valid? [True, True] Translation: X:206.02, Y:50.34, Z:-0.38 [[ 7.55218427e-01 -6.55472532e-01 -9.41961581e-04 2.06021419e+02] [ 6.55471987e-01 7.55219014e-01 -8.45272020e-04 5.03405904e+01] [ 1.26543989e-03 2.09355761e-05 9.99999199e-01 -3.78188237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.300281693 meters Centerline goodness : 0.996012 Centerline is valid? [True, True] Translation: X:206.04, Y:50.36, Z:-0.38 [[ 7.55138950e-01 -6.55563838e-01 -1.10449308e-03 2.06041431e+02] [ 6.55563089e-01 7.55139758e-01 -9.91462990e-04 5.03587628e+01] [ 1.48401392e-03 2.46274259e-05 9.99998899e-01 -3.78971329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.330281693 meters Centerline goodness : 0.996262 Centerline is valid? [True, True] Translation: X:206.06, Y:50.38, Z:-0.38 [[ 7.54101840e-01 -6.56757446e-01 -2.68382554e-04 2.06061723e+02] [ 6.56757402e-01 7.54101888e-01 -2.41227852e-04 5.03778852e+01] [ 3.60815978e-04 5.64813780e-06 9.99999935e-01 -3.77658563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.360281693 meters Centerline goodness : 0.996108 Centerline is valid? [True, True] Translation: X:206.08, Y:50.40, Z:-0.38 [[ 7.53162539e-01 -6.57834420e-01 2.55470062e-04 2.06081107e+02] [ 6.57834380e-01 7.53162582e-01 2.29162063e-04 5.03965598e+01] [-3.43161184e-04 -4.53929163e-06 9.99999941e-01 -3.77412104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.390281693 meters Centerline goodness : 0.996175 Centerline is valid? [True, True] Translation: X:206.10, Y:50.42, Z:-0.38 [[ 7.51888057e-01 -6.59290655e-01 4.26828950e-04 2.06101669e+02] [ 6.59290544e-01 7.51888178e-01 3.83157562e-04 5.04154160e+01] [-5.73539842e-04 -6.68730394e-06 9.99999836e-01 -3.77258136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.420281693 meters Centerline goodness : 0.996298 Centerline is valid? [True, True] Translation: X:206.12, Y:50.43, Z:-0.38 [[ 7.48374955e-01 -6.63275905e-01 -1.40903046e-05 2.06123482e+02] [ 6.63275905e-01 7.48374956e-01 -1.28681008e-05 5.04308834e+01] [ 1.90799323e-05 2.84404802e-07 1.00000000e+00 -3.78444170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.450281693 meters Centerline goodness : 0.996266 Centerline is valid? [True, True] Translation: X:206.15, Y:50.45, Z:-0.38 [[ 7.46102805e-01 -6.65830650e-01 -3.87002432e-04 2.06145231e+02] [ 6.65830559e-01 7.46102905e-01 -3.48208564e-04 5.04478738e+01] [ 5.20591574e-04 2.12133982e-06 9.99999865e-01 -3.79255749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.480281693 meters Centerline goodness : 0.996163 Centerline is valid? [True, True] Translation: X:206.17, Y:50.46, Z:-0.38 [[ 7.42016216e-01 -6.70380765e-01 -1.25126495e-03 2.06167461e+02] [ 6.70379820e-01 7.42017271e-01 -1.12552885e-03 5.04630603e+01] [ 1.68299310e-03 -3.66211629e-06 9.99998584e-01 -3.79728953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.510281693 meters Centerline goodness : 0.996166 Centerline is valid? [True, True] Translation: X:206.19, Y:50.48, Z:-0.38 [[ 7.40160007e-01 -6.72428658e-01 -1.69224503e-03 2.06189326e+02] [ 6.72426934e-01 7.40161942e-01 -1.52266965e-03 5.04799667e+01] [ 2.27642208e-03 -1.08919595e-05 9.99997409e-01 -3.79503730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.540281693 meters Centerline goodness : 0.996116 Centerline is valid? [True, True] Translation: X:206.21, Y:50.50, Z:-0.38 [[ 7.38867903e-01 -6.73848116e-01 -1.71416654e-03 2.06212026e+02] [ 6.73846350e-01 7.38869891e-01 -1.54294904e-03 5.04967748e+01] [ 2.30625935e-03 -1.50493418e-05 9.99997340e-01 -3.79609181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.570281693 meters Centerline goodness : 0.996320 Centerline is valid? [True, True] Translation: X:206.23, Y:50.51, Z:-0.38 [[ 7.38059859e-01 -6.74733475e-01 -1.54342395e-03 2.06234501e+02] [ 6.74732043e-01 7.38061473e-01 -1.38979490e-03 5.05133838e+01] [ 2.07688290e-03 -1.56457710e-05 9.99997843e-01 -3.78625165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.600281693 meters Centerline goodness : 0.996208 Centerline is valid? [True, True] Translation: X:206.26, Y:50.53, Z:-0.38 [[ 7.38024027e-01 -6.74773544e-01 -1.09532726e-03 2.06257175e+02] [ 6.74772822e-01 7.38024840e-01 -9.86765671e-04 5.05302964e+01] [ 1.47422209e-03 -1.08402897e-05 9.99998913e-01 -3.78185250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.630281693 meters Centerline goodness : 0.996164 Centerline is valid? [True, True] Translation: X:206.28, Y:50.55, Z:-0.38 [[ 7.39275843e-01 -6.73402292e-01 -7.62699419e-04 2.06279660e+02] [ 6.73401941e-01 7.39276236e-01 -6.87399934e-04 5.05451885e+01] [ 1.02674225e-03 -5.42510283e-06 9.99999473e-01 -3.77473990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.660281693 meters Centerline goodness : 0.996328 Centerline is valid? [True, True] Translation: X:206.30, Y:50.56, Z:-0.38 [[ 7.40707705e-01 -6.71827325e-01 -3.76364006e-04 2.06304071e+02] [ 6.71827239e-01 7.40707800e-01 -3.39477093e-04 5.05606070e+01] [ 5.06845742e-04 -1.39829246e-06 9.99999872e-01 -3.78253785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.690281693 meters Centerline goodness : 0.996268 Centerline is valid? [True, True] Translation: X:206.33, Y:50.58, Z:-0.38 [[ 7.40613612e-01 -6.71931051e-01 -3.75848335e-04 2.06326368e+02] [ 6.71930965e-01 7.40613707e-01 -3.39027908e-04 5.05765183e+01] [ 5.06161807e-04 -1.45545139e-06 9.99999872e-01 -3.78131659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.720281693 meters Centerline goodness : 0.996733 Centerline is valid? [True, True] Translation: X:206.35, Y:50.59, Z:-0.38 [[ 7.40087702e-01 -6.72510247e-01 -4.02304761e-04 2.06349109e+02] [ 6.72510149e-01 7.40087811e-01 -3.63098556e-04 5.05936633e+01] [ 5.41928349e-04 -1.82925871e-06 9.99999853e-01 -3.78265029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.750281693 meters Centerline goodness : 0.996548 Centerline is valid? [True, True] Translation: X:206.37, Y:50.61, Z:-0.38 [[ 7.39656399e-01 -6.72984574e-01 -4.18508232e-04 2.06371200e+02] [ 6.72984468e-01 7.39656517e-01 -3.77851017e-04 5.06107475e+01] [ 5.63840247e-04 -2.16961752e-06 9.99999841e-01 -3.77620243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.780281693 meters Centerline goodness : 0.996610 Centerline is valid? [True, True] Translation: X:206.39, Y:50.63, Z:-0.38 [[ 7.38968362e-01 -6.73740096e-01 -2.05650506e-04 2.06394714e+02] [ 6.73740070e-01 7.38968391e-01 -1.85906133e-04 5.06264801e+01] [ 2.77221640e-04 -1.17623561e-06 9.99999962e-01 -3.77526065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.810281693 meters Centerline goodness : 0.996511 Centerline is valid? [True, True] Translation: X:206.42, Y:50.64, Z:-0.38 [[ 7.38765082e-01 -6.73962972e-01 2.59050004e-04 2.06416029e+02] [ 6.73962931e-01 7.38765127e-01 2.33607517e-04 5.06430262e+01] [-3.48819926e-04 2.00902354e-06 9.99999939e-01 -3.77409341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.840281693 meters Centerline goodness : 0.996425 Centerline is valid? [True, True] Translation: X:206.44, Y:50.66, Z:-0.38 [[ 7.40003395e-01 -6.72603134e-01 -1.37410199e-06 2.06438405e+02] [ 6.72603134e-01 7.40003395e-01 -1.53593619e-06 5.06594148e+01] [ 2.04991567e-06 2.12372689e-07 1.00000000e+00 -3.76930136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.870281693 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:206.46, Y:50.68, Z:-0.38 [[ 7.41066105e-01 -6.71431882e-01 -5.05427258e-04 2.06459069e+02] [ 6.71431727e-01 7.41066277e-01 -4.56914053e-04 5.06766840e+01] [ 6.81341759e-04 -7.56379268e-07 9.99999768e-01 -3.76869517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.90028169299998 meters Centerline goodness : 0.996717 Centerline is valid? [True, True] Translation: X:206.48, Y:50.70, Z:-0.38 [[ 7.42458056e-01 -6.69891868e-01 -9.59383159e-04 2.06480461e+02] [ 6.69891306e-01 7.42458676e-01 -8.67403688e-04 5.06953498e+01] [ 1.29336903e-03 1.32841806e-06 9.99999164e-01 -3.76916798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.93028169299998 meters Centerline goodness : 0.996786 Centerline is valid? [True, True] Translation: X:206.50, Y:50.71, Z:-0.38 [[ 7.46558707e-01 -6.65318134e-01 -1.37022808e-03 2.06499832e+02] [ 6.65316980e-01 7.46559964e-01 -1.23923962e-03 5.07138612e+01] [ 1.84744602e-03 1.35291162e-05 9.99998293e-01 -3.77693799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.96028169299998 meters Centerline goodness : 0.996737 Centerline is valid? [True, True] Translation: X:206.52, Y:50.73, Z:-0.38 [[ 7.48694165e-01 -6.62914283e-01 -1.30369602e-03 2.06520357e+02] [ 6.62913234e-01 7.48695300e-01 -1.17950516e-03 5.07330235e+01] [ 1.75798190e-03 1.88512874e-05 9.99998455e-01 -3.77678214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 234.990281693 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:206.54, Y:50.75, Z:-0.38 [[ 7.51548130e-01 -6.59678259e-01 4.56206716e-05 2.06540797e+02] [ 6.59678258e-01 7.51548132e-01 4.10653991e-05 5.07501958e+01] [-6.13760815e-05 -7.67658755e-07 9.99999998e-01 -3.76717768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.020281693 meters Centerline goodness : 0.996711 Centerline is valid? [True, True] Translation: X:206.56, Y:50.77, Z:-0.38 [[ 7.51473860e-01 -6.59762864e-01 4.55984249e-05 2.06561812e+02] [ 6.59762862e-01 7.51473861e-01 4.10899979e-05 5.07694328e+01] [-6.13756790e-05 -7.93912015e-07 9.99999998e-01 -3.76750637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.050281693 meters Centerline goodness : 0.996771 Centerline is valid? [True, True] Translation: X:206.58, Y:50.79, Z:-0.38 [[ 7.51591797e-01 -6.59628445e-01 2.91920647e-04 2.06583090e+02] [ 6.59628393e-01 7.51591853e-01 2.63994998e-04 5.07873543e+01] [-3.93543790e-04 -5.85732745e-06 9.99999923e-01 -3.76102509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.080281693 meters Centerline goodness : 0.996643 Centerline is valid? [True, True] Translation: X:206.60, Y:50.81, Z:-0.38 [[ 7.51178622e-01 -6.60098976e-01 -1.38773203e-04 2.06604732e+02] [ 6.60098964e-01 7.51178635e-01 -1.25962334e-04 5.08054051e+01] [ 1.87391073e-04 3.01616472e-06 9.99999982e-01 -3.76417713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.110281693 meters Centerline goodness : 0.996677 Centerline is valid? [True, True] Translation: X:206.63, Y:50.82, Z:-0.38 [[ 7.49862483e-01 -6.61593364e-01 -6.90996546e-04 2.06628019e+02] [ 6.61593068e-01 7.49862801e-01 -6.26320924e-04 5.08213568e+01] [ 9.32522373e-04 1.24960391e-05 9.99999565e-01 -3.77867120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.140281693 meters Centerline goodness : 0.996687 Centerline is valid? [True, True] Translation: X:206.65, Y:50.84, Z:-0.38 [[ 7.49595248e-01 -6.61896258e-01 -5.54898350e-04 2.06649255e+02] [ 6.61896067e-01 7.49595453e-01 -5.03161204e-04 5.08381529e+01] [ 7.48989798e-04 9.88221217e-06 9.99999719e-01 -3.77898538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.170281693 meters Centerline goodness : 0.996705 Centerline is valid? [True, True] Translation: X:206.67, Y:50.86, Z:-0.38 [[ 7.50268255e-01 -6.61133275e-01 -5.82447675e-04 2.06670529e+02] [ 6.61133064e-01 7.50268481e-01 -5.28360262e-04 5.08561115e+01] [ 7.86308683e-04 1.13365158e-05 9.99999691e-01 -3.77238477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.200281693 meters Centerline goodness : 0.996648 Centerline is valid? [True, True] Translation: X:206.69, Y:50.87, Z:-0.38 [[ 7.50988854e-01 -6.60314016e-01 -1.06850343e-03 2.06690155e+02] [ 6.60313305e-01 7.50989614e-01 -9.69335781e-04 5.08747840e+01] [ 1.44250098e-03 2.24133343e-05 9.99998959e-01 -3.77524985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.230281693 meters Centerline goodness : 0.996784 Centerline is valid? [True, True] Translation: X:206.71, Y:50.89, Z:-0.38 [[ 7.51721085e-01 -6.59479818e-01 -1.33421705e-03 2.06710519e+02] [ 6.59478708e-01 7.51722268e-01 -1.21080474e-03 5.08932446e+01] [ 1.80146195e-03 3.02997174e-05 9.99998377e-01 -3.78102290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.260281693 meters Centerline goodness : 0.996352 Centerline is valid? [True, True] Translation: X:206.73, Y:50.91, Z:-0.38 [[ 7.51930148e-01 -6.59241430e-01 -1.33793585e-03 2.06731817e+02] [ 6.59240312e-01 7.51931337e-01 -1.21463886e-03 5.09114933e+01] [ 1.80677615e-03 3.13023260e-05 9.99998367e-01 -3.78163249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.290281693 meters Centerline goodness : 0.996502 Centerline is valid? [True, True] Translation: X:206.75, Y:50.93, Z:-0.38 [[ 7.51914482e-01 -6.59260612e-01 -2.38864399e-04 2.06754873e+02] [ 6.59260576e-01 7.51914520e-01 -2.17187602e-04 5.09281209e+01] [ 3.22788841e-04 5.83262218e-06 9.99999948e-01 -3.77045096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.320281693 meters Centerline goodness : 0.996785 Centerline is valid? [True, True] Translation: X:206.78, Y:50.95, Z:-0.38 [[ 7.51963360e-01 -6.59204897e-01 9.56072026e-05 2.06775218e+02] [ 6.59204891e-01 7.51963366e-01 8.66259751e-05 5.09453141e+01] [-1.28997381e-04 -2.11482373e-06 9.99999992e-01 -3.76757817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.350281693 meters Centerline goodness : 0.996601 Centerline is valid? [True, True] Translation: X:206.80, Y:50.96, Z:-0.38 [[ 7.52832610e-01 -6.58211952e-01 -2.96058935e-04 2.06796620e+02] [ 6.58211897e-01 7.52832668e-01 -2.69152239e-04 5.09619428e+01] [ 4.00042059e-04 7.75706867e-06 9.99999920e-01 -3.77249522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.380281693 meters Centerline goodness : 0.996671 Centerline is valid? [True, True] Translation: X:206.82, Y:50.98, Z:-0.38 [[ 7.53412100e-01 -6.57548098e-01 -8.41084344e-04 2.06817811e+02] [ 6.57547653e-01 7.53412569e-01 -7.64618133e-04 5.09807224e+01] [ 1.13645672e-03 2.30195161e-05 9.99999354e-01 -3.77867838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.410281693 meters Centerline goodness : 0.996726 Centerline is valid? [True, True] Translation: X:206.84, Y:51.00, Z:-0.38 [[ 7.55573353e-01 -6.55062230e-01 -1.54378427e-03 2.06837513e+02] [ 6.55060728e-01 7.55574928e-01 -1.40375932e-03 5.10006957e+01] [ 2.08599440e-03 4.93706856e-05 9.99997823e-01 -3.77809295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.440281693 meters Centerline goodness : 0.996615 Centerline is valid? [True, True] Translation: X:206.86, Y:51.02, Z:-0.38 [[ 7.56636017e-01 -6.53833910e-01 -1.77678667e-03 2.06856478e+02] [ 6.53831915e-01 7.56638100e-01 -1.61609863e-03 5.10198373e+01] [ 2.40104458e-03 6.10785963e-05 9.99997116e-01 -3.77892325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.470281693 meters Centerline goodness : 0.996691 Centerline is valid? [True, True] Translation: X:206.88, Y:51.04, Z:-0.38 [[ 7.57723408e-01 -6.52573180e-01 -1.86615960e-03 2.06876649e+02] [ 6.52570974e-01 7.57725703e-01 -1.69806970e-03 5.10387722e+01] [ 2.52215184e-03 6.88655748e-05 9.99996817e-01 -3.77797229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.500281693 meters Centerline goodness : 0.996758 Centerline is valid? [True, True] Translation: X:206.90, Y:51.06, Z:-0.38 [[ 7.58589250e-01 -6.51566315e-01 -1.92017261e-03 2.06896478e+02] [ 6.51563975e-01 7.58591677e-01 -1.74778240e-03 5.10577433e+01] [ 2.59542310e-03 7.47336391e-05 9.99996629e-01 -3.77654351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.530281693 meters Centerline goodness : 0.996796 Centerline is valid? [True, True] Translation: X:206.92, Y:51.08, Z:-0.38 [[ 7.59376482e-01 -6.50649932e-01 -1.42284812e-03 2.06915007e+02] [ 6.50648645e-01 7.59377813e-01 -1.29559798e-03 5.10780156e+01] [ 1.92346003e-03 5.80724409e-05 9.99998148e-01 -3.77698222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.560281693 meters Centerline goodness : 0.996966 Centerline is valid? [True, True] Translation: X:206.93, Y:51.10, Z:-0.38 [[ 7.58762151e-01 -6.51366656e-01 -1.21574109e-03 2.06933793e+02] [ 6.51365716e-01 7.58763123e-01 -1.10749518e-03 5.10982310e+01] [ 1.64384494e-03 4.84333614e-05 9.99998648e-01 -3.77132504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.590281693 meters Centerline goodness : 0.997348 Centerline is valid? [True, True] Translation: X:206.95, Y:51.12, Z:-0.38 [[ 7.55821748e-01 -6.54777029e-01 -7.26796309e-04 2.06951594e+02] [ 6.54776694e-01 7.55822097e-01 -6.62393613e-04 5.11183535e+01] [ 9.83048832e-04 2.47622135e-05 9.99999517e-01 -3.77333813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.620281693 meters Centerline goodness : 0.997219 Centerline is valid? [True, True] Translation: X:206.97, Y:51.14, Z:-0.38 [[ 7.54103292e-01 -6.56755378e-01 -7.73005195e-04 2.06971562e+02] [ 6.56755001e-01 7.54103688e-01 -7.04785735e-04 5.11384769e+01] [ 1.04579789e-03 2.38062157e-05 9.99999453e-01 -3.77036985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.65028169299998 meters Centerline goodness : 0.997131 Centerline is valid? [True, True] Translation: X:206.99, Y:51.16, Z:-0.38 [[ 7.52691203e-01 -6.58373212e-01 -8.16648276e-04 2.06990053e+02] [ 6.58372791e-01 7.52691645e-01 -7.44782980e-04 5.11575850e+01] [ 1.10502950e-03 2.29325926e-05 9.99999389e-01 -3.77112914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.68028169299998 meters Centerline goodness : 0.997288 Centerline is valid? [True, True] Translation: X:207.01, Y:51.18, Z:-0.38 [[ 7.50539391e-01 -6.60825617e-01 -3.56099744e-04 2.07007295e+02] [ 6.60825537e-01 7.50539475e-01 -3.25019235e-04 5.11787119e+01] [ 4.82047951e-04 8.61993482e-06 9.99999884e-01 -3.76125443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.71028169299998 meters Centerline goodness : 0.997424 Centerline is valid? [True, True] Translation: X:207.03, Y:51.20, Z:-0.38 [[ 7.49698470e-01 -6.61779393e-01 4.88887869e-04 2.07026610e+02] [ 6.61779243e-01 7.49698629e-01 4.45738926e-04 5.11987175e+01] [-6.61499401e-04 -1.06339470e-05 9.99999781e-01 -3.75574166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.740281693 meters Centerline goodness : 0.997540 Centerline is valid? [True, True] Translation: X:207.05, Y:51.22, Z:-0.38 [[ 7.48822710e-01 -6.62769242e-01 1.21689952e-03 2.07045676e+02] [ 6.62768313e-01 7.48823698e-01 1.11031708e-03 5.12187656e+01] [-1.64712721e-03 -2.49082000e-05 9.99998643e-01 -3.75103867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.770281693 meters Centerline goodness : 0.997272 Centerline is valid? [True, True] Translation: X:207.06, Y:51.24, Z:-0.37 [[ 7.47900697e-01 -6.63809201e-01 1.37592783e-03 2.07064339e+02] [ 6.63808013e-01 7.47901962e-01 1.25592551e-03 5.12382609e+01] [-1.86275403e-03 -2.59556481e-05 9.99998265e-01 -3.74735028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.800281693 meters Centerline goodness : 0.997363 Centerline is valid? [True, True] Translation: X:207.08, Y:51.26, Z:-0.38 [[ 7.45983381e-01 -6.65964528e-01 -2.06920587e-04 2.07082749e+02] [ 6.65964501e-01 7.45983410e-01 -1.89270882e-04 5.12595989e+01] [ 2.80407019e-04 3.39116721e-06 9.99999961e-01 -3.75393179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.830281693 meters Centerline goodness : 0.997295 Centerline is valid? [True, True] Translation: X:207.10, Y:51.28, Z:-0.38 [[ 7.44814446e-01 -6.67270959e-01 -9.52517756e-04 2.07102344e+02] [ 6.67270392e-01 7.44815055e-01 -8.70567114e-04 5.12795040e+01] [ 1.29035372e-03 1.28240669e-05 9.99999167e-01 -3.75849282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.860281693 meters Centerline goodness : 0.997315 Centerline is valid? [True, True] Translation: X:207.12, Y:51.30, Z:-0.37 [[ 7.43358181e-01 -6.68893533e-01 2.36169682e-04 2.07121320e+02] [ 6.68893498e-01 7.43358219e-01 2.15577146e-04 5.13005928e+01] [-3.19756833e-04 -2.27867072e-06 9.99999949e-01 -3.74832391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.890281693 meters Centerline goodness : 0.997275 Centerline is valid? [True, True] Translation: X:207.14, Y:51.32, Z:-0.37 [[ 7.43247272e-01 -6.69015340e-01 1.40273134e-03 2.07140580e+02] [ 6.69014111e-01 7.43248596e-01 1.28228567e-03 5.13209889e+01] [-1.90044688e-03 -1.46082675e-05 9.99998194e-01 -3.73883509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.920281693 meters Centerline goodness : 0.997485 Centerline is valid? [True, True] Translation: X:207.16, Y:51.34, Z:-0.37 [[ 7.43559158e-01 -6.68666874e-01 2.09518127e-03 2.07158707e+02] [ 6.68664129e-01 7.43562110e-01 1.91601483e-03 5.13407308e+01] [-2.83907305e-03 -2.36978122e-05 9.99995970e-01 -3.73780110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.950281693 meters Centerline goodness : 0.997449 Centerline is valid? [True, True] Translation: X:207.18, Y:51.36, Z:-0.37 [[ 7.44155513e-01 -6.68004086e-01 1.76475219e-03 2.07176511e+02] [ 6.68002136e-01 7.44157605e-01 1.61433564e-03 5.13633242e+01] [-2.39163657e-03 -2.24585330e-05 9.99997140e-01 -3.74102610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 235.980281693 meters Centerline goodness : 0.997498 Centerline is valid? [True, True] Translation: X:207.19, Y:51.38, Z:-0.37 [[ 7.44264818e-01 -6.67883640e-01 1.15045989e-03 2.07194642e+02] [ 6.67882810e-01 7.44265708e-01 1.05269385e-03 5.13836017e+01] [-1.55932484e-03 -1.51106064e-05 9.99998784e-01 -3.74653714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.010281693 meters Centerline goodness : 0.997374 Centerline is valid? [True, True] Translation: X:207.21, Y:51.41, Z:-0.38 [[ 7.45354021e-01 -6.66668665e-01 -5.24319024e-04 2.07211291e+02] [ 6.66668492e-01 7.45354205e-01 -4.80355293e-04 5.14067076e+01] [ 7.11041211e-04 8.48777646e-06 9.99999747e-01 -3.76140596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.040281693 meters Centerline goodness : 0.997386 Centerline is valid? [True, True] Translation: X:207.23, Y:51.43, Z:-0.38 [[ 7.46192664e-01 -6.65728252e-01 -1.55030022e-03 2.07228838e+02] [ 6.65726738e-01 7.46194274e-01 -1.42018829e-03 5.14271565e+01] [ 2.10228462e-03 2.76577722e-05 9.99997790e-01 -3.75898497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.070281693 meters Centerline goodness : 0.997429 Centerline is valid? [True, True] Translation: X:207.24, Y:51.45, Z:-0.38 [[ 7.46467908e-01 -6.65419154e-01 -1.73540146e-03 2.07244263e+02] [ 6.65417254e-01 7.46469925e-01 -1.59035807e-03 5.14510137e+01] [ 2.35367972e-03 3.23851856e-05 9.99997230e-01 -3.76566619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.100281693 meters Centerline goodness : 0.997547 Centerline is valid? [True, True] Translation: X:207.26, Y:51.47, Z:-0.38 [[ 7.45938966e-01 -6.66012971e-01 -1.33492350e-03 2.07262275e+02] [ 6.66011847e-01 7.45940160e-01 -1.22380387e-03 5.14720160e+01] [ 1.81084230e-03 2.38081325e-05 9.99998360e-01 -3.76425421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.130281693 meters Centerline goodness : 0.997465 Centerline is valid? [True, True] Translation: X:207.28, Y:51.49, Z:-0.38 [[ 7.45249050e-01 -6.66785260e-01 -1.12721235e-03 2.07281521e+02] [ 6.66784459e-01 7.45249902e-01 -1.03384918e-03 5.14921133e+01] [ 1.52941029e-03 1.88674402e-05 9.99998830e-01 -3.76260253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.160281693 meters Centerline goodness : 0.997669 Centerline is valid? [True, True] Translation: X:207.30, Y:51.51, Z:-0.38 [[ 7.44121096e-01 -6.68043402e-01 -1.34477095e-03 2.07300921e+02] [ 6.68042263e-01 7.44122311e-01 -1.23372323e-03 5.15114699e+01] [ 1.82485473e-03 1.96756576e-05 9.99998335e-01 -3.77081141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.190281693 meters Centerline goodness : 0.997676 Centerline is valid? [True, True] Translation: X:207.32, Y:51.53, Z:-0.38 [[ 7.41486829e-01 -6.70963171e-01 -2.38867922e-03 2.07319669e+02] [ 6.70959591e-01 7.41490676e-01 -2.19195901e-03 5.15312172e+01] [ 3.24190714e-03 2.26015006e-05 9.99994745e-01 -3.77990496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.220281693 meters Centerline goodness : 0.997659 Centerline is valid? [True, True] Translation: X:207.34, Y:51.55, Z:-0.37 [[ 7.39300959e-01 -6.73373682e-01 -1.40577801e-03 2.07338814e+02] [ 6.73372445e-01 7.39302296e-01 -1.29062647e-03 5.15514251e+01] [ 1.90836881e-03 7.54921303e-06 9.99998179e-01 -3.72836872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.250281693 meters Centerline goodness : 0.997882 Centerline is valid? [True, True] Translation: X:207.36, Y:51.57, Z:-0.38 [[ 7.38766696e-01 -6.73961187e-01 -2.96903891e-04 2.07359257e+02] [ 6.73961132e-01 7.38766755e-01 -2.72914518e-04 5.15711429e+01] [ 4.03276517e-04 1.51847461e-06 9.99999919e-01 -3.76848689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.280281693 meters Centerline goodness : 0.997925 Centerline is valid? [True, True] Translation: X:207.38, Y:51.59, Z:-0.38 [[ 7.38219797e-01 -6.74560183e-01 3.00004853e-04 2.07380195e+02] [ 6.74560127e-01 7.38219858e-01 2.75281112e-04 5.15890982e+01] [-4.07163217e-04 -8.46654710e-07 9.99999917e-01 -3.76670695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.310281693 meters Centerline goodness : 0.998008 Centerline is valid? [True, True] Translation: X:207.40, Y:51.61, Z:-0.38 [[ 7.37502478e-01 -6.75344418e-01 1.11005335e-04 2.07400966e+02] [ 6.75344410e-01 7.37502486e-01 1.01736893e-04 5.16070864e+01] [-1.50574153e-04 -6.43780879e-08 9.99999989e-01 -3.76693524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.340281693 meters Centerline goodness : 0.997908 Centerline is valid? [True, True] Translation: X:207.42, Y:51.63, Z:-0.38 [[ 7.35974435e-01 -6.77008560e-01 -1.02063235e-03 2.07422663e+02] [ 6.77007909e-01 7.35975142e-01 -9.38483872e-04 5.16253678e+01] [ 1.38652165e-03 -2.76035164e-07 9.99999039e-01 -3.77510289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.370281693 meters Centerline goodness : 0.998102 Centerline is valid? [True, True] Translation: X:207.44, Y:51.64, Z:-0.38 [[ 7.35627986e-01 -6.77384182e-01 -1.46157008e-03 2.07444327e+02] [ 6.77382848e-01 7.35629438e-01 -1.34430598e-03 5.16434116e+01] [ 1.98578559e-03 -1.13340424e-06 9.99998028e-01 -3.78128863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.40028169299998 meters Centerline goodness : 0.997959 Centerline is valid? [True, True] Translation: X:207.47, Y:51.66, Z:-0.38 [[ 7.35594177e-01 -6.77421824e-01 -9.38112719e-04 2.07466582e+02] [ 6.77421274e-01 7.35594775e-01 -8.63212912e-04 5.16594318e+01] [ 1.27483008e-03 -5.23122066e-07 9.99999187e-01 -3.77172208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.43028169299998 meters Centerline goodness : 0.998014 Centerline is valid? [True, True] Translation: X:207.49, Y:51.68, Z:-0.38 [[ 7.35684235e-01 -6.77324512e-01 -4.59668824e-04 2.07488376e+02] [ 6.77324380e-01 7.35684379e-01 -4.23290297e-04 5.16775969e+01] [ 6.24876067e-04 6.30970293e-08 9.99999805e-01 -3.77198119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.46028169299998 meters Centerline goodness : 0.997889 Centerline is valid? [True, True] Translation: X:207.51, Y:51.70, Z:-0.38 [[ 7.35561491e-01 -6.77457921e-01 -2.42141610e-04 2.07509521e+02] [ 6.77457884e-01 7.35561531e-01 -2.23204563e-04 5.16955183e+01] [ 3.29321752e-04 1.39938113e-07 9.99999946e-01 -3.77184888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.490281693 meters Centerline goodness : 0.998005 Centerline is valid? [True, True] Translation: X:207.53, Y:51.71, Z:-0.38 [[ 7.34767407e-01 -6.78318561e-01 -8.87366954e-04 2.07531326e+02] [ 6.78318069e-01 7.34767943e-01 -8.17296604e-04 5.17111290e+01] [ 1.20639625e-03 -1.39413202e-06 9.99999272e-01 -3.78002095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.520281693 meters Centerline goodness : 0.998060 Centerline is valid? [True, True] Translation: X:207.55, Y:51.73, Z:-0.38 [[ 7.33589261e-01 -6.79592457e-01 -9.42374475e-04 2.07553588e+02] [ 6.79591903e-01 7.33589866e-01 -8.68363295e-04 5.17286753e+01] [ 1.28144951e-03 -3.40807465e-06 9.99999179e-01 -3.78721740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.550281693 meters Centerline goodness : 0.998287 Centerline is valid? [True, True] Translation: X:207.58, Y:51.74, Z:-0.38 [[ 7.30096474e-01 -6.83344076e-01 -1.13193867e-04 2.07577850e+02] [ 6.83344068e-01 7.30096482e-01 -1.04600086e-04 5.17439289e+01] [ 1.54120293e-04 -9.82203610e-07 9.99999988e-01 -3.78465531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.580281693 meters Centerline goodness : 0.998246 Centerline is valid? [True, True] Translation: X:207.60, Y:51.76, Z:-0.38 [[ 7.27879190e-01 -6.85705287e-01 3.79305380e-04 2.07599456e+02] [ 6.85705198e-01 7.27879289e-01 3.49358131e-04 5.17599699e+01] [-5.15645247e-04 5.80115729e-06 9.99999867e-01 -3.78371990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.610281693 meters Centerline goodness : 0.998264 Centerline is valid? [True, True] Translation: X:207.62, Y:51.78, Z:-0.38 [[ 7.24406984e-01 -6.89367074e-01 2.74921498e-03 2.07621852e+02] [ 6.89370679e-01 7.24389943e-01 -5.22277325e-03 5.17758836e+01] [ 1.60890423e-03 5.67864162e-03 9.99982582e-01 -3.77610086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.640281693 meters Centerline goodness : 0.998301 Centerline is valid? [True, True] Translation: X:207.65, Y:51.79, Z:-0.38 [[ 7.23110249e-01 -6.90718879e-01 -4.35874759e-03 2.07648774e+02] [ 6.90732430e-01 7.23100459e-01 3.79948889e-03 5.17886331e+01] [ 5.27433679e-04 -5.75817767e-03 9.99983282e-01 -3.78437093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.670281693 meters Centerline goodness : 0.998369 Centerline is valid? [True, True] Translation: X:207.67, Y:51.81, Z:-0.38 [[ 7.22141680e-01 -6.91744919e-01 -6.00251073e-04 2.07669132e+02] [ 6.91744697e-01 7.22141930e-01 -5.53972789e-04 5.18065403e+01] [ 8.16674331e-04 -1.51736560e-05 9.99999666e-01 -3.78632270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.700281693 meters Centerline goodness : 0.998342 Centerline is valid? [True, True] Translation: X:207.69, Y:51.82, Z:-0.38 [[ 7.21055299e-01 -6.92877443e-01 -3.23865439e-04 2.07694065e+02] [ 6.92877379e-01 7.21055371e-01 -2.99196007e-04 5.18187538e+01] [ 4.40831079e-04 -8.66217013e-06 9.99999903e-01 -3.78057755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.730281693 meters Centerline goodness : 0.998472 Centerline is valid? [True, True] Translation: X:207.72, Y:51.83, Z:-0.38 [[ 7.21132054e-01 -6.92797629e-01 7.42192558e-05 2.07717893e+02] [ 6.92797626e-01 7.21132058e-01 6.82439736e-05 5.18347106e+01] [-1.00801148e-04 2.20600734e-06 9.99999995e-01 -3.78151347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.760281693 meters Centerline goodness : 0.998383 Centerline is valid? [True, True] Translation: X:207.74, Y:51.85, Z:-0.38 [[ 7.22387208e-01 -6.91488438e-01 -6.79258199e-04 2.07744989e+02] [ 6.91488153e-01 7.22387527e-01 -6.27620895e-04 5.18472552e+01] [ 9.24680243e-04 -1.63136918e-05 9.99999572e-01 -3.77811623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.790281693 meters Centerline goodness : 0.998572 Centerline is valid? [True, True] Translation: X:207.77, Y:51.86, Z:-0.38 [[ 7.23590696e-01 -6.90228214e-01 -1.23194822e-03 2.07769025e+02] [ 6.90227275e-01 7.23591744e-01 -1.13851205e-03 5.18628929e+01] [ 1.67726070e-03 -2.65075345e-05 9.99998593e-01 -3.78330060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.820281693 meters Centerline goodness : 0.998411 Centerline is valid? [True, True] Translation: X:207.79, Y:51.88, Z:-0.38 [[ 7.24642202e-01 -6.89123431e-01 -1.60495056e-03 2.07791665e+02] [ 6.89121835e-01 7.24643978e-01 -1.48374346e-03 5.18782018e+01] [ 2.18550014e-03 -3.08233456e-05 9.99997611e-01 -3.78040038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.850281693 meters Centerline goodness : 0.998545 Centerline is valid? [True, True] Translation: X:207.82, Y:51.89, Z:-0.38 [[ 7.25875320e-01 -6.87824567e-01 -1.54423759e-03 2.07815061e+02] [ 6.87823085e-01 7.25876962e-01 -1.42810644e-03 5.18946677e+01] [ 2.10321319e-03 -2.55350460e-05 9.99997788e-01 -3.78358220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.880281693 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:207.84, Y:51.91, Z:-0.38 [[ 7.29060125e-01 -6.84449390e-01 -6.05846354e-04 2.07839252e+02] [ 6.84449160e-01 7.29060377e-01 -5.60669807e-04 5.19095263e+01] [ 8.25448678e-04 -5.90902896e-06 9.99999659e-01 -3.77859208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.910281693 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:207.86, Y:51.93, Z:-0.38 [[ 7.28942186e-01 -6.84574994e-01 -6.05758853e-04 2.07860035e+02] [ 6.84574765e-01 7.28942437e-01 -5.60764364e-04 5.19290131e+01] [ 8.25448596e-04 -5.92242303e-06 9.99999659e-01 -3.77891859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.940281693 meters Centerline goodness : 0.998634 Centerline is valid? [True, True] Translation: X:207.88, Y:51.95, Z:-0.38 [[ 7.30693512e-01 -6.82705558e-01 -3.35767749e-04 2.07881616e+02] [ 6.82705487e-01 7.30693589e-01 -3.11079419e-04 5.19462167e+01] [ 4.57718990e-04 -1.92677115e-06 9.99999895e-01 -3.78120422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 236.970281693 meters Centerline goodness : 0.998528 Centerline is valid? [True, True] Translation: X:207.90, Y:51.96, Z:-0.38 [[ 7.34796637e-01 -6.78287016e-01 -7.91052171e-04 2.07903525e+02] [ 6.78286620e-01 7.34797063e-01 -7.32766737e-04 5.19629736e+01] [ 1.07828898e-03 1.87443119e-06 9.99999419e-01 -3.78722649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.000281693 meters Centerline goodness : 0.998638 Centerline is valid? [True, True] Translation: X:207.92, Y:51.98, Z:-0.38 [[ 7.36847055e-01 -6.76058702e-01 -1.02409207e-03 2.07923866e+02] [ 6.76058036e-01 7.36847767e-01 -9.48895380e-04 5.19820090e+01] [ 1.39610893e-03 6.84509464e-06 9.99999025e-01 -3.78217270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.030281693 meters Centerline goodness : 0.998479 Centerline is valid? [True, True] Translation: X:207.94, Y:52.00, Z:-0.38 [[ 7.38975239e-01 -6.73731155e-01 -1.38832820e-03 2.07943775e+02] [ 6.73729926e-01 7.38976543e-01 -1.28675188e-03 5.20017030e+01] [ 1.89286680e-03 1.55195242e-05 9.99998208e-01 -3.78104376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.060281693 meters Centerline goodness : 0.998506 Centerline is valid? [True, True] Translation: X:207.96, Y:52.02, Z:-0.38 [[ 7.42352688e-01 -6.70008053e-01 -1.30210872e-03 2.07961560e+02] [ 6.70006965e-01 7.42353830e-01 -1.20732075e-03 5.20231277e+01] [ 1.77554002e-03 2.38358867e-05 9.99998423e-01 -3.78142988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.090281693 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:207.98, Y:52.04, Z:-0.38 [[ 7.43151855e-01 -6.69122259e-01 -8.50510860e-04 2.07979333e+02] [ 6.69121794e-01 7.43152341e-01 -7.89026362e-04 5.20432768e+01] [ 1.16001424e-03 1.72710516e-05 9.99999327e-01 -3.78425510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.120281693 meters Centerline goodness : 0.998476 Centerline is valid? [True, True] Translation: X:208.00, Y:52.06, Z:-0.38 [[ 7.43542618e-01 -6.68688473e-01 -3.17685140e-04 2.07998380e+02] [ 6.68688408e-01 7.43542686e-01 -2.94997029e-04 5.20645454e+01] [ 4.33473576e-04 6.91049266e-06 9.99999906e-01 -3.78618765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.15028169299998 meters Centerline goodness : 0.998609 Centerline is valid? [True, True] Translation: X:208.01, Y:52.09, Z:-0.38 [[ 7.43022361e-01 -6.69266092e-01 8.18695547e-04 2.08014551e+02] [ 6.69265661e-01 7.43022811e-01 7.59484495e-04 5.20881528e+01] [-1.11660669e-03 -1.63891458e-05 9.99999376e-01 -3.78221618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.18028169299998 meters Centerline goodness : 0.998731 Centerline is valid? [True, True] Translation: X:208.03, Y:52.11, Z:-0.38 [[ 7.42096343e-01 -6.70292702e-01 8.42795179e-04 2.08032627e+02] [ 6.70292246e-01 7.42096822e-01 7.82141836e-04 5.21103882e+01] [-1.14969959e-03 -1.55055229e-05 9.99999339e-01 -3.78276937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.21028169299998 meters Centerline goodness : 0.998709 Centerline is valid? [True, True] Translation: X:208.05, Y:52.13, Z:-0.38 [[ 7.39711801e-01 -6.72923806e-01 -4.25040632e-05 2.08046681e+02] [ 6.72923805e-01 7.39711803e-01 -3.97375733e-05 5.21342579e+01] [ 5.81811164e-05 7.92355953e-07 9.99999998e-01 -3.78591863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.240281693 meters Centerline goodness : 0.998718 Centerline is valid? [True, True] Translation: X:208.06, Y:52.16, Z:-0.38 [[ 7.38140664e-01 -6.74646593e-01 -5.78747124e-04 2.08064608e+02] [ 6.74646378e-01 7.38140891e-01 -5.37974121e-04 5.21558404e+01] [ 7.90139326e-04 6.65092334e-06 9.99999688e-01 -3.79345296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.270281693 meters Centerline goodness : 0.998787 Centerline is valid? [True, True] Translation: X:208.08, Y:52.18, Z:-0.38 [[ 7.35935244e-01 -6.77051151e-01 -1.02785435e-03 2.08083318e+02] [ 6.77050476e-01 7.35935961e-01 -9.55573771e-04 5.21775231e+01] [ 1.40340730e-03 7.33113651e-06 9.99999015e-01 -3.80487125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.300281693 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:208.10, Y:52.20, Z:-0.38 [[ 7.30997847e-01 -6.82378757e-01 -1.17506267e-03 2.08100595e+02] [ 6.82377882e-01 7.30998791e-01 -1.09260900e-03 5.21991014e+01] [ 1.60454256e-03 -3.14194511e-06 9.99998713e-01 -3.81106674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.330281693 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:208.12, Y:52.22, Z:-0.38 [[ 7.28288368e-01 -6.85270044e-01 -1.00989403e-03 2.08120094e+02] [ 6.85269400e-01 7.28289068e-01 -9.39481798e-04 5.22191053e+01] [ 1.37929352e-03 -7.83581193e-06 9.99999049e-01 -3.80758189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.360281693 meters Centerline goodness : 0.998745 Centerline is valid? [True, True] Translation: X:208.14, Y:52.24, Z:-0.38 [[ 7.25872532e-01 -6.87828941e-01 -6.43812274e-04 2.08139531e+02] [ 6.87828680e-01 7.25872818e-01 -5.99247859e-04 5.22392739e+01] [ 8.79505850e-04 -7.85498612e-06 9.99999613e-01 -3.80231248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.390281693 meters Centerline goodness : 0.998737 Centerline is valid? [True, True] Translation: X:208.16, Y:52.26, Z:-0.38 [[ 7.22343307e-01 -6.91534171e-01 -7.98549277e-04 2.08158653e+02] [ 6.91533771e-01 7.22343748e-01 -7.43474354e-04 5.22601918e+01] [ 1.09096500e-03 -1.51800697e-05 9.99999405e-01 -3.80311328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.420281693 meters Centerline goodness : 0.998670 Centerline is valid? [True, True] Translation: X:208.18, Y:52.28, Z:-0.38 [[ 7.20469521e-01 -6.93486301e-01 -6.48418507e-04 2.08178630e+02] [ 6.93486038e-01 7.20469813e-01 -6.03971093e-04 5.22795921e+01] [ 8.86011639e-04 -1.45264170e-05 9.99999607e-01 -3.80422125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.450281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:208.20, Y:52.30, Z:-0.38 [[ 7.15667942e-01 -6.98440496e-01 5.20588622e-04 2.08199335e+02] [ 6.98440328e-01 7.15668131e-01 4.84560771e-04 5.22969145e+01] [-7.11005551e-04 1.68154787e-05 9.99999747e-01 -3.79875601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.480281693 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:208.22, Y:52.31, Z:-0.38 [[ 7.13369006e-01 -7.00787786e-01 1.06820277e-03 2.08219802e+02] [ 7.00787080e-01 7.13369804e-01 9.94950618e-04 5.23143913e+01] [-1.45927284e-03 3.88157707e-05 9.99998935e-01 -3.79852782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.510281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:208.24, Y:52.33, Z:-0.38 [[ 7.11331174e-01 -7.02855864e-01 1.26282684e-03 2.08241352e+02] [ 7.02854881e-01 7.11332293e-01 1.17661163e-03 5.23318660e+01] [-1.72527790e-03 5.06234764e-05 9.99998510e-01 -3.79516768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.540281693 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:208.27, Y:52.35, Z:-0.38 [[ 7.08708120e-01 -7.05501395e-01 7.63059432e-04 2.08265789e+02] [ 7.05501038e-01 7.08708530e-01 7.11106570e-04 5.23467911e+01] [-1.04247341e-03 3.43722208e-05 9.99999456e-01 -3.79060293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.570281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:208.29, Y:52.36, Z:-0.38 [[ 7.08033113e-01 -7.06179099e-01 4.37377451e-04 2.08287770e+02] [ 7.06178981e-01 7.08033248e-01 4.07624598e-04 5.23635894e+01] [-5.97533748e-04 2.02550500e-05 9.99999821e-01 -3.79172110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.600281693 meters Centerline goodness : 0.998896 Centerline is valid? [True, True] Translation: X:208.31, Y:52.38, Z:-0.38 [[ 7.07868723e-01 -7.06343940e-01 3.30862261e-04 2.08309493e+02] [ 7.06343872e-01 7.07868801e-01 3.08388086e-04 5.23803723e+01] [-4.52035127e-04 1.54042500e-05 9.99999898e-01 -3.79114616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.630281693 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:208.33, Y:52.40, Z:-0.38 [[ 7.09063963e-01 -7.05144066e-01 3.77794750e-04 2.08331565e+02] [ 7.05143978e-01 7.09064064e-01 3.52287361e-04 5.23954114e+01] [-5.16294022e-04 1.66054202e-05 9.99999867e-01 -3.78706866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.660281693 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:208.35, Y:52.41, Z:-0.38 [[ 7.10000884e-01 -7.04200617e-01 4.84724695e-04 2.08351246e+02] [ 7.04200473e-01 7.10001049e-01 4.52276038e-04 5.24124010e+01] [-6.62648107e-04 2.02269726e-05 9.99999780e-01 -3.78704129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.690281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:208.37, Y:52.43, Z:-0.38 [[ 7.12825743e-01 -7.01340950e-01 -5.75866041e-04 2.08371365e+02] [ 7.01340744e-01 7.12825975e-01 -5.38237227e-04 5.24285687e+01] [ 7.87980081e-04 -2.02089667e-05 9.99999689e-01 -3.79254163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.720281693 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:208.39, Y:52.45, Z:-0.38 [[ 7.14401053e-01 -6.99735327e-01 -1.26766425e-03 2.08392498e+02] [ 6.99734325e-01 7.14402177e-01 -1.18488691e-03 5.24463614e+01] [ 1.73472933e-03 -4.05437309e-05 9.99998495e-01 -3.79515772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.750281693 meters Centerline goodness : 0.998958 Centerline is valid? [True, True] Translation: X:208.41, Y:52.46, Z:-0.38 [[ 7.15932178e-01 -6.98168298e-01 -1.46418808e-03 2.08413442e+02] [ 6.98166957e-01 7.15933674e-01 -1.36905630e-03 5.24641301e+01] [ 2.00409325e-03 -4.20962786e-05 9.99997991e-01 -3.79939170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.780281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:208.43, Y:52.48, Z:-0.38 [[ 7.18335404e-01 -6.95696585e-01 -7.12980131e-04 2.08433637e+02] [ 6.95696266e-01 7.18335758e-01 -6.66941990e-04 5.24804119e+01] [ 9.76148388e-04 -1.69295709e-05 9.99999523e-01 -3.78937610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.810281693 meters Centerline goodness : 0.999078 Centerline is valid? [True, True] Translation: X:208.45, Y:52.50, Z:-0.38 [[ 7.19061481e-01 -6.94946385e-01 -3.28951902e-04 2.08453910e+02] [ 6.94946317e-01 7.19061556e-01 -3.08021276e-04 5.24988858e+01] [ 4.50594939e-04 -7.11767819e-06 9.99999898e-01 -3.78228196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.840281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:208.47, Y:52.52, Z:-0.38 [[ 7.20360380e-01 -6.93598313e-01 1.51763229e-03 2.08473672e+02] [ 6.93596861e-01 7.20361978e-01 1.41987261e-03 5.25158485e+01] [-2.07806584e-03 2.98050225e-05 9.99997840e-01 -3.78185794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.870281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:208.49, Y:52.53, Z:-0.38 [[ 7.20881050e-01 -6.93054080e-01 2.55988848e-03 2.08493798e+02] [ 6.93049940e-01 7.20885594e-01 2.39599696e-03 5.25342446e+01] [-3.50594219e-03 4.69017525e-05 9.99993853e-01 -3.78364693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.90028169299998 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:208.51, Y:52.55, Z:-0.38 [[ 7.21644227e-01 -6.92258519e-01 2.78429151e-03 2.08514612e+02] [ 6.92253612e-01 7.21649597e-01 2.60702310e-03 5.25525290e+01] [-3.81401679e-03 4.60926892e-05 9.99992726e-01 -3.78161369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.93028169299998 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:208.54, Y:52.57, Z:-0.38 [[ 7.23433812e-01 -6.90392581e-01 1.26632190e-03 2.08535899e+02] [ 6.90391563e-01 7.23434920e-01 1.18597448e-03 5.25690890e+01] [-1.73488946e-03 1.62839159e-05 9.99998495e-01 -3.78398589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.96028169299998 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:208.56, Y:52.59, Z:-0.38 [[ 7.24700814e-01 -6.89063166e-01 8.26186720e-04 2.08557209e+02] [ 6.89062732e-01 7.24701285e-01 7.73947219e-04 5.25879072e+01] [-1.13203710e-03 8.41429801e-06 9.99999359e-01 -3.78192179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 237.990281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:208.58, Y:52.61, Z:-0.38 [[ 7.26446786e-01 -6.87222342e-01 7.21003550e-04 2.08577273e+02] [ 6.87222010e-01 7.26447143e-01 6.75629629e-04 5.26060352e+01] [-9.88078746e-04 4.68053639e-06 9.99999512e-01 -3.77803105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.020281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:208.60, Y:52.62, Z:-0.38 [[ 7.30245342e-01 -6.83184569e-01 7.65068384e-04 2.08597411e+02] [ 6.83184192e-01 7.30245743e-01 7.17225644e-04 5.26238711e+01] [-1.04868542e-03 -1.06805971e-06 9.99999450e-01 -3.77947625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.050281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:208.62, Y:52.64, Z:-0.38 [[ 7.31536955e-01 -6.81801158e-01 9.29880644e-04 2.08617789e+02] [ 6.81800600e-01 7.31537546e-01 8.72143041e-04 5.26419178e+01] [-1.27487074e-03 -4.01168362e-06 9.99999187e-01 -3.78250734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.080281693 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:208.64, Y:52.66, Z:-0.38 [[ 7.32930110e-01 -6.80300769e-01 2.07766427e-03 2.08638914e+02] [ 6.80297975e-01 7.32933055e-01 1.94975776e-03 5.26596718e+01] [-2.84921052e-03 -1.56053679e-05 9.99995941e-01 -3.77444435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.110281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:208.66, Y:52.68, Z:-0.38 [[ 7.33547170e-01 -6.79634003e-01 2.48437450e-03 2.08658966e+02] [ 6.79630001e-01 7.33551376e-01 2.33233093e-03 5.26789447e+01] [-3.40754774e-03 -2.24193094e-05 9.99994194e-01 -3.76722809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.140281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:208.68, Y:52.70, Z:-0.38 [[ 7.34175221e-01 -6.78954086e-01 2.84519795e-03 2.08677836e+02] [ 6.78948828e-01 7.34180733e-01 2.67209401e-03 5.26983302e+01] [-3.90311866e-03 -3.00413978e-05 9.99992382e-01 -3.77105781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.170281693 meters Centerline goodness : 0.999265 Centerline is valid? [True, True] Translation: X:208.70, Y:52.72, Z:-0.38 [[ 7.34980033e-01 -6.78083088e-01 2.77066513e-03 2.08696571e+02] [ 6.78078093e-01 7.34985254e-01 2.60306311e-03 5.27177567e+01] [-3.80149109e-03 -3.44720861e-05 9.99992774e-01 -3.77592382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.200281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:208.71, Y:52.74, Z:-0.38 [[ 7.36496853e-01 -6.76435813e-01 2.64122865e-03 2.08714239e+02] [ 6.76431260e-01 7.36501588e-01 2.48233093e-03 5.27391554e+01] [-3.62440663e-03 -4.16192959e-05 9.99993431e-01 -3.77888056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.230281693 meters Centerline goodness : 0.999201 Centerline is valid? [True, True] Translation: X:208.73, Y:52.76, Z:-0.38 [[ 7.36910264e-01 -6.75985570e-01 2.60219720e-03 2.08732478e+02] [ 6.75981144e-01 7.36914857e-01 2.44653100e-03 5.27595837e+01] [-3.57141743e-03 -4.38375676e-05 9.99993622e-01 -3.77839068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.260281693 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:208.75, Y:52.78, Z:-0.38 [[ 7.36754490e-01 -6.76156194e-01 2.37138904e-03 2.08750569e+02] [ 6.76152517e-01 7.36758305e-01 2.23031217e-03 5.27804738e+01] [-3.25517996e-03 -3.97718368e-05 9.99994701e-01 -3.78067774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.290281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:208.77, Y:52.80, Z:-0.38 [[ 7.35664306e-01 -6.77344605e-01 1.52153505e-03 2.08766081e+02] [ 6.77343093e-01 7.35665879e-01 1.43144319e-03 5.28029156e+01] [-2.08892174e-03 -2.24604013e-05 9.99997818e-01 -3.79551464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.320281693 meters Centerline goodness : 0.999280 Centerline is valid? [True, True] Translation: X:208.78, Y:52.82, Z:-0.38 [[ 7.34415754e-01 -6.78698816e-01 1.19004146e-03 2.08784313e+02] [ 6.78697893e-01 7.34416719e-01 1.11992728e-03 5.28238566e+01] [-1.63407967e-03 -1.48136046e-05 9.99998665e-01 -3.79927983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.350281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:208.80, Y:52.85, Z:-0.38 [[ 7.31252241e-01 -6.82107081e-01 -3.00004098e-04 2.08802305e+02] [ 6.82107023e-01 7.31252302e-01 -2.82778977e-04 5.28462358e+01] [ 4.12264230e-04 2.14785850e-06 9.99999915e-01 -3.80849737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.380281693 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:208.82, Y:52.87, Z:-0.38 [[ 7.28908094e-01 -6.84611198e-01 -7.05959297e-04 2.08821474e+02] [ 6.84610875e-01 7.28908435e-01 -6.65317976e-04 5.28665739e+01] [ 9.70063823e-04 1.64824496e-06 9.99999530e-01 -3.81662021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.410281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:208.84, Y:52.89, Z:-0.38 [[ 7.26427623e-01 -6.87242383e-01 -9.03488284e-04 2.08841076e+02] [ 6.87241855e-01 7.26428185e-01 -8.51546715e-04 5.28858279e+01] [ 1.24153835e-03 -2.32790848e-06 9.99999229e-01 -3.81636032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.440281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:208.86, Y:52.90, Z:-0.38 [[ 7.20834958e-01 -6.93106568e-01 4.98685900e-04 2.08862730e+02] [ 6.93106409e-01 7.20835131e-01 4.69777936e-04 5.29032882e+01] [-6.85076488e-04 7.01003444e-06 9.99999765e-01 -3.81286319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.470281693 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:208.88, Y:52.92, Z:-0.38 [[ 7.18371787e-01 -6.95659133e-01 5.87826245e-04 2.08883582e+02] [ 6.95658913e-01 7.18372028e-01 5.54005591e-04 5.29207635e+01] [-8.07676981e-04 1.09445796e-05 9.99999674e-01 -3.81000003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.500281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:208.91, Y:52.94, Z:-0.38 [[ 7.15138564e-01 -6.98982548e-01 -4.82503670e-04 2.08905321e+02] [ 6.98982399e-01 7.15138726e-01 -4.55473180e-04 5.29373583e+01] [ 6.63424864e-04 -1.15351373e-05 9.99999780e-01 -3.81168246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.530281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:208.93, Y:52.95, Z:-0.38 [[ 7.13961406e-01 -7.00184502e-01 -8.80345467e-04 2.08926739e+02] [ 7.00184009e-01 7.13961948e-01 -8.31088247e-04 5.29547719e+01] [ 1.21044827e-03 -2.30388850e-05 9.99999267e-01 -3.81538834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.560281693 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:208.95, Y:52.97, Z:-0.38 [[ 7.12709686e-01 -7.01458644e-01 -8.21925347e-04 2.08947836e+02] [ 7.01458215e-01 7.12710159e-01 -7.76091984e-04 5.29714244e+01] [ 1.13019098e-03 -2.34180127e-05 9.99999361e-01 -3.81574648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.590281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:208.97, Y:52.98, Z:-0.38 [[ 7.10622049e-01 -7.03573950e-01 -1.42503677e-05 2.08971360e+02] [ 7.03573950e-01 7.10622049e-01 -1.37880204e-05 5.29847052e+01] [ 1.98275175e-05 -2.28116222e-07 1.00000000e+00 -3.80308352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.620281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:208.99, Y:53.00, Z:-0.38 [[ 7.09716624e-01 -7.04487130e-01 4.44610868e-04 2.08993608e+02] [ 7.04487005e-01 7.09716763e-01 4.19737071e-04 5.30016675e+01] [-6.11247150e-04 1.53282020e-05 9.99999813e-01 -3.80626362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.65028169299998 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:209.02, Y:53.02, Z:-0.38 [[ 7.09203457e-01 -7.05003254e-01 9.32024347e-04 2.09015058e+02] [ 7.05002705e-01 7.09204069e-01 8.80544567e-04 5.30186794e+01] [-1.28178224e-03 3.25944348e-05 9.99999178e-01 -3.80779320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.68028169299998 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:209.04, Y:53.03, Z:-0.38 [[ 7.10157792e-01 -7.04041096e-01 1.42991289e-03 2.09038971e+02] [ 7.04039801e-01 7.10159230e-01 1.35163189e-03 5.30337022e+01] [-1.96707024e-03 4.68436633e-05 9.99998064e-01 -3.80918038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.71028169299998 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:209.06, Y:53.05, Z:-0.38 [[ 7.13657149e-01 -7.00494674e-01 8.27730992e-04 2.09060264e+02] [ 7.00494237e-01 7.13657629e-01 7.82588684e-04 5.30500144e+01] [-1.13891574e-03 2.13207808e-05 9.99999351e-01 -3.80793394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.740281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:209.08, Y:53.07, Z:-0.38 [[ 7.15664703e-01 -6.98443904e-01 3.81418340e-04 2.09080465e+02] [ 6.98443811e-01 7.15664805e-01 3.60597264e-04 5.30697959e+01] [-5.24824643e-04 8.33254451e-06 9.99999862e-01 -3.81316784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.770281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:209.10, Y:53.09, Z:-0.38 [[ 7.18272734e-01 -6.95761655e-01 1.07958306e-05 2.09099732e+02] [ 6.95761655e-01 7.18272734e-01 1.00047918e-05 5.30886067e+01] [-1.47153012e-05 3.25155858e-07 1.00000000e+00 -3.81165064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.800281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:209.12, Y:53.11, Z:-0.38 [[ 7.20710808e-01 -6.93235839e-01 5.31190687e-05 2.09119149e+02] [ 6.93235838e-01 7.20710810e-01 4.99954660e-05 5.31082894e+01] [-7.29421358e-05 7.91769441e-07 9.99999997e-01 -3.81042187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.830281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:209.14, Y:53.13, Z:-0.38 [[ 7.20588216e-01 -6.93363268e-01 5.31013647e-05 2.09139709e+02] [ 6.93363266e-01 7.20588218e-01 5.00141895e-05 5.31280158e+01] [-7.29422195e-05 7.78900084e-07 9.99999997e-01 -3.81074838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.860281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:209.16, Y:53.15, Z:-0.38 [[ 7.25878398e-01 -6.87822769e-01 6.24376082e-04 2.09157781e+02] [ 6.87822514e-01 7.25878667e-01 5.91280409e-04 5.31479051e+01] [-8.59917406e-04 2.62250918e-07 9.99999630e-01 -3.80463002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.890281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:209.18, Y:53.17, Z:-0.38 [[ 7.30408190e-01 -6.83008642e-01 1.75260528e-03 2.09175728e+02] [ 6.83006622e-01 7.30410292e-01 1.66092948e-03 5.31689102e+01] [-2.41455012e-03 -1.61154837e-05 9.99997085e-01 -3.79705125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.920281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:209.19, Y:53.19, Z:-0.38 [[ 7.32167458e-01 -6.81119884e-01 2.55273951e-03 2.09194116e+02] [ 6.81115585e-01 7.32171908e-01 2.42024785e-03 5.31902667e+01] [-3.51752309e-03 -3.33160572e-05 9.99993813e-01 -3.79944268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.950281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:209.21, Y:53.21, Z:-0.38 [[ 7.33559246e-01 -6.79620236e-01 2.67744205e-03 2.09212131e+02] [ 6.79615493e-01 7.33564131e-01 2.53942140e-03 5.32118660e+01] [-3.68991762e-03 -4.31849435e-05 9.99993191e-01 -3.80273839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 238.980281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:209.23, Y:53.23, Z:-0.38 [[ 7.34636134e-01 -6.78457958e-01 2.13282912e-03 2.09229971e+02] [ 6.78454942e-01 7.34639229e-01 2.02359168e-03 5.32328879e+01] [-2.93978182e-03 -3.95751104e-05 9.99995678e-01 -3.80766170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.010281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:209.25, Y:53.26, Z:-0.38 [[ 7.34353692e-01 -6.78766883e-01 4.15377921e-04 2.09246955e+02] [ 6.78766769e-01 7.34353810e-01 3.94018163e-04 5.32558055e+01] [-5.72480839e-04 -7.40396353e-06 9.99999836e-01 -3.82098642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.040281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:209.27, Y:53.28, Z:-0.38 [[ 7.33479580e-01 -6.79711293e-01 -5.13095649e-04 2.09265267e+02] [ 6.79711118e-01 7.33479760e-01 -4.87562256e-04 5.32755487e+01] [ 7.07746845e-04 8.86014137e-06 9.99999750e-01 -3.81538359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.070281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:209.28, Y:53.30, Z:-0.38 [[ 7.30888780e-01 -6.82494647e-01 -1.62747084e-03 2.09283022e+02] [ 6.82492895e-01 7.30890592e-01 -1.54635116e-03 5.32969929e+01] [ 2.24487951e-03 1.94734298e-05 9.99997480e-01 -3.81841305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.100281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:209.30, Y:53.32, Z:-0.38 [[ 7.29444687e-01 -6.84038213e-01 -1.47388441e-03 2.09302109e+02] [ 6.84036779e-01 7.29446176e-01 -1.40095199e-03 5.33170929e+01] [ 2.03342404e-03 1.37258388e-05 9.99997933e-01 -3.81299109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.130281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:209.32, Y:53.34, Z:-0.38 [[ 7.28310065e-01 -6.85247395e-01 -6.76080726e-04 2.09321640e+02] [ 6.85247093e-01 7.28310379e-01 -6.43011633e-04 5.33374292e+01] [ 9.33018657e-04 5.02949213e-06 9.99999565e-01 -3.80818934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.160281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:209.34, Y:53.36, Z:-0.38 [[ 7.26788992e-01 -6.86860458e-01 6.87792724e-04 2.09338622e+02] [ 6.86860146e-01 7.26789317e-01 6.53809587e-04 5.33586242e+01] [-9.48956356e-04 -2.76419949e-06 9.99999550e-01 -3.79924387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:209.36, Y:53.38, Z:-0.38 [[ 7.26133614e-01 -6.87553193e-01 7.62894730e-04 2.09357106e+02] [ 6.87552810e-01 7.26134015e-01 7.25511703e-04 5.33792000e+01] [-1.05279170e-03 -2.28801966e-06 9.99999446e-01 -3.80287681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.220281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.38, Y:53.40, Z:-0.38 [[ 7.24808298e-01 -6.88950016e-01 8.98367729e-04 2.09375178e+02] [ 6.88949485e-01 7.24808855e-01 8.54702429e-04 5.33996250e+01] [-1.23999214e-03 -5.65428207e-07 9.99999231e-01 -3.81426502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.250281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:209.39, Y:53.42, Z:-0.38 [[ 7.24198673e-01 -6.89590587e-01 1.05068122e-03 2.09394726e+02] [ 6.89589862e-01 7.24199435e-01 1.00003506e-03 5.34191337e+01] [-1.45051751e-03 3.15048802e-07 9.99998948e-01 -3.81462466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.280281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.41, Y:53.44, Z:-0.38 [[ 7.23376946e-01 -6.90452728e-01 9.08407310e-04 2.09412742e+02] [ 6.90452186e-01 7.23377516e-01 8.64890845e-04 5.34379033e+01] [-1.25428767e-03 1.56971607e-06 9.99999213e-01 -3.80921732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:209.43, Y:53.46, Z:-0.38 [[ 7.22689710e-01 -6.91172453e-01 4.72968358e-04 2.09430895e+02] [ 6.91172306e-01 7.22689865e-01 4.50341888e-04 5.34571240e+01] [-6.53073346e-04 1.44518272e-06 9.99999787e-01 -3.80369292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.340281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.45, Y:53.48, Z:-0.38 [[ 7.21751748e-01 -6.92152001e-01 -1.48407503e-04 2.09449580e+02] [ 6.92151986e-01 7.21751763e-01 -1.41773166e-04 5.34768530e+01] [ 2.05241957e-04 -3.95518139e-07 9.99999979e-01 -3.80843743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.370281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.47, Y:53.50, Z:-0.38 [[ 7.20628301e-01 -6.93321495e-01 -3.95301422e-04 2.09468223e+02] [ 6.93321392e-01 7.20628409e-01 -3.77263174e-04 5.34967096e+01] [ 5.46430103e-04 -2.20441244e-06 9.99999851e-01 -3.81209337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.40028169299998 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:209.49, Y:53.52, Z:-0.38 [[ 7.18689336e-01 -6.95331280e-01 2.24683138e-04 2.09486355e+02] [ 6.95331247e-01 7.18689371e-01 2.14033481e-04 5.35172072e+01] [-3.10301557e-04 2.40562637e-06 9.99999952e-01 -3.81515448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.43028169299998 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.51, Y:53.54, Z:-0.38 [[ 7.17933572e-01 -6.96111214e-01 7.50142460e-04 2.09505045e+02] [ 6.96110847e-01 7.17933964e-01 7.15577106e-04 5.35365096e+01] [-1.03667400e-03 8.44547538e-06 9.99999463e-01 -3.81064066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.46028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.52, Y:53.56, Z:-0.38 [[ 7.17851610e-01 -6.96194520e-01 1.50231625e-03 2.09523941e+02] [ 6.96193043e-01 7.17853182e-01 1.43394687e-03 5.35560228e+01] [-2.07674845e-03 1.65410549e-05 9.99997843e-01 -3.80271116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:209.54, Y:53.58, Z:-0.38 [[ 7.19046943e-01 -6.94958046e-01 2.19265500e-03 2.09540112e+02] [ 6.94954892e-01 7.19050286e-01 2.09383239e-03 5.35771659e+01] [-3.03175488e-03 1.82325406e-05 9.99995404e-01 -3.79149005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.520281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:209.56, Y:53.60, Z:-0.38 [[ 7.20426331e-01 -6.93528233e-01 2.11964088e-03 2.09557877e+02] [ 6.93525277e-01 7.20429449e-01 2.02487901e-03 5.35976894e+01] [-2.93136247e-03 1.12483781e-05 9.99995703e-01 -3.79128875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.57, Y:53.62, Z:-0.38 [[ 7.24204080e-01 -6.89585513e-01 5.21203834e-04 2.09572744e+02] [ 6.89585333e-01 7.24204267e-01 4.97865726e-04 5.36196402e+01] [-7.20779033e-04 -1.14187058e-06 9.99999740e-01 -3.80349703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.580281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.59, Y:53.64, Z:-0.38 [[ 7.25889112e-01 -6.87811663e-01 -3.37064059e-04 2.09589886e+02] [ 6.87811587e-01 7.25889190e-01 -3.22580993e-04 5.36411370e+01] [ 4.66546126e-04 2.32146480e-06 9.99999891e-01 -3.80728835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.610281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:209.61, Y:53.66, Z:-0.38 [[ 7.27668255e-01 -6.85928986e-01 -5.79816576e-04 2.09606638e+02] [ 6.85928762e-01 7.27668486e-01 -5.54897610e-04 5.36626022e+01] [ 8.02534606e-04 6.06851022e-06 9.99999678e-01 -3.81357640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.640281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:209.62, Y:53.68, Z:-0.38 [[ 7.29052699e-01 -6.84457442e-01 -4.15407812e-04 2.09624062e+02] [ 6.84457326e-01 7.29052817e-01 -3.97788174e-04 5.36842108e+01] [ 5.75123311e-04 5.67962173e-06 9.99999835e-01 -3.81284239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.670281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.64, Y:53.71, Z:-0.38 [[ 7.30612226e-01 -6.82792553e-01 3.24185294e-04 2.09639922e+02] [ 6.82792482e-01 7.30612298e-01 3.10021230e-04 5.37068916e+01] [-4.48533950e-04 -5.15401953e-06 9.99999899e-01 -3.80714670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.700281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.66, Y:53.73, Z:-0.38 [[ 7.30485036e-01 -6.82928601e-01 3.71414142e-04 2.09657200e+02] [ 6.82928509e-01 7.30485130e-01 3.55363713e-04 5.37276275e+01] [-5.14000551e-04 -5.93856810e-06 9.99999868e-01 -3.81492935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.730281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.67, Y:53.75, Z:-0.38 [[ 7.29146910e-01 -6.84356576e-01 -9.27051099e-04 2.09672721e+02] [ 6.84356000e-01 7.29147500e-01 -8.88365335e-04 5.37499527e+01] [ 1.28391565e-03 1.33158577e-05 9.99999176e-01 -3.82786675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.760281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.69, Y:53.77, Z:-0.38 [[ 7.28310559e-01 -6.85244898e-01 -1.77747957e-03 2.09691010e+02] [ 6.85242780e-01 7.28312728e-01 -1.70367266e-03 5.37700791e+01] [ 2.46199399e-03 2.27977455e-05 9.99996969e-01 -3.83086285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.790281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.71, Y:53.79, Z:-0.38 [[ 7.27744473e-01 -6.85845552e-01 -1.96485594e-03 2.09709559e+02] [ 6.85842965e-01 7.27747125e-01 -1.88394605e-03 5.37900503e+01] [ 2.72201428e-03 2.34487057e-05 9.99996295e-01 -3.83720776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.820281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.73, Y:53.81, Z:-0.38 [[ 7.28367887e-01 -6.85185907e-01 -7.02727406e-04 2.09726265e+02] [ 6.85185576e-01 7.28368226e-01 -6.74234109e-04 5.38116354e+01] [ 9.73820024e-04 9.59179140e-06 9.99999526e-01 -3.82316105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.850281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.74, Y:53.83, Z:-0.38 [[ 7.28959361e-01 -6.84556969e-01 8.13009389e-05 2.09743647e+02] [ 6.84556964e-01 7.28959366e-01 7.77019943e-05 5.38324168e+01] [-1.12456522e-04 -9.86472212e-07 9.99999994e-01 -3.81078822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.76, Y:53.85, Z:-0.38 [[ 7.30107275e-01 -6.83332490e-01 -2.74285681e-04 2.09759886e+02] [ 6.83332439e-01 7.30107327e-01 -2.63544249e-04 5.38539757e+01] [ 3.80346333e-04 4.98727005e-06 9.99999928e-01 -3.81989412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.910281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:209.78, Y:53.87, Z:-0.38 [[ 7.30417741e-01 -6.83000426e-01 -5.84423912e-04 2.09778228e+02] [ 6.83000195e-01 7.30417975e-01 -5.61409084e-04 5.38733423e+01] [ 8.10316374e-04 1.09015086e-05 9.99999672e-01 -3.82750285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.80, Y:53.89, Z:-0.38 [[ 7.30052022e-01 -6.83391433e-01 4.40223288e-04 2.09796451e+02] [ 6.83391302e-01 7.30052155e-01 4.22523207e-04 5.38938541e+01] [-6.10134700e-04 -7.61915514e-06 9.99999814e-01 -3.83442393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 239.970281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.82, Y:53.91, Z:-0.38 [[ 7.29095115e-01 -6.84411348e-01 1.19166933e-03 2.09815604e+02] [ 6.84410391e-01 7.29096088e-01 1.14469552e-03 5.39134627e+01] [-1.65228405e-03 -1.90010452e-05 9.99998635e-01 -3.82705039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:209.83, Y:53.93, Z:-0.38 [[ 7.27671098e-01 -6.85923878e-01 1.79071061e-03 2.09834656e+02] [ 6.85921719e-01 7.27673301e-01 1.72091967e-03 5.39332896e+01] [-2.48347220e-03 -2.39762070e-05 9.99996916e-01 -3.82136477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.030281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:209.85, Y:53.95, Z:-0.38 [[ 7.26332783e-01 -6.87340330e-01 1.98983273e-03 2.09854653e+02] [ 6.87337668e-01 7.26335508e-01 1.91303331e-03 5.39534800e+01] [-2.76019111e-03 -2.18118239e-05 9.99996190e-01 -3.81532578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.060281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:209.87, Y:53.97, Z:-0.38 [[ 7.23954076e-01 -6.89847834e-01 6.79550687e-04 2.09872965e+02] [ 6.89847525e-01 7.23954395e-01 6.53371166e-04 5.39746988e+01] [-9.42690390e-04 -4.22435912e-06 9.99999556e-01 -3.82011995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.090281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:209.89, Y:53.99, Z:-0.38 [[ 7.22925418e-01 -6.90926062e-01 1.33393168e-04 2.09890911e+02] [ 6.90926050e-01 7.22925430e-01 1.28084737e-04 5.39944625e+01] [-1.84930396e-04 -4.30897760e-07 9.99999983e-01 -3.82585222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.120281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:209.91, Y:54.02, Z:-0.38 [[ 7.20864503e-01 -6.93075109e-01 1.12340537e-03 2.09908678e+02] [ 6.93074266e-01 7.20865378e-01 1.08110705e-03 5.40150325e+01] [-1.55911242e-03 -7.28348319e-07 9.99998785e-01 -3.82792474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.15028169299998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:209.93, Y:54.03, Z:-0.38 [[ 7.19894855e-01 -6.94081376e-01 1.56220274e-03 2.09927426e+02] [ 6.94079747e-01 7.19896550e-01 1.50406394e-03 5.40340502e+01] [-2.16856713e-03 1.52539541e-06 9.99997649e-01 -3.82545775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.18028169299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:209.95, Y:54.05, Z:-0.38 [[ 7.18849425e-01 -6.95163886e-01 1.63575695e-03 2.09947084e+02] [ 6.95162101e-01 7.18851286e-01 1.57548256e-03 5.40537442e+01] [-2.27108457e-03 4.58150868e-06 9.99997421e-01 -3.82377256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.21028169299998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:209.97, Y:54.07, Z:-0.38 [[ 7.16183262e-01 -6.97912215e-01 2.76115263e-04 2.09966175e+02] [ 6.97912164e-01 7.16183315e-01 2.65782845e-04 5.40729475e+01] [-3.83242238e-04 2.35497578e-06 9.99999927e-01 -3.83030587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:209.99, Y:54.09, Z:-0.38 [[ 7.14606351e-01 -6.99526814e-01 -2.63228147e-05 2.09986553e+02] [ 6.99526813e-01 7.14606351e-01 -2.56713390e-05 5.40913942e+01] [ 3.67682405e-05 -6.86127889e-08 9.99999999e-01 -3.83218547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.270281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:210.01, Y:54.11, Z:-0.38 [[ 7.12877427e-01 -7.01288648e-01 7.78294882e-05 2.10007307e+02] [ 7.01288644e-01 7.12877431e-01 7.47526395e-05 5.41089726e+01] [-1.07906063e-04 1.29146698e-06 9.99999994e-01 -3.83275103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:210.03, Y:54.12, Z:-0.38 [[ 7.10119336e-01 -7.04081161e-01 4.98424551e-04 2.10031203e+02] [ 7.04080997e-01 7.10119510e-01 4.80590303e-04 5.41246664e+01] [-6.92315577e-04 9.65478780e-06 9.99999760e-01 -3.82289014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.330281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.05, Y:54.14, Z:-0.38 [[ 7.09354656e-01 -7.04851262e-01 8.18580198e-04 2.10053134e+02] [ 7.04850820e-01 7.09355128e-01 7.89751793e-04 5.41422113e+01] [-1.13732161e-03 1.67628119e-05 9.99999353e-01 -3.82285706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:210.08, Y:54.16, Z:-0.38 [[ 7.09338258e-01 -7.04868210e-01 2.05502706e-04 2.10076785e+02] [ 7.04868182e-01 7.09338288e-01 1.98122897e-04 5.41573340e+01] [-2.85421470e-04 4.31616819e-06 9.99999959e-01 -3.81410892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.390281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:210.10, Y:54.17, Z:-0.38 [[ 7.09879767e-01 -7.04322829e-01 -2.63712881e-04 2.10098257e+02] [ 7.04322783e-01 7.09879816e-01 -2.55009485e-04 5.41738531e+01] [ 3.66813454e-04 -4.71291665e-06 9.99999933e-01 -3.81449631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.420281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.12, Y:54.19, Z:-0.38 [[ 7.10677732e-01 -7.03517614e-01 -3.57760973e-04 2.10120692e+02] [ 7.03517529e-01 7.10677822e-01 -3.45956631e-04 5.41909884e+01] [ 4.97639372e-04 -5.82744233e-06 9.99999876e-01 -3.81356593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.450281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.15, Y:54.21, Z:-0.38 [[ 7.12991277e-01 -7.01172276e-01 9.36602099e-04 2.10145384e+02] [ 7.01171693e-01 7.12991892e-01 9.04979336e-04 5.42058822e+01] [-1.30233612e-03 1.14765061e-05 9.99999152e-01 -3.80588424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.480281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.17, Y:54.22, Z:-0.38 [[ 7.14102608e-01 -7.00038675e-01 1.82157539e-03 2.10166951e+02] [ 7.00036461e-01 7.14104931e-01 1.76094912e-03 5.42232699e+01] [-2.53352846e-03 1.76708269e-05 9.99996790e-01 -3.80049403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.510281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:210.19, Y:54.24, Z:-0.38 [[ 7.15796262e-01 -6.98305051e-01 2.40147103e-03 2.10188810e+02] [ 6.98301188e-01 7.15800291e-01 2.32251277e-03 5.42394814e+01] [-3.34079606e-03 1.45041123e-05 9.99994419e-01 -3.80274762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.540281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:210.21, Y:54.26, Z:-0.38 [[ 7.16240745e-01 -6.97850437e-01 1.99057394e-03 2.10210171e+02] [ 6.97847780e-01 7.16243511e-01 1.92579539e-03 5.42583282e+01] [-2.76965282e-03 9.78448189e-06 9.99996164e-01 -3.80890262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.570281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:210.23, Y:54.28, Z:-0.38 [[ 7.16753070e-01 -6.97325721e-01 1.36925404e-03 2.10230623e+02] [ 6.97324462e-01 7.16754378e-01 1.32503912e-03 5.42761293e+01] [-1.90540269e-03 5.08848357e-06 9.99998185e-01 -3.81329664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.600281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.25, Y:54.29, Z:-0.38 [[ 7.17618063e-01 -6.96436826e-01 2.51242911e-04 2.10251761e+02] [ 6.96436784e-01 7.17618107e-01 2.43023928e-04 5.42925754e+01] [-3.49547275e-04 5.76444397e-07 9.99999939e-01 -3.80938579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.27, Y:54.31, Z:-0.38 [[ 7.17995592e-01 -6.96047580e-01 3.12362985e-04 2.10272807e+02] [ 6.96047514e-01 7.17995659e-01 3.02228257e-04 5.43116193e+01] [-4.34640514e-04 4.20923228e-07 9.99999906e-01 -3.81181779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.660281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:210.29, Y:54.33, Z:-0.38 [[ 7.18472931e-01 -6.95554366e-01 8.78012932e-04 2.10293743e+02] [ 6.95553847e-01 7.18473467e-01 8.50343714e-04 5.43301519e+01] [-1.22228928e-03 -2.43668989e-07 9.99999253e-01 -3.81139079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.690281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:210.31, Y:54.35, Z:-0.38 [[ 7.18566985e-01 -6.95455182e-01 1.89165459e-03 2.10314849e+02] [ 6.95452766e-01 7.18569475e-01 1.83304992e-03 5.43466873e+01] [-2.63408931e-03 -1.61273530e-06 9.99996531e-01 -3.81115662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.720281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:210.34, Y:54.36, Z:-0.38 [[ 7.18065102e-01 -6.95973992e-01 1.64661645e-03 2.10335093e+02] [ 6.95972162e-01 7.18066990e-01 1.59618206e-03 5.43642274e+01] [-2.29328212e-03 -1.63423204e-07 9.99997370e-01 -3.81642814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.750281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:210.35, Y:54.38, Z:-0.38 [[ 7.17935504e-01 -6.96107680e-01 1.64630983e-03 2.10354768e+02] [ 6.96105849e-01 7.17937392e-01 1.59649827e-03 5.43836539e+01] [-2.29328210e-03 -1.76889332e-07 9.99997370e-01 -3.81674508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.780281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:210.38, Y:54.40, Z:-0.38 [[ 7.17277250e-01 -6.96787788e-01 3.54346617e-04 2.10376064e+02] [ 6.96787703e-01 7.17277338e-01 3.43510524e-04 5.44004544e+01] [-4.93518736e-04 5.12081370e-07 9.99999878e-01 -3.82090327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.810281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:210.40, Y:54.42, Z:-0.38 [[ 7.17513320e-01 -6.96544641e-01 -4.46664224e-04 2.10396634e+02] [ 6.96544506e-01 7.17513459e-01 -4.33884961e-04 5.44184364e+01] [ 6.22707836e-04 1.96727631e-07 9.99999806e-01 -3.82336195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.840281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:210.42, Y:54.44, Z:-0.38 [[ 7.18321891e-01 -6.95710019e-01 -1.10962586e-03 2.10416628e+02] [ 6.95709184e-01 7.18322748e-01 -1.07766970e-03 5.44352684e+01] [ 1.54681510e-03 2.13682887e-06 9.99998804e-01 -3.82828258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.870281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:210.44, Y:54.45, Z:-0.38 [[ 7.19355032e-01 -6.94640529e-01 -1.69503365e-03 2.10437214e+02] [ 6.94638577e-01 7.19357029e-01 -1.64679858e-03 5.44525571e+01] [ 2.36326741e-03 7.19708026e-06 9.99997207e-01 -3.82697497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.90028169299998 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:210.46, Y:54.47, Z:-0.38 [[ 7.21742387e-01 -6.92160490e-01 -1.33542964e-03 2.10460104e+02] [ 6.92159273e-01 7.21743622e-01 -1.29800777e-03 5.44697331e+01] [ 1.86226752e-03 1.24972200e-05 9.99998266e-01 -3.81947651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.93028169299998 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.48, Y:54.49, Z:-0.38 [[ 7.22977519e-01 -6.90870977e-01 -8.94690337e-04 2.10480684e+02] [ 6.90870429e-01 7.22978073e-01 -8.69999931e-04 5.44875325e+01] [ 1.24789920e-03 1.08752952e-05 9.99999221e-01 -3.82009641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.96028169299998 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:210.50, Y:54.50, Z:-0.38 [[ 7.26326797e-01 -6.87349374e-01 -4.71356402e-04 2.10502020e+02] [ 6.87349221e-01 7.26326950e-01 -4.58716940e-04 5.45032249e+01] [ 6.57657660e-04 9.19195028e-06 9.99999784e-01 -3.82159618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 240.990281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.52, Y:54.52, Z:-0.38 [[ 7.27888315e-01 -6.85695705e-01 -3.51950214e-05 2.10522628e+02] [ 6.85695704e-01 7.27888316e-01 -3.45499778e-05 5.45213060e+01] [ 4.93088163e-05 1.01545017e-06 9.99999999e-01 -3.82275612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.020281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:210.54, Y:54.54, Z:-0.38 [[ 7.29082169e-01 -6.84426169e-01 1.02294070e-04 2.10543183e+02] [ 6.84426162e-01 7.29082176e-01 9.92474139e-05 5.45394117e+01] [-1.42508310e-04 -2.34678218e-06 9.99999990e-01 -3.81960806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.56, Y:54.56, Z:-0.38 [[ 7.30769230e-01 -6.82624460e-01 4.24683033e-04 2.10564593e+02] [ 6.82624335e-01 7.30769353e-01 4.13169394e-04 5.45577963e+01] [-5.92384879e-04 -1.20325069e-05 9.99999824e-01 -3.81675801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.080281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:210.58, Y:54.58, Z:-0.38 [[ 7.31465659e-01 -6.81878209e-01 3.12269306e-04 2.10584893e+02] [ 6.81878142e-01 7.31465725e-01 3.03858830e-04 5.45762675e+01] [-4.35609009e-04 -9.33268548e-06 9.99999905e-01 -3.82125772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.110281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:210.61, Y:54.60, Z:-0.38 [[ 7.33503037e-01 -6.79686145e-01 -1.95170699e-04 2.10605068e+02] [ 6.79686119e-01 7.33503063e-01 -1.90443961e-04 5.45952787e+01] [ 2.72600427e-04 7.03640889e-06 9.99999963e-01 -3.81434325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.140281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:210.62, Y:54.62, Z:-0.38 [[ 7.34698587e-01 -6.78393648e-01 -2.09247859e-04 2.10624820e+02] [ 6.78393617e-01 7.34698617e-01 -2.04240671e-04 5.46151756e+01] [ 2.92289687e-04 8.10291997e-06 9.99999957e-01 -3.80926345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.170281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:210.64, Y:54.63, Z:-0.38 [[ 7.36390218e-01 -6.76556710e-01 6.81686274e-04 2.10643110e+02] [ 6.76556384e-01 7.36390533e-01 6.64362612e-04 5.46346330e+01] [-9.51466301e-04 -2.80309282e-05 9.99999547e-01 -3.80358921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.200281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:210.66, Y:54.65, Z:-0.38 [[ 7.36715989e-01 -6.76200991e-01 1.33091854e-03 2.10661724e+02] [ 6.76199747e-01 7.36717189e-01 1.29788980e-03 5.46537433e+01] [-1.85814494e-03 -5.62093855e-05 9.99998272e-01 -3.80507828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.230281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:210.68, Y:54.67, Z:-0.38 [[ 7.37066221e-01 -6.75818337e-01 1.72095724e-03 2.10680693e+02] [ 6.75816256e-01 7.37068226e-01 1.67895374e-03 5.46737989e+01] [-2.40313062e-03 -7.44492095e-05 9.99997110e-01 -3.80612176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:210.70, Y:54.70, Z:-0.38 [[ 7.37743415e-01 -6.75079938e-01 1.31576222e-03 2.10699398e+02] [ 6.75078720e-01 7.37744586e-01 1.28404253e-03 5.46950864e+01] [-1.83752781e-03 -5.90508462e-05 9.99998310e-01 -3.81640735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.290281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:210.72, Y:54.72, Z:-0.38 [[ 7.37623423e-01 -6.75211775e-01 8.63047012e-04 2.10718632e+02] [ 6.75211251e-01 7.37623927e-01 8.42445712e-04 5.47158796e+01] [-1.20543339e-03 -3.86686366e-05 9.99999273e-01 -3.81539193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.320281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:210.74, Y:54.74, Z:-0.38 [[ 7.37233478e-01 -6.75637425e-01 9.31958201e-04 2.10737730e+02] [ 6.75636814e-01 7.37234066e-01 9.10063870e-04 5.47367962e+01] [-1.30194454e-03 -4.12642822e-05 9.99999152e-01 -3.80894963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.350281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:210.76, Y:54.76, Z:-0.38 [[ 7.36086921e-01 -6.76883726e-01 2.11357022e-03 2.10755681e+02] [ 6.76880582e-01 7.36089950e-01 2.06501887e-03 5.47577299e+01] [-2.95355546e-03 -8.93987418e-05 9.99995634e-01 -3.79858690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:210.77, Y:54.78, Z:-0.38 [[ 7.35416033e-01 -6.77610104e-01 2.79376848e-03 2.10774838e+02] [ 6.77604612e-01 7.35421331e-01 2.73063366e-03 5.47784464e+01] [-3.90490189e-03 -1.15081365e-04 9.99992369e-01 -3.79775979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.410281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:210.79, Y:54.80, Z:-0.38 [[ 7.35125924e-01 -6.77924402e-01 2.89499088e-03 2.10793068e+02] [ 6.77918503e-01 7.35131615e-01 2.83063783e-03 5.47997911e+01] [-4.04715778e-03 -1.18307364e-04 9.99991803e-01 -3.79791227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:210.81, Y:54.82, Z:-0.38 [[ 7.35450045e-01 -6.77575476e-01 2.16931333e-03 2.10810964e+02] [ 6.77572160e-01 7.35453239e-01 2.12177188e-03 5.48200657e+01] [-3.03308910e-03 -9.05909078e-05 9.99995396e-01 -3.80389899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.470281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:210.83, Y:54.84, Z:-0.38 [[ 7.35952389e-01 -6.77031968e-01 1.33964386e-03 2.10829196e+02] [ 6.77030702e-01 7.35953606e-01 1.31064767e-03 5.48414244e+01] [-1.87326610e-03 -5.75942634e-05 9.99998244e-01 -3.80585542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.500281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:210.84, Y:54.86, Z:-0.38 [[ 7.36744054e-01 -6.76171567e-01 4.58769445e-04 2.10844364e+02] [ 6.76171418e-01 7.36744197e-01 4.48823592e-04 5.48638898e+01] [-6.41477478e-04 -2.04613264e-05 9.99999794e-01 -3.81147404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.530281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:210.86, Y:54.89, Z:-0.38 [[ 7.36756521e-01 -6.76158008e-01 4.20513457e-04 2.10862236e+02] [ 6.76157883e-01 7.36756641e-01 4.11501771e-04 5.48850984e+01] [-5.88056300e-04 -1.88431245e-05 9.99999827e-01 -3.81367311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.560281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:210.88, Y:54.91, Z:-0.38 [[ 7.35887292e-01 -6.77104033e-01 1.47740171e-04 2.10877987e+02] [ 6.77104017e-01 7.35887307e-01 1.44459497e-04 5.49074869e+01] [-2.06534224e-04 -6.27044456e-06 9.99999979e-01 -3.80638501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.590281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:210.90, Y:54.93, Z:-0.38 [[ 7.34981508e-01 -6.78087128e-01 -1.74485858e-04 2.10895654e+02] [ 6.78087106e-01 7.34981528e-01 -1.71287628e-04 5.49287634e+01] [ 2.44391818e-04 7.57662886e-06 9.99999970e-01 -3.80615573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:210.91, Y:54.95, Z:-0.38 [[ 7.33910459e-01 -6.79246153e-01 -3.17520392e-04 2.10913467e+02] [ 6.79246082e-01 7.33910528e-01 -3.11598039e-04 5.49494914e+01] [ 4.44683328e-04 1.30105775e-05 9.99999901e-01 -3.81307359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.65028169299998 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:210.93, Y:54.97, Z:-0.38 [[ 7.32731238e-01 -6.80518078e-01 -2.79561541e-04 2.10931360e+02] [ 6.80518023e-01 7.32731291e-01 -2.74485530e-04 5.49700481e+01] [ 3.91635854e-04 1.08774549e-05 9.99999923e-01 -3.81505163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.68028169299998 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:210.95, Y:54.99, Z:-0.38 [[ 7.31296436e-01 -6.82059730e-01 2.19618503e-04 2.10947618e+02] [ 6.82059696e-01 7.31296469e-01 2.15170902e-04 5.49928263e+01] [-3.07365643e-04 -7.56078395e-06 9.99999953e-01 -3.80851834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.71028169299998 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:210.96, Y:55.01, Z:-0.38 [[ 7.31014357e-01 -6.82361902e-01 4.94953142e-04 2.10964883e+02] [ 6.82361729e-01 7.31014524e-01 4.85476890e-04 5.50144945e+01] [-6.93088869e-04 -1.71534947e-05 9.99999760e-01 -3.80583912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:210.98, Y:55.04, Z:-0.38 [[ 7.31159686e-01 -6.82206357e-01 -2.05873579e-05 2.10980081e+02] [ 6.82206357e-01 7.31159686e-01 -2.04848609e-05 5.50381606e+01] [ 2.90275485e-05 9.32878038e-07 1.00000000e+00 -3.80882846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.770281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:211.00, Y:55.06, Z:-0.38 [[ 7.31071447e-01 -6.82300704e-01 -5.37236847e-04 2.10997551e+02] [ 6.82300500e-01 7.31071644e-01 -5.27973172e-04 5.50592044e+01] [ 7.52995093e-04 1.94291414e-05 9.99999716e-01 -3.81844697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.800281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:211.01, Y:55.08, Z:-0.38 [[ 7.29520504e-01 -6.83958925e-01 -1.55609459e-04 2.11013247e+02] [ 6.83958907e-01 7.29520520e-01 -1.53180486e-04 5.50828832e+01] [ 2.18289454e-04 5.31782997e-06 9.99999976e-01 -3.82432448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.830281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:211.03, Y:55.10, Z:-0.38 [[ 7.27939462e-01 -6.85641282e-01 4.14221286e-04 2.11030556e+02] [ 6.85641161e-01 7.27939580e-01 4.06834542e-04 5.51039107e+01] [-5.80470626e-04 -1.21437543e-05 9.99999831e-01 -3.82407556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.860281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:211.05, Y:55.13, Z:-0.38 [[ 7.25969585e-01 -6.87726263e-01 8.65042221e-04 2.11049376e+02] [ 6.87725738e-01 7.25970100e-01 8.50273640e-04 5.51250725e+01] [-1.21275030e-03 -2.23610022e-05 9.99999264e-01 -3.82113385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.890281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:211.07, Y:55.14, Z:-0.38 [[ 7.21374227e-01 -6.92543931e-01 1.45841798e-03 2.11067885e+02] [ 6.92542447e-01 7.21375701e-01 1.43424258e-03 5.51445639e+01] [-2.04534329e-03 -2.46092794e-05 9.99997908e-01 -3.82049708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.920281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:211.09, Y:55.16, Z:-0.38 [[ 7.18849848e-01 -6.95164100e-01 1.33015917e-03 2.11086826e+02] [ 6.95162869e-01 7.18851079e-01 1.30851880e-03 5.51638997e+01] [-1.86582165e-03 -1.59512773e-05 9.99998259e-01 -3.81863470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.950281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:211.11, Y:55.18, Z:-0.38 [[ 7.15031023e-01 -6.99092221e-01 8.38170641e-04 2.11105777e+02] [ 6.99091735e-01 7.15031514e-01 8.24673567e-04 5.51845249e+01] [-1.17584130e-03 -3.70901764e-06 9.99999309e-01 -3.80856703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 241.980281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:211.12, Y:55.20, Z:-0.38 [[ 7.13540513e-01 -7.00613565e-01 7.54475650e-04 2.11124990e+02] [ 7.00613171e-01 7.13540912e-01 7.42565841e-04 5.52035970e+01] [-1.05860094e-03 -1.25523370e-06 9.99999440e-01 -3.81009229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.010281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:211.15, Y:55.22, Z:-0.38 [[ 7.12283337e-01 -7.01891617e-01 7.78428819e-04 2.11145102e+02] [ 7.01891199e-01 7.12283762e-01 7.66341969e-04 5.52225233e+01] [-1.09235121e-03 5.19722433e-07 9.99999403e-01 -3.81742570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.040281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:211.17, Y:55.24, Z:-0.38 [[ 7.10884881e-01 -7.03307889e-01 8.36269448e-04 2.11165832e+02] [ 7.03307407e-01 7.10885373e-01 8.23593464e-04 5.52420293e+01] [-1.17373150e-03 2.67435563e-06 9.99999311e-01 -3.81903670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.070281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.19, Y:55.26, Z:-0.38 [[ 7.08606014e-01 -7.05603400e-01 1.16577277e-03 2.11185584e+02] [ 7.05602465e-01 7.08606973e-01 1.14863816e-03 5.52607946e+01] [-1.63655771e-03 8.64023270e-06 9.99998661e-01 -3.81248412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.100281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:211.21, Y:55.28, Z:-0.38 [[ 7.07471746e-01 -7.06741338e-01 6.40104528e-04 2.11206176e+02] [ 7.06741057e-01 7.07472035e-01 6.30802982e-04 5.52802182e+01] [-8.98670597e-04 6.11286359e-06 9.99999596e-01 -3.81450015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.130281693 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:211.23, Y:55.30, Z:-0.38 [[ 7.05565951e-01 -7.08643561e-01 -9.96456964e-04 2.11228505e+02] [ 7.08642879e-01 7.05566654e-01 -9.83108498e-04 5.52972018e+01] [ 1.39974031e-03 -1.24842499e-05 9.99999020e-01 -3.82614917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.160281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:211.25, Y:55.31, Z:-0.38 [[ 7.04331223e-01 -7.09870226e-01 -1.33852159e-03 2.11248666e+02] [ 7.09868997e-01 7.04332494e-01 -1.32103607e-03 5.53144939e+01] [ 1.88052842e-03 -1.97280268e-05 9.99998232e-01 -3.82823890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.190281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:211.27, Y:55.33, Z:-0.38 [[ 7.02874790e-01 -7.11312764e-01 -1.08645213e-03 2.11270126e+02] [ 7.11311956e-01 7.02875630e-01 -1.07268906e-03 5.53332012e+01] [ 1.52665814e-03 -1.88402963e-05 9.99998834e-01 -3.82549846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.220281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:211.29, Y:55.35, Z:-0.38 [[ 7.00393647e-01 -7.13756724e-01 -2.80115877e-04 2.11292541e+02] [ 7.13756670e-01 7.00393703e-01 -2.76895446e-04 5.53505779e+01] [ 3.93827383e-04 -5.99876442e-06 9.99999922e-01 -3.81570872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.250281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:211.31, Y:55.37, Z:-0.38 [[ 6.99424004e-01 -7.14706977e-01 2.26120150e-05 2.11313842e+02] [ 7.14706976e-01 6.99424004e-01 2.21135049e-05 5.53677689e+01] [-3.16200622e-05 6.94248735e-07 1.00000000e+00 -3.81511042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.280281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:211.34, Y:55.39, Z:-0.38 [[ 6.98102927e-01 -7.15997373e-01 2.54188025e-04 2.11335666e+02] [ 7.15997329e-01 6.98102974e-01 2.50853525e-04 5.53854486e+01] [-3.57059881e-04 6.87636676e-06 9.99999936e-01 -3.82061644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.310281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:211.36, Y:55.40, Z:-0.38 [[ 6.96632804e-01 -7.17427373e-01 -8.37479593e-04 2.11360366e+02] [ 7.17426895e-01 6.96633307e-01 -8.28094400e-04 5.54004656e+01] [ 1.17751377e-03 -2.39526609e-05 9.99999306e-01 -3.83305376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.340281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:211.38, Y:55.42, Z:-0.38 [[ 6.96531789e-01 -7.17525141e-01 -1.06712316e-03 2.11382983e+02] [ 7.17524365e-01 6.96532606e-01 -1.05547414e-03 5.54170230e+01] [ 1.50061531e-03 -3.05155705e-05 9.99998874e-01 -3.83608049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:211.41, Y:55.43, Z:-0.38 [[ 6.96730403e-01 -7.17332248e-01 -1.09201105e-03 2.11408808e+02] [ 7.17331435e-01 6.96731258e-01 -1.08048694e-03 5.54308623e+01] [ 1.53590636e-03 -3.05257477e-05 9.99998820e-01 -3.82783642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.40028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:211.43, Y:55.45, Z:-0.38 [[ 6.96604995e-01 -7.17454027e-01 -1.09538992e-03 2.11430910e+02] [ 7.17453208e-01 6.96605856e-01 -1.08427362e-03 5.54475763e+01] [ 1.54097150e-03 -3.05805943e-05 9.99998812e-01 -3.81658775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.43028169299998 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:211.45, Y:55.46, Z:-0.38 [[ 6.96667389e-01 -7.17393868e-01 -7.65621724e-04 2.11453180e+02] [ 7.17393468e-01 6.96667810e-01 -7.58211921e-04 5.54642257e+01] [ 1.07732059e-03 -2.10305039e-05 9.99999419e-01 -3.81720794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.46028169299998 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:211.48, Y:55.48, Z:-0.38 [[ 6.97815496e-01 -7.16277511e-01 2.44323302e-04 2.11479681e+02] [ 7.16277471e-01 6.97815539e-01 2.41650776e-04 5.54779250e+01] [-3.43581613e-04 6.37562111e-06 9.99999941e-01 -3.81924596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.490281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:211.50, Y:55.49, Z:-0.38 [[ 6.98848481e-01 -7.15269524e-01 5.56470089e-04 2.11501114e+02] [ 7.15269312e-01 6.98848702e-01 5.50972309e-04 5.54941077e+01] [-7.82982100e-04 1.29798168e-05 9.99999693e-01 -3.81761858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.520281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:211.52, Y:55.51, Z:-0.38 [[ 7.02354095e-01 -7.11827339e-01 7.51162508e-04 2.11524075e+02] [ 7.11826950e-01 7.02354497e-01 7.44149020e-04 5.55106920e+01] [-1.05728798e-03 1.20416053e-05 9.99999441e-01 -3.81391130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.550281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:211.54, Y:55.53, Z:-0.38 [[ 7.04681672e-01 -7.09523491e-01 3.96216954e-04 2.11544169e+02] [ 7.09523382e-01 7.04681783e-01 3.92512656e-04 5.55284890e+01] [-5.57703820e-04 4.52871874e-06 9.99999844e-01 -3.81089909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.580281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:211.57, Y:55.55, Z:-0.38 [[ 7.10876121e-01 -7.03316512e-01 -1.01181366e-03 2.11565535e+02] [ 7.03315796e-01 7.10876841e-01 -1.00380591e-03 5.55466745e+01] [ 1.42526817e-03 1.95711917e-06 9.99998984e-01 -3.81569798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.610281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:211.58, Y:55.57, Z:-0.38 [[ 7.14087140e-01 -7.00054757e-01 -1.70114411e-03 2.11584931e+02] [ 7.00052722e-01 7.14089166e-01 -1.68809422e-03 5.55671978e+01] [ 2.39652697e-03 1.45558066e-05 9.99997128e-01 -3.81554661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.640281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:211.61, Y:55.59, Z:-0.38 [[ 7.13968232e-01 -7.00176029e-01 -1.70086635e-03 2.11605014e+02] [ 7.00173993e-01 7.13970258e-01 -1.68837411e-03 5.55874050e+01] [ 2.39652706e-03 1.45430933e-05 9.99997128e-01 -3.81587313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.670281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:211.62, Y:55.61, Z:-0.38 [[ 7.16871158e-01 -6.97202679e-01 -2.04139188e-03 2.11623074e+02] [ 6.97199733e-01 7.16874064e-01 -2.02715568e-03 5.56081354e+01] [ 2.87675927e-03 2.99515692e-05 9.99995862e-01 -3.81132923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.700281693 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:211.64, Y:55.63, Z:-0.38 [[ 7.19189110e-01 -6.94813013e-01 -1.37899257e-03 2.11640406e+02] [ 6.94811663e-01 7.19190431e-01 -1.36984907e-03 5.56284843e+01] [ 1.94354722e-03 2.70404095e-05 9.99998111e-01 -3.81035388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.730281693 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:211.66, Y:55.65, Z:-0.38 [[ 7.21668501e-01 -6.92237459e-01 1.36921361e-03 2.11658575e+02] [ 6.92236124e-01 7.21669799e-01 1.36009005e-03 5.56495384e+01] [-1.92962539e-03 -3.37150272e-05 9.99998138e-01 -3.80613397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.760281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:211.68, Y:55.67, Z:-0.38 [[ 7.22310080e-01 -6.91565646e-01 2.25980241e-03 2.11676365e+02] [ 6.91562002e-01 7.22313612e-01 2.24578268e-03 5.56710179e+01] [-3.18539219e-03 -5.93579872e-05 9.99994925e-01 -3.80189527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.790281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:211.69, Y:55.69, Z:-0.38 [[ 7.22352718e-01 -6.91522658e-01 1.72190990e-03 2.11693881e+02] [ 6.91520541e-01 7.22354769e-01 1.71181667e-03 5.56918185e+01] [-2.42758984e-03 -4.57993594e-05 9.99997052e-01 -3.80502358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.820281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:211.71, Y:55.71, Z:-0.38 [[ 7.22673463e-01 -6.91188846e-01 1.02228677e-03 2.11711976e+02] [ 6.91188099e-01 7.22674185e-01 1.01655755e-03 5.57132566e+01] [-1.44141350e-03 -2.80467164e-05 9.99998961e-01 -3.80607087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.850281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:211.73, Y:55.73, Z:-0.38 [[ 7.23191914e-01 -6.90646923e-01 5.32615967e-04 2.11730149e+02] [ 6.90646720e-01 7.23192110e-01 5.29674043e-04 5.57347347e+01] [-7.51001413e-04 -1.52065144e-05 9.99999718e-01 -3.81073876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.880281693 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:211.75, Y:55.76, Z:-0.38 [[ 7.24393682e-01 -6.89386388e-01 4.48905782e-04 2.11745143e+02] [ 6.89386244e-01 7.24393821e-01 4.46537678e-04 5.57580227e+01] [-6.33021572e-04 -1.39996020e-05 9.99999800e-01 -3.81483266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.910281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:211.76, Y:55.78, Z:-0.38 [[ 7.25554414e-01 -6.88163912e-01 1.10532145e-03 2.11760273e+02] [ 6.88163034e-01 7.25555255e-01 1.10038751e-03 5.57824518e+01] [-1.55921876e-03 -3.77496516e-05 9.99998784e-01 -3.80990411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.940281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:211.78, Y:55.80, Z:-0.38 [[ 7.25910332e-01 -6.87788633e-01 9.93229583e-04 2.11778001e+02] [ 6.87787923e-01 7.25911010e-01 9.89118496e-04 5.58035138e+01] [-1.40130075e-03 -3.48800241e-05 9.99999018e-01 -3.81384681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 242.970281693 meters Centerline goodness : 0.999194 Centerline is valid? [True, True] Translation: X:211.80, Y:55.82, Z:-0.38 [[ 7.25927032e-01 -6.87771526e-01 5.22138277e-04 2.11796265e+02] [ 6.87771330e-01 7.25927219e-01 5.19988808e-04 5.58244710e+01] [-7.36667883e-04 -1.83621950e-05 9.99999729e-01 -3.81826096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.000281693 meters Centerline goodness : 0.998987 Centerline is valid? [True, True] Translation: X:211.81, Y:55.85, Z:-0.38 [[ 7.25318418e-01 -6.88413514e-01 1.61030540e-04 2.11813974e+02] [ 6.88413495e-01 7.25318436e-01 1.60209213e-04 5.58454420e+01] [-2.27088607e-04 -5.34709598e-06 9.99999974e-01 -3.82785221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.030281693 meters Centerline goodness : 0.999005 Centerline is valid? [True, True] Translation: X:211.83, Y:55.87, Z:-0.38 [[ 7.22949065e-01 -6.90901118e-01 -5.42948380e-04 2.11830416e+02] [ 6.90900905e-01 7.22949269e-01 -5.41713014e-04 5.58684364e+01] [ 7.66794261e-04 1.65073894e-05 9.99999706e-01 -3.83306519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.060281693 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:211.85, Y:55.89, Z:-0.38 [[ 7.21252893e-01 -6.92671516e-01 -6.60274151e-04 2.11848275e+02] [ 6.92671203e-01 7.21253195e-01 -6.58911561e-04 5.58900418e+01] [ 9.32634110e-04 1.78889790e-05 9.99999565e-01 -3.83044749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.090281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:211.86, Y:55.91, Z:-0.38 [[ 7.17974518e-01 -6.96069381e-01 8.89679826e-05 2.11864526e+02] [ 6.96069376e-01 7.17974524e-01 8.84723189e-05 5.59122186e+01] [-1.25459617e-04 -1.59298238e-06 9.99999992e-01 -3.81740777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.120281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:211.88, Y:55.93, Z:-0.38 [[ 7.16847031e-01 -6.97230078e-01 7.43585035e-04 2.11882873e+02] [ 6.97229683e-01 7.16847416e-01 7.42002606e-04 5.59332064e+01] [-1.05038355e-03 -1.34528066e-05 9.99999448e-01 -3.80709660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.15028169299998 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:211.90, Y:55.95, Z:-0.38 [[ 7.15413144e-01 -6.98700406e-01 1.33287151e-03 2.11901068e+02] [ 6.98699139e-01 7.15414385e-01 1.33074050e-03 5.59543058e+01] [-1.88334438e-03 -2.07530658e-05 9.99998226e-01 -3.80424759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.18028169299998 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:211.92, Y:55.97, Z:-0.38 [[ 7.14770927e-01 -6.99358052e-01 9.14641356e-04 2.11920627e+02] [ 6.99357456e-01 7.14771512e-01 9.13413667e-04 5.59749572e+01] [-1.29256279e-03 -1.32202821e-05 9.99999165e-01 -3.80743202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.21028169299998 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:211.94, Y:55.99, Z:-0.38 [[ 7.14163781e-01 -6.99978570e-01 3.09062285e-04 2.11939294e+02] [ 6.99978502e-01 7.14163848e-01 3.08556589e-04 5.59949124e+01] [-4.36704110e-04 -4.02298535e-06 9.99999905e-01 -3.81248036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.240281693 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:211.96, Y:56.02, Z:-0.38 [[ 7.13585307e-01 -7.00568311e-01 2.28874247e-04 2.11958935e+02] [ 7.00568273e-01 7.13585343e-01 2.28509049e-04 5.60153509e+01] [-3.23407506e-04 -2.71866315e-06 9.99999948e-01 -3.81708898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.270281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:211.98, Y:56.03, Z:-0.38 [[ 7.12246244e-01 -7.01929131e-01 8.84558658e-04 2.11977562e+02] [ 7.01928574e-01 7.12246793e-01 8.84332100e-04 5.60345283e+01] [-1.25076253e-03 -8.96521941e-06 9.99999218e-01 -3.81527118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.300281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:212.00, Y:56.05, Z:-0.38 [[ 7.11106209e-01 -7.03084155e-01 7.94025105e-04 2.11996964e+02] [ 7.03083707e-01 7.11106652e-01 7.94012787e-04 5.60536648e+01] [-1.12289434e-03 -6.36130919e-06 9.99999370e-01 -3.81042458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.330281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:212.02, Y:56.07, Z:-0.38 [[ 7.08174405e-01 -7.06037422e-01 4.12995445e-04 2.12017566e+02] [ 7.06037301e-01 7.08174526e-01 4.13008395e-04 5.60729425e+01] [-5.84072236e-04 -8.91785221e-07 9.99999829e-01 -3.80856726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.360281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:212.04, Y:56.09, Z:-0.38 [[ 7.06105979e-01 -7.08106043e-01 4.22994868e-04 2.12038328e+02] [ 7.08105916e-01 7.06106105e-01 4.23168612e-04 5.60920373e+01] [-5.98327510e-04 7.23281964e-07 9.99999821e-01 -3.80729447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.390281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:212.06, Y:56.11, Z:-0.38 [[ 7.03904127e-01 -7.10294657e-01 6.92677749e-04 2.12058409e+02] [ 7.10294318e-01 7.03904468e-01 6.93396581e-04 5.61099429e+01] [-9.80094849e-04 3.92035439e-06 9.99999520e-01 -3.81510238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.420281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:212.08, Y:56.13, Z:-0.38 [[ 6.99516096e-01 -7.14616842e-01 1.34527504e-05 2.12080747e+02] [ 7.14616842e-01 6.99516097e-01 1.31634794e-05 5.61262875e+01] [-1.88172595e-05 4.05496278e-07 1.00000000e+00 -3.82579258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.450281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:212.10, Y:56.14, Z:-0.38 [[ 6.97967331e-01 -7.16129397e-01 -5.39680669e-04 2.12102428e+02] [ 7.16129193e-01 6.97967539e-01 -5.41192414e-04 5.61442253e+01] [ 7.64243386e-04 -8.74645727e-06 9.99999708e-01 -3.82681851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.480281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:212.13, Y:56.16, Z:-0.38 [[ 6.96507735e-01 -7.17548778e-01 -8.52485806e-04 2.12125121e+02] [ 7.17548269e-01 6.96508256e-01 -8.55049912e-04 5.61600470e+01] [ 1.20730342e-03 -1.61508367e-05 9.99999271e-01 -3.80821876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.510281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:212.15, Y:56.18, Z:-0.38 [[ 6.96682643e-01 -7.17378998e-01 -8.17653301e-04 2.12145424e+02] [ 7.17378528e-01 6.96683123e-01 -8.20463444e-04 5.61786860e+01] [ 1.15822850e-03 -1.49642811e-05 9.99999329e-01 -3.80528954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.540281693 meters Centerline goodness : 0.998931 Centerline is valid? [True, True] Translation: X:212.17, Y:56.20, Z:-0.38 [[ 6.97183066e-01 -7.16892512e-01 -9.48342969e-04 2.12165534e+02] [ 7.16891880e-01 6.97183711e-01 -9.51855895e-04 5.61975450e+01] [ 1.34354763e-03 -1.62415629e-05 9.99999097e-01 -3.80423148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.570281693 meters Centerline goodness : 0.998611 Centerline is valid? [True, True] Translation: X:212.19, Y:56.21, Z:-0.37 [[ 6.98271851e-01 -7.15830494e-01 -1.76781115e-03 2.12188466e+02] [ 7.15828295e-01 6.98274089e-01 -1.77475430e-03 5.62139486e+01] [ 2.50483997e-03 -2.61882700e-05 9.99996863e-01 -3.74313971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.600281693 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:212.21, Y:56.23, Z:-0.38 [[ 6.98417661e-01 -7.15688323e-01 -1.73074845e-03 2.12209416e+02] [ 7.15686212e-01 6.98419805e-01 -1.73823660e-03 5.62309348e+01] [ 2.45282464e-03 -2.46576603e-05 9.99996992e-01 -3.82281173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.630281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:212.23, Y:56.25, Z:-0.38 [[ 6.98322974e-01 -7.15780808e-01 -1.69091716e-03 2.12230472e+02] [ 7.15778793e-01 6.98325020e-01 -1.69887202e-03 5.62488766e+01] [ 2.39682975e-03 -2.39612801e-05 9.99997127e-01 -3.82048640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.660281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:212.25, Y:56.27, Z:-0.38 [[ 6.97986746e-01 -7.16108839e-01 -1.62275655e-03 2.12252419e+02] [ 7.16106982e-01 6.97988632e-01 -1.63106805e-03 5.62650877e+01] [ 2.30068787e-03 -2.36034159e-05 9.99997353e-01 -3.81611932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.690281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:212.27, Y:56.28, Z:-0.38 [[ 6.97828891e-01 -7.16262005e-01 -1.89189014e-03 2.12272864e+02] [ 7.16259479e-01 6.97831455e-01 -1.90235027e-03 5.62811942e+01] [ 2.68280166e-03 -2.75692684e-05 9.99996401e-01 -3.81280479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.720281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:212.30, Y:56.30, Z:-0.38 [[ 6.98198069e-01 -7.15903044e-01 -1.51267317e-03 2.12297298e+02] [ 7.15901428e-01 6.98199707e-01 -1.52162846e-03 5.62964345e+01] [ 2.14548641e-03 -2.05268333e-05 9.99997698e-01 -3.80470058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.750281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:212.32, Y:56.32, Z:-0.38 [[ 6.98977781e-01 -7.15141706e-01 -1.55006729e-03 2.12317497e+02] [ 7.15140005e-01 6.98979499e-01 -1.55986523e-03 5.63150297e+01] [ 2.19898994e-03 -1.82039918e-05 9.99997582e-01 -3.80128832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.780281693 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:212.34, Y:56.33, Z:-0.38 [[ 7.00304270e-01 -7.13843006e-01 -1.44647606e-03 2.12337868e+02] [ 7.13841521e-01 7.00305764e-01 -1.45616421e-03 5.63340328e+01] [ 2.05244816e-03 -1.27966593e-05 9.99997894e-01 -3.80092717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.810281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:212.36, Y:56.35, Z:-0.38 [[ 7.03915800e-01 -7.10283360e-01 -3.06370862e-04 2.12360197e+02] [ 7.10283293e-01 7.03915867e-01 -3.08664091e-04 5.63505793e+01] [ 4.34898279e-04 -3.36574444e-07 9.99999905e-01 -3.80542390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.840281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:212.38, Y:56.37, Z:-0.38 [[ 7.05461571e-01 -7.08748154e-01 -1.60203785e-04 2.12379515e+02] [ 7.08748136e-01 7.05461589e-01 -1.61690778e-04 5.63681750e+01] [ 2.27615657e-04 5.22496241e-07 9.99999974e-01 -3.80224693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.870281693 meters Centerline goodness : 0.999091 Centerline is valid? [True, True] Translation: X:212.40, Y:56.39, Z:-0.38 [[ 7.07722149e-01 -7.06490003e-01 -1.11148750e-03 2.12398929e+02] [ 7.06489115e-01 7.07723022e-01 -1.12025916e-03 5.63867778e+01] [ 1.57807719e-03 7.57840282e-06 9.99998755e-01 -3.80308719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.90028169299998 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:212.42, Y:56.41, Z:-0.38 [[ 7.08024504e-01 -7.06186437e-01 -1.42062421e-03 2.12418257e+02] [ 7.06184984e-01 7.08025929e-01 -1.43232461e-03 5.64060601e+01] [ 2.01732700e-03 1.08974366e-05 9.99997965e-01 -3.80847694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.93028169299998 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:212.44, Y:56.42, Z:-0.38 [[ 7.08227741e-01 -7.05983076e-01 -1.16756202e-03 2.12437446e+02] [ 7.05982094e-01 7.08228703e-01 -1.17775857e-03 5.64243639e+01] [ 1.65837855e-03 9.84341007e-06 9.99998625e-01 -3.80541367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.96028169299998 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:212.45, Y:56.44, Z:-0.38 [[ 7.08356918e-01 -7.05854361e-01 -3.11660892e-04 2.12454923e+02] [ 7.05854291e-01 7.08356987e-01 -3.14768376e-04 5.64435163e+01] [ 4.42947801e-04 2.98117901e-06 9.99999902e-01 -3.79778635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 243.990281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:212.47, Y:56.46, Z:-0.38 [[ 7.07870027e-01 -7.06342706e-01 8.63160433e-05 2.12472394e+02] [ 7.06342700e-01 7.07870032e-01 8.67895495e-05 5.64637471e+01] [-1.22403706e-04 -4.67013623e-07 9.99999993e-01 -3.79779970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.020281693 meters Centerline goodness : 0.999308 Centerline is valid? [True, True] Translation: X:212.49, Y:56.48, Z:-0.38 [[ 7.06315313e-01 -7.07897354e-01 1.22811073e-04 2.12489391e+02] [ 7.07897343e-01 7.06315324e-01 1.23734581e-04 5.64834449e+01] [-1.74334726e-04 -4.57997385e-07 9.99999985e-01 -3.79861726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.050281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:212.51, Y:56.50, Z:-0.38 [[ 7.05484524e-01 -7.08725241e-01 3.44120012e-04 2.12508583e+02] [ 7.08725156e-01 7.05484608e-01 3.47229945e-04 5.65030667e+01] [-4.88861998e-04 -1.07884353e-06 9.99999881e-01 -3.79959412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.080281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:212.53, Y:56.52, Z:-0.38 [[ 7.04929260e-01 -7.09277462e-01 4.69314246e-04 2.12527921e+02] [ 7.09277304e-01 7.04929416e-01 4.73874598e-04 5.65226479e+01] [-6.66941989e-04 -1.17412603e-06 9.99999778e-01 -3.80250307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.110281693 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:212.55, Y:56.54, Z:-0.38 [[ 7.03675996e-01 -7.10520894e-01 -3.90279929e-04 2.12546918e+02] [ 7.10520784e-01 7.03676104e-01 -3.94792528e-04 5.65424533e+01] [ 5.55139000e-04 5.04024548e-07 9.99999846e-01 -3.81185694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.140281693 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:212.57, Y:56.56, Z:-0.38 [[ 7.03079826e-01 -7.11109609e-01 -1.37212614e-03 2.12566606e+02] [ 7.11108255e-01 7.03081165e-01 -1.38768192e-03 5.65616501e+01] [ 1.95150999e-03 -7.90564344e-08 9.99998096e-01 -3.81852047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.170281693 meters Centerline goodness : 0.999065 Centerline is valid? [True, True] Translation: X:212.58, Y:56.58, Z:-0.38 [[ 7.02295952e-01 -7.11878542e-01 -3.05561215e-03 2.12584845e+02] [ 7.11871831e-01 7.02302599e-01 -3.09127343e-03 5.65797231e+01] [ 4.34657558e-03 -4.21540242e-06 9.99990554e-01 -3.82226377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.200281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:212.60, Y:56.60, Z:-0.38 [[ 7.02234585e-01 -7.11938594e-01 -3.16641158e-03 2.12602383e+02] [ 7.11931382e-01 7.02241723e-01 -3.20456911e-03 5.65999511e+01] [ 4.50504276e-03 -3.90851169e-06 9.99989852e-01 -3.82139715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.230281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:212.62, Y:56.62, Z:-0.38 [[ 7.03576817e-01 -7.10616420e-01 -1.99154107e-03 2.12618072e+02] [ 7.10613559e-01 7.03579636e-01 -2.01648913e-03 5.66220168e+01] [ 2.83415803e-03 3.53891586e-06 9.99995984e-01 -3.81008826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.260281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:212.63, Y:56.64, Z:-0.38 [[ 7.04522674e-01 -7.09680392e-01 -1.24218337e-03 2.12634968e+02] [ 7.09679277e-01 7.04523769e-01 -1.25818944e-03 5.66418836e+01] [ 1.76806009e-03 4.87119264e-06 9.99998437e-01 -3.81110095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.290281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:212.65, Y:56.66, Z:-0.38 [[ 7.05518319e-01 -7.08691269e-01 -7.65343017e-04 2.12651496e+02] [ 7.08690845e-01 7.05518735e-01 -7.75543845e-04 5.66616905e+01] [ 1.08958499e-03 4.76880069e-06 9.99999406e-01 -3.80315388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.320281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:212.67, Y:56.69, Z:-0.38 [[ 7.07058018e-01 -7.07154802e-01 -1.02208128e-03 2.12665862e+02] [ 7.07154043e-01 7.07058757e-01 -1.03610776e-03 5.66862763e+01] [ 1.45536010e-03 9.81938953e-06 9.99998941e-01 -3.80999877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.350281693 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:212.68, Y:56.71, Z:-0.38 [[ 7.07440653e-01 -7.06770605e-01 -1.74205234e-03 2.12681356e+02] [ 7.06768399e-01 7.07442797e-01 -1.76620214e-03 5.67073782e+01] [ 2.48070214e-03 1.82556563e-05 9.99996923e-01 -3.81831284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.380281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:212.70, Y:56.73, Z:-0.38 [[ 7.07146996e-01 -7.07060775e-01 -2.86137237e-03 2.12696211e+02] [ 7.07054819e-01 7.07152784e-01 -2.90217888e-03 5.67301206e+01] [ 4.07544428e-03 2.91199495e-05 9.99991695e-01 -3.82372369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.410281693 meters Centerline goodness : 0.999094 Centerline is valid? [True, True] Translation: X:212.71, Y:56.75, Z:-0.38 [[ 7.06330961e-01 -7.07874614e-01 -3.17875027e-03 2.12712653e+02] [ 7.07867266e-01 7.06338114e-01 -3.22538005e-03 5.67511655e+01] [ 4.52843713e-03 2.80525283e-05 9.99989746e-01 -3.82479202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.440281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:212.73, Y:56.77, Z:-0.38 [[ 7.05152089e-01 -7.09047955e-01 -3.39538887e-03 2.12729193e+02] [ 7.09039579e-01 7.05160264e-01 -3.44650925e-03 5.67724232e+01] [ 4.83803365e-03 2.28481087e-05 9.99988296e-01 -3.82775747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.470281693 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:212.75, Y:56.79, Z:-0.38 [[ 7.03657559e-01 -7.10531580e-01 -3.30350272e-03 2.12745649e+02] [ 7.10523661e-01 7.03665314e-01 -3.35464736e-03 5.67932569e+01] [ 4.70814317e-03 1.33061252e-05 9.99988917e-01 -3.82891901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.500281693 meters Centerline goodness : 0.999076 Centerline is valid? [True, True] Translation: X:212.76, Y:56.82, Z:-0.38 [[ 7.00308766e-01 -7.13836347e-01 -2.30266814e-03 2.12763747e+02] [ 7.13832514e-01 7.00312552e-01 -2.33928209e-03 5.68150714e+01] [ 3.28245198e-03 -5.49963686e-06 9.99994613e-01 -3.82542292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.530281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:212.78, Y:56.83, Z:-0.38 [[ 6.97713301e-01 -7.16373103e-01 -2.39300950e-03 2.12781882e+02] [ 7.16368975e-01 6.97717404e-01 -2.43203951e-03 5.68344707e+01] [ 3.41189207e-03 -1.74114445e-05 9.99994179e-01 -3.80947308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.560281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:212.80, Y:56.85, Z:-0.38 [[ 6.97581211e-01 -7.16501731e-01 -2.39257418e-03 2.12801094e+02] [ 7.16497602e-01 6.97585314e-01 -2.43246779e-03 5.68543537e+01] [ 3.41189199e-03 -1.74298315e-05 9.99994179e-01 -3.80979002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.590281693 meters Centerline goodness : 0.999312 Centerline is valid? [True, True] Translation: X:212.82, Y:56.87, Z:-0.38 [[ 6.96852485e-01 -7.17211769e-01 -1.97284641e-03 2.12819702e+02] [ 7.17208962e-01 6.96855278e-01 -2.00661481e-03 5.68747842e+01] [ 2.81395619e-03 -1.66286125e-05 9.99996041e-01 -3.80684884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.620281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:212.84, Y:56.89, Z:-0.38 [[ 6.96550233e-01 -7.17506039e-01 -1.69018489e-03 2.12837050e+02] [ 7.17503978e-01 6.96552283e-01 -1.71989474e-03 5.68937817e+01] [ 2.41133701e-03 -1.47213000e-05 9.99997093e-01 -3.80740850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.65028169299998 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:212.86, Y:56.91, Z:-0.38 [[ 6.96282653e-01 -7.17765991e-01 -1.56502694e-03 2.12855417e+02] [ 7.17764223e-01 6.96284412e-01 -1.59316010e-03 5.69135645e+01] [ 2.23322000e-03 -1.40306062e-05 9.99997506e-01 -3.81157372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.68028169299998 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:212.87, Y:56.93, Z:-0.38 [[ 6.94919321e-01 -7.19086760e-01 -1.16993632e-03 2.12874754e+02] [ 7.19085773e-01 6.94920305e-01 -1.19148365e-03 5.69334419e+01] [ 1.66979262e-03 -1.32995566e-05 9.99998606e-01 -3.81962821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.71028169299998 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:212.89, Y:56.95, Z:-0.38 [[ 6.93685236e-01 -7.20277618e-01 -9.72962772e-04 2.12894315e+02] [ 7.20276936e-01 6.93685918e-01 -9.91344767e-04 5.69525303e+01] [ 1.38897402e-03 -1.31214157e-05 9.99999035e-01 -3.81887403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.740281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:212.92, Y:56.97, Z:-0.38 [[ 6.91497096e-01 -7.22378150e-01 -1.25487778e-03 2.12915763e+02] [ 7.22377018e-01 6.91498235e-01 -1.27894115e-03 5.69711272e+01] [ 1.79162492e-03 -2.21107764e-05 9.99998395e-01 -3.81499865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.770281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:212.94, Y:56.99, Z:-0.38 [[ 6.90613422e-01 -7.23222474e-01 -1.53406468e-03 2.12936170e+02] [ 7.23220784e-01 6.90615126e-01 -1.56399169e-03 5.69897366e+01] [ 2.19056221e-03 -2.93538042e-05 9.99997600e-01 -3.81540497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.800281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:212.96, Y:57.01, Z:-0.38 [[ 6.89566347e-01 -7.24218491e-01 -2.41442219e-03 2.12956088e+02] [ 7.24214307e-01 6.89570572e-01 -2.46232618e-03 5.70076431e+01] [ 3.44817664e-03 -5.06218248e-05 9.99994054e-01 -3.82025634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.830281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:212.97, Y:57.03, Z:-0.38 [[ 6.89391312e-01 -7.24385469e-01 -2.30446047e-03 2.12974903e+02] [ 7.24381656e-01 6.89395162e-01 -2.35110419e-03 5.70274116e+01] [ 3.29178961e-03 -4.84780922e-05 9.99994581e-01 -3.82084758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.860281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:212.99, Y:57.05, Z:-0.38 [[ 6.89624117e-01 -7.24165154e-01 -1.84584955e-03 2.12993593e+02] [ 7.24162704e-01 6.89626586e-01 -1.88398382e-03 5.70478249e+01] [ 2.63726236e-03 -3.74547244e-05 9.99996522e-01 -3.81239167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.890281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:213.01, Y:57.07, Z:-0.38 [[ 6.91044219e-01 -7.22811082e-01 -1.42364489e-03 2.13011824e+02] [ 7.22809621e-01 6.91045685e-01 -1.45372740e-03 5.70672916e+01] [ 2.03457393e-03 -2.44343120e-05 9.99997930e-01 -3.80265936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.920281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:213.03, Y:57.09, Z:-0.38 [[ 6.91615824e-01 -7.22264602e-01 -1.18191831e-03 2.13030639e+02] [ 7.22263593e-01 6.91616834e-01 -1.20744200e-03 5.70865082e+01] [ 1.68952721e-03 -1.85705732e-05 9.99998573e-01 -3.80279694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.950281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:213.05, Y:57.11, Z:-0.38 [[ 6.92177462e-01 -7.21727346e-01 1.27522971e-06 2.13048713e+02] [ 7.21727346e-01 6.92177462e-01 9.54152822e-07 5.71054807e+01] [-1.57132341e-06 2.59925078e-07 1.00000000e+00 -3.79920571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 244.980281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:213.07, Y:57.13, Z:-0.38 [[ 6.92195890e-01 -7.21709647e-01 1.86720638e-04 2.13066921e+02] [ 7.21709622e-01 6.92195915e-01 1.90527484e-04 5.71250884e+01] [-2.66752786e-04 2.87573970e-06 9.99999964e-01 -3.79743923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.010281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:213.09, Y:57.14, Z:-0.38 [[ 6.92168435e-01 -7.21735937e-01 -3.06446489e-04 2.13085263e+02] [ 7.21735869e-01 6.92168503e-01 -3.13694768e-04 5.71445034e+01] [ 4.38517395e-04 -4.04380589e-06 9.99999904e-01 -3.79518112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.040281693 meters Centerline goodness : 0.999481 Centerline is valid? [True, True] Translation: X:213.10, Y:57.17, Z:-0.38 [[ 6.91621863e-01 -7.22257047e-01 -1.98884269e-03 2.13104187e+02] [ 7.22254182e-01 6.91624722e-01 -2.03481739e-03 5.71656885e+01] [ 2.84519398e-03 -2.91257516e-05 9.99995952e-01 -3.80205737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.070281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:213.12, Y:57.19, Z:-0.38 [[ 6.91277431e-01 -7.22585465e-01 -2.39961982e-03 2.13121872e+02] [ 7.22581292e-01 6.91281595e-01 -2.45602345e-03 5.71858180e+01] [ 3.43349986e-03 -3.61268089e-05 9.99994105e-01 -3.80666125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.100281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:213.14, Y:57.21, Z:-0.38 [[ 6.90863538e-01 -7.22983094e-01 -1.73704393e-03 2.13139369e+02] [ 7.22980907e-01 6.90865721e-01 -1.77865187e-03 5.72064361e+01] [ 2.48599934e-03 -2.70438708e-05 9.99996910e-01 -3.79909524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.130281693 meters Centerline goodness : 0.999517 Centerline is valid? [True, True] Translation: X:213.16, Y:57.23, Z:-0.38 [[ 6.90437462e-01 -7.23390703e-01 -1.41504182e-03 2.13157219e+02] [ 7.23389251e-01 6.90438911e-01 -1.44965520e-03 5.72256797e+01] [ 2.02566703e-03 -2.27297844e-05 9.99997948e-01 -3.79691226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.160281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:213.18, Y:57.24, Z:-0.38 [[ 6.90027702e-01 -7.23781811e-01 -1.28847625e-03 2.13176971e+02] [ 7.23780607e-01 6.90028904e-01 -1.32045666e-03 5.72449527e+01] [ 1.84480836e-03 -2.14224477e-05 9.99998298e-01 -3.79931353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.190281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:213.20, Y:57.26, Z:-0.38 [[ 6.89649861e-01 -7.24141968e-01 -1.21605873e-03 2.13197233e+02] [ 7.24140895e-01 6.89650933e-01 -1.24671409e-03 5.72647002e+01] [ 1.74145403e-03 -2.08016632e-05 9.99998483e-01 -3.80250662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.220281693 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:213.22, Y:57.28, Z:-0.38 [[ 6.88627950e-01 -7.25113896e-01 -1.17665503e-03 2.13218433e+02] [ 7.25112892e-01 6.88628955e-01 -1.20676731e-03 5.72836679e+01] [ 1.68532247e-03 -2.21940277e-05 9.99998580e-01 -3.80451412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.250281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:213.24, Y:57.30, Z:-0.38 [[ 6.87297811e-01 -7.26374593e-01 -1.29182958e-03 2.13240568e+02] [ 7.26373385e-01 6.87299025e-01 -1.32538822e-03 5.73009775e+01] [ 1.85060154e-03 -2.74142002e-05 9.99998287e-01 -3.80442024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.280281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:213.26, Y:57.32, Z:-0.38 [[ 6.86435084e-01 -7.27189685e-01 -1.42734592e-03 2.13260387e+02] [ 7.27188211e-01 6.86436567e-01 -1.46471851e-03 5.73187167e+01] [ 2.04491063e-03 -3.25149492e-05 9.99997909e-01 -3.80375840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.310281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:213.28, Y:57.34, Z:-0.38 [[ 6.85395391e-01 -7.28169253e-01 -1.64219321e-03 2.13280772e+02] [ 7.28167303e-01 6.85397357e-01 -1.68593350e-03 5.73372655e+01] [ 2.35319982e-03 -4.02603439e-05 9.99997230e-01 -3.80237264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.340281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:213.30, Y:57.36, Z:-0.38 [[ 6.84657473e-01 -7.28862195e-01 -2.01128162e-03 2.13300171e+02] [ 7.28859269e-01 6.84660426e-01 -2.06566899e-03 5.73550300e+01] [ 2.88263296e-03 -5.16655417e-05 9.99995844e-01 -3.79952284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.370281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:213.32, Y:57.37, Z:-0.38 [[ 6.85028227e-01 -7.28512877e-01 -2.30583079e-03 2.13322008e+02] [ 7.28509027e-01 6.85032105e-01 -2.36905421e-03 5.73713982e+01] [ 3.30545461e-03 -5.69495425e-05 9.99994535e-01 -3.80075250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.40028169299998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:213.34, Y:57.39, Z:-0.38 [[ 6.85863772e-01 -7.27727003e-01 -2.07256072e-03 2.13341515e+02] [ 7.27723887e-01 6.85866902e-01 -2.13033152e-03 5.73888335e+01] [ 2.97180057e-03 -4.71347366e-05 9.99995583e-01 -3.79815910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.43028169299998 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:213.36, Y:57.41, Z:-0.38 [[ 6.88581774e-01 -7.25156734e-01 -1.68854425e-03 2.13361377e+02] [ 7.25154656e-01 6.88583844e-01 -1.73639407e-03 5.74058346e+01] [ 2.42186214e-03 -2.88064150e-05 9.99997067e-01 -3.77586599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.46028169299998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:213.38, Y:57.43, Z:-0.38 [[ 6.90170650e-01 -7.23644899e-01 -1.59173823e-03 2.13381668e+02] [ 7.23643047e-01 6.90172485e-01 -1.63744285e-03 5.74253738e+01] [ 2.28350109e-03 -2.17353096e-05 9.99997393e-01 -3.76897560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.490281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:213.40, Y:57.44, Z:-0.38 [[ 6.91831500e-01 -7.22057328e-01 -1.54640050e-03 2.13400915e+02] [ 7.22055574e-01 6.91833228e-01 -1.59146264e-03 5.74442482e+01] [ 2.21897851e-03 -1.55631200e-05 9.99997538e-01 -3.76333572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.520281693 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:213.42, Y:57.46, Z:-0.38 [[ 6.94750910e-01 -7.19250257e-01 -4.90143308e-04 2.13419947e+02] [ 7.19250080e-01 6.94751083e-01 -5.04743974e-04 5.74620183e+01] [ 7.03564827e-04 -1.86427875e-06 9.99999753e-01 -3.75762097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.550281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:213.44, Y:57.48, Z:-0.38 [[ 6.95685096e-01 -7.18346866e-01 1.65361939e-04 2.13439519e+02] [ 7.18346845e-01 6.95685116e-01 1.69952198e-04 5.74817425e+01] [-2.37124469e-04 5.54016189e-07 9.99999972e-01 -3.76146358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.580281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:213.46, Y:57.50, Z:-0.38 [[ 6.96692382e-01 -7.17369812e-01 5.27406366e-04 2.13459377e+02] [ 7.17369606e-01 6.96692582e-01 5.42929782e-04 5.75001438e+01] [-7.56921538e-04 9.02542580e-08 9.99999714e-01 -3.76585711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.610281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:213.48, Y:57.52, Z:-0.38 [[ 6.96735857e-01 -7.17327781e-01 -1.21466563e-05 2.13478548e+02] [ 7.17327781e-01 6.96735857e-01 -1.28427852e-05 5.75187909e+01] [ 1.76754976e-05 2.34894951e-07 1.00000000e+00 -3.76573986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.640281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:213.50, Y:57.54, Z:-0.38 [[ 6.96374515e-01 -7.17678312e-01 -6.12809336e-04 2.13498129e+02] [ 7.17678033e-01 6.96374785e-01 -6.32081084e-04 5.75382319e+01] [ 8.80375855e-04 3.65359159e-07 9.99999612e-01 -3.76502868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.670281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:213.52, Y:57.56, Z:-0.38 [[ 6.94420746e-01 -7.19568462e-01 -1.02769507e-03 2.13516976e+02] [ 7.19567681e-01 6.94421506e-01 -1.06025782e-03 5.75563936e+01] [ 1.47658165e-03 -3.23113141e-06 9.99998910e-01 -3.76880688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.700281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:213.54, Y:57.57, Z:-0.38 [[ 6.93261854e-01 -7.20684967e-01 -1.08638214e-03 2.13535559e+02] [ 7.20684095e-01 6.93262705e-01 -1.12104041e-03 5.75745960e+01] [ 1.56106519e-03 -5.76377807e-06 9.99998782e-01 -3.76974827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.730281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:213.56, Y:57.59, Z:-0.38 [[ 6.92122312e-01 -7.21779502e-01 -1.02710352e-03 2.13555116e+02] [ 7.21778724e-01 6.92123074e-01 -1.06040765e-03 5.75934306e+01] [ 1.47626255e-03 -7.40967113e-06 9.99998910e-01 -3.76746228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.760281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:213.57, Y:57.61, Z:-0.38 [[ 6.90450858e-01 -7.23379092e-01 -5.50767792e-04 2.13574741e+02] [ 7.23378868e-01 6.90451077e-01 -5.69048483e-04 5.76106157e+01] [ 7.91915990e-04 -5.51376876e-06 9.99999686e-01 -3.76344271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.790281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:213.59, Y:57.63, Z:-0.38 [[ 6.90073441e-01 -7.23739115e-01 -5.82662692e-04 2.13594034e+02] [ 7.23738865e-01 6.90073687e-01 -6.02204960e-04 5.76290526e+01] [ 8.37919477e-04 -6.12998686e-06 9.99999649e-01 -3.75966376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.820281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:213.61, Y:57.65, Z:-0.38 [[ 6.89416405e-01 -7.24364451e-01 -1.07848418e-03 2.13614044e+02] [ 7.24363594e-01 6.89417248e-01 -1.11464484e-03 5.76455831e+01] [ 1.55093470e-03 -1.27602386e-05 9.99998797e-01 -3.76172744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.850281693 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:213.63, Y:57.66, Z:-0.38 [[ 6.88844950e-01 -7.24907255e-01 -1.45129450e-03 2.13633828e+02] [ 7.24905702e-01 6.88846479e-01 -1.50054372e-03 5.76641540e+01] [ 2.08747414e-03 -1.84096897e-05 9.99997821e-01 -3.76941505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.880281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:213.65, Y:57.68, Z:-0.38 [[ 6.88420751e-01 -7.25309216e-01 -1.84704528e-03 2.13653844e+02] [ 7.25306700e-01 6.88423228e-01 -1.91040837e-03 5.76832565e+01] [ 2.65718568e-03 -2.45095517e-05 9.99996469e-01 -3.77053609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.910281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:213.67, Y:57.70, Z:-0.38 [[ 6.88326496e-01 -7.25399766e-01 -1.34701853e-03 2.13674496e+02] [ 7.25398427e-01 6.88327813e-01 -1.39392517e-03 5.77001023e+01] [ 1.93834332e-03 -1.76494981e-05 9.99998121e-01 -3.77878893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.940281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:213.69, Y:57.72, Z:-0.38 [[ 6.88308130e-01 -7.25417320e-01 -1.27682787e-03 2.13694892e+02] [ 7.25416116e-01 6.88309314e-01 -1.32185192e-03 5.77180877e+01] [ 1.83774680e-03 -1.63900898e-05 9.99998311e-01 -3.77342313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 245.970281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:213.72, Y:57.74, Z:-0.38 [[ 6.88271701e-01 -7.25451803e-01 -1.32166212e-03 2.13715257e+02] [ 7.25450512e-01 6.88272970e-01 -1.36882314e-03 5.77360184e+01] [ 1.90267953e-03 -1.66782258e-05 9.99998190e-01 -3.76752606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.000281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:213.74, Y:57.75, Z:-0.38 [[ 6.88498595e-01 -7.25235105e-01 -1.93037495e-03 2.13735901e+02] [ 7.25232348e-01 6.88501301e-01 -1.99998932e-03 5.77523953e+01] [ 2.77952813e-03 -2.29805177e-05 9.99996137e-01 -3.76927818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.030281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:213.75, Y:57.77, Z:-0.38 [[ 6.88811351e-01 -7.24936339e-01 -2.49523781e-03 2.13754879e+02] [ 7.24931727e-01 6.88815870e-01 -2.58620798e-03 5.77702065e+01] [ 3.59359555e-03 -2.74676443e-05 9.99993543e-01 -3.77345377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.060281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:213.78, Y:57.79, Z:-0.38 [[ 6.89838241e-01 -7.23957678e-01 -2.91235917e-03 2.13775949e+02] [ 7.23951380e-01 6.89844388e-01 -3.01970668e-03 5.77870853e+01] [ 4.19521446e-03 -2.52972967e-05 9.99991200e-01 -3.78313677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.090281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:213.80, Y:57.80, Z:-0.38 [[ 6.90397030e-01 -7.23426346e-01 -2.50261770e-03 2.13795324e+02] [ 7.23421688e-01 6.90401566e-01 -2.59604898e-03 5.78044373e+01] [ 3.60586140e-03 -1.81434128e-05 9.99993499e-01 -3.77503868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.120281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:213.82, Y:57.82, Z:-0.38 [[ 6.90916907e-01 -7.22932245e-01 -1.67232751e-03 2.13815783e+02] [ 7.22930162e-01 6.90918931e-01 -1.73548926e-03 5.78236196e+01] [ 2.41008388e-03 -9.89712702e-06 9.99997096e-01 -3.76740829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.15028169299998 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:213.84, Y:57.84, Z:-0.38 [[ 6.92051099e-01 -7.21847696e-01 -1.08655575e-03 2.13837547e+02] [ 7.21846814e-01 6.92051952e-01 -1.12812775e-03 5.78411610e+01] [ 1.56628944e-03 -3.60476446e-06 9.99998773e-01 -3.75742424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.18028169299998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:213.86, Y:57.86, Z:-0.38 [[ 6.92580452e-01 -7.21338059e-01 -1.92918318e-03 2.13856415e+02] [ 7.21335276e-01 6.92583139e-01 -2.00370747e-03 5.78586180e+01] [ 2.78147020e-03 -3.85925390e-06 9.99996132e-01 -3.76243902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.21028169299998 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:213.88, Y:57.88, Z:-0.38 [[ 6.93499128e-01 -7.20451874e-01 -2.83857205e-03 2.13876109e+02] [ 7.20445837e-01 6.93504937e-01 -2.94926278e-03 5.78770409e+01] [ 4.09336562e-03 2.73749084e-07 9.99991622e-01 -3.76439867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.240281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:213.90, Y:57.90, Z:-0.38 [[ 6.96875293e-01 -7.17186849e-01 -2.80173960e-03 2.13895633e+02] [ 7.17180937e-01 6.96880925e-01 -2.91221164e-03 5.78959218e+01] [ 4.04107877e-03 2.00941050e-05 9.99991835e-01 -3.75860635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.270281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:213.91, Y:57.92, Z:-0.38 [[ 6.98971782e-01 -7.15145937e-01 -2.17643732e-03 2.13914574e+02] [ 7.15142356e-01 6.98975170e-01 -2.26327935e-03 5.79156871e+01] [ 3.13985067e-03 2.55058859e-05 9.99995070e-01 -3.75049895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.300281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:213.93, Y:57.94, Z:-0.37 [[ 7.03328899e-01 -7.10863886e-01 -9.97719532e-04 2.13932422e+02] [ 7.10863129e-01 7.03329606e-01 -1.03808601e-03 5.79366901e+01] [ 1.43966354e-03 2.08738605e-05 9.99998963e-01 -3.74222582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.330281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:213.95, Y:57.96, Z:-0.37 [[ 7.04838230e-01 -7.09367513e-01 -8.95129007e-04 2.13949561e+02] [ 7.09366902e-01 7.04838798e-01 -9.31770732e-04 5.79575772e+01] [ 1.29188954e-03 2.17727428e-05 9.99999165e-01 -3.74611160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:213.97, Y:57.98, Z:-0.37 [[ 7.06054254e-01 -7.08156738e-01 -1.19352931e-03 2.13966347e+02] [ 7.08155648e-01 7.06055262e-01 -1.24282666e-03 5.79782785e+01] [ 1.72281372e-03 3.22985326e-05 9.99998515e-01 -3.74451314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.390281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:213.98, Y:58.00, Z:-0.37 [[ 7.07331097e-01 -7.06880700e-01 -1.54749441e-03 2.13982810e+02] [ 7.06878864e-01 7.07332788e-01 -1.61198941e-03 5.79994060e+01] [ 2.23407774e-03 4.63191455e-05 9.99997503e-01 -3.74784736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.420281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.00, Y:58.02, Z:-0.37 [[ 7.07360216e-01 -7.06850530e-01 -1.96282341e-03 2.14000498e+02] [ 7.06847573e-01 7.07362937e-01 -2.04534140e-03 5.80195076e+01] [ 2.83417919e-03 5.93761667e-05 9.99995982e-01 -3.74511342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.450281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:214.02, Y:58.04, Z:-0.37 [[ 7.07225644e-01 -7.06985175e-01 -1.96244338e-03 2.14019474e+02] [ 7.06982218e-01 7.07228364e-01 -2.04570606e-03 5.80396326e+01] [ 2.83417948e-03 5.93632134e-05 9.99995982e-01 -3.74543036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.480281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:214.04, Y:58.06, Z:-0.37 [[ 7.06686246e-01 -7.07525008e-01 -1.70640720e-03 2.14035221e+02] [ 7.07522772e-01 7.06688305e-01 -1.77958353e-03 5.80626202e+01] [ 2.46499786e-03 5.02852509e-05 9.99996961e-01 -3.74391267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.510281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:214.05, Y:58.09, Z:-0.37 [[ 7.06677177e-01 -7.07534597e-01 -1.47016060e-03 2.14052711e+02] [ 7.07532936e-01 7.06678705e-01 -1.53379533e-03 5.80851952e+01] [ 2.12414445e-03 4.37111074e-05 9.99997743e-01 -3.74876211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.540281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:214.07, Y:58.11, Z:-0.37 [[ 7.06723158e-01 -7.07488727e-01 -1.44159341e-03 2.14069576e+02] [ 7.07487129e-01 7.06724627e-01 -1.50460315e-03 5.81067941e+01] [ 2.08329933e-03 4.34291066e-05 9.99997829e-01 -3.74864472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.570281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:214.09, Y:58.13, Z:-0.37 [[ 7.07212011e-01 -7.07000075e-01 -1.43689729e-03 2.14085416e+02] [ 7.06998485e-01 7.07213469e-01 -1.50023796e-03 5.81302253e+01] [ 2.07686146e-03 4.51020996e-05 9.99997842e-01 -3.74863974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.600281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:214.10, Y:58.15, Z:-0.37 [[ 7.07590414e-01 -7.06621636e-01 -1.29200460e-03 2.14102812e+02] [ 7.06620349e-01 7.07591592e-01 -1.34953291e-03 5.81515240e+01] [ 1.86782074e-03 4.19598069e-05 9.99998255e-01 -3.74439922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.630281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:214.12, Y:58.17, Z:-0.38 [[ 7.08154473e-01 -7.06055151e-01 -1.83483337e-03 2.14117668e+02] [ 7.06052551e-01 7.08156847e-01 -1.91712130e-03 5.81749250e+01] [ 2.65294318e-03 6.21292399e-05 9.99996479e-01 -3.75071815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.660281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:214.14, Y:58.20, Z:-0.37 [[ 7.07924509e-01 -7.06283986e-01 -2.41267050e-03 2.14135300e+02] [ 7.06279489e-01 7.07928616e-01 -2.52172007e-03 5.81969953e+01] [ 3.48904899e-03 8.11677572e-05 9.99993910e-01 -3.74968025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.690281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:214.15, Y:58.22, Z:-0.38 [[ 7.07367501e-01 -7.06841170e-01 -2.60366122e-03 2.14152786e+02] [ 7.06835932e-01 7.07372288e-01 -2.72242166e-03 5.82182011e+01] [ 3.76607750e-03 8.53913071e-05 9.99992905e-01 -3.75363804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.720281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:214.17, Y:58.24, Z:-0.37 [[ 7.04859799e-01 -7.09342072e-01 -2.54725066e-03 2.14168950e+02] [ 7.09337072e-01 7.04864398e-01 -2.66445109e-03 5.82394153e+01] [ 3.68547356e-03 7.12051364e-05 9.99993206e-01 -3.74757203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.750281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:214.19, Y:58.26, Z:-0.37 [[ 7.03249320e-01 -7.10939892e-01 -2.20542119e-03 2.14186478e+02] [ 7.10936148e-01 7.03252776e-01 -2.30788049e-03 5.82604792e+01] [ 3.19173288e-03 5.51017378e-05 9.99994905e-01 -3.74535670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.780281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:214.20, Y:58.28, Z:-0.37 [[ 7.01775439e-01 -7.12396078e-01 -1.74982047e-03 2.14204101e+02] [ 7.12393724e-01 7.01777619e-01 -1.83192735e-03 5.82814963e+01] [ 2.53304270e-03 3.90404976e-05 9.99996791e-01 -3.74920906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.810281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:214.22, Y:58.30, Z:-0.37 [[ 6.99095670e-01 -7.15027936e-01 -5.43557188e-04 2.14220654e+02] [ 7.15027709e-01 6.99095881e-01 -5.69397556e-04 5.83022121e+01] [ 7.87133750e-04 9.40491513e-06 9.99999690e-01 -3.74491768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.840281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:214.24, Y:58.32, Z:-0.37 [[ 6.97630367e-01 -7.16457856e-01 -1.08752446e-04 2.14239113e+02] [ 7.16457847e-01 6.97630375e-01 -1.14248648e-04 5.83218474e+01] [ 1.57723352e-04 1.78678299e-06 9.99999988e-01 -3.74299215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.870281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:214.26, Y:58.34, Z:-0.37 [[ 6.93681238e-01 -7.20282066e-01 -2.92792455e-04 2.14258125e+02] [ 7.20282000e-01 6.93681300e-01 -3.07155611e-04 5.83411939e+01] [ 4.24343329e-04 2.17494895e-06 9.99999910e-01 -3.74948166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.90028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:214.28, Y:58.36, Z:-0.38 [[ 6.91522373e-01 -7.22354506e-01 -8.80518801e-04 2.14278159e+02] [ 7.22353916e-01 6.91522934e-01 -9.23356250e-04 5.83612320e+01] [ 1.27588949e-03 2.47530170e-06 9.99999186e-01 -3.75877052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.93028169299998 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:214.30, Y:58.38, Z:-0.38 [[ 6.89436516e-01 -7.24344683e-01 -1.43896902e-03 2.14298370e+02] [ 7.24343111e-01 6.89438017e-01 -1.50934890e-03 5.83806181e+01] [ 2.08536880e-03 -1.70704896e-06 9.99997826e-01 -3.76133686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.96028169299998 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:214.32, Y:58.40, Z:-0.38 [[ 6.87868721e-01 -7.25833405e-01 -1.57845081e-03 2.14318918e+02] [ 7.25831515e-01 6.87870532e-01 -1.65623892e-03 5.83991381e+01] [ 2.28792333e-03 -6.41439833e-06 9.99997383e-01 -3.76795686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 246.990281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:214.34, Y:58.42, Z:-0.37 [[ 6.87040801e-01 -7.26616804e-01 -1.71977577e-03 2.14340162e+02] [ 7.26614561e-01 6.87042954e-01 -1.80535651e-03 5.84154148e+01] [ 2.49336220e-03 -9.26053191e-06 9.99996892e-01 -3.74877225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.020281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:214.36, Y:58.43, Z:-0.37 [[ 6.87338657e-01 -7.26334518e-01 -1.93374060e-03 2.14359964e+02] [ 7.26331679e-01 6.87341377e-01 -2.03071615e-03 5.84345452e+01] [ 2.80411916e-03 -8.74734846e-06 9.99996068e-01 -3.74803653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.050281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:214.38, Y:58.45, Z:-0.38 [[ 6.89953679e-01 -7.23849463e-01 -2.42399808e-03 2.14380744e+02] [ 7.23844984e-01 6.89957937e-01 -2.54634734e-03 5.84536409e+01] [ 3.51562887e-03 2.26286588e-06 9.99993820e-01 -3.75238380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.080281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:214.40, Y:58.47, Z:-0.38 [[ 6.91709796e-01 -7.22171660e-01 -2.37741742e-03 2.14399440e+02] [ 7.22167338e-01 6.91713881e-01 -2.49847661e-03 5.84726193e+01] [ 3.44882163e-03 1.13275350e-05 9.99994053e-01 -3.75423274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.110281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:214.42, Y:58.49, Z:-0.37 [[ 6.95416719e-01 -7.18605597e-01 -1.25857408e-03 2.14418979e+02] [ 7.18604378e-01 6.95417857e-01 -1.32329412e-03 5.84925554e+01] [ 1.82616145e-03 1.58240162e-05 9.99998332e-01 -3.74314160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.140281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:214.44, Y:58.51, Z:-0.37 [[ 6.96770151e-01 -7.17294177e-01 -6.48447662e-04 2.14438324e+02] [ 7.17293853e-01 6.96770452e-01 -6.82203401e-04 5.85127586e+01] [ 9.41159699e-04 1.02114445e-05 9.99999557e-01 -3.73509433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.170281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:214.46, Y:58.53, Z:-0.37 [[ 6.97256070e-01 -7.16821992e-01 -4.51087855e-04 2.14456853e+02] [ 7.16821835e-01 6.97256216e-01 -4.74870363e-04 5.85327559e+01] [ 6.54921331e-04 7.75661952e-06 9.99999786e-01 -3.73547488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.200281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:214.48, Y:58.55, Z:-0.37 [[ 6.97398236e-01 -7.16683697e-01 -4.22592915e-04 2.14475293e+02] [ 7.16683559e-01 6.97398364e-01 -4.45067946e-04 5.85519645e+01] [ 6.13688549e-04 7.52420589e-06 9.99999812e-01 -3.73814759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.230281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:214.49, Y:58.57, Z:-0.37 [[ 6.96503425e-01 -7.17553421e-01 -2.59406427e-04 2.14494522e+02] [ 7.17553369e-01 6.96503473e-01 -2.73408778e-04 5.85720453e+01] [ 3.76862881e-04 4.29219425e-06 9.99999929e-01 -3.73847377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.260281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:214.51, Y:58.59, Z:-0.37 [[ 6.96104701e-01 -7.17940233e-01 2.60322250e-04 2.14513222e+02] [ 7.17940181e-01 6.96104749e-01 2.73822932e-04 5.85909217e+01] [-3.77800054e-04 -3.71362698e-06 9.99999929e-01 -3.73479101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.290281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:214.53, Y:58.61, Z:-0.37 [[ 6.96612600e-01 -7.17447160e-01 6.76751516e-04 2.14533143e+02] [ 7.17446806e-01 6.96612928e-01 7.12746953e-04 5.86101548e+01] [-9.82792133e-04 -1.09752942e-05 9.99999517e-01 -3.72497683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.320281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:214.55, Y:58.63, Z:-0.37 [[ 6.97109341e-01 -7.16964745e-01 3.47772580e-04 2.14551180e+02] [ 7.16964651e-01 6.97109428e-01 3.66246759e-04 5.86304332e+01] [-5.05021559e-04 -5.97339029e-06 9.99999872e-01 -3.72221954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.350281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:214.57, Y:58.65, Z:-0.37 [[ 6.97709704e-01 -7.16380533e-01 -3.17730955e-04 2.14569241e+02] [ 7.16380454e-01 6.97709776e-01 -3.35345534e-04 5.86520216e+01] [ 4.61919006e-04 6.35758698e-06 9.99999893e-01 -3.72189648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:214.58, Y:58.68, Z:-0.37 [[ 6.99344395e-01 -7.14784245e-01 -9.49156537e-04 2.14584391e+02] [ 7.14783543e-01 6.99345039e-01 -1.00153624e-03 5.86755934e+01] [ 1.37967024e-03 2.19772808e-05 9.99999048e-01 -3.72977237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.410281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:214.60, Y:58.70, Z:-0.37 [[ 7.00082205e-01 -7.14061860e-01 -7.52540718e-04 2.14600921e+02] [ 7.14061418e-01 7.00082609e-01 -7.94268430e-04 5.86972510e+01] [ 1.09399746e-03 1.86929015e-05 9.99999401e-01 -3.73083086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:214.62, Y:58.72, Z:-0.37 [[ 7.00333918e-01 -7.13815360e-01 -1.87127327e-04 2.14618485e+02] [ 7.13815333e-01 7.00333943e-01 -1.97827639e-04 5.87198129e+01] [ 2.72264026e-04 4.97105007e-06 9.99999963e-01 -3.73293283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.470281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:214.63, Y:58.74, Z:-0.37 [[ 6.98896308e-01 -7.15222455e-01 8.89094642e-04 2.14634453e+02] [ 7.15221839e-01 6.98896874e-01 9.38511103e-04 5.87429381e+01] [-1.29262968e-03 -2.00220410e-05 9.99999164e-01 -3.73345176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.500281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:214.65, Y:58.76, Z:-0.37 [[ 6.97182859e-01 -7.16892603e-01 1.02799073e-03 2.14651529e+02] [ 7.16891781e-01 6.97183617e-01 1.08558334e-03 5.87633994e+01] [-1.49494496e-03 -1.98919946e-05 9.99998882e-01 -3.73307889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.530281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:214.67, Y:58.79, Z:-0.37 [[ 6.92650514e-01 -7.21273257e-01 3.92001778e-04 2.14668419e+02] [ 7.21273138e-01 6.92650625e-01 4.13930369e-04 5.87854728e+01] [-5.70077182e-04 -3.96873034e-06 9.99999838e-01 -3.74584912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.560281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:214.69, Y:58.81, Z:-0.38 [[ 6.90262211e-01 -7.23559279e-01 -2.25166816e-04 2.14685771e+02] [ 7.23559239e-01 6.90262247e-01 -2.38371188e-04 5.88055692e+01] [ 3.27899837e-04 1.61709322e-06 9.99999946e-01 -3.75415852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.590281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:214.70, Y:58.83, Z:-0.38 [[ 6.88149683e-01 -7.25568175e-01 -9.14635178e-04 2.14704106e+02] [ 7.25567530e-01 6.88150291e-01 -9.67596355e-04 5.88269769e+01] [ 1.33146359e-03 2.22153805e-06 9.99999114e-01 -3.75986830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.620281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:214.72, Y:58.85, Z:-0.38 [[ 6.85247159e-01 -7.28309754e-01 -1.11092399e-03 2.14722181e+02] [ 7.28308805e-01 6.85248059e-01 -1.17562695e-03 5.88482970e+01] [ 1.61747909e-03 -3.50069500e-06 9.99998692e-01 -3.76024733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.65028169299998 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:214.74, Y:58.87, Z:-0.38 [[ 6.84130924e-01 -7.29358287e-01 -1.16971642e-03 2.14741770e+02] [ 7.29357236e-01 6.84131924e-01 -1.23829615e-03 5.88689138e+01] [ 1.70340190e-03 -5.98444608e-06 9.99998549e-01 -3.75748386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.68028169299998 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:214.76, Y:58.89, Z:-0.38 [[ 6.83280732e-01 -7.30154416e-01 -1.40337634e-03 2.14760894e+02] [ 7.30152904e-01 6.83282173e-01 -1.48591869e-03 5.88882796e+01] [ 2.04385213e-03 -9.37969761e-06 9.99997911e-01 -3.75162877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.71028169299998 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:214.78, Y:58.91, Z:-0.38 [[ 6.82662822e-01 -7.30731607e-01 -1.67054335e-03 2.14779933e+02] [ 7.30729464e-01 6.82664866e-01 -1.76961783e-03 5.89072480e+01] [ 2.43353693e-03 -1.26629484e-05 9.99997039e-01 -3.75474398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:214.80, Y:58.93, Z:-0.38 [[ 6.81485576e-01 -7.31828533e-01 -2.09930067e-03 2.14799463e+02] [ 7.31825152e-01 6.81488809e-01 -2.22471234e-03 5.89250699e+01] [ 3.05875788e-03 -2.02116603e-05 9.99995322e-01 -3.76016555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.770281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:214.82, Y:58.94, Z:-0.38 [[ 6.80694910e-01 -7.32565070e-01 -1.69074975e-03 2.14818965e+02] [ 7.32562877e-01 6.80697009e-01 -1.79244286e-03 5.89445253e+01] [ 2.46396933e-03 -1.84737661e-05 9.99996964e-01 -3.76549325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:214.84, Y:58.96, Z:-0.38 [[ 6.78840153e-01 -7.34285988e-01 -3.65045462e-04 2.14838260e+02] [ 7.34285886e-01 6.78840252e-01 -3.87332934e-04 5.89621905e+01] [ 5.32220700e-04 -5.11058249e-06 9.99999858e-01 -3.76067885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.830281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:214.86, Y:58.98, Z:-0.38 [[ 6.77822079e-01 -7.35225970e-01 4.14834527e-05 2.14856431e+02] [ 7.35225969e-01 6.77822081e-01 4.36471647e-05 5.89804512e+01] [-6.02089292e-05 9.14699718e-07 9.99999998e-01 -3.75375568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.860281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:214.88, Y:59.00, Z:-0.38 [[ 6.77143445e-01 -7.35851025e-01 1.52516761e-04 2.14875887e+02] [ 7.35851007e-01 6.77143463e-01 1.61514566e-04 5.90000652e+01] [-2.22126387e-04 2.86108246e-06 9.99999975e-01 -3.75803325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.890281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:214.90, Y:59.02, Z:-0.38 [[ 6.76836347e-01 -7.36133201e-01 -6.85025122e-04 2.14896587e+02] [ 7.36132842e-01 6.76836694e-01 -7.27532136e-04 5.90196413e+01] [ 9.99210699e-04 -1.18492957e-05 9.99999501e-01 -3.75972732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.920281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:214.92, Y:59.04, Z:-0.38 [[ 6.76585231e-01 -7.36363058e-01 -1.36790600e-03 2.14915761e+02] [ 7.36361625e-01 6.76586614e-01 -1.45301941e-03 5.90398507e+01] [ 1.99545670e-03 -2.41820107e-05 9.99998009e-01 -3.76138595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.950281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:214.93, Y:59.06, Z:-0.38 [[ 6.76405372e-01 -7.36527140e-01 -1.88264038e-03 2.14934462e+02] [ 7.36524424e-01 6.76407991e-01 -2.00042563e-03 5.90604653e+01] [ 2.74680077e-03 -3.35119801e-05 9.99996227e-01 -3.76347933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 247.980281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:214.95, Y:59.08, Z:-0.38 [[ 6.76920182e-01 -7.36053975e-01 -1.90110754e-03 2.14951632e+02] [ 7.36051201e-01 6.76922850e-01 -2.02088015e-03 5.90817923e+01] [ 2.77438000e-03 -3.13379283e-05 9.99996151e-01 -3.76787715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.010281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:214.97, Y:59.10, Z:-0.38 [[ 6.77725778e-01 -7.35313052e-01 -1.57642128e-03 2.14969648e+02] [ 7.35311142e-01 6.77727611e-01 -1.67640863e-03 5.91027665e+01] [ 2.30106937e-03 -2.30147895e-05 9.99997352e-01 -3.76464050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.040281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:214.99, Y:59.12, Z:-0.37 [[ 6.80111511e-01 -7.33108486e-01 -5.29513293e-04 2.14985984e+02] [ 7.33108269e-01 6.80111717e-01 -5.63551319e-04 5.91245964e+01] [ 7.73272449e-04 -4.91283461e-06 9.99999701e-01 -3.74948549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.070281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:215.00, Y:59.15, Z:-0.37 [[ 6.80825292e-01 -7.32445785e-01 -3.06984372e-04 2.15003770e+02] [ 7.32445712e-01 6.80825361e-01 -3.26996485e-04 5.91454898e+01] [ 4.48509943e-04 -2.22190887e-06 9.99999899e-01 -3.74837311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.100281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.02, Y:59.16, Z:-0.37 [[ 6.81319439e-01 -7.31986105e-01 -4.05531246e-04 2.15021927e+02] [ 7.31985978e-01 6.81319559e-01 -4.32059057e-04 5.91644548e+01] [ 5.92557596e-04 -2.47295184e-06 9.99999824e-01 -3.74896075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.130281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:215.04, Y:59.18, Z:-0.38 [[ 6.80621103e-01 -7.32635425e-01 -4.98835777e-04 2.15040890e+02] [ 7.32635232e-01 6.80621285e-01 -5.31559688e-04 5.91838560e+01] [ 7.28957705e-04 -3.67392406e-06 9.99999734e-01 -3.75437371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.160281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:215.06, Y:59.20, Z:-0.38 [[ 6.79592493e-01 -7.33589512e-01 -6.86934300e-04 2.15059756e+02] [ 7.33589147e-01 6.79592840e-01 -7.32187502e-04 5.92034806e+01] [ 1.00396070e-03 -6.33841705e-06 9.99999496e-01 -3.75561298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:215.08, Y:59.22, Z:-0.38 [[ 6.78354755e-01 -7.34734365e-01 -4.89359392e-04 2.15078588e+02] [ 7.34734180e-01 6.78354931e-01 -5.21905642e-04 5.92235998e+01] [ 7.15421367e-04 -5.51189743e-06 9.99999744e-01 -3.76566243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.220281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:215.10, Y:59.24, Z:-0.38 [[ 6.77046231e-01 -7.35940394e-01 3.72015951e-04 2.15098351e+02] [ 7.35940287e-01 6.77046333e-01 3.96318777e-04 5.92421558e+01] [-5.43539033e-04 5.45539174e-06 9.99999852e-01 -3.75543048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.250281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.12, Y:59.26, Z:-0.37 [[ 6.77162785e-01 -7.35832905e-01 7.06176854e-04 2.15117038e+02] [ 7.35832519e-01 6.77163153e-01 7.52928753e-04 5.92598794e+01] [-1.03222670e-03 9.77256174e-06 9.99999467e-01 -3.74044111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.280281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.14, Y:59.28, Z:-0.37 [[ 6.78121209e-01 -7.34950051e-01 2.19872648e-04 2.15137965e+02] [ 7.34950014e-01 6.78121244e-01 2.34297458e-04 5.92776481e+01] [-3.21297243e-04 2.71333060e-06 9.99999948e-01 -3.74510914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.310281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:215.16, Y:59.30, Z:-0.38 [[ 6.78756731e-01 -7.34363193e-01 -2.21905948e-05 2.15156485e+02] [ 7.34363193e-01 6.78756731e-01 -2.40472901e-05 5.92958255e+01] [ 3.27214604e-05 2.63039633e-08 9.99999999e-01 -3.75406859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.340281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.18, Y:59.31, Z:-0.38 [[ 6.79424024e-01 -7.33745791e-01 3.30864145e-04 2.15175464e+02] [ 7.33745706e-01 6.79424105e-01 3.53029981e-04 5.93139153e+01] [-4.83831338e-04 2.91309519e-06 9.99999883e-01 -3.76169575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.370281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:215.19, Y:59.33, Z:-0.38 [[ 6.79278761e-01 -7.33880273e-01 3.30785575e-04 2.15193566e+02] [ 7.33880188e-01 6.79278842e-01 3.53103562e-04 5.93337081e+01] [-4.83831381e-04 2.90123002e-06 9.99999883e-01 -3.76200311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.40028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.22, Y:59.35, Z:-0.38 [[ 6.80578826e-01 -7.32673286e-01 1.52260355e-03 2.15215132e+02] [ 7.32671479e-01 6.80580529e-01 1.62717981e-03 5.93513233e+01] [-2.22844551e-03 8.14406943e-06 9.99997517e-01 -3.75594787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.43028169299998 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.23, Y:59.37, Z:-0.38 [[ 6.81186662e-01 -7.32108556e-01 1.33945981e-03 2.15234009e+02] [ 7.32107156e-01 6.81187979e-01 1.43193941e-03 5.93695851e+01] [-1.96075902e-03 5.21008159e-06 9.99998078e-01 -3.75347193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.46028169299998 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.25, Y:59.39, Z:-0.38 [[ 6.81864787e-01 -7.31477663e-01 9.16844138e-04 2.15252628e+02] [ 7.31477006e-01 6.81865404e-01 9.80381324e-04 5.93888400e+01] [-1.34229134e-03 2.16290181e-06 9.99999099e-01 -3.75353980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.490281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:215.27, Y:59.41, Z:-0.38 [[ 6.82692592e-01 -7.30705654e-01 2.67724510e-04 2.15272202e+02] [ 7.30705598e-01 6.82692645e-01 2.86156083e-04 5.94082489e+01] [-3.91869421e-04 2.71159926e-07 9.99999923e-01 -3.75820865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.520281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:215.29, Y:59.43, Z:-0.38 [[ 6.83869649e-01 -7.29604177e-01 -2.17930467e-04 2.15293347e+02] [ 7.29604140e-01 6.83869684e-01 -2.33629517e-04 5.94259858e+01] [ 3.19493111e-04 7.69165186e-07 9.99999949e-01 -3.76944099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.550281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:215.31, Y:59.45, Z:-0.38 [[ 6.83914906e-01 -7.29561631e-01 -4.76610989e-04 2.15312651e+02] [ 7.29561453e-01 6.83915072e-01 -5.10753549e-04 5.94454532e+01] [ 6.98587632e-04 1.59495979e-06 9.99999756e-01 -3.76170672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.580281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:215.33, Y:59.46, Z:-0.38 [[ 6.84019035e-01 -7.29463556e-01 -9.38188172e-04 2.15332162e+02] [ 7.29462863e-01 6.84019678e-01 -1.00551000e-03 5.94629431e+01] [ 1.37522208e-03 3.41455216e-06 9.99999054e-01 -3.76588753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.610281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:215.35, Y:59.48, Z:-0.38 [[ 6.84047934e-01 -7.29436443e-01 -9.48562772e-04 2.15351993e+02] [ 7.29435734e-01 6.84048592e-01 -1.01704370e-03 5.94806405e+01] [ 1.39073177e-03 3.79106131e-06 9.99999033e-01 -3.77127161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.640281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.37, Y:59.50, Z:-0.38 [[ 6.84119092e-01 -7.29369944e-01 -7.43322934e-04 2.15372180e+02] [ 7.29369508e-01 6.84119496e-01 -7.97353509e-04 5.94987029e+01] [ 1.09008739e-03 3.32767628e-06 9.99999406e-01 -3.76820065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.670281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:215.39, Y:59.52, Z:-0.38 [[ 6.84400889e-01 -7.29105028e-01 -1.13173647e-03 2.15393080e+02] [ 7.29104017e-01 6.84401825e-01 -1.21434450e-03 5.95156551e+01] [ 1.65994719e-03 5.94485485e-06 9.99998622e-01 -3.77573111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.700281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:215.41, Y:59.53, Z:-0.38 [[ 6.84693321e-01 -7.28830739e-01 -9.00389291e-04 2.15411116e+02] [ 7.28830098e-01 6.84693913e-01 -9.66455310e-04 5.95334096e+01] [ 1.32087340e-03 5.49468023e-06 9.99999128e-01 -3.77776174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.730281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:215.43, Y:59.55, Z:-0.38 [[ 6.85085360e-01 -7.28462391e-01 -7.71077081e-04 2.15430810e+02] [ 7.28461920e-01 6.85085794e-01 -8.28099965e-04 5.95527928e+01] [ 1.13149363e-03 5.61887075e-06 9.99999360e-01 -3.76848552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.760281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.45, Y:59.57, Z:-0.38 [[ 6.86549174e-01 -7.27083263e-01 -3.99269914e-04 2.15451279e+02] [ 7.27083137e-01 6.86549290e-01 -4.29100765e-04 5.95721762e+01] [ 5.86110461e-04 4.29635419e-06 9.99999828e-01 -3.75955529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.790281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.47, Y:59.59, Z:-0.38 [[ 6.87523522e-01 -7.26162025e-01 -3.47988666e-04 2.15469366e+02] [ 7.26161928e-01 6.87523610e-01 -3.74196340e-04 5.95927379e+01] [ 5.10977596e-04 4.57266460e-06 9.99999869e-01 -3.75506443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.820281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:215.49, Y:59.61, Z:-0.38 [[ 6.88573380e-01 -7.25166666e-01 -8.07200995e-05 2.15487612e+02] [ 7.25166661e-01 6.88573385e-01 -8.70712109e-05 5.96141825e+01] [ 1.18722852e-04 1.41939297e-06 9.99999993e-01 -3.75839545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.850281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:215.51, Y:59.63, Z:-0.38 [[ 6.90703437e-01 -7.23137893e-01 5.91601533e-04 2.15505130e+02] [ 7.23137613e-01 6.90703690e-01 6.35741955e-04 5.96349655e+01] [-8.68350460e-04 -1.12998331e-05 9.99999623e-01 -3.76503128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.880281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:215.52, Y:59.66, Z:-0.38 [[ 6.91472601e-01 -7.22402232e-01 8.11025270e-04 2.15524004e+02] [ 7.22401706e-01 6.91473076e-01 8.72009130e-04 5.96554644e+01] [-1.19074348e-03 -1.70843818e-05 9.99999291e-01 -3.76383775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.910281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:215.54, Y:59.68, Z:-0.38 [[ 6.92592625e-01 -7.21327805e-01 1.28572894e-03 2.15541225e+02] [ 7.21326480e-01 6.92593818e-01 1.38310950e-03 5.96774682e+01] [-1.88816326e-03 -3.05011133e-05 9.99998217e-01 -3.76177087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.940281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.56, Y:59.70, Z:-0.38 [[ 6.92926389e-01 -7.21007613e-01 1.02037980e-03 2.15558506e+02] [ 7.21006778e-01 6.92927140e-01 1.09801456e-03 5.96983672e+01] [-1.49872571e-03 -2.51425144e-05 9.99998877e-01 -3.75891818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 248.970281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:215.58, Y:59.72, Z:-0.38 [[ 6.93116531e-01 -7.20824892e-01 9.74558604e-04 2.15576816e+02] [ 7.20824129e-01 6.93117216e-01 1.04910324e-03 5.97197382e+01] [-1.43170308e-03 -2.46654450e-05 9.99998975e-01 -3.76222483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.000281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.59, Y:59.74, Z:-0.38 [[ 6.92646186e-01 -7.21277259e-01 6.13239830e-04 2.15593976e+02] [ 7.21276957e-01 6.92646457e-01 6.60264713e-04 5.97401441e+01] [-9.00992319e-04 -1.50140763e-05 9.99999594e-01 -3.76713494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.030281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:215.61, Y:59.76, Z:-0.38 [[ 6.91925704e-01 -7.21968576e-01 4.42547356e-04 2.15611903e+02] [ 7.21968419e-01 6.91925845e-01 4.76601077e-04 5.97603689e+01] [-6.50300954e-04 -1.02673211e-05 9.99999789e-01 -3.76892684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.060281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:215.63, Y:59.78, Z:-0.38 [[ 6.90871357e-01 -7.22977644e-01 3.06328746e-04 2.15629177e+02] [ 7.22977569e-01 6.90871425e-01 3.29919019e-04 5.97793823e+01] [-4.50157852e-04 -6.46278791e-06 9.99999899e-01 -3.77531671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.090281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.65, Y:59.80, Z:-0.38 [[ 6.88166287e-01 -7.25552799e-01 5.45198591e-04 2.15648964e+02] [ 7.25552561e-01 6.88166503e-01 5.87736973e-04 5.97989683e+01] [-8.01621613e-04 -8.89053623e-06 9.99999679e-01 -3.77648036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.120281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:215.67, Y:59.82, Z:-0.38 [[ 6.86901154e-01 -7.26750416e-01 7.98775510e-04 2.15667535e+02] [ 7.26749905e-01 6.86901618e-01 8.61571504e-04 5.98179827e+01] [-1.17482764e-03 -1.13044338e-05 9.99999310e-01 -3.77648782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.15028169299998 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:215.69, Y:59.84, Z:-0.38 [[ 6.85564295e-01 -7.28011966e-01 4.18534138e-04 2.15686480e+02] [ 7.28011826e-01 6.85564423e-01 4.51470083e-04 5.98372654e+01] [-6.15607737e-04 -4.81396683e-06 9.99999811e-01 -3.78172178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.18028169299998 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:215.71, Y:59.86, Z:-0.38 [[ 6.85412852e-01 -7.28154645e-01 -1.85785087e-04 2.15705179e+02] [ 7.28154618e-01 6.85412877e-01 -2.01022203e-04 5.98561608e+01] [ 2.73714742e-04 2.50293230e-06 9.99999963e-01 -3.78590753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.21028169299998 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:215.72, Y:59.88, Z:-0.38 [[ 6.85488126e-01 -7.28083660e-01 -4.62017091e-04 2.15723798e+02] [ 7.28083488e-01 6.85488282e-01 -4.99524813e-04 5.98753151e+01] [ 6.80403156e-04 6.03131338e-06 9.99999769e-01 -3.79264015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.240281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:215.74, Y:59.90, Z:-0.38 [[ 6.86014684e-01 -7.27586968e-01 -1.02797147e-03 2.15742756e+02] [ 7.27586120e-01 6.86015454e-01 -1.11145658e-03 5.98953219e+01] [ 1.51388564e-03 1.45377569e-05 9.99998854e-01 -3.79168532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.270281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:215.76, Y:59.91, Z:-0.38 [[ 6.88182373e-01 -7.25537156e-01 -9.25729237e-04 2.15760529e+02] [ 7.25536465e-01 6.88182995e-01 -1.00138203e-03 5.99148016e+01] [ 1.36361099e-03 1.74831443e-05 9.99999070e-01 -3.78810762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.300281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:215.78, Y:59.93, Z:-0.38 [[ 6.89382474e-01 -7.24397398e-01 -4.63014268e-04 2.15778002e+02] [ 7.24397224e-01 6.89382630e-01 -5.01235557e-04 5.99338552e+01] [ 6.82287727e-04 1.01367577e-05 9.99999767e-01 -3.78552063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.330281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:215.80, Y:59.95, Z:-0.38 [[ 6.91168835e-01 -7.22693317e-01 1.09378008e-04 2.15796476e+02] [ 7.22693307e-01 6.91168843e-01 1.18019727e-04 5.99533377e+01] [-1.60890739e-04 -2.52480244e-06 9.99999987e-01 -3.79021131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.360281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:215.81, Y:59.97, Z:-0.38 [[ 6.91684910e-01 -7.22199407e-01 4.61748082e-05 2.15814409e+02] [ 7.22199405e-01 6.91684912e-01 4.96241033e-05 5.99726325e+01] [-6.77769161e-05 -9.76824471e-07 9.99999998e-01 -3.78984329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.390281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:215.83, Y:59.99, Z:-0.38 [[ 6.92277643e-01 -7.21631243e-01 1.22139150e-04 2.15833189e+02] [ 7.21631231e-01 6.92277653e-01 1.31972338e-04 5.99930914e+01] [-1.79789566e-04 -3.22207377e-06 9.99999984e-01 -3.79553237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.420281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:215.85, Y:60.01, Z:-0.38 [[ 6.92834809e-01 -7.21096337e-01 -2.00474541e-05 2.15851036e+02] [ 7.21096337e-01 6.92834809e-01 -2.20608710e-05 6.00128617e+01] [ 2.97975873e-05 8.28393633e-07 1.00000000e+00 -3.79563069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.450281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:215.87, Y:60.03, Z:-0.38 [[ 6.94195357e-01 -7.19786631e-01 1.08141471e-04 2.15868134e+02] [ 7.19786622e-01 6.94195365e-01 1.16888371e-04 6.00334851e+01] [-1.59205995e-04 -3.30457984e-06 9.99999987e-01 -3.79280594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.480281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:215.89, Y:60.05, Z:-0.38 [[ 6.94706380e-01 -7.19293352e-01 3.45625264e-04 2.15885178e+02] [ 7.19293255e-01 6.94706465e-01 3.74513998e-04 6.00533335e+01] [-5.09493535e-04 -1.15713425e-05 9.99999870e-01 -3.79468884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.510281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:215.90, Y:60.07, Z:-0.38 [[ 6.95636333e-01 -7.18393841e-01 6.17374894e-04 2.15903419e+02] [ 7.18393530e-01 6.95636606e-01 6.69377431e-04 6.00739990e+01] [-9.10345200e-04 -2.21251317e-05 9.99999585e-01 -3.79518752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.540281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:215.92, Y:60.09, Z:-0.38 [[ 6.95924190e-01 -7.18114394e-01 1.11283307e-03 2.15921547e+02] [ 7.18113380e-01 6.95925079e-01 1.20729245e-03 6.00944420e+01] [-1.64142253e-03 -4.10436992e-05 9.99998652e-01 -3.79322619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.570281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:215.94, Y:60.12, Z:-0.38 [[ 6.96935610e-01 -7.17130306e-01 2.20906417e-03 2.15937813e+02] [ 7.17126302e-01 6.96939106e-01 2.39782830e-03 6.01175786e+01] [-3.25913855e-03 -8.69539081e-05 9.99994685e-01 -3.78787845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.600281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:215.95, Y:60.14, Z:-0.38 [[ 6.97226524e-01 -7.16847154e-01 2.30923709e-03 2.15954881e+02] [ 7.16842774e-01 6.97230342e-01 2.50751798e-03 6.01392679e+01] [-3.40757729e-03 -9.29481203e-05 9.99994190e-01 -3.79338633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.630281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:215.97, Y:60.16, Z:-0.38 [[ 6.97526202e-01 -7.16557134e-01 1.75245562e-03 2.15972036e+02] [ 7.16554609e-01 6.97528400e-01 1.90346027e-03 6.01600859e+01] [-2.58632560e-03 -7.19832623e-05 9.99996653e-01 -3.79728686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.660281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:215.99, Y:60.18, Z:-0.38 [[ 6.96921415e-01 -7.17147484e-01 -1.65909345e-04 2.15989054e+02] [ 7.17147461e-01 6.96921435e-01 -1.80628734e-04 6.01814299e+01] [ 2.45163221e-04 6.90256771e-06 9.99999970e-01 -3.80772398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.690281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.01, Y:60.20, Z:-0.38 [[ 6.96467569e-01 -7.17587989e-01 -6.34996515e-04 2.16006920e+02] [ 7.17587657e-01 6.96467858e-01 -6.90631214e-04 6.02030449e+01] [ 9.37843326e-04 2.53365817e-05 9.99999560e-01 -3.81243135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.720281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:216.02, Y:60.22, Z:-0.38 [[ 6.95823971e-01 -7.18212263e-01 -3.82225581e-04 2.16024363e+02] [ 7.18212143e-01 6.95824076e-01 -4.15992104e-04 6.02248662e+01] [ 5.64732392e-04 1.49382245e-05 9.99999840e-01 -3.81597424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.750281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:216.04, Y:60.25, Z:-0.38 [[ 6.95273078e-01 -7.18745621e-01 2.82094149e-04 2.16041342e+02] [ 7.18745556e-01 6.95273135e-01 3.06640189e-04 6.02454912e+01] [-4.16528776e-04 -1.04447521e-05 9.99999913e-01 -3.81250332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.780281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:216.06, Y:60.27, Z:-0.38 [[ 6.94765392e-01 -7.19235310e-01 1.27252775e-03 2.16056719e+02] [ 7.19233979e-01 6.94766556e-01 1.38451436e-03 6.02665621e+01] [-1.87990134e-03 -4.66674605e-05 9.99998232e-01 -3.80770290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.810281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:216.07, Y:60.29, Z:-0.38 [[ 6.95033458e-01 -7.18976673e-01 1.01790496e-03 2.16073730e+02] [ 7.18975820e-01 6.95034203e-01 1.10788272e-03 6.02876852e+01] [-1.50402060e-03 -3.81665072e-05 9.99998868e-01 -3.80424035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.840281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:216.09, Y:60.31, Z:-0.38 [[ 6.97902538e-01 -7.16192645e-01 3.77479093e-04 2.16087531e+02] [ 7.16192528e-01 6.97902640e-01 4.10836812e-04 6.03099687e+01] [-5.57681958e-04 -1.63763477e-05 9.99999844e-01 -3.79362642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.870281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:216.10, Y:60.33, Z:-0.38 [[ 7.00358532e-01 -7.13791209e-01 1.90308759e-04 2.16103444e+02] [ 7.13791179e-01 7.00358558e-01 2.07006057e-04 6.03328988e+01] [-2.81043472e-04 -9.13774448e-06 9.99999960e-01 -3.78981412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.90028169299998 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:216.11, Y:60.36, Z:-0.38 [[ 7.05004385e-01 -7.09202937e-01 -1.02961109e-04 2.16114794e+02] [ 7.09202928e-01 7.05004393e-01 -1.12560288e-04 6.03596365e+01] [ 1.52416121e-04 6.33517626e-06 9.99999988e-01 -3.79661995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.93028169299998 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:216.13, Y:60.38, Z:-0.38 [[ 7.06325563e-01 -7.07886948e-01 5.16964021e-04 2.16129573e+02] [ 7.07886725e-01 7.06325752e-01 5.63346711e-04 6.03820462e+01] [-7.63930785e-04 -3.19542151e-05 9.99999708e-01 -3.80040993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.96028169299998 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:216.15, Y:60.40, Z:-0.38 [[ 7.06536329e-01 -7.07675191e-01 1.49658119e-03 2.16145024e+02] [ 7.07673315e-01 7.06537908e-01 1.63219350e-03 6.04042322e+01] [-2.21245419e-03 -9.41134332e-05 9.99997548e-01 -3.79508802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 249.990281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:216.16, Y:60.43, Z:-0.38 [[ 7.05557766e-01 -7.08647571e-01 2.61910756e-03 2.16160739e+02] [ 7.08641826e-01 7.05562609e-01 2.85786097e-03 6.04257378e+01] [-3.87316060e-03 -1.60376841e-04 9.99992486e-01 -3.79206514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.020281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:216.18, Y:60.45, Z:-0.38 [[ 7.00672175e-01 -7.13473143e-01 3.81809843e-03 2.16176038e+02] [ 7.13460996e-01 7.00682550e-01 4.16796523e-03 6.04485723e+01] [-5.64900620e-03 -1.96312952e-04 9.99984025e-01 -3.78611068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.050281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:216.19, Y:60.47, Z:-0.38 [[ 6.97003357e-01 -7.17059708e-01 3.41984503e-03 2.16194325e+02] [ 7.17049999e-01 6.97011731e-01 3.73456316e-03 6.04704353e+01] [-5.06157687e-03 -1.50803185e-04 9.99987179e-01 -3.79510246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.080281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:216.21, Y:60.49, Z:-0.38 [[ 6.88518424e-01 -7.25217693e-01 1.29561666e-03 2.16213788e+02] [ 7.25216313e-01 6.88519642e-01 1.41516740e-03 6.04906172e+01] [-1.91836195e-03 -3.47664898e-05 9.99998159e-01 -3.81674890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.110281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:216.23, Y:60.51, Z:-0.38 [[ 6.84290300e-01 -7.29209569e-01 4.34485874e-04 2.16233480e+02] [ 7.29209415e-01 6.84290438e-01 4.74528439e-04 6.05095236e+01] [-6.43345207e-04 -7.88401785e-06 9.99999793e-01 -3.82132191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.140281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:216.25, Y:60.53, Z:-0.38 [[ 6.80480587e-01 -7.32766108e-01 -3.27460799e-05 2.16252178e+02] [ 7.32766108e-01 6.80480588e-01 -3.60564289e-05 6.05278621e+01] [ 4.87040008e-05 5.40482385e-07 9.99999999e-01 -3.80889292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.170281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:216.27, Y:60.55, Z:-0.38 [[ 6.75472250e-01 -7.37385327e-01 3.44491483e-04 2.16272809e+02] [ 7.37385231e-01 6.75472338e-01 3.76436065e-04 6.05461038e+01] [-5.10272898e-04 -2.49183679e-07 9.99999870e-01 -3.79772854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.200281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:216.29, Y:60.56, Z:-0.38 [[ 6.74318690e-01 -7.38439947e-01 8.65759517e-04 2.16292694e+02] [ 7.38439340e-01 6.74319245e-01 9.46937099e-04 6.05640425e+01] [-1.28305449e-03 7.73502794e-07 9.99999177e-01 -3.80065617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.230281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:216.31, Y:60.58, Z:-0.38 [[ 6.74040308e-01 -7.38693292e-01 1.37271176e-03 2.16313121e+02] [ 7.38691764e-01 6.74041706e-01 1.50224376e-03 6.05818570e+01] [-2.03496237e-03 1.43802330e-06 9.99997929e-01 -3.80382237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.260281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:216.33, Y:60.60, Z:-0.38 [[ 6.73893993e-01 -7.38826775e-01 1.37240382e-03 2.16331598e+02] [ 7.38825247e-01 6.73895390e-01 1.50252506e-03 6.06024331e+01] [-2.03496235e-03 1.42397623e-06 9.99997929e-01 -3.80413932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.290281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:216.35, Y:60.62, Z:-0.38 [[ 6.74328594e-01 -7.38428681e-01 2.00743246e-03 2.16352939e+02] [ 7.38425407e-01 6.74331582e-01 2.19885292e-03 6.06189205e+01] [-2.97737117e-03 -4.10269472e-07 9.99995568e-01 -3.81079018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.320281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:216.37, Y:60.64, Z:-0.38 [[ 6.74628927e-01 -7.38154535e-01 1.92182648e-03 2.16370831e+02] [ 7.38151531e-01 6.74631665e-01 2.10583364e-03 6.06373468e+01] [-2.85095564e-03 -2.05712961e-06 9.99995936e-01 -3.81375505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.350281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:216.39, Y:60.66, Z:-0.38 [[ 6.75053578e-01 -7.37767082e-01 1.54910846e-03 2.16390832e+02] [ 7.37765128e-01 6.75055355e-01 1.69799831e-03 6.06551324e+01] [-2.29846122e-03 -3.36163374e-06 9.99997359e-01 -3.81332457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.380281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:216.41, Y:60.67, Z:-0.38 [[ 6.74874175e-01 -7.37931830e-01 1.20896817e-03 2.16410206e+02] [ 7.37930640e-01 6.74875258e-01 1.32563184e-03 6.06738094e+01] [-1.79412864e-03 -2.50004035e-06 9.99998391e-01 -3.81320296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.410281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:216.43, Y:60.69, Z:-0.38 [[ 6.74979915e-01 -7.37835393e-01 1.02339403e-03 2.16429916e+02] [ 7.37834539e-01 6.74980691e-01 1.12254111e-03 6.06926735e+01] [-1.51902177e-03 -2.59724265e-06 9.99998846e-01 -3.81403874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.440281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:216.45, Y:60.71, Z:-0.38 [[ 6.75138926e-01 -7.37688890e-01 1.59122832e-03 2.16449597e+02] [ 7.37686823e-01 6.75140801e-01 1.74618024e-03 6.07106386e+01] [-2.36244093e-03 -5.08608694e-06 9.99997209e-01 -3.81189654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.470281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:216.47, Y:60.73, Z:-0.38 [[ 6.75190153e-01 -7.37640912e-01 2.03537842e-03 2.16468640e+02] [ 7.37637527e-01 6.75193221e-01 2.23445229e-03 6.07301035e+01] [-3.02249713e-03 -7.30867923e-06 9.99995432e-01 -3.81230806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.500281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:216.49, Y:60.75, Z:-0.38 [[ 6.74499872e-01 -7.38272307e-01 1.98106962e-03 2.16487565e+02] [ 7.38269100e-01 6.74502781e-01 2.17575247e-03 6.07476478e+01] [-2.94253476e-03 -4.98227348e-06 9.99995671e-01 -3.81711376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.530281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:216.51, Y:60.77, Z:-0.38 [[ 6.73858993e-01 -7.38857156e-01 2.03962179e-03 2.16505686e+02] [ 7.38853758e-01 6.73862080e-01 2.24105020e-03 6.07660795e+01] [-3.03023976e-03 -3.16961274e-06 9.99995409e-01 -3.81782624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.560281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:216.52, Y:60.79, Z:-0.38 [[ 6.73176102e-01 -7.39479611e-01 1.95965146e-03 2.16524270e+02] [ 7.39476474e-01 6.73178954e-01 2.15405648e-03 6.07852296e+01] [-2.91207697e-03 -9.43194358e-07 9.99995760e-01 -3.81633821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.590281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:216.55, Y:60.80, Z:-0.38 [[ 6.71994381e-01 -7.40555550e-01 1.01400734e-03 2.16545462e+02] [ 7.40554711e-01 6.71995146e-01 1.11488426e-03 6.08032734e+01] [-1.50704174e-03 1.73195949e-06 9.99998864e-01 -3.82053865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.620281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:216.56, Y:60.82, Z:-0.38 [[ 6.71656021e-01 -7.40862770e-01 7.38600114e-04 2.16564309e+02] [ 7.40862324e-01 6.71656427e-01 8.12311494e-04 6.08216718e+01] [-1.09789686e-03 1.60709111e-06 9.99999397e-01 -3.82339674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.65028169299998 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:216.58, Y:60.84, Z:-0.38 [[ 6.71710301e-01 -7.40813541e-01 7.54016858e-04 2.16582542e+02] [ 7.40813077e-01 6.71710724e-01 8.29623942e-04 6.08399463e+01] [-1.12107786e-03 1.31860024e-06 9.99999372e-01 -3.82221591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.68028169299998 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:216.60, Y:60.86, Z:-0.38 [[ 6.72305540e-01 -7.40269160e-01 2.61365855e-03 2.16601667e+02] [ 7.40263567e-01 6.72310620e-01 2.87776743e-03 6.08587775e+01] [-3.88751288e-03 5.72110382e-08 9.99992444e-01 -3.81357344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.71028169299998 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:216.62, Y:60.88, Z:-0.38 [[ 6.72469450e-01 -7.40115230e-01 3.77953662e-03 2.16619230e+02] [ 7.40103520e-01 6.72480072e-01 4.16338092e-03 6.08778507e+01] [-5.62304468e-03 -2.49812424e-06 9.99984191e-01 -3.81248731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.740281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:216.64, Y:60.90, Z:-0.38 [[ 6.71809184e-01 -7.40708850e-01 4.77696312e-03 2.16636581e+02] [ 7.40690141e-01 6.71826168e-01 5.26457714e-03 6.08962434e+01] [-7.10880771e-03 1.45820425e-06 9.99974732e-01 -3.81204786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.770281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:216.65, Y:60.92, Z:-0.38 [[ 6.70554693e-01 -7.41845079e-01 4.72043293e-03 2.16654687e+02] [ 7.41826822e-01 6.70571308e-01 5.20454243e-03 6.09154368e+01] [-7.02635107e-03 1.18134073e-05 9.99975315e-01 -3.81308591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.800281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:216.67, Y:60.93, Z:-0.38 [[ 6.69063846e-01 -7.43191004e-01 4.54995512e-03 2.16672472e+02] [ 7.43174058e-01 6.69079316e-01 5.01881682e-03 6.09333078e+01] [-6.77422037e-03 2.34997189e-05 9.99977054e-01 -3.81417713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.830281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:216.69, Y:60.95, Z:-0.38 [[ 6.66188833e-01 -7.45776430e-01 3.15513350e-03 2.16691937e+02] [ 7.45768303e-01 6.66196304e-01 3.48170882e-03 6.09499228e+01] [-4.69851465e-03 3.35230176e-05 9.99988961e-01 -3.82409029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.860281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:216.71, Y:60.97, Z:-0.38 [[ 6.64872842e-01 -7.46951220e-01 2.82453371e-03 2.16710085e+02] [ 7.46944713e-01 6.64878841e-01 3.11819503e-03 6.09684594e+01] [-4.20711228e-03 3.65673272e-05 9.99991149e-01 -3.82279652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.890281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:216.73, Y:60.99, Z:-0.38 [[ 6.64273226e-01 -7.47483331e-01 3.12275957e-03 2.16727400e+02] [ 7.47475375e-01 6.64280565e-01 3.44898027e-03 6.09869232e+01] [-4.65244375e-03 4.31206336e-05 9.99989176e-01 -3.81517123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.920281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:216.74, Y:61.01, Z:-0.38 [[ 6.65036052e-01 -7.46800033e-01 4.09399208e-03 2.16744252e+02] [ 7.46786333e-01 6.65048651e-01 4.52378455e-03 6.10056965e+01] [-6.10106637e-03 4.88575158e-05 9.99981387e-01 -3.80476323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.950281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:216.76, Y:61.03, Z:-0.38 [[ 6.65877478e-01 -7.46050269e-01 4.02250136e-03 2.16761874e+02] [ 7.46037018e-01 6.65889627e-01 4.44666139e-03 6.10252688e+01] [-5.99597485e-03 4.00032455e-05 9.99982023e-01 -3.80774144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 250.980281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:216.78, Y:61.04, Z:-0.38 [[ 6.67054851e-01 -7.44999771e-01 3.62855477e-03 2.16779891e+02] [ 7.44988964e-01 6.67064720e-01 4.01282195e-03 6.10444298e+01] [-5.41003230e-03 2.64609121e-05 9.99985365e-01 -3.81246827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.010281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:216.80, Y:61.06, Z:-0.38 [[ 6.69361142e-01 -7.42931161e-01 2.99190876e-03 2.16798895e+02] [ 7.42923787e-01 6.69367829e-01 3.31008065e-03 6.10630635e+01] [-4.46184954e-03 7.12081944e-06 9.99990046e-01 -3.82187043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.040281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:216.82, Y:61.08, Z:-0.38 [[ 6.69925339e-01 -7.42422890e-01 2.87971779e-03 2.16816423e+02] [ 7.42416048e-01 6.69931528e-01 3.18728055e-03 6.10825045e+01] [-4.29552378e-03 2.70869807e-06 9.99990774e-01 -3.82230508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.070281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:216.84, Y:61.10, Z:-0.38 [[ 6.71520868e-01 -7.40980527e-01 2.75363037e-03 2.16835723e+02] [ 7.40974254e-01 6.71526513e-01 3.04898894e-03 6.11007584e+01] [-4.10837723e-03 -7.09049572e-06 9.99991561e-01 -3.82338467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.100281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:216.85, Y:61.12, Z:-0.38 [[ 6.72166792e-01 -7.40393764e-01 2.97971262e-03 2.16854105e+02] [ 7.40386406e-01 6.72173396e-01 3.30074755e-03 6.11202543e+01] [-4.44673645e-03 -1.25141712e-05 9.99990113e-01 -3.82079137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.130281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:216.87, Y:61.14, Z:-0.38 [[ 6.73087109e-01 -7.39556518e-01 3.14647369e-03 2.16871211e+02] [ 7.39548297e-01 6.73094463e-01 3.48703326e-03 6.11394220e+01] [-4.69673219e-03 -2.01078736e-05 9.99988970e-01 -3.81989105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.160281693 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:216.89, Y:61.16, Z:-0.38 [[ 6.74385039e-01 -7.38373028e-01 3.17662103e-03 2.16887804e+02] [ 7.38364629e-01 6.74392520e-01 3.52194494e-03 6.11595054e+01] [-4.74279861e-03 -2.96423667e-05 9.99988752e-01 -3.81773898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.190281693 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:216.90, Y:61.18, Z:-0.38 [[ 6.77563068e-01 -7.35459863e-01 2.66054416e-03 2.16903531e+02] [ 7.35453944e-01 6.77568290e-01 2.95093475e-03 6.11815337e+01] [-3.97299443e-03 -4.27367080e-05 9.99992107e-01 -3.82121585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.220281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:216.92, Y:61.20, Z:-0.38 [[ 6.78915453e-01 -7.34210987e-01 2.83454353e-03 2.16920211e+02] [ 7.34204251e-01 6.78921368e-01 3.14529928e-03 6.12021924e+01] [-4.23374546e-03 -5.42583756e-05 9.99991036e-01 -3.82413583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.250281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:216.94, Y:61.22, Z:-0.38 [[ 6.79662486e-01 -7.33513561e-01 4.09395766e-03 2.16937152e+02] [ 7.33499486e-01 6.79674811e-01 4.54487987e-03 6.12232396e+01] [-6.11629092e-03 -8.60685092e-05 9.99981292e-01 -3.81782878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.280281693 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:216.95, Y:61.24, Z:-0.38 [[ 6.78900542e-01 -7.34216327e-01 4.52107659e-03 2.16953993e+02] [ 7.34199162e-01 6.78915589e-01 5.02128009e-03 6.12427590e+01] [-6.75613520e-03 -8.95791338e-05 9.99977173e-01 -3.81913947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.310281693 meters Centerline goodness : 0.999643 Centerline is valid? [True, True] Translation: X:216.97, Y:61.26, Z:-0.38 [[ 6.77666124e-01 -7.35356969e-01 4.33057332e-03 2.16971651e+02] [ 7.35341230e-01 6.77679956e-01 4.81176309e-03 6.12625041e+01] [-6.47310625e-03 -7.63197326e-05 9.99979046e-01 -3.82126218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.340281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:216.99, Y:61.28, Z:-0.38 [[ 6.75581992e-01 -7.37277974e-01 3.18767014e-03 2.16989162e+02] [ 7.37269461e-01 6.75589511e-01 3.54323649e-03 6.12837615e+01] [-4.76590673e-03 -4.35749215e-05 9.99988642e-01 -3.82509736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.370281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:217.01, Y:61.30, Z:-0.38 [[ 6.74979500e-01 -7.37830864e-01 2.87923487e-03 2.17005777e+02] [ 7.37823919e-01 6.74985640e-01 3.20167488e-03 6.13049381e+01] [-4.30573673e-03 -3.66965571e-05 9.99990730e-01 -3.83033145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.40028169299998 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:217.02, Y:61.33, Z:-0.38 [[ 6.74999172e-01 -7.37812123e-01 3.06411065e-03 2.17021656e+02] [ 7.37804250e-01 6.75006126e-01 3.40872533e-03 6.13252808e+01] [-4.58329233e-03 -4.01729191e-05 9.99989496e-01 -3.82956847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.43028169299998 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:217.04, Y:61.35, Z:-0.38 [[ 6.75909891e-01 -7.36970865e-01 4.44558128e-03 2.17037755e+02] [ 7.36954260e-01 6.75924507e-01 4.94776858e-03 6.13479170e+01] [-6.65123862e-03 -6.80556574e-05 9.99977878e-01 -3.82733706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.46028169299998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:217.06, Y:61.37, Z:-0.38 [[ 6.76101374e-01 -7.36795441e-01 4.40566790e-03 2.17055281e+02] [ 7.36779115e-01 6.76115724e-01 4.90541189e-03 6.13688484e+01] [-6.59302646e-03 -7.05516247e-05 9.99978263e-01 -3.83003643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.490281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:217.07, Y:61.39, Z:-0.38 [[ 6.76218001e-01 -7.36695610e-01 2.96534195e-03 2.17072720e+02] [ 7.36688207e-01 6.76224501e-01 3.30298400e-03 6.13895535e+01] [-4.43853069e-03 -4.90047916e-05 9.99990148e-01 -3.83426146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.520281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:217.09, Y:61.41, Z:-0.38 [[ 6.76117593e-01 -7.36790067e-01 2.32311136e-03 2.17089680e+02] [ 7.36785521e-01 6.76121583e-01 2.58867960e-03 6.14092964e+01] [-3.47801914e-03 -3.86170093e-05 9.99993951e-01 -3.83295330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.550281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:217.11, Y:61.43, Z:-0.38 [[ 6.75976686e-01 -7.36919213e-01 2.36511473e-03 2.17107724e+02] [ 7.36914497e-01 6.75980822e-01 2.63661788e-03 6.14298048e+01] [-3.54174657e-03 -3.94048862e-05 9.99993727e-01 -3.83478495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.580281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:217.13, Y:61.45, Z:-0.38 [[ 6.75659591e-01 -7.37206183e-01 3.34081176e-03 2.17125438e+02] [ 7.37196770e-01 6.75667848e-01 3.72575881e-03 6.14496868e+01] [-5.00393152e-03 -5.45090332e-05 9.99987479e-01 -3.83676817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.610281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:217.14, Y:61.47, Z:-0.38 [[ 6.75373376e-01 -7.37465557e-01 3.91853008e-03 2.17142578e+02] [ 7.37452601e-01 6.75384741e-01 4.37189454e-03 6.14694211e+01] [-5.87063706e-03 -6.29309729e-05 9.99982766e-01 -3.82968163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.640281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:217.16, Y:61.49, Z:-0.38 [[ 6.75403094e-01 -7.37435057e-01 4.49424333e-03 2.17159905e+02] [ 7.37418001e-01 6.75418042e-01 5.01596188e-03 6.14895162e+01] [-6.73443917e-03 -7.36602400e-05 9.99977321e-01 -3.82773501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.670281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:217.18, Y:61.51, Z:-0.38 [[ 6.76077450e-01 -7.36820285e-01 3.89226125e-03 2.17176931e+02] [ 7.36807473e-01 6.76088650e-01 4.34576828e-03 6.15101321e+01] [-5.83356388e-03 -7.02287632e-05 9.99982982e-01 -3.82619834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.700281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:217.19, Y:61.53, Z:-0.38 [[ 6.76519220e-01 -7.36415989e-01 3.63811090e-03 2.17193841e+02] [ 7.36404780e-01 6.76528999e-01 4.06364701e-03 6.15311199e+01] [-5.45382216e-03 -7.00130554e-05 9.99985125e-01 -3.83301429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.730281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:217.21, Y:61.55, Z:-0.38 [[ 6.77132257e-01 -7.35851321e-01 3.83921190e-03 2.17210180e+02] [ 7.35838820e-01 6.77143136e-01 4.29011810e-03 6.15509999e+01] [-5.75658506e-03 -7.99361972e-05 9.99983428e-01 -3.83999548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.760281693 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:217.23, Y:61.57, Z:-0.38 [[ 6.77132948e-01 -7.35845289e-01 4.76257246e-03 2.17226578e+02] [ 7.35826034e-01 6.77149688e-01 5.32419609e-03 6.15722082e+01] [-7.14275907e-03 -1.00763790e-04 9.99974485e-01 -3.84657901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.790281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:217.24, Y:61.59, Z:-0.38 [[ 6.76358397e-01 -7.36555034e-01 5.09905848e-03 2.17244389e+02] [ 7.36532964e-01 6.76377610e-01 5.70270081e-03 6.15924579e+01] [-7.64924197e-03 -1.01444921e-04 9.99970739e-01 -3.84839994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.820281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:217.26, Y:61.61, Z:-0.38 [[ 6.74844961e-01 -7.37939641e-01 5.41887438e-03 2.17261619e+02] [ 7.37914740e-01 6.74866711e-01 6.06296948e-03 6.16118706e+01] [-8.13112345e-03 -9.28971297e-05 9.99966938e-01 -3.84483810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.850281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:217.28, Y:61.63, Z:-0.38 [[ 6.71466958e-01 -7.41012258e-01 5.74094672e-03 2.17281187e+02] [ 7.40984397e-01 6.71491497e-01 6.42595063e-03 6.16311792e+01] [-8.61670509e-03 -6.08615790e-05 9.99962874e-01 -3.84809711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.880281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:217.30, Y:61.65, Z:-0.39 [[ 6.69754296e-01 -7.42564526e-01 5.20650278e-03 2.17300370e+02] [ 7.42541639e-01 6.69774532e-01 5.83016315e-03 6.16505410e+01] [-7.81645530e-03 -3.87317052e-05 9.99969450e-01 -3.85745670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.910281693 meters Centerline goodness : 0.999496 Centerline is valid? [True, True] Translation: X:217.32, Y:61.67, Z:-0.39 [[ 6.68720120e-01 -7.43501784e-01 4.30095107e-03 2.17319317e+02] [ 7.43486175e-01 6.68733951e-01 4.81774699e-03 6.16692776e+01] [-6.45819548e-03 -2.40266808e-05 9.99979145e-01 -3.86371281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.940281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:217.34, Y:61.69, Z:-0.39 [[ 6.67986029e-01 -7.44163787e-01 3.86305382e-03 2.17337723e+02] [ 7.44151196e-01 6.67997199e-01 4.32895090e-03 6.16880586e+01] [-5.80195763e-03 -1.69826075e-05 9.99983168e-01 -3.87137716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 251.970281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:217.36, Y:61.70, Z:-0.39 [[ 6.68462006e-01 -7.43736251e-01 3.86467400e-03 2.17358130e+02] [ 7.43723634e-01 6.68473177e-01 4.33219398e-03 6.17045187e+01] [-5.80544062e-03 -2.16576888e-05 9.99983148e-01 -3.86950063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.000281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:217.38, Y:61.72, Z:-0.39 [[ 6.69740635e-01 -7.42585560e-01 3.76411163e-03 2.17377898e+02] [ 7.42573563e-01 6.69751211e-01 4.22112310e-03 6.17232949e+01] [-5.65556338e-03 -3.19278779e-05 9.99984007e-01 -3.86167134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.030281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:217.40, Y:61.74, Z:-0.39 [[ 6.72970909e-01 -7.39659015e-01 3.83364857e-03 2.17398072e+02] [ 7.39646513e-01 6.72981826e-01 4.30097148e-03 6.17397614e+01] [-5.76122814e-03 -5.88838916e-05 9.99983402e-01 -3.86685127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.060281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:217.42, Y:61.76, Z:-0.39 [[ 6.74693325e-01 -7.38086742e-01 4.10840253e-03 2.17416544e+02] [ 7.38072342e-01 6.74705828e-01 4.61123149e-03 6.17576844e+01] [-6.17545196e-03 -7.88688265e-05 9.99980929e-01 -3.87158454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.090281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:217.44, Y:61.78, Z:-0.39 [[ 6.76338439e-01 -7.36576769e-01 4.58024282e-03 2.17436349e+02] [ 7.36558821e-01 6.76353940e-01 5.14306625e-03 6.17766416e+01] [-6.88612839e-03 -1.04835148e-04 9.99976285e-01 -3.87912192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.120281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:217.46, Y:61.79, Z:-0.39 [[ 6.77767375e-01 -7.35261392e-01 4.69794682e-03 2.17455210e+02] [ 7.35242464e-01 6.77783646e-01 5.27707091e-03 6.17946976e+01] [-7.06421802e-03 -1.22496498e-04 9.99975041e-01 -3.87579716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.15028169299998 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:217.47, Y:61.82, Z:-0.39 [[ 6.77628017e-01 -7.35389835e-01 4.69696832e-03 2.17473424e+02] [ 7.35370905e-01 6.77644284e-01 5.27794184e-03 6.18155192e+01] [-7.06421851e-03 -1.22467418e-04 9.99975041e-01 -3.87611412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.18028169299998 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:217.49, Y:61.83, Z:-0.39 [[ 6.79695780e-01 -7.33485301e-01 3.60001236e-03 2.17493356e+02] [ 7.33474145e-01 6.79705305e-01 4.04689774e-03 6.18348052e+01] [-5.41528751e-03 -1.10143331e-04 9.99985331e-01 -3.88150298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.21028169299998 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:217.51, Y:61.86, Z:-0.39 [[ 6.80307416e-01 -7.32921442e-01 2.82490062e-03 2.17511558e+02] [ 7.32914563e-01 6.80313275e-01 3.17682900e-03 6.18552424e+01] [-4.25018348e-03 -9.08095257e-05 9.99990964e-01 -3.88754795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.240281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:217.53, Y:61.88, Z:-0.39 [[ 6.80518843e-01 -7.32726607e-01 2.41319403e-03 2.17529187e+02] [ 7.32721581e-01 6.80523118e-01 2.71496233e-03 6.18752126e+01] [-3.63155946e-03 -7.93836810e-05 9.99993403e-01 -3.89402319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.270281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:217.55, Y:61.89, Z:-0.39 [[ 6.80279542e-01 -7.32947972e-01 2.64854697e-03 2.17547292e+02] [ 7.32941914e-01 6.80284693e-01 2.98109298e-03 6.18947288e+01] [-3.98675202e-03 -8.67454804e-05 9.99992049e-01 -3.89143426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.300281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:217.57, Y:61.91, Z:-0.39 [[ 6.79769481e-01 -7.33418800e-01 3.21190889e-03 2.17565112e+02] [ 7.33409889e-01 6.79777062e-01 3.61680622e-03 6.19146418e+01] [-4.83601567e-03 -1.02948748e-04 9.99988301e-01 -3.88516262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.330281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:217.58, Y:61.93, Z:-0.39 [[ 6.79203138e-01 -7.33939192e-01 4.04479590e-03 2.17582064e+02] [ 7.33925057e-01 6.79215169e-01 4.55677671e-03 6.19344395e+01] [-6.09168376e-03 -1.26399977e-04 9.99981438e-01 -3.87928318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.360281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:217.60, Y:61.95, Z:-0.39 [[ 6.78906903e-01 -7.34211951e-01 4.26938887e-03 2.17599211e+02] [ 7.34196195e-01 6.78920315e-01 4.81184005e-03 6.19549862e+01] [-6.43148531e-03 -1.32222366e-04 9.99979309e-01 -3.87978558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.390281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:217.62, Y:61.98, Z:-0.39 [[ 6.78415748e-01 -7.34662024e-01 4.87674769e-03 2.17615806e+02] [ 7.34641460e-01 6.78433260e-01 5.49879662e-03 6.19757495e+01] [-7.34830489e-03 -1.47809176e-04 9.99972990e-01 -3.88226483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.420281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:217.63, Y:62.00, Z:-0.39 [[ 6.77868797e-01 -7.35160330e-01 5.76046280e-03 2.17632725e+02] [ 7.35131631e-01 6.77893252e-01 6.49802651e-03 6.19974934e+01] [-8.68207018e-03 -1.70111000e-04 9.99962296e-01 -3.88629540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.450281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:217.65, Y:62.02, Z:-0.39 [[ 6.77166429e-01 -7.35797739e-01 6.87854410e-03 2.17648106e+02] [ 7.35756815e-01 6.77201336e-01 7.76271937e-03 6.20184842e+01] [-1.03699506e-02 -1.95717261e-04 9.99946211e-01 -3.88492220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.480281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:217.67, Y:62.04, Z:-0.39 [[ 6.76815691e-01 -7.36118340e-01 7.09295525e-03 2.17665388e+02] [ 7.36074808e-01 6.76852828e-01 8.00796571e-03 6.20399366e+01] [-1.06956972e-02 -1.98971175e-04 9.99942780e-01 -3.88430213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.510281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:217.68, Y:62.06, Z:-0.39 [[ 6.76565126e-01 -7.36349584e-01 6.99435089e-03 2.17682430e+02] [ 7.36307231e-01 6.76601251e-01 7.89995016e-03 6.20611585e+01] [-1.05495116e-02 -1.94839637e-04 9.99944333e-01 -3.87588570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.540281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:217.70, Y:62.08, Z:-0.39 [[ 6.75527903e-01 -7.37297924e-01 7.33646571e-03 2.17698206e+02] [ 7.37251344e-01 6.75567713e-01 8.28985186e-03 6.20832610e+01] [-1.10683699e-02 -1.91207038e-04 9.99938725e-01 -3.88032231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.570281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:217.71, Y:62.10, Z:-0.39 [[ 6.74873001e-01 -7.37894616e-01 7.61368019e-03 2.17714485e+02] [ 7.37844445e-01 6.74915920e-01 8.60670857e-03 6.21047324e+01] [-1.14894379e-02 -1.90723600e-04 9.99933976e-01 -3.88016282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.600281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:217.73, Y:62.13, Z:-0.39 [[ 6.74365333e-01 -7.38358240e-01 7.64907344e-03 2.17730015e+02] [ 7.38307587e-01 6.74408686e-01 8.65051039e-03 6.21257893e+01] [-1.15457772e-02 -1.86235360e-04 9.99933328e-01 -3.87814057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.630281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:217.74, Y:62.15, Z:-0.39 [[ 6.74780739e-01 -7.37984498e-01 7.05940960e-03 2.17743277e+02] [ 7.37941306e-01 6.74817641e-01 7.98625937e-03 6.21487204e+01] [-1.06575497e-02 -1.79544056e-04 9.99943191e-01 -3.88396363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.660281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:217.76, Y:62.17, Z:-0.39 [[ 6.75037383e-01 -7.37753109e-01 6.69932107e-03 2.17759338e+02] [ 7.37714171e-01 6.75070603e-01 7.58170279e-03 6.21718462e+01] [-1.01159395e-02 -1.75748724e-04 9.99948817e-01 -3.89014257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.690281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:217.77, Y:62.19, Z:-0.39 [[ 6.75264749e-01 -7.37545189e-01 6.67925510e-03 2.17774959e+02] [ 7.37506444e-01 6.75297758e-01 7.56200871e-03 6.21936070e+01] [-1.00878091e-02 -1.80364241e-04 9.99949101e-01 -3.89282942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.720281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:217.79, Y:62.22, Z:-0.39 [[ 6.74750153e-01 -7.38019540e-01 6.27611608e-03 2.17788643e+02] [ 7.37985324e-01 6.74779321e-01 7.10843108e-03 6.22171464e+01] [-9.48115438e-03 -1.64733400e-04 9.99955039e-01 -3.89727369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.750281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:217.80, Y:62.24, Z:-0.39 [[ 6.73933245e-01 -7.38766873e-01 6.12282745e-03 2.17803653e+02] [ 7.38734312e-01 6.73961041e-01 6.93772184e-03 6.22386127e+01] [-9.25190623e-03 -1.52418670e-04 9.99957189e-01 -3.90027855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.780281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:217.82, Y:62.26, Z:-0.39 [[ 6.72201373e-01 -7.40345352e-01 5.83723831e-03 2.17818194e+02] [ 7.40315794e-01 6.72226705e-01 6.61678949e-03 6.22623103e+01] [-8.82265682e-03 -1.26415263e-04 9.99961072e-01 -3.90891032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.810281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:217.83, Y:62.28, Z:-0.39 [[ 6.71326133e-01 -7.41139152e-01 5.82924984e-03 2.17833630e+02] [ 7.41109680e-01 6.71351431e-01 6.61052192e-03 6.22835919e+01] [-8.81279184e-03 -1.17702636e-04 9.99961160e-01 -3.91220522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.840281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:217.85, Y:62.31, Z:-0.39 [[ 6.70726773e-01 -7.41681365e-01 5.86081602e-03 2.17849282e+02] [ 7.41651575e-01 6.70752369e-01 6.64835226e-03 6.23056920e+01] [-8.86211520e-03 -1.12544417e-04 9.99960724e-01 -3.91565918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.870281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:217.87, Y:62.33, Z:-0.39 [[ 6.70376278e-01 -7.41999048e-01 5.74974259e-03 2.17865002e+02] [ 7.41970367e-01 6.70400926e-01 6.52477006e-03 6.23291803e+01] [-8.69600593e-03 -1.07912438e-04 9.99962183e-01 -3.92019559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.90028169299998 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:217.88, Y:62.35, Z:-0.39 [[ 6.70001498e-01 -7.42344420e-01 4.77025914e-03 2.17876555e+02] [ 7.42324672e-01 6.70018474e-01 5.41537374e-03 6.23549155e+01] [-7.21623423e-03 -8.72274641e-05 9.99973959e-01 -3.92323016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.93028169299998 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:217.89, Y:62.38, Z:-0.39 [[ 6.69854758e-01 -7.42477038e-01 4.73833684e-03 2.17891002e+02] [ 7.42457540e-01 6.69871511e-01 5.38145507e-03 6.23769363e+01] [-7.16968368e-03 -8.67793691e-05 9.99974294e-01 -3.92718076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.96028169299998 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:217.90, Y:62.40, Z:-0.39 [[ 6.69654754e-01 -7.42653468e-01 5.32330786e-03 2.17902912e+02] [ 7.42628843e-01 6.69675905e-01 6.04848401e-03 6.24012101e+01] [-8.05681863e-03 -9.71541190e-05 9.99967539e-01 -3.91864436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 252.990281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:217.92, Y:62.42, Z:-0.39 [[ 6.69237951e-01 -7.43028038e-01 5.46804061e-03 2.17917962e+02] [ 7.43002048e-01 6.69260282e-01 6.21541711e-03 6.24234868e+01] [-8.27777159e-03 -9.68276385e-05 9.99965734e-01 -3.91973046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.020281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:217.93, Y:62.45, Z:-0.39 [[ 6.68499613e-01 -7.43691364e-01 5.60559484e-03 2.17933511e+02] [ 7.43664052e-01 6.68523109e-01 6.37427887e-03 6.24462371e+01] [-8.48796583e-03 -9.25235887e-05 9.99963972e-01 -3.92790695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.050281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:217.95, Y:62.47, Z:-0.39 [[ 6.65832835e-01 -7.46082336e-01 5.27113798e-03 2.17946070e+02] [ 7.46058241e-01 6.65853696e-01 5.99638607e-03 6.24697495e+01] [-7.98360443e-03 -6.00148042e-05 9.99968129e-01 -3.94002884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.080281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:217.96, Y:62.49, Z:-0.39 [[ 6.64108224e-01 -7.47618817e-01 5.13531865e-03 2.17961425e+02] [ 7.47595975e-01 6.64128077e-01 5.84423378e-03 6.24921493e+01] [-7.77976845e-03 -4.20601623e-05 9.99969736e-01 -3.93920691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.110281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:217.98, Y:62.51, Z:-0.39 [[ 6.62459748e-01 -7.49078980e-01 5.26917257e-03 2.17975913e+02] [ 7.49054958e-01 6.62480702e-01 5.99908871e-03 6.25139030e+01] [-7.98451639e-03 -2.72549541e-05 9.99968123e-01 -3.93746566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.140281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:217.99, Y:62.54, Z:-0.39 [[ 6.61280353e-01 -7.50118178e-01 5.56907628e-03 2.17990675e+02] [ 7.50091357e-01 6.61303803e-01 6.34325621e-03 6.25353422e+01] [-8.44104310e-03 -1.73547211e-05 9.99964374e-01 -3.92881416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:218.00, Y:62.56, Z:-0.39 [[ 6.60486059e-01 -7.50808658e-01 6.67270523e-03 2.18003333e+02] [ 7.50770156e-01 6.60519765e-01 7.60352930e-03 6.25599268e+01] [-1.01162493e-02 -1.23571602e-05 9.99948829e-01 -3.92405572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.200281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:218.02, Y:62.58, Z:-0.39 [[ 6.60115024e-01 -7.51129945e-01 7.20841565e-03 2.18018609e+02] [ 7.51084994e-01 6.60154381e-01 8.21737706e-03 6.25824610e+01] [-1.09309851e-02 -1.02812284e-05 9.99940255e-01 -3.92509421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.230281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:218.03, Y:62.61, Z:-0.39 [[ 6.59101112e-01 -7.52009816e-01 8.18297980e-03 2.18032127e+02] [ 7.51951906e-01 6.59151907e-01 9.33241922e-03 6.26057805e+01] [-1.24118976e-02 2.19938253e-06 9.99922969e-01 -3.93066468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.260281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:218.05, Y:62.63, Z:-0.39 [[ 6.58420969e-01 -7.52602983e-01 8.40110906e-03 2.18047839e+02] [ 7.52541940e-01 6.58474563e-01 9.58527703e-03 6.26268139e+01] [-1.27458247e-02 1.10395246e-05 9.99918769e-01 -3.93946413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.290281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:218.06, Y:62.65, Z:-0.39 [[ 6.56996138e-01 -7.53847952e-01 8.32709996e-03 2.18062900e+02] [ 7.53788031e-01 6.57048906e-01 9.50470149e-03 6.26479410e+01] [-1.26364117e-02 3.23161144e-05 9.99920157e-01 -3.93634338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.320281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:218.08, Y:62.67, Z:-0.39 [[ 6.56381626e-01 -7.54384662e-01 8.18181894e-03 2.18080007e+02] [ 7.54326810e-01 6.56432616e-01 9.34262349e-03 6.26694809e+01] [-1.24187447e-02 3.94389815e-05 9.99922884e-01 -3.94261318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.350281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:218.10, Y:62.69, Z:-0.39 [[ 6.55927885e-01 -7.54784454e-01 7.68356776e-03 2.18097095e+02] [ 7.54733423e-01 6.55972885e-01 8.77696899e-03 6.26912515e+01] [-1.16649319e-02 4.19866859e-05 9.99931962e-01 -3.94491963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.380281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:218.11, Y:62.71, Z:-0.39 [[ 6.55670052e-01 -7.55009736e-01 7.55527383e-03 2.18113093e+02] [ 7.54967601e-01 6.55713415e-01 7.98993413e-03 6.27129017e+01] [-1.09865725e-02 4.65226435e-04 9.99939538e-01 -3.94662988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.410281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:218.13, Y:62.73, Z:-0.40 [[ 6.57601510e-01 -7.53335103e-01 6.81740605e-03 2.18126620e+02] [ 7.53288003e-01 6.57636719e-01 8.43381521e-03 6.27341009e+01] [-1.08368656e-02 -4.10619427e-04 9.99941195e-01 -3.95421208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.440281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:218.14, Y:62.76, Z:-0.40 [[ 6.58763379e-01 -7.52316421e-01 7.12841779e-03 2.18140571e+02] [ 7.52272278e-01 6.58801945e-01 8.14964993e-03 6.27550947e+01] [-1.08273310e-02 -6.17983496e-06 9.99941383e-01 -3.95941984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.470281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:218.15, Y:62.78, Z:-0.40 [[ 6.61092031e-01 -7.50273410e-01 6.86568621e-03 2.18154830e+02] [ 7.50232318e-01 6.61127680e-01 7.85237181e-03 6.27783489e+01] [-1.04305210e-02 -4.02807433e-05 9.99945600e-01 -3.96593435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.500281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:218.17, Y:62.80, Z:-0.40 [[ 6.61512674e-01 -7.49901726e-01 6.95581283e-03 2.18170423e+02] [ 7.49859494e-01 6.61549241e-01 7.95870338e-03 6.27992994e+01] [-1.05698581e-02 -4.89008698e-05 9.99944136e-01 -3.97255254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.530281693 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:218.19, Y:62.82, Z:-0.40 [[ 6.61594109e-01 -7.49830354e-01 6.90462621e-03 2.18186601e+02] [ 7.49788703e-01 6.61630136e-01 7.90343759e-03 6.28205931e+01] [-1.04945462e-02 -5.18570235e-05 9.99944929e-01 -3.97703543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.560281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:218.20, Y:62.84, Z:-0.40 [[ 6.61226106e-01 -7.50157820e-01 6.57880672e-03 2.18201183e+02] [ 7.50119993e-01 6.61258832e-01 7.53354515e-03 6.28437923e+01] [-1.00016419e-02 -4.64822781e-05 9.99949981e-01 -3.98131003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.590281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:218.22, Y:62.86, Z:-0.40 [[ 6.60972727e-01 -7.50381087e-01 6.57864213e-03 2.18216322e+02] [ 7.50343240e-01 6.61005463e-01 7.53656869e-03 6.28648794e+01] [-1.00038170e-02 -4.52267086e-05 9.99949960e-01 -3.98266334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:218.23, Y:62.89, Z:-0.40 [[ 6.60849389e-01 -7.50488454e-01 6.72049370e-03 2.18231270e+02] [ 7.50448930e-01 6.60883559e-01 7.70230782e-03 6.28864868e+01] [-1.02219569e-02 -4.66781193e-05 9.99947753e-01 -3.97904818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.65028169299998 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:218.25, Y:62.91, Z:-0.40 [[ 6.61051406e-01 -7.50307751e-01 7.02264111e-03 2.18246800e+02] [ 7.50264547e-01 6.61088705e-01 8.05188526e-03 6.29085282e+01] [-1.06839806e-02 -5.38714193e-05 9.99942923e-01 -3.97447183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.68028169299998 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:218.26, Y:62.93, Z:-0.40 [[ 6.62715999e-01 -7.48841485e-01 6.62836639e-03 2.18259394e+02] [ 7.48802894e-01 6.62749142e-01 7.60269262e-03 6.29340339e+01] [-1.00861558e-02 -7.50860959e-05 9.99949131e-01 -3.98059073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.71028169299998 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:218.27, Y:62.96, Z:-0.40 [[ 6.64068972e-01 -7.47645586e-01 6.20312161e-03 2.18273995e+02] [ 7.47611709e-01 6.64097937e-01 7.11772806e-03 6.29577358e+01] [-9.44101822e-03 -8.91360054e-05 9.99955429e-01 -3.98819451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.740281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:218.29, Y:62.98, Z:-0.40 [[ 6.65874722e-01 -7.46042829e-01 5.56354307e-03 2.18285374e+02] [ 7.46015502e-01 6.65897956e-01 6.38620793e-03 6.29846398e+01] [-8.46913658e-03 -1.01925056e-04 9.99964131e-01 -4.01860066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.770281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:218.30, Y:63.01, Z:-0.40 [[ 6.65488822e-01 -7.46389261e-01 5.26295407e-03 2.18300470e+02] [ 7.46364804e-01 6.65509626e-01 6.04289052e-03 6.30079151e+01] [-8.01289518e-03 -9.33924121e-05 9.99967892e-01 -4.02171007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.800281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:218.31, Y:63.03, Z:-0.40 [[ 6.63833225e-01 -7.47863981e-01 4.99144270e-03 2.18314952e+02] [ 7.47842008e-01 6.63851987e-01 5.73329397e-03 6.30306180e+01] [-7.60130321e-03 -7.31404929e-05 9.99971107e-01 -4.02625892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.830281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:218.33, Y:63.05, Z:-0.40 [[ 6.59418828e-01 -7.51767821e-01 3.45726545e-03 2.18327192e+02] [ 7.51757324e-01 6.59427891e-01 3.97262859e-03 6.30542501e+01] [-5.26631160e-03 -2.06014636e-05 9.99986133e-01 -4.03721889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.860281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:218.34, Y:63.08, Z:-0.40 [[ 6.57051069e-01 -7.53840641e-01 2.86026139e-03 2.18342274e+02] [ 7.53833471e-01 6.57057294e-01 3.28792604e-03 6.30755465e+01] [-4.35792788e-03 -4.17454678e-06 9.99990504e-01 -4.04617927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.890281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:218.36, Y:63.10, Z:-0.41 [[ 6.54989588e-01 -7.55633288e-01 2.64072776e-03 2.18358426e+02] [ 7.55627186e-01 6.54994911e-01 3.03673742e-03 6.30978783e+01] [-4.02432313e-03 6.37429630e-06 9.99991902e-01 -4.05355566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.920281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:218.37, Y:63.12, Z:-0.41 [[ 6.52196269e-01 -7.58042750e-01 3.34908148e-03 2.18371038e+02] [ 7.58032958e-01 6.52204867e-01 3.85295904e-03 6.31211557e+01] [-5.10499491e-03 2.58286326e-05 9.99986969e-01 -4.05559627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.950281693 meters Centerline goodness : 0.999601 Centerline is valid? [True, True] Translation: X:218.39, Y:63.14, Z:-0.41 [[ 6.51241947e-01 -7.58860854e-01 3.75920862e-03 2.18386337e+02] [ 7.58848521e-01 6.51252795e-01 4.32650056e-03 6.31433694e+01] [-5.73140704e-03 3.50712563e-05 9.99983575e-01 -4.05783397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 253.980281693 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:218.40, Y:63.17, Z:-0.41 [[ 6.50547920e-01 -7.59454601e-01 4.01402591e-03 2.18403198e+02] [ 7.59440540e-01 6.50560302e-01 4.62152929e-03 6.31661650e+01] [-6.12120760e-03 4.18877356e-05 9.99981264e-01 -4.06032244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.010281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:218.42, Y:63.19, Z:-0.41 [[ 6.49023060e-01 -7.60759607e-01 3.72668986e-03 2.18419474e+02] [ 7.60747499e-01 6.49033758e-01 4.29236680e-03 6.31883490e+01] [-5.68420680e-03 4.92249589e-05 9.99983844e-01 -4.06726090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.040281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:218.44, Y:63.21, Z:-0.41 [[ 6.47901055e-01 -7.61718175e-01 3.10569251e-03 2.18437031e+02] [ 7.61709771e-01 6.47908496e-01 3.57841088e-03 6.32095853e+01] [-4.73794517e-03 4.71801487e-05 9.99988775e-01 -4.06921528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.070281693 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:218.45, Y:63.23, Z:-0.41 [[ 6.47768058e-01 -7.61831282e-01 3.10505792e-03 2.18454951e+02] [ 7.61822876e-01 6.47775498e-01 3.57896152e-03 6.32306170e+01] [-4.73794528e-03 4.71672042e-05 9.99988775e-01 -4.06953800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.100281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:218.47, Y:63.25, Z:-0.41 [[ 6.44683071e-01 -7.64447285e-01 2.02144396e-03 2.18472635e+02] [ 7.64442008e-01 6.44686173e-01 2.85568655e-03 6.32509927e+01] [-3.48621880e-03 -2.95736096e-04 9.99993879e-01 -4.08134616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.130281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:218.49, Y:63.27, Z:-0.41 [[ 6.42802232e-01 -7.66027885e-01 2.56331732e-03 2.18491792e+02] [ 7.66023885e-01 6.42807244e-01 2.50088557e-03 6.32730781e+01] [-3.56346702e-03 3.55987469e-04 9.99993587e-01 -4.08422884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.160281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:218.51, Y:63.29, Z:-0.41 [[ 6.41025528e-01 -7.67514737e-01 2.72057376e-03 2.18509980e+02] [ 7.67508325e-01 6.41031297e-01 3.13803996e-03 6.32930185e+01] [-4.15246484e-03 7.64992905e-05 9.99991376e-01 -4.08792819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.190281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:218.53, Y:63.31, Z:-0.41 [[ 6.38492077e-01 -7.69621379e-01 3.28643604e-03 2.18527201e+02] [ 7.69612043e-01 6.38500525e-01 3.79240741e-03 6.33120885e+01] [-5.01710896e-03 1.07858671e-04 9.99987408e-01 -4.09211622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.220281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:218.54, Y:63.33, Z:-0.41 [[ 6.38172682e-01 -7.69885314e-01 3.49720994e-03 2.18544656e+02] [ 7.69874737e-01 6.38182254e-01 4.03734171e-03 6.33318875e+01] [-5.34014742e-03 1.15892395e-04 9.99985735e-01 -4.09293916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.250281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:218.56, Y:63.35, Z:-0.41 [[ 6.38674580e-01 -7.69467559e-01 3.80215829e-03 2.18563418e+02] [ 7.69455039e-01 6.38685886e-01 4.39109081e-03 6.33530496e+01] [-5.80718676e-03 1.21111773e-04 9.99983131e-01 -4.09124915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.280281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:218.58, Y:63.37, Z:-0.41 [[ 6.41081335e-01 -7.67462277e-01 4.04654525e-03 2.18581711e+02] [ 7.67448045e-01 6.41094097e-01 4.67516341e-03 6.33732809e+01] [-6.18222783e-03 1.08353238e-04 9.99980884e-01 -4.08986352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.310281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:218.60, Y:63.39, Z:-0.41 [[ 6.42728453e-01 -7.66084942e-01 3.74123688e-03 2.18599366e+02] [ 7.66072744e-01 6.42739336e-01 4.32406660e-03 6.33941867e+01] [-5.71724242e-03 8.68589647e-05 9.99983653e-01 -4.08886758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.340281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:218.62, Y:63.42, Z:-0.41 [[ 6.46160066e-01 -7.63194362e-01 3.39649335e-03 2.18616485e+02] [ 7.63184260e-01 6.46168990e-01 3.92703403e-03 6.34160747e+01] [-5.19179891e-03 5.46576988e-05 9.99986521e-01 -4.10073471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.370281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:218.63, Y:63.44, Z:-0.41 [[ 6.47381100e-01 -7.62159799e-01 3.18635292e-03 2.18634470e+02] [ 7.62150889e-01 6.47388940e-01 3.68545217e-03 6.34368159e+01] [-4.87171313e-03 4.25896329e-05 9.99988132e-01 -4.10041204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.40028169299998 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:218.65, Y:63.46, Z:-0.41 [[ 6.48148109e-01 -7.61506549e-01 3.43568558e-03 2.18653264e+02] [ 7.61496174e-01 6.48157214e-01 3.97533278e-03 6.34575956e+01] [-5.25410634e-03 3.96570015e-05 9.99986196e-01 -4.10652316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.43028169299998 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:218.67, Y:63.48, Z:-0.41 [[ 6.48468805e-01 -7.61232719e-01 3.59948065e-03 2.18670992e+02] [ 7.61221317e-01 6.48478794e-01 4.16660381e-03 6.34771924e+01] [-5.50594202e-03 3.80888032e-05 9.99984841e-01 -4.11496568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.46028169299998 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:218.69, Y:63.50, Z:-0.41 [[ 6.47920154e-01 -7.61700426e-01 3.45457796e-03 2.18688648e+02] [ 7.61689922e-01 6.47929363e-01 4.00049846e-03 6.34975297e+01] [-5.28550388e-03 3.93136402e-05 9.99986031e-01 -4.12415889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.490281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:218.71, Y:63.52, Z:-0.41 [[ 6.47035124e-01 -7.62454402e-01 2.97215624e-03 2.18706524e+02] [ 7.62446628e-01 6.47041949e-01 3.44318704e-03 6.35180892e+01] [-4.54838288e-03 3.82475467e-05 9.99989655e-01 -4.13581638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.520281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:218.73, Y:63.54, Z:-0.42 [[ 6.44933813e-01 -7.64236067e-01 1.90045512e-03 2.18725864e+02] [ 7.64232894e-01 6.44936612e-01 2.20236650e-03 6.35381827e+01] [-2.90880100e-03 3.20096953e-05 9.99995769e-01 -4.15061711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.550281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:218.74, Y:63.56, Z:-0.42 [[ 6.43704563e-01 -7.65271917e-01 1.82448892e-03 2.18744438e+02] [ 7.65268995e-01 6.43707148e-01 2.11511684e-03 6.35592946e+01] [-2.79307607e-03 3.47144424e-05 9.99996099e-01 -4.15067301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.580281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:218.76, Y:63.58, Z:-0.41 [[ 6.42401001e-01 -7.66364914e-01 2.40258262e-03 2.18762346e+02] [ 7.66359850e-01 6.42405492e-01 2.78649630e-03 6.35788168e+01] [-3.67890527e-03 5.11948396e-05 9.99993232e-01 -4.13856239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.610281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:218.78, Y:63.60, Z:-0.41 [[ 6.42180068e-01 -7.66547593e-01 3.08993174e-03 2.18781090e+02] [ 7.66539212e-01 6.42187498e-01 3.58513153e-03 6.35997298e+01] [-4.73248948e-03 6.62538323e-05 9.99988800e-01 -4.13722751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.640281693 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:218.80, Y:63.62, Z:-0.41 [[ 6.42256648e-01 -7.66481141e-01 3.61367843e-03 2.18799792e+02] [ 7.66469668e-01 6.42266810e-01 4.19444458e-03 6.36205613e+01] [-5.53590838e-03 7.58649916e-05 9.99984674e-01 -4.13957850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.670281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:218.82, Y:63.64, Z:-0.41 [[ 6.42798146e-01 -7.66029148e-01 3.14447281e-03 2.18816587e+02] [ 7.66020451e-01 6.42805834e-01 3.65088657e-03 6.36418089e+01] [-4.81797100e-03 6.19473573e-05 9.99988392e-01 -4.14303367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.700281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:218.83, Y:63.66, Z:-0.41 [[ 6.43015127e-01 -7.65847993e-01 2.89783707e-03 2.18832174e+02] [ 7.65840599e-01 6.43021655e-01 3.36576377e-03 6.36627841e+01] [-4.44103541e-03 5.50442573e-05 9.99990137e-01 -4.14502987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.730281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:218.85, Y:63.69, Z:-0.42 [[ 6.44298051e-01 -7.64769140e-01 2.86070688e-03 2.18848553e+02] [ 7.64761918e-01 6.44304400e-01 3.32390364e-03 6.36855153e+01] [-4.38518496e-03 4.61750356e-05 9.99990384e-01 -4.15822163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.760281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:218.87, Y:63.71, Z:-0.42 [[ 6.44597583e-01 -7.64516076e-01 3.02069342e-03 2.18865618e+02] [ 7.64508015e-01 6.44604660e-01 3.51111967e-03 6.37072813e+01] [-4.63146049e-03 4.60850743e-05 9.99989274e-01 -4.16518888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.790281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:218.88, Y:63.73, Z:-0.42 [[ 6.44680122e-01 -7.64445760e-01 3.19683885e-03 2.18883026e+02] [ 7.64436723e-01 6.44688047e-01 3.71727299e-03 6.37292437e+01] [-4.90261737e-03 4.73290088e-05 9.99987981e-01 -4.16956571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.820281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:218.90, Y:63.75, Z:-0.42 [[ 6.44457693e-01 -7.64632342e-01 3.41528342e-03 2.18899337e+02] [ 7.64622024e-01 6.44466740e-01 3.97248453e-03 6.37512366e+01] [-5.23852672e-03 5.13027085e-05 9.99986278e-01 -4.17718232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.850281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:218.92, Y:63.77, Z:-0.42 [[ 6.42914419e-01 -7.65931798e-01 3.08705967e-03 2.18915676e+02] [ 7.65923378e-01 6.42921828e-01 3.59191736e-03 6.37745302e+01] [-4.73590177e-03 5.51557047e-05 9.99988784e-01 -4.17862950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.880281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:218.93, Y:63.80, Z:-0.42 [[ 6.41581842e-01 -7.67050102e-01 2.62329226e-03 2.18932701e+02] [ 7.67044027e-01 6.41587203e-01 3.05316222e-03 6.37959404e+01] [-4.02499913e-03 5.33272174e-05 9.99991898e-01 -4.18270596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.910281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:218.95, Y:63.82, Z:-0.42 [[ 6.39304102e-01 -7.68950291e-01 2.39071246e-03 2.18949364e+02] [ 7.68945255e-01 6.39308569e-01 2.78337768e-03 6.38182978e+01] [-3.66868204e-03 5.89022403e-05 9.99993269e-01 -4.19173168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.940281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:218.97, Y:63.84, Z:-0.42 [[ 6.38796335e-01 -7.69373566e-01 1.88631579e-03 2.18965918e+02] [ 7.69370431e-01 6.38799118e-01 2.19689521e-03 6.38393395e+01] [-2.89520997e-03 4.79069797e-05 9.99995808e-01 -4.19730466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 254.970281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:218.98, Y:63.86, Z:-0.42 [[ 6.38863515e-01 -7.69320091e-01 8.63312951e-05 2.18982452e+02] [ 7.69320084e-01 6.38863520e-01 1.00237161e-04 6.38614540e+01] [-1.32268377e-04 2.37853413e-06 9.99999991e-01 -4.20982152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.000281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:219.00, Y:63.88, Z:-0.42 [[ 6.38759387e-01 -7.69406244e-01 -6.91507997e-04 2.19000324e+02] [ 7.69405821e-01 6.38759761e-01 -8.06445602e-04 6.38835813e+01] [ 1.06219176e-03 -1.69255798e-05 9.99999436e-01 -4.21330000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.030281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:219.02, Y:63.90, Z:-0.42 [[ 6.38315901e-01 -7.69773989e-01 -9.03895204e-04 2.19017822e+02] [ 7.69773267e-01 6.38316540e-01 -1.05445681e-03 6.39040895e+01] [ 1.38866469e-03 -2.27178140e-05 9.99999036e-01 -4.21766802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.060281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:219.04, Y:63.92, Z:-0.42 [[ 6.37706756e-01 -7.70278961e-01 -6.44359798e-04 2.19036600e+02] [ 7.70278594e-01 6.37707082e-01 -7.52125856e-04 6.39243182e+01] [ 9.90259529e-04 -1.67008194e-05 9.99999510e-01 -4.21445490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.090281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:219.06, Y:63.94, Z:-0.42 [[ 6.36550910e-01 -7.71234674e-01 -1.28145646e-04 2.19056289e+02] [ 7.71234660e-01 6.36550923e-01 -1.49962823e-04 6.39417317e+01] [ 1.97227758e-04 -3.37139238e-06 9.99999981e-01 -4.21677732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.120281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:219.08, Y:63.96, Z:-0.42 [[ 6.35866386e-01 -7.71798939e-01 -5.80632381e-04 2.19075063e+02] [ 7.71798641e-01 6.35866651e-01 -6.78340992e-04 6.39614082e+01] [ 8.92747625e-04 -1.67970475e-05 9.99999601e-01 -4.21813855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.15028169299998 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:219.10, Y:63.98, Z:-0.42 [[ 6.36117769e-01 -7.71589912e-01 -1.78671269e-03 2.19095183e+02] [ 7.71587090e-01 6.36120276e-01 -2.08735694e-03 6.39809147e+01] [ 2.74714773e-03 -5.07996060e-05 9.99996225e-01 -4.22102364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.18028169299998 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:219.11, Y:64.00, Z:-0.42 [[ 6.37314164e-01 -7.70601743e-01 -1.89996933e-03 2.19113963e+02] [ 7.70598545e-01 6.37316994e-01 -2.22055389e-03 6.40005875e+01] [ 2.92204544e-03 -4.89231558e-05 9.99995730e-01 -4.22290136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.21028169299998 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:219.13, Y:64.02, Z:-0.42 [[ 6.38741103e-01 -7.69419749e-01 -1.74743204e-03 2.19133058e+02] [ 7.69417037e-01 6.38743492e-01 -2.04305029e-03 6.40214714e+01] [ 2.68812408e-03 -3.95237945e-05 9.99996386e-01 -4.22107373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.240281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:219.15, Y:64.04, Z:-0.42 [[ 6.42465895e-01 -7.66313832e-01 -8.27716164e-04 2.19151064e+02] [ 7.66313220e-01 6.42466428e-01 -9.68327245e-04 6.40420061e+01] [ 1.27382241e-03 -1.21726092e-05 9.99999189e-01 -4.22220752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.270281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:219.17, Y:64.06, Z:-0.42 [[ 6.44227895e-01 -7.64833443e-01 -4.73075021e-04 2.19168283e+02] [ 7.64833243e-01 6.44228068e-01 -5.53872629e-04 6.40613223e+01] [ 7.28388517e-04 -5.00330443e-06 9.99999735e-01 -4.22410255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.300281693 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:219.19, Y:64.08, Z:-0.42 [[ 6.45632207e-01 -7.63648443e-01 -3.29649278e-04 2.19186932e+02] [ 7.63648345e-01 6.45632291e-01 -3.86152704e-04 6.40818537e+01] [ 5.07717130e-04 -2.42350315e-06 9.99999871e-01 -4.22845035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.330281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:219.21, Y:64.10, Z:-0.42 [[ 6.46707531e-01 -7.62737810e-01 -6.34467230e-04 2.19207236e+02] [ 7.62737448e-01 6.46707843e-01 -7.43191890e-04 6.41018373e+01] [ 9.77175488e-04 -3.30412311e-06 9.99999523e-01 -4.23445455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.360281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:219.23, Y:64.12, Z:-0.42 [[ 6.46541657e-01 -7.62878527e-01 -4.89217645e-04 2.19225453e+02] [ 7.62878311e-01 6.46541842e-01 -5.73379671e-04 6.41220606e+01] [ 7.53718716e-04 -2.49968844e-06 9.99999716e-01 -4.24130538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.390281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:219.25, Y:64.14, Z:-0.42 [[ 6.45244950e-01 -7.63975743e-01 1.37408816e-04 2.19245704e+02] [ 7.63975726e-01 6.45244964e-01 1.60656957e-04 6.41415494e+01] [-2.11400365e-04 1.31390963e-06 9.99999978e-01 -4.24408258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.420281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:219.26, Y:64.16, Z:-0.42 [[ 6.43880958e-01 -7.65125679e-01 -7.95170057e-05 2.19263875e+02] [ 7.65125674e-01 6.43880963e-01 -9.35767358e-05 6.41608747e+01] [ 1.22797450e-04 -5.88224264e-07 9.99999992e-01 -4.24157669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.450281693 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:219.28, Y:64.18, Z:-0.42 [[ 6.42404130e-01 -7.66365986e-01 -3.30664561e-04 2.19282744e+02] [ 7.66365888e-01 6.42404215e-01 -3.88086953e-04 6.41814960e+01] [ 5.09836948e-04 -4.10137880e-06 9.99999870e-01 -4.24378524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.480281693 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:219.30, Y:64.20, Z:-0.42 [[ 6.40443878e-01 -7.68004598e-01 -7.59359706e-04 2.19301815e+02] [ 7.68004081e-01 6.40444328e-01 -8.91238339e-04 6.42000131e+01] [ 1.17080276e-03 -1.24032151e-05 9.99999315e-01 -4.23743747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.510281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:219.32, Y:64.22, Z:-0.42 [[ 6.39988566e-01 -7.68383927e-01 -8.81108185e-04 2.19320192e+02] [ 7.68383231e-01 6.39989172e-01 -1.03446551e-03 6.42196513e+01] [ 1.35876637e-03 -1.49826558e-05 9.99999077e-01 -4.24215145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.540281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:219.34, Y:64.24, Z:-0.43 [[ 6.39864749e-01 -7.68486077e-01 -1.50052966e-03 2.19340940e+02] [ 7.68484057e-01 6.39866508e-01 -1.76215877e-03 6.42381537e+01] [ 2.31433316e-03 -2.55898377e-05 9.99997322e-01 -4.25002631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.570281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:219.36, Y:64.26, Z:-0.43 [[ 6.39333927e-01 -7.68926505e-01 -2.03951201e-03 2.19358943e+02] [ 7.68922773e-01 6.39337179e-01 -2.39603581e-03 6.42572644e+01] [ 3.14631130e-03 -3.63602473e-05 9.99995050e-01 -4.26135164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.600281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:219.38, Y:64.28, Z:-0.43 [[ 6.38630804e-01 -7.69508319e-01 -2.76474139e-03 2.19377675e+02] [ 7.69501460e-01 6.38636786e-01 -3.24920733e-03 6.42770737e+01] [ 4.26595763e-03 -5.24286486e-05 9.99990899e-01 -4.26992096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.630281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:219.40, Y:64.29, Z:-0.43 [[ 6.37615656e-01 -7.70345483e-01 -3.75677339e-03 2.19398014e+02] [ 7.70332825e-01 6.37626718e-01 -4.41673112e-03 6.42937033e+01] [ 5.79782795e-03 -7.77889506e-05 9.99983189e-01 -4.27517011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.660281693 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:219.42, Y:64.31, Z:-0.43 [[ 6.37461732e-01 -7.70472768e-01 -3.77547846e-03 2.19416864e+02] [ 7.70459976e-01 6.37472907e-01 -4.44052726e-03 6.43134021e+01] [ 5.82807056e-03 -7.81888502e-05 9.99983014e-01 -4.26980618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.690281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:219.43, Y:64.33, Z:-0.43 [[ 6.39004210e-01 -7.69193921e-01 -3.78573127e-03 2.19434262e+02] [ 7.69181026e-01 6.39015421e-01 -4.45436883e-03 6.43345956e+01] [ 5.84541409e-03 -6.55522225e-05 9.99982913e-01 -4.26316111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.720281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:219.45, Y:64.36, Z:-0.43 [[ 6.40527452e-01 -7.67923317e-01 -4.28504812e-03 2.19451429e+02] [ 7.67906755e-01 6.40541783e-01 -5.04386327e-03 6.43550511e+01] [ 6.61805257e-03 -5.97845069e-05 9.99978099e-01 -4.27067127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.750281693 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:219.47, Y:64.37, Z:-0.43 [[ 6.43244429e-01 -7.65645809e-01 -4.80618494e-03 2.19469485e+02] [ 7.65624892e-01 6.43262383e-01 -5.65965907e-03 6.43735279e+01] [ 7.42493223e-03 -3.91906549e-05 9.99972434e-01 -4.27693059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.780281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:219.49, Y:64.39, Z:-0.43 [[ 6.43960054e-01 -7.65043720e-01 -4.85338006e-03 2.19487894e+02] [ 7.65022356e-01 6.43978342e-01 -5.71751134e-03 6.43937679e+01] [ 7.49961779e-03 -3.10953422e-05 9.99971877e-01 -4.27611793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.810281693 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:219.51, Y:64.41, Z:-0.43 [[ 6.44269379e-01 -7.64784298e-01 -4.68445931e-03 2.19505255e+02] [ 7.64764371e-01 6.44286409e-01 -5.52089069e-03 6.44131538e+01] [ 7.24042398e-03 -2.55667659e-05 9.99973787e-01 -4.27813425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.840281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:219.52, Y:64.43, Z:-0.43 [[ 6.44965164e-01 -7.64204537e-01 -3.37077223e-03 2.19523303e+02] [ 7.64194205e-01 6.44973972e-01 -3.97387084e-03 6.44320416e+01] [ 5.21091048e-03 -1.29163468e-05 9.99986423e-01 -4.26643916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.870281693 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:219.54, Y:64.45, Z:-0.43 [[ 6.45248511e-01 -7.63968210e-01 -2.63312058e-03 2.19541148e+02] [ 7.63961897e-01 6.45253884e-01 -3.10566743e-03 6.44519246e+01] [ 4.07166247e-03 -7.67650127e-06 9.99991711e-01 -4.26541430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.90028169299998 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:219.56, Y:64.47, Z:-0.43 [[ 6.45478160e-01 -7.63774533e-01 -2.53119599e-03 2.19558595e+02] [ 7.63768693e-01 6.45483123e-01 -2.98676715e-03 6.44719518e+01] [ 3.91506097e-03 -5.35529075e-06 9.99992336e-01 -4.26388437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.93028169299998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:219.58, Y:64.49, Z:-0.43 [[ 6.46351619e-01 -7.63027953e-01 -4.23409406e-03 2.19575809e+02] [ 7.63011584e-01 6.46365487e-01 -4.99795284e-03 6.44920526e+01] [ 6.55035000e-03 -2.27908780e-07 9.99978546e-01 -4.27501731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.96028169299998 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:219.59, Y:64.51, Z:-0.43 [[ 6.46212179e-01 -7.63146054e-01 -4.23320120e-03 2.19593481e+02] [ 7.63129683e-01 6.46226044e-01 -4.99870914e-03 6.45133025e+01] [ 6.55035002e-03 -2.54764978e-07 9.99978546e-01 -4.27535213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 255.990281693 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:219.61, Y:64.53, Z:-0.43 [[ 6.46827232e-01 -7.62616492e-01 -5.53339880e-03 2.19610537e+02] [ 7.62588479e-01 6.46850900e-01 -6.53649452e-03 6.45337973e+01] [ 8.56412252e-03 8.27648225e-06 9.99963327e-01 -4.28018264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.02028169299996 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:219.63, Y:64.55, Z:-0.43 [[ 6.47986356e-01 -7.61625585e-01 -6.33640865e-03 2.19627780e+02] [ 7.61588776e-01 6.48017336e-01 -7.48794924e-03 6.45544721e+01] [ 9.80911637e-03 2.63512323e-05 9.99951889e-01 -4.28808207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.050281693 meters Centerline goodness : 0.998569 Centerline is valid? [True, True] Translation: X:219.64, Y:64.58, Z:-0.43 [[ 6.50570563e-01 -7.59417413e-01 -6.56775405e-03 2.19643731e+02] [ 7.59377720e-01 6.50603711e-01 -7.76465461e-03 6.45763865e+01] [ 1.01696191e-02 6.40496318e-05 9.99948286e-01 -4.28404403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.08028169299996 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:219.66, Y:64.60, Z:-0.43 [[ 6.51906924e-01 -7.58273578e-01 -6.20828665e-03 2.19659272e+02] [ 7.58238027e-01 6.51936480e-01 -7.34300867e-03 6.45976253e+01] [ 9.61541801e-03 7.95991806e-05 9.99953768e-01 -4.27588972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.110281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:219.67, Y:64.62, Z:-0.43 [[ 6.55227098e-01 -7.55388037e-01 -8.14641972e-03 2.19674292e+02] [ 7.55397327e-01 6.55262222e-01 -2.50972847e-03 6.46208117e+01] [ 7.23385995e-03 -4.50934158e-03 9.99963668e-01 -4.27481973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.14028169299996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:219.69, Y:64.65, Z:-0.43 [[ 6.57048744e-01 -7.53845801e-01 -1.85919742e-03 2.19685594e+02] [ 7.53803421e-01 6.57034659e-01 -9.26610415e-03 6.46471352e+01] [ 8.20677084e-03 4.68681272e-03 9.99955340e-01 -4.25878517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.170281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:219.70, Y:64.67, Z:-0.43 [[ 6.59117381e-01 -7.52021603e-01 -5.27130445e-03 2.19702578e+02] [ 7.51995711e-01 6.59138442e-01 -6.24215572e-03 6.46696512e+01] [ 8.16875535e-03 1.50314991e-04 9.99966624e-01 -4.26148554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.20028169299997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:219.71, Y:64.70, Z:-0.43 [[ 6.63392034e-01 -7.48255899e-01 -4.91112714e-03 2.19713130e+02] [ 7.48233303e-01 6.63410186e-01 -5.81802709e-03 6.46958628e+01] [ 7.61146486e-03 1.84963946e-04 9.99971015e-01 -4.26330109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.230281693 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:219.73, Y:64.72, Z:-0.43 [[ 6.64478710e-01 -7.47294718e-01 -4.31848818e-03 2.19727423e+02] [ 7.47277212e-01 6.64492720e-01 -5.11793840e-03 6.47202185e+01] [ 6.69421229e-03 1.73653303e-04 9.99977578e-01 -4.26731601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.26028169299997 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:219.74, Y:64.74, Z:-0.43 [[ 6.64898817e-01 -7.46924920e-01 -3.56739278e-03 2.19742041e+02] [ 7.46912960e-01 6.64908371e-01 -4.22952327e-03 6.47444292e+01] [ 5.53112566e-03 1.47673118e-04 9.99984692e-01 -4.26588565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.29028169299994 meters Centerline goodness : 0.998954 Centerline is valid? [True, True] Translation: X:219.75, Y:64.77, Z:-0.43 [[ 6.63417295e-01 -7.48247664e-01 -1.71068702e-03 2.19754256e+02] [ 7.48244915e-01 6.63419497e-01 -2.02925025e-03 6.47690999e+01] [ 2.65328488e-03 6.62268513e-05 9.99996478e-01 -4.26089917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.32028169299997 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:219.77, Y:64.79, Z:-0.43 [[ 6.61457582e-01 -7.49981858e-01 -1.03886512e-03 2.19769880e+02] [ 7.49980846e-01 6.61458397e-01 -1.23291829e-03 6.47923274e+01] [ 1.61183240e-03 3.63942107e-05 9.99998700e-01 -4.26003405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.35028169299994 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:219.78, Y:64.82, Z:-0.43 [[ 6.56008519e-01 -7.54752797e-01 -1.01951188e-03 2.19783497e+02] [ 7.54751826e-01 6.56009310e-01 -1.21046699e-03 6.48159417e+01] [ 1.58241263e-03 2.45982088e-05 9.99998748e-01 -4.25424813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.380281693 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:219.80, Y:64.84, Z:-0.43 [[ 6.53115909e-01 -7.57256935e-01 -1.24259751e-03 2.19800386e+02] [ 7.57255497e-01 6.53117091e-01 -1.47579266e-03 6.48383382e+01] [ 1.92911589e-03 2.28998667e-05 9.99998139e-01 -4.25827221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.41028169299994 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:219.82, Y:64.86, Z:-0.43 [[ 6.50554107e-01 -7.59458997e-01 -1.17725941e-03 2.19818214e+02] [ 7.59457709e-01 6.50555172e-01 -1.39874752e-03 6.48600209e+01] [ 1.82816359e-03 1.58822073e-05 9.99998329e-01 -4.26025271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.440281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:219.84, Y:64.88, Z:-0.43 [[ 6.46704895e-01 -7.62739408e-01 -1.17190605e-03 2.19835570e+02] [ 7.62738136e-01 6.46705957e-01 -1.39292663e-03 6.48816353e+01] [ 1.82031866e-03 6.95503449e-06 9.99998343e-01 -4.26282085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.47028169299995 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:219.85, Y:64.90, Z:-0.43 [[ 6.45180341e-01 -7.64028901e-01 -1.47168431e-03 2.19851702e+02] [ 7.64026897e-01 6.45182020e-01 -1.74988106e-03 6.49032072e+01] [ 2.28646396e-03 4.58246501e-06 9.99997386e-01 -4.25977369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.500281693 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:219.87, Y:64.93, Z:-0.43 [[ 6.44044012e-01 -7.64985815e-01 -2.00330316e-03 2.19868382e+02] [ 7.64982104e-01 6.44047128e-01 -2.38284370e-03 6.49252248e+01] [ 3.11306327e-03 2.16515564e-06 9.99995154e-01 -4.26467292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.53028169299995 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:219.89, Y:64.95, Z:-0.43 [[ 6.42459212e-01 -7.66314540e-01 -2.86125462e-03 2.19885911e+02] [ 7.66306978e-01 6.42465583e-01 -3.40441397e-03 6.49472885e+01] [ 4.44710954e-03 -5.40226682e-06 9.99990112e-01 -4.26812175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.560281693 meters Centerline goodness : 0.998706 Centerline is valid? [True, True] Translation: X:219.90, Y:64.97, Z:-0.43 [[ 6.41495697e-01 -7.67119982e-01 -3.19431360e-03 2.19903677e+02] [ 7.67110560e-01 6.41503650e-01 -3.80196630e-03 6.49694053e+01] [ 4.96572815e-03 -1.14466748e-05 9.99987671e-01 -4.26541600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.59028169299995 meters Centerline goodness : 0.998797 Centerline is valid? [True, True] Translation: X:219.92, Y:64.99, Z:-0.43 [[ 6.39124569e-01 -7.69096855e-01 -3.13245956e-03 2.19919091e+02] [ 7.69087811e-01 6.39132245e-01 -3.72987717e-03 6.49910763e+01] [ 4.87069271e-03 -2.52803261e-05 9.99988138e-01 -4.26449999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.620281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:219.94, Y:65.01, Z:-0.43 [[ 6.37964817e-01 -7.70059186e-01 -3.12132974e-03 2.19936615e+02] [ 7.70050211e-01 6.37972451e-01 -3.71796853e-03 6.50124629e+01] [ 4.85437820e-03 -3.16475178e-05 9.99988217e-01 -4.26737519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.65028169299995 meters Centerline goodness : 0.999079 Centerline is valid? [True, True] Translation: X:219.95, Y:65.03, Z:-0.43 [[ 6.36487516e-01 -7.71279120e-01 -3.48722384e-03 2.19954614e+02] [ 7.71267927e-01 6.36497067e-01 -4.15553495e-03 6.50328509e+01] [ 5.42468509e-03 -4.46377907e-05 9.99985285e-01 -4.26835619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.680281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:219.97, Y:65.05, Z:-0.43 [[ 6.32873582e-01 -7.74242794e-01 -4.37332776e-03 2.19974455e+02] [ 7.74225245e-01 6.32888686e-01 -5.21352348e-03 6.50510492e+01] [ 6.80436264e-03 -8.64394726e-05 9.99976846e-01 -4.27898333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.71028169299996 meters Centerline goodness : 0.998968 Centerline is valid? [True, True] Translation: X:219.99, Y:65.07, Z:-0.43 [[ 6.31024038e-01 -7.75751569e-01 -4.26225470e-03 2.19992321e+02] [ 7.75734920e-01 6.31038425e-01 -5.08335658e-03 6.50699646e+01] [ 6.63306833e-03 -9.86596191e-05 9.99977996e-01 -4.27774811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.740281693 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:220.01, Y:65.09, Z:-0.43 [[ 6.29314805e-01 -7.77140768e-01 -3.88618428e-03 2.20010898e+02] [ 7.77126943e-01 6.29326796e-01 -4.63675363e-03 6.50892578e+01] [ 6.04909018e-03 -1.02080802e-04 9.99981699e-01 -4.28305088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.77028169299996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:220.03, Y:65.11, Z:-0.43 [[ 6.26600232e-01 -7.79331088e-01 -3.89940162e-03 2.20032264e+02] [ 7.79317197e-01 6.26612353e-01 -4.65455418e-03 6.51050096e+01] [ 6.07085200e-03 -1.22326009e-04 9.99981565e-01 -4.27538012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.800281693 meters Centerline goodness : 0.998784 Centerline is valid? [True, True] Translation: X:220.05, Y:65.12, Z:-0.43 [[ 6.25555261e-01 -7.80170435e-01 -3.83515425e-03 2.20052519e+02] [ 7.80157006e-01 6.25567004e-01 -4.57920750e-03 6.51225216e+01] [ 5.97170826e-03 -1.27475117e-04 9.99982161e-01 -4.27575080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.83028169299996 meters Centerline goodness : 0.998900 Centerline is valid? [True, True] Translation: X:220.08, Y:65.14, Z:-0.43 [[ 6.24623978e-01 -7.80916579e-01 -3.76589563e-03 2.20075152e+02] [ 7.80903633e-01 6.24635317e-01 -4.49852711e-03 6.51374476e+01] [ 5.86528582e-03 -1.30913675e-04 9.99982791e-01 -4.27330388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.860281693 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:220.09, Y:65.16, Z:-0.43 [[ 6.25083440e-01 -7.80547759e-01 -3.98617663e-03 2.20094844e+02] [ 7.80533235e-01 6.25096135e-01 -4.76353181e-03 6.51569459e+01] [ 6.20990768e-03 -1.33738483e-04 9.99980709e-01 -4.27487004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.89028169299996 meters Centerline goodness : 0.998930 Centerline is valid? [True, True] Translation: X:220.11, Y:65.18, Z:-0.43 [[ 6.25988678e-01 -7.79820750e-01 -4.21588704e-03 2.20114627e+02] [ 7.79804475e-01 6.26002860e-01 -5.03988987e-03 6.51762944e+01] [ 6.56936804e-03 -1.32653583e-04 9.99978413e-01 -4.27471753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.920281693 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:220.14, Y:65.19, Z:-0.43 [[ 6.29697411e-01 -7.76827784e-01 -4.44576143e-03 2.20136345e+02] [ 7.76809594e-01 6.29713096e-01 -5.31710009e-03 6.51919852e+01] [ 6.93002527e-03 -1.05345963e-04 9.99975982e-01 -4.27080756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.95028169299997 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:220.16, Y:65.21, Z:-0.42 [[ 6.32315398e-01 -7.74697464e-01 -4.59092394e-03 2.20156067e+02] [ 7.74677995e-01 6.32332059e-01 -5.49283346e-03 6.52114230e+01] [ 7.15827254e-03 -8.32845815e-05 9.99974376e-01 -4.20913346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 256.980281693 meters Centerline goodness : 0.999127 Centerline is valid? [True, True] Translation: X:220.17, Y:65.23, Z:-0.43 [[ 6.37855385e-01 -7.70143800e-01 -4.36291643e-03 2.20173623e+02] [ 7.70126095e-01 6.37870305e-01 -5.22225003e-03 6.52315636e+01] [ 6.80485831e-03 -2.89554924e-05 9.99976846e-01 -4.26599250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.01028169299997 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:220.19, Y:65.25, Z:-0.43 [[ 6.40096918e-01 -7.68281094e-01 -4.48283663e-03 2.20190466e+02] [ 7.68262340e-01 6.40112615e-01 -5.36816456e-03 6.52509965e+01] [ 6.99377962e-03 -7.84896975e-06 9.99975543e-01 -4.26751097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.04028169299994 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:220.21, Y:65.27, Z:-0.43 [[ 6.41517101e-01 -7.67095217e-01 -4.55383539e-03 2.20208576e+02] [ 7.67075817e-01 6.41533264e-01 -5.45543037e-03 6.52711260e+01] [ 7.10627142e-03 6.61486914e-06 9.99974750e-01 -4.27315219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.07028169299997 meters Centerline goodness : 0.999003 Centerline is valid? [True, True] Translation: X:220.23, Y:65.29, Z:-0.43 [[ 6.41754439e-01 -7.66895069e-01 -4.81589952e-03 2.20226788e+02] [ 7.66873349e-01 6.41772508e-01 -5.77190611e-03 6.52898212e+01] [ 7.51715826e-03 1.09613722e-05 9.99971746e-01 -4.27259582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.10028169299994 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:220.25, Y:65.31, Z:-0.43 [[ 6.39379926e-01 -7.68871377e-01 -5.48781920e-03 2.20247538e+02] [ 7.68843221e-01 6.39403477e-01 -6.57990880e-03 6.53082414e+01] [ 8.56803421e-03 -1.22109849e-05 9.99963294e-01 -4.27696536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.130281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:220.27, Y:65.33, Z:-0.43 [[ 6.35624213e-01 -7.71979825e-01 -5.38613182e-03 2.20267571e+02] [ 7.71952790e-01 6.35647030e-01 -6.46087854e-03 6.53253930e+01] [ 8.41134658e-03 -5.11486462e-05 9.99964623e-01 -4.27444622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.16028169299994 meters Centerline goodness : 0.998891 Centerline is valid? [True, True] Translation: X:220.29, Y:65.34, Z:-0.43 [[ 6.33510605e-01 -7.73715354e-01 -5.37255564e-03 2.20286627e+02] [ 7.73688496e-01 6.33533382e-01 -6.44719000e-03 6.53446230e+01] [ 8.39198324e-03 -7.23212497e-05 9.99964784e-01 -4.27417368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.190281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:220.31, Y:65.36, Z:-0.43 [[ 6.31581269e-01 -7.75290619e-01 -5.43662061e-03 2.20305480e+02] [ 7.75263151e-01 6.31604661e-01 -6.52670905e-03 6.53638455e+01] [ 8.49389121e-03 -9.26644446e-05 9.99963922e-01 -4.27249804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.22028169299995 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:220.32, Y:65.38, Z:-0.43 [[ 6.29941730e-01 -7.76623664e-01 -5.39459141e-03 2.20323930e+02] [ 7.76596646e-01 6.29964819e-01 -6.47887109e-03 6.53835825e+01] [ 8.43004740e-03 -1.08110336e-04 9.99964461e-01 -4.27538131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.250281693 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:220.34, Y:65.40, Z:-0.43 [[ 6.27631804e-01 -7.78492892e-01 -5.20917320e-03 2.20343908e+02] [ 7.78467742e-01 6.27653408e-01 -6.25885476e-03 6.54018277e+01] [ 8.14202925e-03 -1.26916997e-04 9.99966845e-01 -4.27620247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.28028169299995 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:220.37, Y:65.42, Z:-0.43 [[ 6.26130362e-01 -7.79700667e-01 -5.25726091e-03 2.20366084e+02] [ 7.79675070e-01 6.26152417e-01 -6.31943929e-03 6.54172254e+01] [ 8.21911765e-03 -1.42162461e-04 9.99966212e-01 -4.27534761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.310281693 meters Centerline goodness : 0.998985 Centerline is valid? [True, True] Translation: X:220.39, Y:65.44, Z:-0.43 [[ 6.25479070e-01 -7.80221324e-01 -5.53340185e-03 2.20385844e+02] [ 7.80192964e-01 6.25503527e-01 -6.65411503e-03 6.54363889e+01] [ 8.65284481e-03 -1.55111505e-04 9.99962551e-01 -4.26994321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.34028169299995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:220.40, Y:65.46, Z:-0.43 [[ 6.25035337e-01 -7.80574412e-01 -5.86642123e-03 2.20403877e+02] [ 7.80542523e-01 6.25062844e-01 -7.05768512e-03 6.54554449e+01] [ 9.17593035e-03 -1.67688639e-04 9.99957886e-01 -4.26884398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.370281693 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:220.42, Y:65.47, Z:-0.43 [[ 6.24896246e-01 -7.80686111e-01 -5.82038504e-03 2.20421384e+02] [ 7.80654698e-01 6.24923330e-01 -7.00532542e-03 6.54746736e+01] [ 9.10625466e-03 -1.66109367e-04 9.99958523e-01 -4.26949107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.40028169299995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:220.44, Y:65.49, Z:-0.43 [[ 6.24018685e-01 -7.81395429e-01 -4.67581395e-03 2.20441694e+02] [ 7.81375157e-01 6.24036188e-01 -5.63027807e-03 6.54920196e+01] [ 7.31735066e-03 -1.40166137e-04 9.99973218e-01 -4.26636502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.430281693 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:220.46, Y:65.51, Z:-0.43 [[ 6.22893368e-01 -7.82295841e-01 -4.13141484e-03 2.20461081e+02] [ 7.82280022e-01 6.22907055e-01 -4.97676859e-03 6.55114390e+01] [ 6.46679282e-03 -1.31927141e-04 9.99979081e-01 -4.26083323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.46028169299996 meters Centerline goodness : 0.999114 Centerline is valid? [True, True] Translation: X:220.48, Y:65.53, Z:-0.43 [[ 6.20823033e-01 -7.83942315e-01 -3.63440111e-03 2.20482338e+02] [ 7.83930090e-01 6.20833657e-01 -4.37989298e-03 6.55285821e+01] [ 5.68994197e-03 -1.29977954e-04 9.99983804e-01 -4.25884264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.490281693 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:220.50, Y:65.55, Z:-0.43 [[ 6.20255445e-01 -7.84389871e-01 -3.96388460e-03 2.20502369e+02] [ 7.84375327e-01 6.20268094e-01 -4.77886287e-03 6.55468302e+01] [ 6.20716278e-03 -1.45057558e-04 9.99980725e-01 -4.26163070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.52028169299996 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:220.52, Y:65.56, Z:-0.43 [[ 6.19889756e-01 -7.84675750e-01 -4.54507406e-03 2.20523592e+02] [ 7.84656619e-01 6.19906396e-01 -5.48182550e-03 6.55642814e+01] [ 7.11897601e-03 -1.68194979e-04 9.99974646e-01 -4.26891632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.550281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:220.55, Y:65.58, Z:-0.43 [[ 6.18745050e-01 -7.85569789e-01 -5.88811501e-03 2.20548070e+02] [ 7.85537696e-01 6.18773023e-01 -7.10455543e-03 6.55786862e+01] [ 9.22453083e-03 -2.29427795e-04 9.99957427e-01 -4.27324946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.58028169299996 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:220.57, Y:65.60, Z:-0.43 [[ 6.18064318e-01 -7.86102675e-01 -6.25170144e-03 2.20567548e+02] [ 7.86066490e-01 6.18095884e-01 -7.54661412e-03 6.55965966e+01] [ 9.79656447e-03 -2.49960101e-04 9.99951981e-01 -4.26119923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.610281693 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:220.59, Y:65.61, Z:-0.43 [[ 6.17240598e-01 -7.86748702e-01 -6.36587869e-03 2.20591308e+02] [ 7.86711186e-01 6.17273368e-01 -7.68763800e-03 6.56125052e+01] [ 9.97772659e-03 -2.62985695e-04 9.99950187e-01 -4.25776383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.64028169299996 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:220.61, Y:65.63, Z:-0.43 [[ 6.17312002e-01 -7.86692845e-01 -6.34513392e-03 2.20612826e+02] [ 7.86655537e-01 6.17344556e-01 -7.66581212e-03 6.56295632e+01] [ 9.94777342e-03 -2.59236908e-04 9.99950486e-01 -4.26045347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.670281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:220.63, Y:65.65, Z:-0.43 [[ 6.17910535e-01 -7.86225953e-01 -5.94328263e-03 2.20634664e+02] [ 7.86193171e-01 6.17939072e-01 -7.18338230e-03 6.56467204e+01] [ 9.32034814e-03 -2.33880616e-04 9.99956537e-01 -4.25643226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.70028169299997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:220.66, Y:65.66, Z:-0.43 [[ 6.21234197e-01 -7.83608205e-01 -5.12387412e-03 2.20658756e+02] [ 7.83583734e-01 6.21255305e-01 -6.19499106e-03 6.56603669e+01] [ 8.03767980e-03 -1.66444118e-04 9.99967683e-01 -4.25200797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.730281693 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:220.68, Y:65.68, Z:-0.43 [[ 6.23187628e-01 -7.82053801e-01 -5.38816775e-03 2.20678349e+02] [ 7.82026659e-01 6.23210902e-01 -6.51740206e-03 6.56789215e+01] [ 8.45492394e-03 -1.52126490e-04 9.99964245e-01 -4.25466115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.76028169299997 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:220.70, Y:65.70, Z:-0.43 [[ 6.27647857e-01 -7.78475749e-01 -5.80312973e-03 2.20699514e+02] [ 7.78444082e-01 6.27674674e-01 -7.02247982e-03 6.56955674e+01] [ 9.10930780e-03 -1.09767589e-04 9.99958503e-01 -4.25522364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.79028169299994 meters Centerline goodness : 0.998998 Centerline is valid? [True, True] Translation: X:220.72, Y:65.71, Z:-0.43 [[ 6.29989293e-01 -7.76584448e-01 -5.48506238e-03 2.20718225e+02] [ 7.76556057e-01 6.30013166e-01 -6.64081644e-03 6.57128147e+01] [ 8.61281629e-03 -7.58151613e-05 9.99962906e-01 -4.25315499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.82028169299997 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:220.74, Y:65.73, Z:-0.42 [[ 6.32283728e-01 -7.74720982e-01 -4.96864793e-03 2.20737706e+02] [ 7.74697606e-01 6.32303248e-01 -6.01836206e-03 6.57310253e+01] [ 7.80424360e-03 -4.38872613e-05 9.99969545e-01 -4.24706122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.85028169299994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:220.76, Y:65.75, Z:-0.42 [[ 6.37385650e-01 -7.70528511e-01 -5.03453830e-03 2.20757326e+02] [ 7.70504357e-01 6.37405533e-01 -6.10094622e-03 6.57476963e+01] [ 7.90999557e-03 9.52187902e-06 9.99968715e-01 -4.24198655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.880281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:220.77, Y:65.77, Z:-0.42 [[ 6.37221114e-01 -7.70664595e-01 -5.03324517e-03 2.20774167e+02] [ 7.70640437e-01 6.37240992e-01 -6.10201312e-03 6.57685767e+01] [ 7.90999562e-03 9.50934013e-06 9.99968715e-01 -4.24231371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.91028169299994 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:220.79, Y:65.79, Z:-0.42 [[ 6.39862801e-01 -7.68472195e-01 -5.10699884e-03 2.20791849e+02] [ 7.68447231e-01 6.39883180e-01 -6.19427612e-03 6.57878732e+01] [ 8.02801162e-03 3.90277547e-05 9.99967774e-01 -4.24688801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.940281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:220.81, Y:65.81, Z:-0.43 [[ 6.42101230e-01 -7.66603094e-01 -5.07007284e-03 2.20809682e+02] [ 7.66578409e-01 6.42121244e-01 -6.15228656e-03 6.58075636e+01] [ 7.97196340e-03 6.37823971e-05 9.99968221e-01 -4.25321481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 257.97028169299995 meters Centerline goodness : 0.999177 Centerline is valid? [True, True] Translation: X:220.83, Y:65.83, Z:-0.42 [[ 6.45259244e-01 -7.63948224e-01 -4.86002219e-03 2.20828674e+02] [ 7.63925446e-01 6.45277539e-01 -5.90001217e-03 6.58273694e+01] [ 7.64336698e-03 9.43427708e-05 9.99970785e-01 -4.24453310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.000281693 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:220.85, Y:65.85, Z:-0.42 [[ 6.46205992e-01 -7.63148644e-01 -4.68638597e-03 2.20845044e+02] [ 7.63127425e-01 6.46222977e-01 -5.69188554e-03 6.58472266e+01] [ 7.37220503e-03 1.01820884e-04 9.99972820e-01 -4.23571185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.03028169299995 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:220.86, Y:65.87, Z:-0.42 [[ 6.46699682e-01 -7.62730044e-01 -4.73292933e-03 2.20861525e+02] [ 7.62708371e-01 6.46716992e-01 -5.75089462e-03 6.58676258e+01] [ 7.44724592e-03 1.09256901e-04 9.99972263e-01 -4.23718876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.060281693 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:220.88, Y:65.89, Z:-0.42 [[ 6.46463032e-01 -7.62921700e-01 -6.00229307e-03 2.20878820e+02] [ 7.62886822e-01 6.46490882e-01 -7.29631535e-03 6.58885945e+01] [ 9.44694505e-03 1.37727855e-04 9.99955367e-01 -4.24570142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.09028169299995 meters Centerline goodness : 0.999081 Centerline is valid? [True, True] Translation: X:220.90, Y:65.91, Z:-0.42 [[ 6.45500381e-01 -7.63730415e-01 -6.71647764e-03 2.20895410e+02] [ 7.63686748e-01 6.45535307e-01 -8.16814838e-03 6.59088402e+01] [ 1.05739868e-02 1.43257934e-04 9.99944084e-01 -4.24762818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.120281693 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:220.91, Y:65.93, Z:-0.43 [[ 6.43208276e-01 -7.65659502e-01 -6.97437984e-03 2.20910728e+02] [ 7.65612487e-01 6.43246076e-01 -8.48561423e-03 6.59307168e+01] [ 1.09833336e-02 1.18345000e-04 9.99939674e-01 -4.25459325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.15028169299995 meters Centerline goodness : 0.998577 Centerline is valid? [True, True] Translation: X:220.93, Y:65.95, Z:-0.43 [[ 6.42011522e-01 -7.66666259e-01 -6.63721587e-03 2.20926098e+02] [ 7.66623696e-01 6.42045822e-01 -8.07908347e-03 6.59517691e+01] [ 1.04553574e-02 9.86177182e-05 9.99945336e-01 -4.25102328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.180281693 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:220.94, Y:65.97, Z:-0.43 [[ 6.38777191e-01 -7.69375786e-01 -4.95984888e-03 2.20943355e+02] [ 7.69352078e-01 6.38796445e-01 -6.03998571e-03 6.59726197e+01] [ 7.81535258e-03 4.23350628e-05 9.99969459e-01 -4.25000145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.21028169299996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:220.96, Y:65.99, Z:-0.42 [[ 6.36538379e-01 -7.71233965e-01 -4.13063933e-03 2.20960269e+02] [ 7.71217546e-01 6.36551781e-01 -5.03253917e-03 6.59926525e+01] [ 6.51063096e-03 1.77827980e-05 9.99978805e-01 -4.23985168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.240281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:220.98, Y:66.01, Z:-0.42 [[ 6.34373010e-01 -7.73018949e-01 -3.54810291e-03 2.20976544e+02] [ 7.73006850e-01 6.34382933e-01 -4.32498986e-03 6.60126084e+01] [ 5.59415505e-03 9.48983404e-07 9.99984353e-01 -4.23577094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.27028169299996 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:220.99, Y:66.04, Z:-0.42 [[ 6.30266011e-01 -7.76367583e-01 -4.25823382e-03 2.20992389e+02] [ 7.76350218e-01 6.30280394e-01 -5.19265036e-03 6.60352237e+01] [ 6.71528670e-03 -3.31297330e-05 9.99977452e-01 -4.24888553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.300281693 meters Centerline goodness : 0.999100 Centerline is valid? [True, True] Translation: X:221.01, Y:66.06, Z:-0.43 [[ 6.27970037e-01 -7.78224698e-01 -4.46668293e-03 2.21007793e+02] [ 7.78205620e-01 6.27985920e-01 -5.44954249e-03 6.60559445e+01] [ 7.04598255e-03 -5.38483571e-05 9.99975175e-01 -4.25108244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.33028169299996 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:221.02, Y:66.08, Z:-0.42 [[ 6.23657698e-01 -7.81686600e-01 -4.13935136e-03 2.21024324e+02] [ 7.81670276e-01 6.23671429e-01 -5.05254450e-03 6.60760799e+01] [ 6.53110151e-03 -8.45496489e-05 9.99978669e-01 -4.24386619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.360281693 meters Centerline goodness : 0.998977 Centerline is valid? [True, True] Translation: X:221.04, Y:66.10, Z:-0.42 [[ 6.21621306e-01 -7.83307010e-01 -4.13279940e-03 2.21040880e+02] [ 7.83290757e-01 6.21635036e-01 -5.04700534e-03 6.60955923e+01] [ 6.52244756e-03 -9.98575204e-05 9.99978724e-01 -4.24395843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.39028169299996 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:221.06, Y:66.12, Z:-0.42 [[ 6.19578069e-01 -7.84919310e-01 -4.96928631e-03 2.21058318e+02] [ 7.84895842e-01 6.19597981e-01 -6.07121312e-03 6.61159427e+01] [ 7.84437217e-03 -1.38781657e-04 9.99969223e-01 -4.24765164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.420281693 meters Centerline goodness : 0.998790 Centerline is valid? [True, True] Translation: X:221.08, Y:66.14, Z:-0.43 [[ 6.16703609e-01 -7.87167813e-01 -6.59493635e-03 2.21075075e+02] [ 7.87126567e-01 6.16738832e-01 -8.06109867e-03 6.61353682e+01] [ 1.04127907e-02 -2.19740962e-04 9.99945761e-01 -4.25392029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.45028169299997 meters Centerline goodness : 0.998869 Centerline is valid? [True, True] Translation: X:221.09, Y:66.16, Z:-0.42 [[ 6.16651360e-01 -7.87208762e-01 -6.59279902e-03 2.21091397e+02] [ 7.87167508e-01 6.16686563e-01 -8.06208944e-03 6.61555030e+01] [ 1.04122380e-02 -2.18138754e-04 9.99945767e-01 -4.24818824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.480281693 meters Centerline goodness : 0.998804 Centerline is valid? [True, True] Translation: X:221.11, Y:66.18, Z:-0.42 [[ 6.19662484e-01 -7.84851615e-01 -5.13319472e-03 2.21106157e+02] [ 7.84826499e-01 6.19683729e-01 -6.28026600e-03 6.61767877e+01] [ 8.11003416e-03 -1.37022016e-04 9.99967104e-01 -4.22422949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.51028169299997 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:221.12, Y:66.20, Z:-0.42 [[ 6.22041964e-01 -7.82969971e-01 -4.67113587e-03 2.21121299e+02] [ 7.82949102e-01 6.22059494e-01 -5.71749287e-03 6.61986246e+01] [ 7.38234964e-03 -1.00741143e-04 9.99972745e-01 -4.22030486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.54028169299994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:221.14, Y:66.22, Z:-0.42 [[ 6.25024496e-01 -7.80589400e-01 -4.95655173e-03 2.21135980e+02] [ 7.80565808e-01 6.25044144e-01 -6.06934529e-03 6.62214483e+01] [ 7.83573023e-03 -7.54253312e-05 9.99969297e-01 -4.21635922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.57028169299997 meters Centerline goodness : 0.998813 Centerline is valid? [True, True] Translation: X:221.15, Y:66.24, Z:-0.42 [[ 6.28933467e-01 -7.77440176e-01 -5.42837536e-03 2.21150072e+02] [ 7.77411735e-01 6.28956891e-01 -6.65001320e-03 6.62439793e+01] [ 8.58420152e-03 -3.76668516e-05 9.99963154e-01 -4.22015383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.60028169299994 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:221.16, Y:66.27, Z:-0.42 [[ 6.37231315e-01 -7.70656242e-01 -5.02076902e-03 2.21160636e+02] [ 7.70631675e-01 6.37251092e-01 -6.15362026e-03 6.62679419e+01] [ 7.94181641e-03 5.21158909e-05 9.99968462e-01 -4.21216871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.630281693 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:221.18, Y:66.29, Z:-0.42 [[ 6.40211660e-01 -7.68185829e-01 -4.42300066e-03 2.21175394e+02] [ 7.68166688e-01 6.40226934e-01 -5.42323921e-03 6.62915571e+01] [ 6.99777966e-03 7.44192070e-05 9.99975512e-01 -4.20602762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.66028169299994 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:221.19, Y:66.32, Z:-0.42 [[ 6.43294879e-01 -7.65610412e-01 -3.52079903e-03 2.21185234e+02] [ 7.65598234e-01 6.43304509e-01 -4.31899988e-03 6.63172400e+01] [ 5.57161716e-03 8.28729849e-05 9.99984475e-01 -4.20884152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.690281693 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:221.20, Y:66.34, Z:-0.42 [[ 6.43314761e-01 -7.65593476e-01 -3.57033803e-03 2.21198264e+02] [ 7.65580942e-01 6.43324663e-01 -4.38166524e-03 6.63401725e+01] [ 5.65146083e-03 8.54071711e-05 9.99984027e-01 -4.21473974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.72028169299995 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:221.21, Y:66.36, Z:-0.42 [[ 6.42803803e-01 -7.66021344e-01 -3.81725158e-03 2.21212990e+02] [ 7.66007013e-01 6.42815131e-01 -4.68655653e-03 6.63629548e+01] [ 6.04378941e-03 8.84948863e-05 9.99981732e-01 -4.22121788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.750281693 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:221.23, Y:66.39, Z:-0.42 [[ 6.41708195e-01 -7.66937722e-01 -4.13813034e-03 2.21227190e+02] [ 7.66920885e-01 6.41721531e-01 -5.08257850e-03 6.63867106e+01] [ 6.55354851e-03 8.79136966e-05 9.99978521e-01 -4.20982695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.78028169299995 meters Centerline goodness : 0.998848 Centerline is valid? [True, True] Translation: X:221.24, Y:66.41, Z:-0.42 [[ 6.40986858e-01 -7.67540170e-01 -4.23493908e-03 2.21241992e+02] [ 7.67522535e-01 6.41000842e-01 -5.20375605e-03 6.64100045e+01] [ 6.70869132e-03 8.51280610e-05 9.99977493e-01 -4.20627203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.810281693 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:221.26, Y:66.43, Z:-0.42 [[ 6.40293476e-01 -7.68116888e-01 -4.55088944e-03 2.21257038e+02] [ 7.68096520e-01 6.40309642e-01 -5.59438451e-03 6.64327183e+01] [ 7.21111961e-03 8.65255551e-05 9.99973996e-01 -4.21465869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.84028169299995 meters Centerline goodness : 0.998712 Centerline is valid? [True, True] Translation: X:221.27, Y:66.45, Z:-0.42 [[ 6.39016500e-01 -7.69177825e-01 -4.83585118e-03 2.21271708e+02] [ 7.69154836e-01 6.39034793e-01 -5.94740278e-03 6.64539084e+01] [ 7.66488750e-03 8.09701851e-05 9.99970621e-01 -4.22092164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.870281693 meters Centerline goodness : 0.998776 Centerline is valid? [True, True] Translation: X:221.29, Y:66.47, Z:-0.42 [[ 6.38338411e-01 -7.69744370e-01 -4.20451091e-03 2.21287644e+02] [ 7.69726988e-01 6.38352255e-01 -5.17335533e-03 6.64747652e+01] [ 6.66612016e-03 6.60259071e-05 9.99977779e-01 -4.21011324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.90028169299995 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:221.30, Y:66.50, Z:-0.42 [[ 6.38000819e-01 -7.70028458e-01 -3.33610574e-03 2.21303339e+02] [ 7.70017509e-01 6.38009539e-01 -4.10668353e-03 6.64967356e+01] [ 5.29073047e-03 5.12076215e-05 9.99986003e-01 -4.19740706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.930281693 meters Centerline goodness : 0.998590 Centerline is valid? [True, True] Translation: X:221.32, Y:66.52, Z:-0.42 [[ 6.38772441e-01 -7.69392992e-01 -2.04732866e-03 2.21315910e+02] [ 7.69388861e-01 6.38775721e-01 -2.52154635e-03 6.65203877e+01] [ 3.24784393e-03 3.55024518e-05 9.99994725e-01 -4.18476874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.96028169299996 meters Centerline goodness : 0.998771 Centerline is valid? [True, True] Translation: X:221.33, Y:66.54, Z:-0.42 [[ 6.39277301e-01 -7.68973724e-01 -1.98608553e-03 2.21331476e+02] [ 7.68969831e-01 6.39280385e-01 -2.44721613e-03 6.65426781e+01] [ 3.15151042e-03 3.72098701e-05 9.99995033e-01 -4.19002385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 258.990281693 meters Centerline goodness : 0.998928 Centerline is valid? [True, True] Translation: X:221.35, Y:66.57, Z:-0.42 [[ 6.40068767e-01 -7.68312885e-01 -2.69901408e-03 2.21345840e+02] [ 7.68305685e-01 6.40074455e-01 -3.32657515e-03 6.65650469e+01] [ 4.28342051e-03 5.55689925e-05 9.99990825e-01 -4.19249586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.02028169299996 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:221.36, Y:66.59, Z:-0.42 [[ 6.39734655e-01 -7.68590040e-01 -2.98698819e-03 2.21361961e+02] [ 7.68581217e-01 6.39741626e-01 -3.68315703e-03 6.65871330e+01] [ 4.74173848e-03 6.05001747e-05 9.99988756e-01 -4.20050209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.050281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:221.38, Y:66.61, Z:-0.42 [[ 6.38866193e-01 -7.69310821e-01 -3.29379599e-03 2.21377792e+02] [ 7.69300095e-01 6.38874681e-01 -4.06270442e-03 6.66083624e+01] [ 5.22980533e-03 6.16069379e-05 9.99986323e-01 -4.20022911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.08028169299996 meters Centerline goodness : 0.998598 Centerline is valid? [True, True] Translation: X:221.39, Y:66.63, Z:-0.42 [[ 6.35323215e-01 -7.72238883e-01 -3.39410984e-03 2.21393742e+02] [ 7.72227526e-01 6.35332280e-01 -4.18834563e-03 6.66303535e+01] [ 5.39079090e-03 3.99281687e-05 9.99985469e-01 -4.20572561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.110281693 meters Centerline goodness : 0.998646 Centerline is valid? [True, True] Translation: X:221.41, Y:66.65, Z:-0.42 [[ 6.33409600e-01 -7.73808788e-01 -3.49812782e-03 2.21409524e+02] [ 7.73796737e-01 6.33419259e-01 -4.31868912e-03 6.66514744e+01] [ 5.55762113e-03 2.86592592e-05 9.99984556e-01 -4.20251933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.14028169299996 meters Centerline goodness : 0.998758 Centerline is valid? [True, True] Translation: X:221.42, Y:66.68, Z:-0.42 [[ 6.30048079e-01 -7.76548602e-01 -3.41875650e-03 2.21423715e+02] [ 7.76537121e-01 6.30057354e-01 -4.22252022e-03 6.66750557e+01] [ 5.43300485e-03 5.59942046e-06 9.99985241e-01 -4.19966689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.170281693 meters Centerline goodness : 0.998574 Centerline is valid? [True, True] Translation: X:221.44, Y:66.70, Z:-0.42 [[ 6.28670122e-01 -7.77671377e-01 1.05195517e-03 2.21435548e+02] [ 7.77639182e-01 6.28630500e-01 -1.00497457e-02 6.66990289e+01] [ 7.15410850e-03 7.13601643e-03 9.99948947e-01 -4.18833401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.20028169299997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:221.46, Y:66.72, Z:-0.42 [[ 6.27003221e-01 -7.78970713e-01 -8.46104880e-03 2.21456798e+02] [ 7.79003018e-01 6.27019539e-01 8.91721771e-04 6.67172180e+01] [ 4.61061778e-03 -7.15029498e-03 9.99963807e-01 -4.19670721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.230281693 meters Centerline goodness : 0.998736 Centerline is valid? [True, True] Translation: X:221.47, Y:66.74, Z:-0.42 [[ 6.25878969e-01 -7.79915751e-01 -2.63381314e-03 2.21469797e+02] [ 7.79908951e-01 6.25884511e-01 -3.25689213e-03 6.67420232e+01] [ 4.18856433e-03 -1.57141555e-05 9.99991228e-01 -4.19303289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.26028169299997 meters Centerline goodness : 0.998728 Centerline is valid? [True, True] Translation: X:221.48, Y:66.76, Z:-0.42 [[ 6.23299964e-01 -7.81974264e-01 -3.66136824e-03 2.21484883e+02] [ 7.81961147e-01 6.23310716e-01 -4.52942494e-03 6.67639385e+01] [ 5.82406380e-03 -3.98573089e-05 9.99983039e-01 -4.20053033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.29028169299994 meters Centerline goodness : 0.998647 Centerline is valid? [True, True] Translation: X:221.50, Y:66.78, Z:-0.42 [[ 6.20424163e-01 -7.84250414e-01 -5.01459592e-03 2.21500639e+02] [ 7.84225862e-01 6.20444423e-01 -6.20607293e-03 6.67843647e+01] [ 7.97839334e-03 -8.21782036e-05 9.99968169e-01 -4.20922102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.32028169299997 meters Centerline goodness : 0.998659 Centerline is valid? [True, True] Translation: X:221.52, Y:66.81, Z:-0.42 [[ 6.19131220e-01 -7.85270540e-01 -5.16841971e-03 2.21517592e+02] [ 7.85244472e-01 6.19152784e-01 -6.39917282e-03 6.68056915e+01] [ 8.22512335e-03 -9.65453306e-05 9.99966168e-01 -4.21208990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.35028169299994 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:221.53, Y:66.83, Z:-0.42 [[ 6.18048046e-01 -7.86123639e-01 -5.12220424e-03 2.21533664e+02] [ 7.86098048e-01 6.18069262e-01 -6.34396966e-03 6.68257826e+01] [ 8.15302151e-03 -1.05676705e-04 9.99966758e-01 -4.21187307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.380281693 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:221.55, Y:66.85, Z:-0.42 [[ 6.16301236e-01 -7.87499049e-01 -4.24671315e-03 2.21550500e+02] [ 7.87481474e-01 6.16315859e-01 -5.26213363e-03 6.68460598e+01] [ 6.76124189e-03 -1.01148471e-04 9.99977137e-01 -4.20864889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.41028169299994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:221.57, Y:66.87, Z:-0.42 [[ 6.16088304e-01 -7.87666748e-01 -4.03679356e-03 2.21567606e+02] [ 7.87650858e-01 6.16101521e-01 -5.00407856e-03 6.68665098e+01] [ 6.42862094e-03 -9.66296393e-05 9.99979332e-01 -4.20993561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.440281693 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:221.59, Y:66.89, Z:-0.42 [[ 6.16390515e-01 -7.87429306e-01 -4.22145474e-03 2.21585057e+02] [ 7.87411909e-01 6.16404963e-01 -5.23514731e-03 6.68874509e+01] [ 6.72443407e-03 -9.71285962e-05 9.99977386e-01 -4.20631729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.47028169299995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:221.60, Y:66.91, Z:-0.42 [[ 6.17960001e-01 -7.86200570e-01 -3.75518735e-03 2.21603531e+02] [ 7.86186769e-01 6.17971406e-01 -4.65898711e-03 6.69067855e+01] [ 5.98349672e-03 -7.32109321e-05 9.99982096e-01 -4.20252149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.500281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:221.62, Y:66.93, Z:-0.42 [[ 6.18752621e-01 -7.85580059e-01 -3.02727827e-03 2.21620609e+02] [ 7.85571074e-01 6.18760024e-01 -3.75769630e-03 6.69261286e+01] [ 4.82513006e-03 -5.30578101e-05 9.99988358e-01 -4.19760222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.53028169299995 meters Centerline goodness : 0.999089 Centerline is valid? [True, True] Translation: X:221.64, Y:66.95, Z:-0.42 [[ 6.19267334e-01 -7.85174901e-01 -2.88866351e-03 2.21639080e+02] [ 7.85166708e-01 6.19274070e-01 -3.58720252e-03 6.69452783e+01] [ 4.60545579e-03 -4.66450778e-05 9.99989394e-01 -4.19757539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.560281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:221.66, Y:66.97, Z:-0.42 [[ 6.19065848e-01 -7.85330501e-01 -3.67133431e-03 2.21657133e+02] [ 7.85317260e-01 6.19076732e-01 -4.56091124e-03 6.69661645e+01] [ 5.85466036e-03 -5.96578137e-05 9.99982860e-01 -4.19737543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.59028169299995 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:221.67, Y:66.99, Z:-0.42 [[ 6.19036547e-01 -7.85351949e-01 -4.00866576e-03 2.21674356e+02] [ 7.85336149e-01 6.19049523e-01 -4.98212156e-03 6.69865601e+01] [ 6.39428150e-03 -6.40347995e-05 9.99979554e-01 -4.20297320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.620281693 meters Centerline goodness : 0.998899 Centerline is valid? [True, True] Translation: X:221.69, Y:67.01, Z:-0.42 [[ 6.21215181e-01 -7.83633545e-01 -3.18854139e-03 2.21692288e+02] [ 7.83623516e-01 6.21223363e-01 -3.96464028e-03 6.70073973e+01] [ 5.08762152e-03 -3.57212862e-05 9.99987057e-01 -4.20039941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.65028169299995 meters Centerline goodness : 0.998904 Centerline is valid? [True, True] Translation: X:221.71, Y:67.03, Z:-0.42 [[ 6.22989518e-01 -7.82226493e-01 -2.40301061e-03 2.21709351e+02] [ 7.82220781e-01 6.22994152e-01 -2.98939773e-03 6.70278090e+01] [ 3.83544766e-03 -1.73213849e-05 9.99992645e-01 -4.18429668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.680281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:221.73, Y:67.05, Z:-0.42 [[ 6.26647187e-01 -7.79300523e-01 -1.99924723e-03 2.21725068e+02] [ 7.79296551e-01 6.26650376e-01 -2.48825492e-03 6.70483806e+01] [ 3.19192739e-03 1.25147486e-06 9.99994906e-01 -4.18051159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.71028169299996 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:221.74, Y:67.07, Z:-0.42 [[ 6.28606833e-01 -7.77719746e-01 -2.33388271e-03 2.21740464e+02] [ 7.77714317e-01 6.28611165e-01 -2.90593407e-03 6.70696868e+01] [ 3.72710703e-03 1.15960158e-05 9.99993054e-01 -4.18181966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.740281693 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:221.76, Y:67.09, Z:-0.42 [[ 6.30682735e-01 -7.76036562e-01 -2.55792658e-03 2.21756375e+02] [ 7.76030021e-01 6.30687922e-01 -3.18617923e-03 6.70918683e+01] [ 4.08584497e-03 2.44404080e-05 9.99991653e-01 -4.18097004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.77028169299996 meters Centerline goodness : 0.998875 Centerline is valid? [True, True] Translation: X:221.77, Y:67.11, Z:-0.42 [[ 6.30531582e-01 -7.76159381e-01 -2.55731628e-03 2.21773493e+02] [ 7.76152839e-01 6.30536768e-01 -3.18666913e-03 6.71135807e+01] [ 4.08584507e-03 2.44272386e-05 9.99991653e-01 -4.18130901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.800281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:221.79, Y:67.14, Z:-0.42 [[ 6.32057110e-01 -7.74917676e-01 -2.53092041e-03 2.21788505e+02] [ 7.74911253e-01 6.32062176e-01 -3.15522357e-03 6.71352004e+01] [ 4.04473758e-03 3.30427829e-05 9.99991819e-01 -4.18272611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.83028169299996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:221.80, Y:67.16, Z:-0.42 [[ 6.33226017e-01 -7.73960960e-01 -3.04056389e-03 2.21802461e+02] [ 7.73951671e-01 6.33233315e-01 -3.79215897e-03 6.71580796e+01] [ 4.86036935e-03 4.80442196e-05 9.99988187e-01 -4.18096641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.860281693 meters Centerline goodness : 0.998874 Centerline is valid? [True, True] Translation: X:221.82, Y:67.18, Z:-0.42 [[ 6.33032433e-01 -7.74119981e-01 -2.86232478e-03 2.21818047e+02] [ 7.74111745e-01 6.33038903e-01 -3.57133314e-03 6.71805909e+01] [ 4.57660328e-03 4.50104797e-05 9.99989526e-01 -4.18505442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.89028169299996 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:221.83, Y:67.20, Z:-0.42 [[ 6.32131342e-01 -7.74858200e-01 -2.17628782e-03 2.21832031e+02] [ 7.74853438e-01 6.32135088e-01 -2.71657310e-03 6.72045545e+01] [ 3.48066684e-03 3.09269045e-05 9.99993942e-01 -4.20064013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.920281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:221.85, Y:67.23, Z:-0.42 [[ 6.31180503e-01 -7.75632204e-01 -2.42014816e-03 2.21846946e+02] [ 7.75626317e-01 6.31185142e-01 -3.02216915e-03 6.72276596e+01] [ 3.87165328e-03 3.04036414e-05 9.99992505e-01 -4.20669301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.95028169299997 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:221.86, Y:67.25, Z:-0.42 [[ 6.29949264e-01 -7.76631287e-01 -2.78727545e-03 2.21862043e+02] [ 7.76623481e-01 6.29955430e-01 -3.48203639e-03 6.72506974e+01] [ 4.46011770e-03 2.88426941e-05 9.99990053e-01 -4.21187044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 259.980281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:221.88, Y:67.27, Z:-0.42 [[ 6.25504073e-01 -7.80212650e-01 -3.58821877e-03 2.21877282e+02] [ 7.80199762e-01 6.25514365e-01 -4.48446475e-03 6.72734533e+01] [ 5.74331851e-03 5.52352695e-06 9.99983507e-01 -4.21137882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.01028169299997 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:221.89, Y:67.29, Z:-0.42 [[ 6.22049504e-01 -7.82968363e-01 -3.86753568e-03 2.21893244e+02] [ 7.82953430e-01 6.22061526e-01 -4.83572406e-03 6.72940023e+01] [ 6.19206410e-03 -2.00405775e-05 9.99980829e-01 -4.21248567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.04028169299994 meters Centerline goodness : 0.998877 Centerline is valid? [True, True] Translation: X:221.91, Y:67.32, Z:-0.42 [[ 6.18320853e-01 -7.85914787e-01 -4.15577875e-03 2.21910413e+02] [ 7.85897597e-01 6.18334816e-01 -5.19827393e-03 6.73153204e+01] [ 6.65506304e-03 -5.18153644e-05 9.99977853e-01 -4.21351503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.07028169299997 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:221.93, Y:67.34, Z:-0.42 [[ 6.11596281e-01 -7.91155940e-01 -4.71884320e-03 2.21928478e+02] [ 7.91133912e-01 6.11614473e-01 -5.90503693e-03 6.73360075e+01] [ 7.55791784e-03 -1.21738255e-04 9.99971431e-01 -4.22167709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.10028169299994 meters Centerline goodness : 0.999033 Centerline is valid? [True, True] Translation: X:221.95, Y:67.36, Z:-0.42 [[ 6.08716066e-01 -7.93374237e-01 -4.69800326e-03 2.21946271e+02] [ 7.93352450e-01 6.08734178e-01 -5.88145667e-03 6.73568406e+01] [ 7.52603135e-03 -1.47035224e-04 9.99971668e-01 -4.22094992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.130281693 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:221.96, Y:67.38, Z:-0.42 [[ 6.05346217e-01 -7.95951395e-01 -4.16347104e-03 2.21964991e+02] [ 7.95934328e-01 6.05360515e-01 -5.21464860e-03 6.73756763e+01] [ 6.67100780e-03 -1.57181724e-04 9.99977736e-01 -4.20811456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.16028169299994 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:221.98, Y:67.40, Z:-0.42 [[ 6.04096936e-01 -7.96900667e-01 -4.02713580e-03 2.21983124e+02] [ 7.96884708e-01 6.04110338e-01 -5.04598878e-03 6.73957183e+01] [ 6.45398620e-03 -1.60896571e-04 9.99979160e-01 -4.20208148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.190281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:222.00, Y:67.42, Z:-0.42 [[ 6.03220951e-01 -7.97563385e-01 -4.13893885e-03 2.22000694e+02] [ 7.97546528e-01 6.03235126e-01 -5.18835133e-03 6.74152004e+01] [ 6.63479235e-03 -1.71274086e-04 9.99977975e-01 -4.20242905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.22028169299995 meters Centerline goodness : 0.998741 Centerline is valid? [True, True] Translation: X:222.02, Y:67.43, Z:-0.42 [[ 6.03972031e-01 -7.96993318e-01 -4.40871803e-03 2.22020532e+02] [ 7.96974160e-01 6.03988096e-01 -5.52876677e-03 6.74343442e+01] [ 7.06920338e-03 -1.74413860e-04 9.99974998e-01 -4.20108332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.250281693 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:222.04, Y:67.45, Z:-0.42 [[ 6.05003301e-01 -7.96209372e-01 -4.65213656e-03 2.22038028e+02] [ 7.96187997e-01 6.05021162e-01 -5.83672724e-03 6.74538842e+01] [ 7.46189800e-03 -1.72736044e-04 9.99972145e-01 -4.20474533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.28028169299995 meters Centerline goodness : 0.998522 Centerline is valid? [True, True] Translation: X:222.06, Y:67.47, Z:-0.42 [[ 6.06322223e-01 -7.95206145e-01 -4.53316434e-03 2.22055576e+02] [ 7.95185802e-01 6.06339149e-01 -5.69008107e-03 6.74729270e+01] [ 7.27342244e-03 -1.54685315e-04 9.99973536e-01 -4.20743409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.310281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:222.07, Y:67.49, Z:-0.42 [[ 6.09130809e-01 -7.93063703e-01 -3.10174825e-03 2.22073987e+02] [ 7.93054141e-01 6.09138700e-01 -3.89537135e-03 6.74902889e+01] [ 4.97867252e-03 -8.70635898e-05 9.99987603e-01 -4.19290708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.34028169299995 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:222.09, Y:67.51, Z:-0.42 [[ 6.10483157e-01 -7.92025332e-01 -2.48749848e-03 2.22091465e+02] [ 7.92019168e-01 6.10488222e-01 -3.12543903e-03 6.75094825e+01] [ 3.99401541e-03 -6.21185887e-05 9.99992022e-01 -4.18263523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.370281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:222.11, Y:67.53, Z:-0.42 [[ 6.12891443e-01 -7.90165660e-01 -1.51973144e-03 2.22110869e+02] [ 7.90163351e-01 6.12893326e-01 -1.91057695e-03 6.75263091e+01] [ 2.44110555e-03 -2.98598269e-05 9.99997020e-01 -4.17721769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.40028169299995 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:222.13, Y:67.55, Z:-0.42 [[ 6.13636826e-01 -7.89587858e-01 -9.27648258e-04 2.22129380e+02] [ 7.89586996e-01 6.13637527e-01 -1.16690375e-03 6.75458194e+01] [ 1.49061282e-03 -1.64038856e-05 9.99998889e-01 -4.17993759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.430281693 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:222.15, Y:67.57, Z:-0.42 [[ 6.14359621e-01 -7.89026091e-01 -2.90949809e-04 2.22147992e+02] [ 7.89026006e-01 6.14359690e-01 -3.66428870e-04 6.75652394e+01] [ 4.67869774e-04 -4.44786390e-06 9.99999891e-01 -4.17353493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.46028169299996 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:222.17, Y:67.58, Z:-0.42 [[ 6.16457732e-01 -7.87387848e-01 -4.92586688e-04 2.22168024e+02] [ 7.87387603e-01 6.16457928e-01 -6.20390703e-04 6.75827550e+01] [ 7.92147069e-04 -5.41200558e-06 9.99999686e-01 -4.17369504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.490281693 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:222.19, Y:67.60, Z:-0.42 [[ 6.17726596e-01 -7.86392369e-01 -9.46135654e-04 2.22186276e+02] [ 7.86391466e-01 6.17727320e-01 -1.19176295e-03 6.76018356e+01] [ 1.52164713e-03 -7.84933550e-06 9.99998842e-01 -4.18225583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.52028169299996 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:222.21, Y:67.62, Z:-0.42 [[ 6.20353148e-01 -7.84321658e-01 -1.22778274e-03 2.22205630e+02] [ 7.84320132e-01 6.20354363e-01 -1.54710230e-03 6.76203067e+01] [ 1.97508622e-03 -3.22493827e-06 9.99998050e-01 -4.18265630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.550281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:222.22, Y:67.64, Z:-0.42 [[ 6.21456965e-01 -7.83447922e-01 -7.71539505e-04 2.22222384e+02] [ 7.83447317e-01 6.21457444e-01 -9.72848618e-04 6.76393525e+01] [ 1.24165520e-03 1.22993554e-07 9.99999229e-01 -4.18161908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.58028169299996 meters Centerline goodness : 0.999200 Centerline is valid? [True, True] Translation: X:222.24, Y:67.66, Z:-0.42 [[ 6.22311431e-01 -7.82769529e-01 -5.89577331e-04 2.22240048e+02] [ 7.82769175e-01 6.22311711e-01 -7.43794707e-04 6.76601603e+01] [ 9.49120710e-04 1.36898799e-06 9.99999550e-01 -4.17592595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.610281693 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:222.26, Y:67.68, Z:-0.42 [[ 6.23156914e-01 -7.82096549e-01 -6.69949789e-04 2.22257170e+02] [ 7.82096092e-01 6.23157274e-01 -8.45323501e-04 6.76801628e+01] [ 1.07860868e-03 2.80407314e-06 9.99999418e-01 -4.17621551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.64028169299996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:222.27, Y:67.70, Z:-0.42 [[ 6.23179835e-01 -7.82078287e-01 -6.67631092e-04 2.22273075e+02] [ 7.82077833e-01 6.23180193e-01 -8.42940572e-04 6.76996634e+01] [ 1.07529999e-03 3.16408896e-06 9.99999422e-01 -4.17360490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.670281693 meters Centerline goodness : 0.999002 Centerline is valid? [True, True] Translation: X:222.29, Y:67.72, Z:-0.42 [[ 6.22919707e-01 -7.82285609e-01 -5.14242386e-04 2.22290049e+02] [ 7.82285339e-01 6.22919920e-01 -6.49651024e-04 6.77201612e+01] [ 8.28544473e-04 2.39614654e-06 9.99999657e-01 -4.17568516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.70028169299997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:222.31, Y:67.74, Z:-0.42 [[ 6.21284609e-01 -7.83584500e-01 -8.75768968e-04 2.22306780e+02] [ 7.83583719e-01 6.21285226e-01 -1.10637977e-03 6.77393189e+01] [ 1.41104436e-03 1.13841753e-06 9.99999004e-01 -4.18370077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.730281693 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:222.32, Y:67.76, Z:-0.42 [[ 6.20240519e-01 -7.84410394e-01 -1.42546571e-03 2.22323659e+02] [ 7.84408326e-01 6.20242157e-01 -1.80145012e-03 6.77595764e+01] [ 2.29721012e-03 -8.14809787e-07 9.99997361e-01 -4.19209519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.76028169299997 meters Centerline goodness : 0.998939 Centerline is valid? [True, True] Translation: X:222.34, Y:67.78, Z:-0.42 [[ 6.17338441e-01 -7.86695215e-01 -1.97175776e-03 2.22340738e+02] [ 7.86691267e-01 6.17341589e-01 -2.49244546e-03 6.77786009e+01] [ 3.17804299e-03 -1.24822190e-05 9.99994950e-01 -4.20172012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.79028169299994 meters Centerline goodness : 0.999032 Centerline is valid? [True, True] Translation: X:222.36, Y:67.80, Z:-0.42 [[ 6.15148317e-01 -7.88408514e-01 -2.13626677e-03 2.22357414e+02] [ 7.88403885e-01 6.15152026e-01 -2.70160467e-03 6.77985746e+01] [ 3.44409695e-03 -2.23534540e-05 9.99994069e-01 -4.20252116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.82028169299997 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:222.37, Y:67.82, Z:-0.42 [[ 6.13024606e-01 -7.90060747e-01 -2.20163100e-03 2.22374126e+02] [ 7.90055838e-01 6.13028559e-01 -2.78555444e-03 6.78189819e+01] [ 3.55041990e-03 -3.17980033e-05 9.99993697e-01 -4.20466332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.85028169299994 meters Centerline goodness : 0.998906 Centerline is valid? [True, True] Translation: X:222.39, Y:67.84, Z:-0.42 [[ 6.10270601e-01 -7.92188353e-01 -2.72179964e-03 2.22390125e+02] [ 7.92180863e-01 6.10276668e-01 -3.44519470e-03 6.78392762e+01] [ 4.39029393e-03 -5.36565521e-05 9.99990361e-01 -4.20292252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.880281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:222.41, Y:67.86, Z:-0.42 [[ 6.09677581e-01 -7.92644026e-01 -2.94887112e-03 2.22407185e+02] [ 7.92635232e-01 6.09684709e-01 -3.73415369e-03 6.78605667e+01] [ 4.75773625e-03 -6.07493511e-05 9.99988680e-01 -4.19767946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.91028169299994 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:222.42, Y:67.88, Z:-0.42 [[ 6.09284136e-01 -7.92946312e-01 -2.99820319e-03 2.22423997e+02] [ 7.92937217e-01 6.09291509e-01 -3.79825830e-03 6.78814383e+01] [ 4.83859465e-03 -6.31683700e-05 9.99988292e-01 -4.19626015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.940281693 meters Centerline goodness : 0.998997 Centerline is valid? [True, True] Translation: X:222.44, Y:67.90, Z:-0.42 [[ 6.09206902e-01 -7.93008054e-01 -2.27518442e-03 2.22440399e+02] [ 7.93002812e-01 6.09211149e-01 -2.88374066e-03 6.79012096e+01] [ 3.67289729e-03 -4.74329279e-05 9.99993254e-01 -4.18902798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 260.97028169299995 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:222.46, Y:67.92, Z:-0.42 [[ 6.08863205e-01 -7.93273155e-01 -1.81619116e-03 2.22456138e+02] [ 7.93269812e-01 6.08865913e-01 -2.30320242e-03 6.79210101e+01] [ 2.93288554e-03 -3.83944163e-05 9.99995698e-01 -4.18935479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.000281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:222.47, Y:67.94, Z:-0.42 [[ 6.07880332e-01 -7.94027971e-01 -1.04058403e-03 2.22474224e+02] [ 7.94026874e-01 6.07881222e-01 -1.32042366e-03 6.79399767e+01] [ 1.68100481e-03 -2.35921112e-05 9.99998587e-01 -4.19259589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.03028169299995 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:222.49, Y:67.96, Z:-0.42 [[ 6.07070824e-01 -7.94646947e-01 -1.11579713e-03 2.22490762e+02] [ 7.94645685e-01 6.07071849e-01 -1.41654443e-03 6.79594175e+01] [ 1.80302173e-03 -2.67205792e-05 9.99998374e-01 -4.19213374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.060281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:222.51, Y:67.98, Z:-0.42 [[ 6.06575805e-01 -7.95024922e-01 -1.07935579e-03 2.22506939e+02] [ 7.95023741e-01 6.06576765e-01 -1.37084839e-03 6.79801729e+01] [ 1.74457077e-03 -2.65900113e-05 9.99998478e-01 -4.18754427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.09028169299995 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:222.52, Y:68.00, Z:-0.42 [[ 6.07069734e-01 -7.94647419e-01 -1.34814279e-03 2.22521904e+02] [ 7.94645573e-01 6.07071230e-01 -1.71293500e-03 6.80012783e+01] [ 2.17959808e-03 -3.14247020e-05 9.99997624e-01 -4.18827105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.120281693 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:222.54, Y:68.02, Z:-0.42 [[ 6.07108347e-01 -7.94616679e-01 -1.94636296e-03 2.22537795e+02] [ 7.94612829e-01 6.07111465e-01 -2.47404398e-03 6.80206357e+01] [ 3.14757587e-03 -4.45922275e-05 9.99995045e-01 -4.19356673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.15028169299995 meters Centerline goodness : 0.998794 Centerline is valid? [True, True] Translation: X:222.55, Y:68.04, Z:-0.42 [[ 6.07462311e-01 -7.94341431e-01 -3.35147380e-03 2.22554609e+02] [ 7.94330002e-01 6.07471552e-01 -4.26168587e-03 6.80408718e+01] [ 5.42115864e-03 -7.33626424e-05 9.99985303e-01 -4.20177911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.180281693 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:222.57, Y:68.06, Z:-0.42 [[ 6.08253150e-01 -7.93736507e-01 -3.23463505e-03 2.22570714e+02] [ 7.93725843e-01 6.08261748e-01 -4.11490189e-03 6.80631208e+01] [ 5.23365262e-03 -6.45113942e-05 9.99986302e-01 -4.19289418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.21028169299996 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:222.59, Y:68.09, Z:-0.42 [[ 6.09712649e-01 -7.92618552e-01 -2.51354972e-03 2.22586498e+02] [ 7.92612097e-01 6.09717828e-01 -3.19905877e-03 6.80853715e+01] [ 4.06818941e-03 -4.17633168e-05 9.99991724e-01 -4.18713310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.240281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:222.60, Y:68.11, Z:-0.42 [[ 6.14900037e-01 -7.88604140e-01 -1.20614365e-03 2.22602412e+02] [ 7.88602644e-01 6.14901220e-01 -1.53597370e-03 6.81079810e+01] [ 1.95293442e-03 -6.69778933e-06 9.99998093e-01 -4.17580166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.27028169299996 meters Centerline goodness : 0.999294 Centerline is valid? [True, True] Translation: X:222.62, Y:68.13, Z:-0.42 [[ 6.17849327e-01 -7.86295036e-01 -1.52506687e-03 2.22617422e+02] [ 7.86292636e-01 6.17851209e-01 -1.94290710e-03 6.81292465e+01] [ 2.46996262e-03 1.27499058e-06 9.99996950e-01 -4.17831340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.300281693 meters Centerline goodness : 0.998943 Centerline is valid? [True, True] Translation: X:222.63, Y:68.15, Z:-0.42 [[ 6.23135154e-01 -7.82110134e-01 -2.51355615e-03 2.22631429e+02] [ 7.82103574e-01 6.23140223e-01 -3.20337815e-03 6.81520062e+01] [ 4.07169245e-03 3.02762867e-05 9.99991710e-01 -4.18084471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.33028169299996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:222.65, Y:68.17, Z:-0.42 [[ 6.25341167e-01 -7.80348555e-01 -2.13466287e-03 2.22646331e+02] [ 7.80343809e-01 6.25344810e-01 -2.72179368e-03 6.81734560e+01] [ 3.45884811e-03 3.62786839e-05 9.99994018e-01 -4.17512412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.360281693 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:222.66, Y:68.19, Z:-0.42 [[ 6.27700628e-01 -7.78453838e-01 -1.24207124e-03 2.22660222e+02] [ 7.78452227e-01 6.27701857e-01 -1.58435791e-03 6.81945190e+01] [ 2.01299992e-03 2.76093322e-05 9.99997974e-01 -4.17020463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.39028169299996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:222.67, Y:68.22, Z:-0.42 [[ 6.29906979e-01 -7.76670413e-01 -5.17404375e-04 2.22674374e+02] [ 7.76670132e-01 6.29907192e-01 -6.60531153e-04 6.82175821e+01] [ 8.38931740e-04 1.42206591e-05 9.99999648e-01 -4.16649013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.420281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:222.69, Y:68.24, Z:-0.42 [[ 6.35158156e-01 -7.72381991e-01 -4.21245068e-04 2.22685618e+02] [ 7.72381804e-01 6.35158295e-01 -5.38073858e-04 6.82436733e+01] [ 6.83155857e-04 1.63999741e-05 9.99999767e-01 -4.16581144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.45028169299997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:222.70, Y:68.27, Z:-0.42 [[ 6.37350371e-01 -7.70573546e-01 -9.56584155e-04 2.22699434e+02] [ 7.70572578e-01 6.37351087e-01 -1.22192606e-03 6.82659964e+01] [ 1.55126385e-03 4.16775108e-05 9.99998796e-01 -4.16927955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.480281693 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:222.71, Y:68.29, Z:-0.42 [[ 6.40508773e-01 -7.67948408e-01 -1.93749606e-03 2.22711289e+02] [ 7.67944424e-01 6.40511696e-01 -2.47556909e-03 6.82902775e+01] [ 3.14209823e-03 9.77344257e-05 9.99995059e-01 -4.17355124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.51028169299997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:222.72, Y:68.31, Z:-0.42 [[ 6.41175244e-01 -7.67391734e-01 -2.05748998e-03 2.22724685e+02] [ 7.67387234e-01 6.41178537e-01 -2.62993993e-03 6.83139853e+01] [ 3.33741258e-03 1.07360830e-04 9.99994425e-01 -4.16843563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.54028169299994 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:222.74, Y:68.34, Z:-0.42 [[ 6.41397542e-01 -7.67206000e-01 -2.03637703e-03 2.22737376e+02] [ 7.67201588e-01 6.41400765e-01 -2.60412241e-03 6.83372105e+01] [ 3.30403213e-03 1.07966024e-04 9.99994536e-01 -4.17018147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.57028169299997 meters Centerline goodness : 0.998809 Centerline is valid? [True, True] Translation: X:222.75, Y:68.36, Z:-0.42 [[ 6.40808011e-01 -7.67696937e-01 -2.55059746e-03 2.22748292e+02] [ 7.67690015e-01 6.40813073e-01 -3.26291146e-03 6.83625361e+01] [ 4.13938333e-03 1.32831599e-04 9.99991424e-01 -4.17931450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.60028169299994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:222.76, Y:68.39, Z:-0.42 [[ 6.40092997e-01 -7.68293672e-01 -2.40576148e-03 2.22763074e+02] [ 7.68287512e-01 6.40097507e-01 -3.07899634e-03 6.83858410e+01] [ 3.90549533e-03 1.22527492e-04 9.99992366e-01 -4.18510665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.630281693 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:222.77, Y:68.41, Z:-0.42 [[ 6.38276781e-01 -7.69806233e-01 -1.05568882e-03 2.22773816e+02] [ 7.69805047e-01 6.38277652e-01 -1.35198172e-03 6.84101238e+01] [ 1.71458653e-03 5.02639623e-05 9.99998529e-01 -4.16810784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.66028169299994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:222.79, Y:68.43, Z:-0.42 [[ 6.37164155e-01 -7.70727832e-01 -6.69689075e-04 2.22787159e+02] [ 7.70727355e-01 6.37164506e-01 -8.58139891e-04 6.84336461e+01] [ 1.08809441e-03 3.06282889e-05 9.99999408e-01 -4.15805038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.690281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:222.80, Y:68.46, Z:-0.42 [[ 6.37015104e-01 -7.70851029e-01 -6.69534476e-04 2.22803984e+02] [ 7.70850552e-01 6.37015455e-01 -8.58260542e-04 6.84555843e+01] [ 1.08809483e-03 3.06139078e-05 9.99999408e-01 -4.15838936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.72028169299995 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:222.82, Y:68.48, Z:-0.42 [[ 6.33917342e-01 -7.73399314e-01 -1.51827836e-03 2.22816350e+02] [ 7.73396866e-01 6.33919157e-01 -1.94666305e-03 6.84793932e+01] [ 2.46801360e-03 5.97917417e-05 9.99996953e-01 -4.16474881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.750281693 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:222.83, Y:68.50, Z:-0.42 [[ 6.32201434e-01 -7.74801475e-01 -2.00503024e-03 2.22831500e+02] [ 7.74797211e-01 6.32204610e-01 -2.57167826e-03 6.85018156e+01] [ 3.26012947e-03 7.23268507e-05 9.99994683e-01 -4.17083879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.78028169299995 meters Centerline goodness : 0.999185 Centerline is valid? [True, True] Translation: X:222.85, Y:68.52, Z:-0.42 [[ 6.31150626e-01 -7.75657228e-01 -2.18013210e-03 2.22846094e+02] [ 7.75652186e-01 6.31154387e-01 -2.79749205e-03 6.85240205e+01] [ 3.54589487e-03 7.46146297e-05 9.99993711e-01 -4.16508163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.810281693 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:222.86, Y:68.55, Z:-0.42 [[ 6.30902838e-01 -7.75859614e-01 -1.86230948e-03 2.22857337e+02] [ 7.75855933e-01 6.30905583e-01 -2.39078635e-03 6.85478869e+01] [ 3.02985603e-03 6.34700318e-05 9.99995408e-01 -4.15914454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.84028169299995 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:222.87, Y:68.57, Z:-0.42 [[ 6.30906742e-01 -7.75856284e-01 -1.92587822e-03 2.22871724e+02] [ 7.75852344e-01 6.30909678e-01 -2.47345245e-03 6.85698227e+01] [ 3.13409883e-03 6.63206976e-05 9.99995087e-01 -4.16325657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.870281693 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:222.89, Y:68.59, Z:-0.42 [[ 6.29847916e-01 -7.76715960e-01 -1.98011476e-03 2.22885858e+02] [ 7.76711796e-01 6.29851025e-01 -2.54413093e-03 6.85930393e+01] [ 3.22324441e-03 6.44370715e-05 9.99994803e-01 -4.17013601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.90028169299995 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:222.90, Y:68.62, Z:-0.42 [[ 6.28955066e-01 -7.77439011e-01 -2.02716534e-03 2.22899696e+02] [ 7.77434647e-01 6.28958329e-01 -2.60572916e-03 6.86150800e+01] [ 3.30079803e-03 6.28979825e-05 9.99994550e-01 -4.17012470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.930281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:222.91, Y:68.64, Z:-0.42 [[ 6.28140839e-01 -7.78097216e-01 -1.95158437e-03 2.22914610e+02] [ 7.78093171e-01 6.28143868e-01 -2.50962980e-03 6.86381758e+01] [ 3.17861171e-03 5.78864960e-05 9.99994947e-01 -4.16407331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.96028169299996 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:222.93, Y:68.66, Z:-0.42 [[ 6.26938150e-01 -7.79067104e-01 -1.73310001e-03 2.22929373e+02] [ 7.79063915e-01 6.26940544e-01 -2.22964577e-03 6.86605772e+01] [ 2.82359433e-03 4.76543161e-05 9.99996013e-01 -4.16564364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 261.990281693 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:222.94, Y:68.68, Z:-0.42 [[ 6.24231981e-01 -7.81238213e-01 -1.13499110e-03 2.22944881e+02] [ 7.81236847e-01 6.24233013e-01 -1.46097729e-03 6.86818523e+01] [ 1.84987020e-03 2.52918780e-05 9.99998289e-01 -4.16083037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.02028169299996 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:222.96, Y:68.70, Z:-0.42 [[ 6.23093041e-01 -7.82146851e-01 -1.16845953e-03 2.22960036e+02] [ 7.82145405e-01 6.23094136e-01 -1.50441562e-03 6.87026001e+01] [ 1.90473423e-03 2.34856528e-05 9.99998186e-01 -4.15129044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.050281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:222.97, Y:68.73, Z:-0.42 [[ 6.22671923e-01 -7.82482019e-01 -1.25118388e-03 2.22974196e+02] [ 7.82480360e-01 6.22673180e-01 -1.61170330e-03 6.87260698e+01] [ 2.04020750e-03 2.45355783e-05 9.99997918e-01 -4.15106607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.08028169299996 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:222.99, Y:68.75, Z:-0.41 [[ 6.22823226e-01 -7.82361609e-01 -1.24167289e-03 2.22989326e+02] [ 7.82359973e-01 6.22824463e-01 -1.60019984e-03 6.87473868e+01] [ 2.02527918e-03 2.52064566e-05 9.99997949e-01 -4.14961408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.110281693 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:223.01, Y:68.77, Z:-0.42 [[ 6.22815108e-01 -7.82368158e-01 -1.18598114e-03 2.23005502e+02] [ 7.82366664e-01 6.22816237e-01 -1.52912090e-03 6.87693537e+01] [ 1.93498381e-03 2.44874909e-05 9.99998128e-01 -4.15560146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.14028169299996 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:223.02, Y:68.79, Z:-0.42 [[ 6.22717351e-01 -7.82445462e-01 -1.48318765e-03 2.23021729e+02] [ 7.82443124e-01 6.22719117e-01 -1.91277010e-03 6.87897204e+01] [ 2.42024759e-03 3.06051526e-05 9.99997071e-01 -4.15578369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.170281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:223.04, Y:68.81, Z:-0.42 [[ 6.21965958e-01 -7.83041811e-01 -1.96723407e-03 2.23038253e+02] [ 7.83037698e-01 6.21969068e-01 -2.53811846e-03 6.88100558e+01] [ 3.21101161e-03 3.82048380e-05 9.99994844e-01 -4.16168982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.20028169299997 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:223.06, Y:68.83, Z:-0.42 [[ 6.22088705e-01 -7.82939967e-01 -3.26358432e-03 2.23056259e+02] [ 7.82928640e-01 6.22097262e-01 -4.21215776e-03 6.88308651e+01] [ 5.32813353e-03 6.51821368e-05 9.99985803e-01 -4.16916120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.230281693 meters Centerline goodness : 0.999006 Centerline is valid? [True, True] Translation: X:223.07, Y:68.85, Z:-0.42 [[ 6.22772675e-01 -7.82395407e-01 -3.40910855e-03 2.23072543e+02] [ 7.82383031e-01 6.22782002e-01 -4.40132012e-03 6.88518761e+01] [ 5.56670410e-03 7.37932300e-05 9.99984503e-01 -4.16901241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.26028169299997 meters Centerline goodness : 0.999251 Centerline is valid? [True, True] Translation: X:223.09, Y:68.87, Z:-0.42 [[ 6.23947194e-01 -7.81461259e-01 -2.86366858e-03 2.23087719e+02] [ 7.81452508e-01 6.23953761e-01 -3.69889504e-03 6.88743642e+01] [ 4.67733995e-03 7.00941869e-05 9.99989059e-01 -4.16285362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.29028169299994 meters Centerline goodness : 0.999018 Centerline is valid? [True, True] Translation: X:223.10, Y:68.90, Z:-0.42 [[ 6.23851831e-01 -7.81537259e-01 -2.89929533e-03 2.23103286e+02] [ 7.81528281e-01 6.23858564e-01 -3.74664553e-03 6.88952798e+01] [ 4.73689330e-03 7.14703735e-05 9.99988778e-01 -4.16351558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.32028169299997 meters Centerline goodness : 0.999166 Centerline is valid? [True, True] Translation: X:223.12, Y:68.92, Z:-0.42 [[ 6.23407725e-01 -7.81889958e-01 -3.30187360e-03 2.23118909e+02] [ 7.81878309e-01 6.23416464e-01 -4.26867722e-03 6.89161021e+01] [ 5.39607822e-03 7.94630051e-05 9.99985438e-01 -4.15868681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.35028169299994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:223.13, Y:68.94, Z:-0.42 [[ 6.22102101e-01 -7.82927174e-01 -3.74382909e-03 2.23134602e+02] [ 7.82912205e-01 6.22113361e-01 -4.84209073e-03 6.89377997e+01] [ 6.12009050e-03 8.11853322e-05 9.99981269e-01 -4.15989329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.380281693 meters Centerline goodness : 0.998732 Centerline is valid? [True, True] Translation: X:223.15, Y:68.96, Z:-0.42 [[ 6.21171440e-01 -7.83666157e-01 -3.65997814e-03 2.23149632e+02] [ 7.83651855e-01 6.21182218e-01 -4.73515293e-03 6.89588220e+01] [ 5.98429244e-03 7.31931101e-05 9.99982091e-01 -4.16152339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.41028169299994 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:223.17, Y:68.98, Z:-0.42 [[ 6.20153046e-01 -7.84472919e-01 -3.52689429e-03 2.23166117e+02] [ 7.84459639e-01 6.20163072e-01 -4.56499925e-03 6.89808727e+01] [ 5.76836788e-03 6.42919740e-05 9.99983361e-01 -4.16377764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.440281693 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:223.18, Y:69.00, Z:-0.42 [[ 6.18072385e-01 -7.86116461e-01 -2.72700280e-03 2.23182314e+02] [ 7.86108531e-01 6.18078399e-01 -3.53130526e-03 6.90024535e+01] [ 4.46151872e-03 3.88821001e-05 9.99990047e-01 -4.15491961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.47028169299995 meters Centerline goodness : 0.998793 Centerline is valid? [True, True] Translation: X:223.20, Y:69.02, Z:-0.42 [[ 6.16589709e-01 -7.87281773e-01 -2.13066084e-03 2.23197724e+02] [ 7.87276934e-01 6.16593390e-01 -2.76044516e-03 6.90240798e+01] [ 3.48699955e-03 2.46419416e-05 9.99993920e-01 -4.15311906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.500281693 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:223.21, Y:69.05, Z:-0.41 [[ 6.13408571e-01 -7.89762432e-01 -2.28612555e-03 2.23212257e+02] [ 7.89756873e-01 6.13412831e-01 -2.96307649e-03 6.90467062e+01] [ 3.74246524e-03 1.20931510e-05 9.99992997e-01 -4.14956293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.53028169299995 meters Centerline goodness : 0.998652 Centerline is valid? [True, True] Translation: X:223.23, Y:69.07, Z:-0.42 [[ 6.12437696e-01 -7.90513391e-01 -2.94058602e-03 2.23228194e+02] [ 7.90504196e-01 6.12444755e-01 -3.81293775e-03 6.90677115e+01] [ 4.81512484e-03 1.06412188e-05 9.99988407e-01 -4.15803468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.560281693 meters Centerline goodness : 0.998909 Centerline is valid? [True, True] Translation: X:223.25, Y:69.09, Z:-0.42 [[ 6.11391770e-01 -7.91318998e-01 -3.78777846e-03 2.23245140e+02] [ 7.91303744e-01 6.11403503e-01 -4.91343234e-03 6.90895446e+01] [ 6.20395337e-03 6.74881609e-06 9.99980755e-01 -4.15679161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.59028169299995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:223.26, Y:69.11, Z:-0.42 [[ 6.10552680e-01 -7.91966012e-01 -3.90651113e-03 2.23261324e+02] [ 7.91949785e-01 6.10565177e-01 -5.06975325e-03 6.91099102e+01] [ 6.40025193e-03 1.59078471e-06 9.99979518e-01 -4.15882190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.620281693 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:223.28, Y:69.13, Z:-0.41 [[ 6.09520110e-01 -7.92767167e-01 -2.33558262e-03 2.23276928e+02] [ 7.92761367e-01 6.09524585e-01 -3.03255607e-03 6.91311480e+01] [ 3.82770591e-03 -3.15576316e-06 9.99992674e-01 -4.14308746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.65028169299995 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:223.29, Y:69.15, Z:-0.42 [[ 6.09100063e-01 -7.93092468e-01 -1.20439398e-03 2.23293168e+02] [ 7.93090924e-01 6.09101254e-01 -1.56464210e-03 6.91523443e+01] [ 1.97450375e-03 -2.17033344e-06 9.99998051e-01 -4.15068886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.680281693 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:223.31, Y:69.17, Z:-0.42 [[ 6.08455995e-01 -7.93586977e-01 -1.00622759e-03 2.23311720e+02] [ 7.93585900e-01 6.08456827e-01 -1.30760190e-03 6.91710510e+01] [ 1.64994189e-03 -2.90981414e-06 9.99998639e-01 -4.15598396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.71028169299996 meters Centerline goodness : 0.999122 Centerline is valid? [True, True] Translation: X:223.33, Y:69.19, Z:-0.42 [[ 6.07927224e-01 -7.93991126e-01 -1.60673035e-03 2.23329469e+02] [ 7.93988378e-01 6.07929348e-01 -2.08881780e-03 6.91914301e+01] [ 2.63528133e-03 -5.87601485e-06 9.99996528e-01 -4.15724202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.740281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:223.35, Y:69.21, Z:-0.42 [[ 6.07465843e-01 -7.94343088e-01 -2.07534844e-03 2.23346263e+02] [ 7.94338502e-01 6.07469388e-01 -2.69919441e-03 6.92114572e+01] [ 3.40479707e-03 -8.86076567e-06 9.99994204e-01 -4.15934757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.77028169299996 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:223.36, Y:69.23, Z:-0.42 [[ 6.07297856e-01 -7.94470677e-01 -2.37840482e-03 2.23362463e+02] [ 7.94464650e-01 6.07302513e-01 -3.09470217e-03 6.92322596e+01] [ 3.90306135e-03 -1.01525626e-05 9.99992383e-01 -4.16127723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.800281693 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:223.38, Y:69.25, Z:-0.41 [[ 6.08410931e-01 -7.93618935e-01 -2.26381620e-03 2.23378446e+02] [ 7.93613463e-01 6.08415143e-01 -2.94697965e-03 6.92525717e+01] [ 3.71611891e-03 -3.62037897e-06 9.99993095e-01 -4.14816156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.83028169299996 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:223.39, Y:69.27, Z:-0.41 [[ 6.09827690e-01 -7.92531124e-01 -2.14620871e-03 2.23394921e+02] [ 7.92526195e-01 6.09831466e-01 -2.79515877e-03 6.92742043e+01] [ 3.52407593e-03 3.63859430e-06 9.99993790e-01 -4.14518182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.860281693 meters Centerline goodness : 0.998739 Centerline is valid? [True, True] Translation: X:223.41, Y:69.30, Z:-0.42 [[ 6.14971308e-01 -7.88542164e-01 -3.39791422e-03 2.23409254e+02] [ 7.88529741e-01 6.14980694e-01 -4.42653599e-03 6.92964157e+01] [ 5.58016191e-03 4.28362063e-05 9.99984430e-01 -4.15250607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.89028169299996 meters Centerline goodness : 0.998457 Centerline is valid? [True, True] Translation: X:223.42, Y:69.32, Z:-0.42 [[ 6.17560475e-01 -7.86513381e-01 -3.97003499e-03 2.23423170e+02] [ 7.86496364e-01 6.17573231e-01 -5.17432011e-03 6.93182652e+01] [ 6.52145935e-03 7.30375011e-05 9.99978732e-01 -4.16418179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.920281693 meters Centerline goodness : 0.998535 Centerline is valid? [True, True] Translation: X:223.44, Y:69.34, Z:-0.42 [[ 6.21173322e-01 -7.83661623e-01 -4.26196367e-03 2.23436103e+02] [ 7.83641927e-01 6.21187933e-01 -5.55710399e-03 6.93430572e+01] [ 7.00236953e-03 1.12071322e-04 9.99975477e-01 -4.17367827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.95028169299997 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:223.45, Y:69.37, Z:-0.42 [[ 6.21881247e-01 -7.83100966e-01 -4.07332187e-03 2.23449636e+02] [ 7.83082952e-01 6.21894577e-01 -5.31282229e-03 6.93652112e+01] [ 6.69365305e-03 1.14195641e-04 9.99977591e-01 -4.17131068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 262.980281693 meters Centerline goodness : 0.998095 Centerline is valid? [True, True] Translation: X:223.46, Y:69.39, Z:-0.42 [[ 6.21959004e-01 -7.83041789e-01 -3.54317087e-03 2.23463775e+02] [ 7.83028146e-01 6.21969088e-01 -4.62352293e-03 6.93888356e+01] [ 5.82415442e-03 1.01239205e-04 9.99983034e-01 -4.17425835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.01028169299997 meters Centerline goodness : 0.998436 Centerline is valid? [True, True] Translation: X:223.48, Y:69.41, Z:-0.42 [[ 6.20480257e-01 -7.84214825e-01 -3.37035556e-03 2.23475865e+02] [ 7.84202486e-01 6.20489405e-01 -4.39997265e-03 6.94139235e+01] [ 5.54179369e-03 8.70549577e-05 9.99984640e-01 -4.16759227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.04028169299994 meters Centerline goodness : 0.998481 Centerline is valid? [True, True] Translation: X:223.49, Y:69.44, Z:-0.42 [[ 6.19340023e-01 -7.85114396e-01 -3.64966371e-03 2.23489540e+02] [ 7.85099930e-01 6.19350770e-01 -4.76680097e-03 6.94364121e+01] [ 6.00290610e-03 8.69198982e-05 9.99981979e-01 -4.16936414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.07028169299997 meters Centerline goodness : 0.998445 Centerline is valid? [True, True] Translation: X:223.50, Y:69.46, Z:-0.42 [[ 6.16244771e-01 -7.87544887e-01 -3.92841435e-03 2.23502211e+02] [ 7.87528162e-01 6.16257289e-01 -5.13306499e-03 6.94612470e+01] [ 6.46343306e-03 6.94875297e-05 9.99979109e-01 -4.16804943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.10028169299994 meters Centerline goodness : 0.998440 Centerline is valid? [True, True] Translation: X:223.52, Y:69.48, Z:-0.42 [[ 6.14668327e-01 -7.88778685e-01 -3.32180962e-03 2.23516468e+02] [ 7.88766733e-01 6.14677301e-01 -4.34252602e-03 6.94829897e+01] [ 5.46713294e-03 4.90802794e-05 9.99985054e-01 -4.16131649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.130281693 meters Centerline goodness : 0.998698 Centerline is valid? [True, True] Translation: X:223.53, Y:69.50, Z:-0.42 [[ 6.12953612e-01 -7.90115091e-01 -2.45208095e-03 2.23531426e+02] [ 7.90108582e-01 6.12958516e-01 -3.20711411e-03 6.95045125e+01] [ 4.03701315e-03 2.84019690e-05 9.99991851e-01 -4.15723515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.16028169299994 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:223.55, Y:69.53, Z:-0.42 [[ 6.10006009e-01 -7.92394245e-01 -2.00731920e-03 2.23546641e+02] [ 7.92389892e-01 6.10009311e-01 -2.62658051e-03 6.95272024e+01] [ 3.30577068e-03 1.16504520e-05 9.99994536e-01 -4.15414190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.190281693 meters Centerline goodness : 0.998428 Centerline is valid? [True, True] Translation: X:223.56, Y:69.55, Z:-0.42 [[ 6.08741089e-01 -7.93363934e-01 -2.82053434e-03 2.23562237e+02] [ 7.93355342e-01 6.08747623e-01 -3.69215537e-03 6.95492325e+01] [ 4.64621648e-03 9.88069515e-06 9.99989206e-01 -4.15563422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.22028169299995 meters Centerline goodness : 0.998225 Centerline is valid? [True, True] Translation: X:223.58, Y:69.57, Z:-0.42 [[ 6.05940481e-01 -7.95499834e-01 -4.01846867e-03 2.23577465e+02] [ 7.95482427e-01 6.05953805e-01 -5.26255535e-03 6.95702595e+01] [ 6.62136829e-03 -7.82589557e-06 9.99978078e-01 -4.16429071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.250281693 meters Centerline goodness : 0.998356 Centerline is valid? [True, True] Translation: X:223.59, Y:69.59, Z:-0.42 [[ 6.04568758e-01 -7.96544002e-01 -3.77754141e-03 2.23593887e+02] [ 7.96528627e-01 6.04580559e-01 -4.94914292e-03 6.95924347e+01] [ 6.22603821e-03 -1.68226864e-05 9.99980618e-01 -4.16177284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.28028169299995 meters Centerline goodness : 0.998658 Centerline is valid? [True, True] Translation: X:223.61, Y:69.61, Z:-0.42 [[ 6.01947093e-01 -7.98531457e-01 -2.68491338e-03 2.23610020e+02] [ 7.98523702e-01 6.01953081e-01 -3.51935391e-03 6.96124656e+01] [ 4.42650668e-03 -2.55021139e-05 9.99990203e-01 -4.15058219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.310281693 meters Centerline goodness : 0.998655 Centerline is valid? [True, True] Translation: X:223.63, Y:69.63, Z:-0.41 [[ 6.00268515e-01 -7.99793905e-01 -2.72380266e-03 2.23627028e+02] [ 7.99785930e-01 6.00274694e-01 -3.57180500e-03 6.96333946e+01] [ 4.49173768e-03 -3.44169615e-05 9.99989912e-01 -4.14498609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.34028169299995 meters Centerline goodness : 0.998644 Centerline is valid? [True, True] Translation: X:223.65, Y:69.65, Z:-0.42 [[ 5.97515974e-01 -8.01849523e-01 -3.46459266e-03 2.23646545e+02] [ 8.01836644e-01 5.97526015e-01 -4.54508999e-03 6.96525669e+01] [ 5.71466248e-03 -6.22734739e-05 9.99983669e-01 -4.15931790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.370281693 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:223.66, Y:69.67, Z:-0.42 [[ 5.96249045e-01 -8.02790949e-01 -3.71053755e-03 2.23664601e+02] [ 8.02776182e-01 5.96260586e-01 -4.86982780e-03 6.96728493e+01] [ 6.12190098e-03 -7.51009944e-05 9.99981258e-01 -4.16096056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.40028169299995 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:223.68, Y:69.69, Z:-0.42 [[ 5.95385873e-01 -8.03433607e-01 -3.17823578e-03 2.23682212e+02] [ 8.03422772e-01 5.95394352e-01 -4.17308899e-03 6.96929806e+01] [ 5.24510357e-03 -6.88687734e-05 9.99986242e-01 -4.15766663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.430281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:223.70, Y:69.71, Z:-0.41 [[ 5.95372148e-01 -8.03448303e-01 -1.68226804e-03 2.23698787e+02] [ 8.03445264e-01 5.95374524e-01 -2.21008715e-03 6.97128392e+01] [ 2.77727030e-03 -3.57859553e-05 9.99996143e-01 -4.13392972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.46028169299996 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:223.72, Y:69.73, Z:-0.41 [[ 5.95857375e-01 -8.03088757e-01 -1.56090490e-03 2.23715140e+02] [ 8.03086137e-01 5.95859419e-01 -2.05154855e-03 6.97342641e+01] [ 2.57765546e-03 -3.11107557e-05 9.99996677e-01 -4.12919965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.490281693 meters Centerline goodness : 0.998734 Centerline is valid? [True, True] Translation: X:223.73, Y:69.75, Z:-0.41 [[ 5.97228897e-01 -8.02064758e-01 -3.12551450e-03 2.23731827e+02] [ 8.02054232e-01 5.97237073e-01 -4.10944138e-03 6.97537798e+01] [ 5.16271124e-03 -5.25549891e-05 9.99986672e-01 -4.14865505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.52028169299996 meters Centerline goodness : 0.998592 Centerline is valid? [True, True] Translation: X:223.75, Y:69.77, Z:-0.42 [[ 5.97497404e-01 -8.01861766e-01 -3.81582403e-03 2.23748667e+02] [ 8.01846060e-01 5.97509585e-01 -5.01908039e-03 6.97748794e+01] [ 6.30460010e-03 -6.08159650e-05 9.99980124e-01 -4.15609000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.550281693 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:223.77, Y:69.80, Z:-0.42 [[ 5.97707646e-01 -8.01702798e-01 -4.26533830e-03 2.23765380e+02] [ 8.01683154e-01 5.97722861e-01 -5.61269981e-03 6.97965998e+01] [ 7.04920736e-03 -6.46962737e-05 9.99975152e-01 -4.15939440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.58028169299996 meters Centerline goodness : 0.998367 Centerline is valid? [True, True] Translation: X:223.78, Y:69.82, Z:-0.42 [[ 5.97591533e-01 -8.01789357e-01 -4.26458568e-03 2.23781943e+02] [ 8.01769710e-01 5.97606746e-01 -5.61327170e-03 6.98187361e+01] [ 7.04920667e-03 -6.47719823e-05 9.99975152e-01 -4.15973347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.610281693 meters Centerline goodness : 0.998514 Centerline is valid? [True, True] Translation: X:223.80, Y:69.84, Z:-0.42 [[ 5.97246706e-01 -8.02043840e-01 -4.69589537e-03 2.23799310e+02] [ 8.02020004e-01 5.97265162e-01 -6.18377594e-03 6.98396279e+01] [ 7.76435411e-03 -7.29622121e-05 9.99969854e-01 -4.15671394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.64028169299996 meters Centerline goodness : 0.998333 Centerline is valid? [True, True] Translation: X:223.82, Y:69.86, Z:-0.42 [[ 5.96420078e-01 -8.02657861e-01 -4.84232126e-03 2.23815895e+02] [ 8.02632514e-01 5.96439730e-01 -6.37940971e-03 6.98605355e+01] [ 8.00863614e-03 -8.17964489e-05 9.99967927e-01 -4.15481552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.670281693 meters Centerline goodness : 0.998361 Centerline is valid? [True, True] Translation: X:223.83, Y:69.88, Z:-0.41 [[ 5.95818428e-01 -8.03107062e-01 -4.40995334e-03 2.23832789e+02] [ 8.03086031e-01 5.95834743e-01 -5.81255610e-03 6.98802144e+01] [ 7.29570827e-03 -7.83438907e-05 9.99973383e-01 -4.14757337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.70028169299997 meters Centerline goodness : 0.998281 Centerline is valid? [True, True] Translation: X:223.85, Y:69.90, Z:-0.41 [[ 5.95518497e-01 -8.03332357e-01 -3.85268464e-03 2.23849635e+02] [ 8.03316296e-01 5.95530955e-01 -5.08036254e-03 6.99004298e+01] [ 6.37561258e-03 -6.94744873e-05 9.99979673e-01 -4.13888983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.730281693 meters Centerline goodness : 0.998531 Centerline is valid? [True, True] Translation: X:223.87, Y:69.92, Z:-0.41 [[ 5.95096094e-01 -8.03647161e-01 -3.44678435e-03 2.23867498e+02] [ 8.03634299e-01 5.95106072e-01 -4.54713541e-03 6.99213924e+01] [ 5.70549476e-03 -6.39716040e-05 9.99983722e-01 -4.13552594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.76028169299997 meters Centerline goodness : 0.998525 Centerline is valid? [True, True] Translation: X:223.89, Y:69.94, Z:-0.41 [[ 5.94983337e-01 -8.03731155e-01 -3.32553142e-03 2.23885364e+02] [ 8.03719173e-01 5.94992627e-01 -4.38911343e-03 6.99417978e+01] [ 5.50633389e-03 -6.13440053e-05 9.99984838e-01 -4.13329451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.79028169299994 meters Centerline goodness : 0.998619 Centerline is valid? [True, True] Translation: X:223.90, Y:69.96, Z:-0.41 [[ 5.95170654e-01 -8.03591083e-01 -3.64213392e-03 2.23904682e+02] [ 8.03576699e-01 5.95181794e-01 -4.80846955e-03 6.99597941e+01] [ 6.03177505e-03 -6.48739859e-05 9.99981807e-01 -4.14133126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.82028169299997 meters Centerline goodness : 0.998197 Centerline is valid? [True, True] Translation: X:223.93, Y:69.98, Z:-0.41 [[ 5.94459018e-01 -8.04116616e-01 -3.86570074e-03 2.23925224e+02] [ 8.04100408e-01 5.94471583e-01 -5.10591169e-03 6.99785642e+01] [ 6.40379767e-03 -7.31562886e-05 9.99979493e-01 -4.14050256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.85028169299994 meters Centerline goodness : 0.998404 Centerline is valid? [True, True] Translation: X:223.94, Y:70.00, Z:-0.41 [[ 5.94392844e-01 -8.04165647e-01 -3.84177227e-03 2.23942867e+02] [ 8.04149626e-01 5.94405255e-01 -5.07663805e-03 6.99982165e+01] [ 6.36602755e-03 -7.18424013e-05 9.99979734e-01 -4.13670476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.880281693 meters Centerline goodness : 0.998256 Centerline is valid? [True, True] Translation: X:223.96, Y:70.02, Z:-0.41 [[ 5.94483806e-01 -8.04097605e-01 -4.00588441e-03 2.23960378e+02] [ 8.04080168e-01 5.94497298e-01 -5.29586255e-03 7.00178314e+01] [ 6.63987784e-03 -7.27476837e-05 9.99977953e-01 -4.13931129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.91028169299994 meters Centerline goodness : 0.998346 Centerline is valid? [True, True] Translation: X:223.98, Y:70.04, Z:-0.42 [[ 5.94203777e-01 -8.04300502e-01 -4.75123529e-03 2.23980331e+02] [ 8.04275959e-01 5.94222765e-01 -6.28388542e-03 7.00361755e+01] [ 7.87742437e-03 -8.73958759e-05 9.99968969e-01 -4.15248586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.940281693 meters Centerline goodness : 0.998453 Centerline is valid? [True, True] Translation: X:224.00, Y:70.06, Z:-0.42 [[ 5.94114987e-01 -8.04367179e-01 -4.56340815e-03 2.23997658e+02] [ 8.04344525e-01 5.94132506e-01 -6.03743886e-03 7.00554218e+01] [ 7.56758679e-03 -8.36194475e-05 9.99971362e-01 -4.15483530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 263.97028169299995 meters Centerline goodness : 0.998482 Centerline is valid? [True, True] Translation: X:224.02, Y:70.08, Z:-0.41 [[ 5.94177621e-01 -8.04322725e-01 -4.23187709e-03 2.24015282e+02] [ 8.04303224e-01 5.94192686e-01 -5.60143748e-03 7.00758879e+01] [ 7.01991387e-03 -7.54635881e-05 9.99975357e-01 -4.14345810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.000281693 meters Centerline goodness : 0.998608 Centerline is valid? [True, True] Translation: X:224.03, Y:70.09, Z:-0.41 [[ 5.94913344e-01 -8.03782529e-01 -3.42913285e-03 2.24034117e+02] [ 8.03769703e-01 5.94923224e-01 -4.54113614e-03 7.00947897e+01] [ 5.69015666e-03 -5.46506044e-05 9.99983809e-01 -4.14658653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.03028169299995 meters Centerline goodness : 0.998464 Centerline is valid? [True, True] Translation: X:224.05, Y:70.11, Z:-0.41 [[ 5.95159075e-01 -8.03601589e-01 -3.18784674e-03 2.24051730e+02] [ 8.03590491e-01 5.95167610e-01 -4.22360111e-03 7.01145573e+01] [ 5.29139569e-03 -4.80087908e-05 9.99985999e-01 -4.14195272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.060281693 meters Centerline goodness : 0.998517 Centerline is valid? [True, True] Translation: X:224.07, Y:70.13, Z:-0.41 [[ 5.96443352e-01 -8.02649061e-01 -3.13263247e-03 2.24071431e+02] [ 8.02638321e-01 5.96451577e-01 -4.15223756e-03 7.01332779e+01] [ 5.20125316e-03 -3.77963785e-05 9.99986473e-01 -4.14886235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.09028169299995 meters Centerline goodness : 0.998542 Centerline is valid? [True, True] Translation: X:224.09, Y:70.15, Z:-0.42 [[ 5.97063499e-01 -8.02187838e-01 -3.13876411e-03 2.24089006e+02] [ 8.02177040e-01 5.97071748e-01 -4.16218099e-03 7.01536210e+01] [ 5.21291834e-03 -3.27581616e-05 9.99986412e-01 -4.15181799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.120281693 meters Centerline goodness : 0.998497 Centerline is valid? [True, True] Translation: X:224.11, Y:70.17, Z:-0.41 [[ 5.97909350e-01 -8.01558263e-01 -2.95983668e-03 2.24107119e+02] [ 8.01548645e-01 5.97916676e-01 -3.92664002e-03 7.01742680e+01] [ 4.91716646e-03 -2.46782968e-05 9.99987910e-01 -4.14598002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.15028169299995 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:224.13, Y:70.19, Z:-0.41 [[ 6.01120295e-01 -7.99157183e-01 -1.47907283e-03 2.24126667e+02] [ 7.99154772e-01 6.01122115e-01 -1.96326973e-03 7.01940916e+01] [ 2.45806449e-03 -1.84683346e-06 9.99996979e-01 -4.13743865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.180281693 meters Centerline goodness : 0.999021 Centerline is valid? [True, True] Translation: X:224.14, Y:70.21, Z:-0.41 [[ 6.03190473e-01 -7.97596558e-01 -9.92062197e-04 2.24144632e+02] [ 7.97595470e-01 6.03191289e-01 -1.31754372e-03 7.02147343e+01] [ 1.64927161e-03 3.46550381e-06 9.99998640e-01 -4.13192764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.21028169299996 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:224.16, Y:70.23, Z:-0.41 [[ 6.07791835e-01 -7.94095115e-01 -1.42628369e-03 2.24164153e+02] [ 7.94092854e-01 6.07793508e-01 -1.89487033e-03 7.02345600e+01] [ 2.37159323e-03 1.90850299e-05 9.99997188e-01 -4.13981912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.240281693 meters Centerline goodness : 0.998740 Centerline is valid? [True, True] Translation: X:224.18, Y:70.25, Z:-0.41 [[ 6.09222493e-01 -7.92997417e-01 -1.74657837e-03 2.24181225e+02] [ 7.92994020e-01 6.09224996e-01 -2.32138617e-03 7.02541950e+01] [ 2.90491244e-03 2.92144680e-05 9.99995780e-01 -4.14184959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.27028169299996 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:224.20, Y:70.28, Z:-0.41 [[ 6.09889261e-01 -7.92484390e-01 -1.89242021e-03 2.24198535e+02] [ 7.92480396e-01 6.09892196e-01 -2.51628271e-03 7.02754753e+01] [ 3.14828709e-03 3.49478834e-05 9.99995044e-01 -4.14551747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.300281693 meters Centerline goodness : 0.998878 Centerline is valid? [True, True] Translation: X:224.22, Y:70.30, Z:-0.42 [[ 6.10778862e-01 -7.91799340e-01 -1.72835923e-03 2.24215453e+02] [ 7.91796003e-01 6.10781306e-01 -2.29926071e-03 7.02950929e+01] [ 2.87620262e-03 3.58319084e-05 9.99995863e-01 -4.15201828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.33028169299996 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:224.23, Y:70.31, Z:-0.42 [[ 6.12628218e-01 -7.90367721e-01 -2.35200965e-03 2.24233750e+02] [ 7.90361525e-01 6.12632730e-01 -3.13021382e-03 7.03139249e+01] [ 3.91493806e-03 5.87193747e-05 9.99992335e-01 -4.15373325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.360281693 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:224.25, Y:70.34, Z:-0.42 [[ 6.13699551e-01 -7.89534750e-01 -2.78209112e-03 2.24250704e+02] [ 7.89526064e-01 6.13705852e-01 -3.70414175e-03 7.03352046e+01] [ 4.63193423e-03 7.66966721e-05 9.99989270e-01 -4.15810581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.39028169299996 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:224.27, Y:70.36, Z:-0.42 [[ 6.14261812e-01 -7.89095940e-01 -3.16613966e-03 2.24266951e+02] [ 7.89084678e-01 6.14269965e-01 -4.21677282e-03 7.03560976e+01] [ 5.27230281e-03 9.18502156e-05 9.99986097e-01 -4.16656649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.420281693 meters Centerline goodness : 0.998484 Centerline is valid? [True, True] Translation: X:224.28, Y:70.38, Z:-0.42 [[ 6.14004394e-01 -7.89297238e-01 -2.91123534e-03 2.24283670e+02] [ 7.89287710e-01 6.14011290e-01 -3.87906629e-03 7.03780547e+01] [ 4.84926767e-03 8.39614691e-05 9.99988239e-01 -4.17900725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.45028169299997 meters Centerline goodness : 0.998519 Centerline is valid? [True, True] Translation: X:224.30, Y:70.40, Z:-0.42 [[ 6.11862193e-01 -7.90960122e-01 -2.59647742e-03 2.24301424e+02] [ 7.90952551e-01 6.11867699e-01 -3.46130488e-03 7.03972188e+01] [ 4.32645480e-03 6.41511569e-05 9.99990639e-01 -4.16657571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.480281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:224.32, Y:70.42, Z:-0.42 [[ 6.10649646e-01 -7.91897402e-01 -2.34812937e-03 2.24318178e+02] [ 7.91891211e-01 6.10654159e-01 -3.13179232e-03 7.04179060e+01] [ 3.91395317e-03 5.29648645e-05 9.99992339e-01 -4.16684118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.51028169299997 meters Centerline goodness : 0.998850 Centerline is valid? [True, True] Translation: X:224.33, Y:70.44, Z:-0.42 [[ 6.10012784e-01 -7.92388951e-01 -2.03791769e-03 2.24333678e+02] [ 7.92384286e-01 6.10016186e-01 -2.71948115e-03 7.04379753e+01] [ 3.39804960e-03 4.41043168e-05 9.99994226e-01 -4.15482832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.54028169299994 meters Centerline goodness : 0.998733 Centerline is valid? [True, True] Translation: X:224.35, Y:70.46, Z:-0.42 [[ 6.10343349e-01 -7.92135737e-01 -1.40382963e-03 2.24349159e+02] [ 7.92133520e-01 6.10344962e-01 -1.87425181e-03 7.04597598e+01] [ 2.34148218e-03 3.19166216e-05 9.99997258e-01 -4.15693163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.57028169299997 meters Centerline goodness : 0.998823 Centerline is valid? [True, True] Translation: X:224.36, Y:70.48, Z:-0.42 [[ 6.10818440e-01 -7.91770260e-01 -8.29830734e-04 2.24364573e+02] [ 7.91769484e-01 6.10819003e-01 -1.10861595e-03 7.04813530e+01] [ 1.38464552e-03 2.01284119e-05 9.99999041e-01 -4.16030019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.60028169299994 meters Centerline goodness : 0.999009 Centerline is valid? [True, True] Translation: X:224.38, Y:70.50, Z:-0.42 [[ 6.11270868e-01 -7.91421455e-01 -7.41568441e-05 2.24379614e+02] [ 7.91421449e-01 6.11270873e-01 -9.95220108e-05 7.05035303e+01] [ 1.24093773e-04 2.14558897e-06 9.99999992e-01 -4.15859854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.630281693 meters Centerline goodness : 0.998853 Centerline is valid? [True, True] Translation: X:224.39, Y:70.53, Z:-0.42 [[ 6.11238949e-01 -7.91446108e-01 -7.53939432e-05 2.24394762e+02] [ 7.91446101e-01 6.11238954e-01 -1.01200761e-04 7.05255628e+01] [ 1.26178663e-04 2.18760410e-06 9.99999992e-01 -4.15798478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.66028169299994 meters Centerline goodness : 0.998860 Centerline is valid? [True, True] Translation: X:224.41, Y:70.55, Z:-0.42 [[ 6.11734171e-01 -7.91062875e-01 -9.11914629e-04 2.24408712e+02] [ 7.91061935e-01 6.11734850e-01 -1.21987415e-03 7.05472879e+01] [ 1.52284711e-03 2.48577530e-05 9.99998840e-01 -4.16609171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.690281693 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:224.42, Y:70.57, Z:-0.42 [[ 6.11615678e-01 -7.91154242e-01 -1.10846611e-03 2.24423945e+02] [ 7.91152852e-01 6.11616681e-01 -1.48339246e-03 7.05686217e+01] [ 1.85154860e-03 3.02999627e-05 9.99998285e-01 -4.17693169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.72028169299995 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:224.44, Y:70.59, Z:-0.42 [[ 6.10925070e-01 -7.91687926e-01 -8.86680572e-04 2.24438890e+02] [ 7.91687036e-01 6.10925713e-01 -1.18722795e-03 7.05900535e+01] [ 1.48160999e-03 2.33338027e-05 9.99998902e-01 -4.17901995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.750281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:224.45, Y:70.61, Z:-0.42 [[ 6.08919532e-01 -7.93231819e-01 -5.33666393e-04 2.24453908e+02] [ 7.93231497e-01 6.08919765e-01 -7.15028555e-04 7.06127527e+01] [ 8.92143417e-04 1.20738610e-05 9.99999602e-01 -4.17112349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.78028169299995 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:224.47, Y:70.63, Z:-0.42 [[ 6.07718494e-01 -7.94152323e-01 -5.65117421e-04 2.24468482e+02] [ 7.94151962e-01 6.07718757e-01 -7.57514143e-04 7.06345440e+01] [ 9.45014074e-04 1.15662457e-05 9.99999553e-01 -4.16921268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.810281693 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:224.48, Y:70.66, Z:-0.42 [[ 6.05393068e-01 -7.95926423e-01 -6.01790241e-04 2.24483971e+02] [ 7.95926014e-01 6.05393367e-01 -8.06965907e-04 7.06569167e+01] [ 1.00660531e-03 9.55105822e-06 9.99999493e-01 -4.18049630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.84028169299995 meters Centerline goodness : 0.999041 Centerline is valid? [True, True] Translation: X:224.50, Y:70.68, Z:-0.42 [[ 6.04000099e-01 -7.96984006e-01 -6.11839103e-04 2.24500866e+02] [ 7.96983584e-01 6.04000409e-01 -8.20812205e-04 7.06787304e+01] [ 1.02372527e-03 8.14493229e-06 9.99999476e-01 -4.18201290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.870281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:224.52, Y:70.70, Z:-0.42 [[ 6.01118047e-01 -7.99160155e-01 -3.73974374e-04 2.24518895e+02] [ 7.99159997e-01 6.01118164e-01 -5.02131885e-04 7.06973700e+01] [ 6.26086584e-04 2.97517838e-06 9.99999804e-01 -4.18511472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.90028169299995 meters Centerline goodness : 0.998979 Centerline is valid? [True, True] Translation: X:224.54, Y:70.72, Z:-0.42 [[ 5.99911572e-01 -8.00066262e-01 -2.85799207e-04 2.24536790e+02] [ 8.00066170e-01 5.99911640e-01 -3.84003648e-04 7.07178415e+01] [ 4.78682634e-04 1.70995524e-06 9.99999885e-01 -4.18195204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.930281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:224.55, Y:70.74, Z:-0.42 [[ 5.98759983e-01 -8.00928326e-01 -5.48041892e-04 2.24553541e+02] [ 8.00927987e-01 5.98760234e-01 -7.36318901e-04 7.07374988e+01] [ 9.17884356e-04 1.93620342e-06 9.99999579e-01 -4.17748901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.96028169299996 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:224.57, Y:70.76, Z:-0.42 [[ 5.98125159e-01 -8.01401140e-01 -1.58355991e-03 2.24572658e+02] [ 8.01398315e-01 5.98127255e-01 -2.12774539e-03 7.07566598e+01] [ 2.65234792e-03 3.59580323e-06 9.99996483e-01 -4.18547813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 264.990281693 meters Centerline goodness : 0.999104 Centerline is valid? [True, True] Translation: X:224.59, Y:70.78, Z:-0.42 [[ 5.98870308e-01 -8.00844599e-01 -1.51100891e-03 2.24589289e+02] [ 8.00842023e-01 5.98872214e-01 -2.03133642e-03 7.07753122e+01] [ 2.53168606e-03 6.42763190e-06 9.99996795e-01 -4.18864912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.02028169299996 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:224.61, Y:70.79, Z:-0.42 [[ 6.02704082e-01 -7.97964094e-01 -1.04614066e-03 2.24606689e+02] [ 7.97962853e-01 6.02704989e-01 -1.40723607e-03 7.07939033e+01] [ 1.75343805e-03 1.33655370e-05 9.99998463e-01 -4.18005288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.050281693 meters Centerline goodness : 0.999064 Centerline is valid? [True, True] Translation: X:224.62, Y:70.82, Z:-0.42 [[ 6.04914399e-01 -7.96289788e-01 -1.06906215e-03 2.24622958e+02] [ 7.96288489e-01 6.04915343e-01 -1.43863452e-03 7.08161497e+01] [ 1.79226208e-03 1.89688477e-05 9.99998394e-01 -4.18445169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.08028169299996 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:224.64, Y:70.84, Z:-0.42 [[ 6.07099712e-01 -7.94624791e-01 -1.17520017e-03 2.24638819e+02] [ 7.94623217e-01 6.07100849e-01 -1.58212155e-03 7.08384206e+01] [ 1.97065802e-03 2.66641967e-05 9.99998058e-01 -4.19441465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.110281693 meters Centerline goodness : 0.999167 Centerline is valid? [True, True] Translation: X:224.66, Y:70.86, Z:-0.42 [[ 6.10154034e-01 -7.92281441e-01 -1.47425557e-03 2.24655024e+02] [ 7.92278954e-01 6.10155814e-01 -1.98549241e-03 7.08604499e+01] [ 2.47259439e-03 4.34345463e-05 9.99996942e-01 -4.20292829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.14028169299996 meters Centerline goodness : 0.999156 Centerline is valid? [True, True] Translation: X:224.67, Y:70.88, Z:-0.42 [[ 6.10487527e-01 -7.92024330e-01 -1.56225711e-03 2.24670214e+02] [ 7.92021534e-01 6.10489524e-01 -2.10498190e-03 7.08818909e+01] [ 2.62093847e-03 4.77239220e-05 9.99996564e-01 -4.19470751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.170281693 meters Centerline goodness : 0.998867 Centerline is valid? [True, True] Translation: X:224.68, Y:70.91, Z:-0.42 [[ 6.09982154e-01 -7.92414624e-01 -9.13857082e-04 2.24683579e+02] [ 7.92413667e-01 6.09982838e-01 -1.23204154e-03 7.09060724e+01] [ 1.53372487e-03 2.73705108e-05 9.99998823e-01 -4.19547895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.20028169299997 meters Centerline goodness : 0.998824 Centerline is valid? [True, True] Translation: X:224.70, Y:70.93, Z:-0.42 [[ 6.09077997e-01 -7.93109981e-01 -7.42222133e-04 2.24698284e+02] [ 7.93109350e-01 6.09078449e-01 -1.00121709e-03 7.09282371e+01] [ 1.24614678e-03 2.11559881e-05 9.99999223e-01 -4.20374739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.230281693 meters Centerline goodness : 0.998901 Centerline is valid? [True, True] Translation: X:224.71, Y:70.95, Z:-0.42 [[ 6.08022097e-01 -7.93919348e-01 -1.09457911e-03 2.24712773e+02] [ 7.93917975e-01 6.08023081e-01 -1.47708701e-03 7.09486161e+01] [ 1.83821732e-03 2.90955129e-05 9.99998310e-01 -4.20155668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.26028169299997 meters Centerline goodness : 0.999095 Centerline is valid? [True, True] Translation: X:224.72, Y:70.97, Z:-0.42 [[ 6.06358914e-01 -7.95181940e-01 3.81445026e-03 2.24724418e+02] [ 7.95182447e-01 6.06322983e-01 -7.57075241e-03 7.09720233e+01] [ 3.70733673e-03 7.62377710e-03 9.99964066e-01 -4.19528067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.29028169299994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:224.74, Y:70.99, Z:-0.42 [[ 6.05199641e-01 -7.96047754e-01 -6.43185275e-03 2.24744536e+02] [ 7.96073422e-01 6.05186835e-01 4.00016377e-03 7.09890043e+01] [ 7.08151230e-04 -7.54112471e-03 9.99971315e-01 -4.19911955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.32028169299997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:224.75, Y:71.01, Z:-0.42 [[ 6.02989687e-01 -7.97747999e-01 1.25179429e-03 2.24754667e+02] [ 7.97746209e-01 6.02990986e-01 1.69022714e-03 7.10139392e+01] [-2.10319599e-03 -2.05753866e-05 9.99997788e-01 -4.19606732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.35028169299994 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:224.77, Y:71.04, Z:-0.42 [[ 6.01716822e-01 -7.98707809e-01 1.64393207e-03 2.24770426e+02] [ 7.98704722e-01 6.01719067e-01 2.22086510e-03 7.10356800e+01] [-2.76300757e-03 -2.33155797e-05 9.99996183e-01 -4.19962096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.380281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:224.79, Y:71.06, Z:-0.42 [[ 6.00261538e-01 -7.99801957e-01 1.70768479e-03 2.24786841e+02] [ 7.99798627e-01 6.00263966e-01 2.30801962e-03 7.10566892e+01] [-2.87102026e-03 -1.96114599e-05 9.99995878e-01 -4.20225830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.41028169299994 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:224.80, Y:71.08, Z:-0.42 [[ 5.98321862e-01 -8.01255070e-01 1.12392337e-03 2.24803325e+02] [ 8.01253629e-01 5.98322917e-01 1.51952749e-03 7.10764888e+01] [-1.88999821e-03 -8.61883372e-06 9.99998214e-01 -4.19368144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.440281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:224.82, Y:71.10, Z:-0.42 [[ 5.98108267e-01 -8.01414820e-01 8.86870772e-04 2.24817923e+02] [ 8.01413923e-01 5.98108925e-01 1.19944426e-03 7.10973908e+01] [-1.49169773e-03 -6.64694398e-06 9.99998887e-01 -4.19282844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.47028169299995 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:224.83, Y:71.12, Z:-0.42 [[ 5.97883868e-01 -8.01582725e-01 1.20362482e-04 2.24831348e+02] [ 8.01582709e-01 5.97883880e-01 1.62434766e-04 7.11193685e+01] [-2.02167690e-04 -6.36642139e-07 9.99999980e-01 -4.20807967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.500281693 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:224.85, Y:71.14, Z:-0.42 [[ 5.97737104e-01 -8.01692173e-01 1.20276119e-04 2.24847064e+02] [ 8.01692156e-01 5.97737116e-01 1.62498585e-04 7.11411036e+01] [-2.02167344e-04 -7.07012775e-07 9.99999980e-01 -4.20841094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.53028169299995 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:224.86, Y:71.16, Z:-0.42 [[ 5.96905784e-01 -8.02311220e-01 -4.37284961e-04 2.24861611e+02] [ 8.02311001e-01 5.96905944e-01 -5.92777728e-04 7.11618800e+01] [ 7.36610215e-04 2.99391998e-06 9.99999729e-01 -4.21263260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.560281693 meters Centerline goodness : 0.999144 Centerline is valid? [True, True] Translation: X:224.88, Y:71.18, Z:-0.42 [[ 5.95277611e-01 -8.03519877e-01 -6.10625954e-04 2.24877676e+02] [ 8.03519450e-01 5.95277925e-01 -8.28040334e-04 7.11836974e+01] [ 1.02883902e-03 2.26404146e-06 9.99999471e-01 -4.22078802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.59028169299995 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:224.89, Y:71.20, Z:-0.42 [[ 5.91022905e-01 -8.06654216e-01 -9.49802057e-04 2.24893373e+02] [ 8.06653187e-01 5.91023668e-01 -1.28835969e-03 7.12043733e+01] [ 1.60061627e-03 -4.71076897e-06 9.99998719e-01 -4.22793560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.620281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:224.91, Y:71.23, Z:-0.42 [[ 5.89185812e-01 -8.07997351e-01 -5.99234008e-04 2.24908346e+02] [ 8.07996942e-01 5.89186117e-01 -8.13446227e-04 7.12250182e+01] [ 1.01032276e-03 -4.90827007e-06 9.99999490e-01 -4.22085842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.65028169299995 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:224.92, Y:71.25, Z:-0.42 [[ 5.87609363e-01 -8.09144742e-01 -1.49748933e-04 2.24923771e+02] [ 8.09144716e-01 5.87609382e-01 -2.03721693e-04 7.12465719e+01] [ 2.52834214e-04 -1.45978373e-06 9.99999968e-01 -4.21828648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.680281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:224.94, Y:71.27, Z:-0.42 [[ 5.84845129e-01 -8.11144783e-01 -5.61918839e-04 2.24940680e+02] [ 8.11144424e-01 5.84845399e-01 -7.63513872e-04 7.12672449e+01] [ 9.47955942e-04 -9.25996328e-06 9.99999551e-01 -4.22437463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.71028169299996 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:224.96, Y:71.29, Z:-0.42 [[ 5.83322270e-01 -8.12240039e-01 -1.11721793e-03 2.24956461e+02] [ 8.12238620e-01 5.83323340e-01 -1.51833903e-03 7.12874782e+01] [ 1.88495505e-03 -2.17665813e-05 9.99998223e-01 -4.22721871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.740281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:224.97, Y:71.31, Z:-0.42 [[ 5.82095891e-01 -8.13120029e-01 -4.38053464e-04 2.24972784e+02] [ 8.13119811e-01 5.82096056e-01 -5.95882403e-04 7.13080926e+01] [ 7.39513110e-04 -9.32925128e-06 9.99999727e-01 -4.21736829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.77028169299996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:224.99, Y:71.33, Z:-0.42 [[ 5.82038803e-01 -8.13160988e-01 1.96663099e-04 2.24988765e+02] [ 8.13160945e-01 5.82038836e-01 2.66967192e-04 7.13294259e+01] [-3.31552867e-04 4.53348584e-06 9.99999945e-01 -4.21155564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.800281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:225.00, Y:71.35, Z:-0.42 [[ 5.81791325e-01 -8.13337758e-01 7.38455601e-04 2.25004087e+02] [ 8.13337138e-01 5.81791794e-01 1.00421010e-03 7.13499606e+01] [-1.24638940e-03 1.63726399e-05 9.99999223e-01 -4.20421445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.83028169299996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:225.02, Y:71.37, Z:-0.42 [[ 5.80815315e-01 -8.14034772e-01 9.79919074e-04 2.25020471e+02] [ 8.14033681e-01 5.80816141e-01 1.33323132e-03 7.13695057e+01] [-1.65444947e-03 2.33259593e-05 9.99998631e-01 -4.20968599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.860281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:225.04, Y:71.39, Z:-0.42 [[ 5.79573660e-01 -8.14919184e-01 1.04659886e-03 2.25037181e+02] [ 8.14917939e-01 5.79574605e-01 1.42466709e-03 7.13901985e+01] [-1.76757066e-03 2.71926695e-05 9.99998437e-01 -4.21740558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.89028169299996 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:225.06, Y:71.41, Z:-0.42 [[ 5.77127944e-01 -8.16652547e-01 1.39782220e-03 2.25055529e+02] [ 8.16650329e-01 5.77129635e-01 1.90379341e-03 7.14105409e+01] [-2.36146236e-03 4.27995849e-05 9.99997211e-01 -4.21483391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.920281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:225.07, Y:71.43, Z:-0.42 [[ 5.76544728e-01 -8.17063670e-01 1.77084651e-03 2.25070691e+02] [ 8.17060108e-01 5.76547445e-01 2.41313750e-03 7.14306953e+01] [-2.99266401e-03 5.56063392e-05 9.99995520e-01 -4.20939126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.95028169299997 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:225.09, Y:71.45, Z:-0.42 [[ 5.76897543e-01 -8.16814706e-01 1.72042451e-03 2.25086907e+02] [ 8.16811340e-01 5.76900106e-01 2.34553090e-03 7.14528706e+01] [-2.90837722e-03 5.21312378e-05 9.99995769e-01 -4.20336738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 265.980281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:225.10, Y:71.47, Z:-0.42 [[ 5.79756908e-01 -8.14789167e-01 7.35629554e-04 2.25103801e+02] [ 8.14788550e-01 5.79757374e-01 1.00310995e-03 7.14735720e+01] [-1.24380978e-03 1.78226150e-05 9.99999226e-01 -4.21416069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.01028169299997 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:225.12, Y:71.50, Z:-0.42 [[ 5.81161799e-01 -8.13788032e-01 5.09986532e-05 2.25119343e+02] [ 8.13788029e-01 5.81161801e-01 6.91357897e-05 7.14951024e+01] [-8.59003473e-05 1.32301361e-06 9.99999996e-01 -4.21387661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.04028169299994 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:225.13, Y:71.52, Z:-0.42 [[ 5.84504414e-01 -8.11390098e-01 -8.35901746e-04 2.25132703e+02] [ 8.11389294e-01 5.84505012e-01 -1.14197500e-03 7.15164990e+01] [ 1.41517597e-03 -1.07522967e-05 9.99998999e-01 -4.21688005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.07028169299997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:225.15, Y:71.54, Z:-0.42 [[ 5.86047042e-01 -8.10276608e-01 -8.27007177e-04 2.25147984e+02] [ 8.10275819e-01 5.86047625e-01 -1.13028279e-03 7.15386174e+01] [ 1.40050730e-03 -7.70503269e-06 9.99999019e-01 -4.22351557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.10028169299994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:225.16, Y:71.56, Z:-0.42 [[ 5.87212611e-01 -8.09432117e-01 -9.98611115e-04 2.25163205e+02] [ 8.09430966e-01 5.87213460e-01 -1.36539316e-03 7.15592962e+01] [ 1.69159096e-03 -6.53067687e-06 9.99998569e-01 -4.22696665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.130281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:225.18, Y:71.58, Z:-0.42 [[ 5.88776972e-01 -8.08294925e-01 -9.95825907e-04 2.25176925e+02] [ 8.08293777e-01 5.88777814e-01 -1.36230218e-03 7.15808143e+01] [ 1.68746214e-03 -2.82773314e-06 9.99998576e-01 -4.22846460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.16028169299994 meters Centerline goodness : 0.999380 Centerline is valid? [True, True] Translation: X:225.19, Y:71.60, Z:-0.42 [[ 5.89180417e-01 -8.08001154e-01 -7.56168708e-04 2.25191136e+02] [ 8.08000491e-01 5.89180903e-01 -1.03497592e-03 7.16039311e+01] [ 1.28178190e-03 -1.19714120e-06 9.99999179e-01 -4.22378781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.190281693 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:225.20, Y:71.63, Z:-0.42 [[ 5.89834928e-01 -8.07523605e-01 -6.20875926e-04 2.25204166e+02] [ 8.07523157e-01 5.89835255e-01 -8.50396536e-04 7.16256568e+01] [ 1.05292979e-03 2.21891788e-07 9.99999446e-01 -4.21824381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.22028169299995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:225.22, Y:71.65, Z:-0.42 [[ 5.92138545e-01 -8.05836176e-01 -4.47559531e-06 2.25216411e+02] [ 8.05836176e-01 5.92138545e-01 -6.62114652e-06 7.16498038e+01] [ 7.98573193e-06 3.14039455e-07 1.00000000e+00 -4.21731655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.250281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:225.23, Y:71.67, Z:-0.42 [[ 5.92890334e-01 -8.05283194e-01 1.68585148e-04 2.25229143e+02] [ 8.05283161e-01 5.92890358e-01 2.30484385e-04 7.16720091e+01] [-2.85557710e-04 -8.93183323e-07 9.99999959e-01 -4.21671940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.28028169299995 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:225.24, Y:71.70, Z:-0.42 [[ 5.92768093e-01 -8.05372971e-01 6.04160576e-04 2.25242422e+02] [ 8.05372546e-01 5.92768401e-01 8.27753007e-04 7.16959238e+01] [-1.02477720e-03 -4.09123002e-06 9.99999475e-01 -4.21861940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.310281693 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:225.26, Y:71.72, Z:-0.42 [[ 5.91559065e-01 -8.06261554e-01 4.22582093e-04 2.25257982e+02] [ 8.06261346e-01 5.91559216e-01 5.79089537e-04 7.17171585e+01] [-7.16879962e-04 -1.85405826e-06 9.99999743e-01 -4.22202823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.34028169299995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:225.27, Y:71.74, Z:-0.42 [[ 5.90311911e-01 -8.07175162e-01 3.24900604e-04 2.25274259e+02] [ 8.07175039e-01 5.90312001e-01 4.45320758e-04 7.17384658e+01] [-5.51244581e-04 -6.26489782e-07 9.99999848e-01 -4.22459742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.370281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:225.29, Y:71.76, Z:-0.42 [[ 5.89165741e-01 -8.08012209e-01 -1.84056186e-05 2.25288755e+02] [ 8.08012208e-01 5.89165741e-01 -2.57779154e-05 7.17586743e+01] [ 3.16728303e-05 3.15500085e-07 1.00000000e+00 -4.22579205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.40028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:225.30, Y:71.78, Z:-0.42 [[ 5.88381333e-01 -8.08583581e-01 1.80457388e-05 2.25302797e+02] [ 8.08583580e-01 5.88381333e-01 2.42844696e-05 7.17799514e+01] [-3.02537992e-05 3.02959453e-07 1.00000000e+00 -4.22656245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.430281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:225.32, Y:71.80, Z:-0.42 [[ 5.88419598e-01 -8.08555735e-01 8.97515908e-06 2.25316892e+02] [ 8.08555735e-01 5.88419598e-01 1.18364127e-05 7.18007511e+01] [-1.48515588e-05 2.92139152e-07 1.00000000e+00 -4.22678591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.46028169299996 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:225.33, Y:71.82, Z:-0.42 [[ 5.88405639e-01 -8.08565887e-01 -1.01371428e-04 2.25331538e+02] [ 8.08565875e-01 5.88405647e-01 -1.39815351e-04 7.18231001e+01] [ 1.72697444e-04 3.02663001e-07 9.99999985e-01 -4.23018565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.490281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:225.35, Y:71.85, Z:-0.42 [[ 5.88485252e-01 -8.08507887e-01 -3.23350782e-04 2.25345627e+02] [ 8.08507764e-01 5.88485341e-01 -4.45050324e-04 7.18452677e+01] [ 5.50113892e-04 4.73933932e-07 9.99999849e-01 -4.23921064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.52028169299996 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:225.36, Y:71.87, Z:-0.42 [[ 5.88363920e-01 -8.08596211e-01 -2.54266527e-04 2.25360885e+02] [ 8.08596135e-01 5.88363975e-01 -3.50358076e-04 7.18664709e+01] [ 4.32899478e-04 5.39119558e-07 9.99999906e-01 -4.23867308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.550281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:225.38, Y:71.89, Z:-0.42 [[ 5.87563560e-01 -8.09177969e-01 -2.77044610e-04 2.25377688e+02] [ 8.09177879e-01 5.87563625e-01 -3.81834623e-04 7.18877786e+01] [ 4.71753500e-04 1.73740411e-07 9.99999889e-01 -4.24804859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.58028169299996 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:225.39, Y:71.91, Z:-0.43 [[ 5.86359296e-01 -8.10051005e-01 -3.80601705e-04 2.25393739e+02] [ 8.10050835e-01 5.86359420e-01 -5.24662593e-04 7.19086655e+01] [ 6.48172856e-04 -6.65940538e-07 9.99999790e-01 -4.25384651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.610281693 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:225.41, Y:71.93, Z:-0.43 [[ 5.84620294e-01 -8.11306858e-01 -5.41429580e-04 2.25409319e+02] [ 8.11306515e-01 5.84620545e-01 -7.46510738e-04 7.19298064e+01] [ 9.22180138e-04 -2.84001864e-06 9.99999575e-01 -4.25414500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.64028169299996 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:225.42, Y:71.95, Z:-0.43 [[ 5.81328634e-01 -8.13668803e-01 -3.14751149e-04 2.25424419e+02] [ 8.13668687e-01 5.81328719e-01 -4.34258618e-04 7.19503124e+01] [ 5.36316572e-04 -3.65618517e-06 9.99999856e-01 -4.25125771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.670281693 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:225.44, Y:71.97, Z:-0.42 [[ 5.80203618e-01 -8.14471449e-01 1.40208491e-04 2.25441442e+02] [ 8.14471426e-01 5.80203635e-01 1.92906692e-04 7.19717352e+01] [-2.38466469e-04 2.27064916e-06 9.99999972e-01 -4.24743940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.70028169299997 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:225.46, Y:71.99, Z:-0.42 [[ 5.79230820e-01 -8.15163458e-01 4.40307164e-04 2.25458240e+02] [ 8.15163232e-01 5.79230987e-01 6.07027442e-04 7.19920844e+01] [-7.49866142e-04 7.31320786e-06 9.99999719e-01 -4.24789933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.730281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:225.48, Y:72.01, Z:-0.43 [[ 5.77861399e-01 -8.16134394e-01 -9.24244063e-04 2.25475952e+02] [ 8.16133396e-01 5.77862138e-01 -1.27634863e-03 7.20103515e+01] [ 1.57575767e-03 -1.67538395e-05 9.99998758e-01 -4.25345844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.76028169299997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:225.49, Y:72.03, Z:-0.43 [[ 5.77417665e-01 -8.16446657e-01 -1.92278701e-03 2.25493270e+02] [ 8.16442338e-01 5.77420865e-01 -2.65589117e-03 7.20315430e+01] [ 3.27865081e-03 -3.62862468e-05 9.99994625e-01 -4.26711504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.79028169299994 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:225.51, Y:72.05, Z:-0.43 [[ 5.76730297e-01 -8.16929240e-01 -2.96345870e-03 2.25511537e+02] [ 8.16918981e-01 5.76737907e-01 -4.09442503e-03 7.20501744e+01] [ 5.05399449e-03 -5.95266983e-05 9.99987227e-01 -4.27209306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.82028169299997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:225.53, Y:72.07, Z:-0.43 [[ 5.76362371e-01 -8.17188831e-01 -2.97187437e-03 2.25527492e+02] [ 8.17178507e-01 5.76370029e-01 -4.10819413e-03 7.20710834e+01] [ 5.07006968e-03 -6.07433480e-05 9.99987145e-01 -4.26778985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.85028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:225.54, Y:72.09, Z:-0.43 [[ 5.76448357e-01 -8.17129204e-01 -2.67506556e-03 2.25544150e+02] [ 8.17120833e-01 5.76454562e-01 -3.69893941e-03 7.20928317e+01] [ 4.56456516e-03 -5.36042566e-05 9.99989581e-01 -4.26415934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.880281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:225.56, Y:72.11, Z:-0.43 [[ 5.76486150e-01 -8.17103859e-01 -2.23638515e-03 2.25559763e+02] [ 8.17098004e-01 5.76490487e-01 -3.09372413e-03 7.21132704e+01] [ 3.81714869e-03 -4.38567286e-05 9.99992714e-01 -4.25621772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.91028169299994 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:225.58, Y:72.13, Z:-0.42 [[ 5.76915557e-01 -8.16800834e-01 -2.19953079e-03 2.25578283e+02] [ 8.16795161e-01 5.76919749e-01 -3.04433762e-03 7.21315937e+01] [ 3.75557025e-03 -4.02403737e-05 9.99992947e-01 -4.24993721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.940281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:225.60, Y:72.15, Z:-0.43 [[ 5.77130328e-01 -8.16648052e-01 -2.55805709e-03 2.25595322e+02] [ 8.16640371e-01 5.77135995e-01 -3.54221195e-03 7.21499878e+01] [ 4.36908731e-03 -4.46947476e-05 9.99990455e-01 -4.25113710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 266.97028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:225.62, Y:72.17, Z:-0.43 [[ 5.77342915e-01 -8.16496858e-01 -2.83527468e-03 2.25616781e+02] [ 8.16487412e-01 5.77349875e-01 -3.92784066e-03 7.21671711e+01] [ 4.84401504e-03 -4.72551068e-05 9.99988267e-01 -4.25783310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.000281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:225.64, Y:72.19, Z:-0.43 [[ 5.76842704e-01 -8.16851206e-01 -2.56931947e-03 2.25635376e+02] [ 8.16843444e-01 5.76848424e-01 -3.56124202e-03 7.21868247e+01] [ 4.39111273e-03 -4.44552874e-05 9.99990358e-01 -4.25312886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.03028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:225.65, Y:72.21, Z:-0.42 [[ 5.76449753e-01 -8.17130711e-01 -1.75616037e-03 2.25652427e+02] [ 8.17127081e-01 5.76452427e-01 -2.43558788e-03 7.22059960e+01] [ 3.00253657e-03 -3.10121615e-05 9.99995492e-01 -4.24706020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.060281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:225.67, Y:72.23, Z:-0.42 [[ 5.78143071e-01 -8.15935209e-01 5.69529043e-04 2.25670475e+02] [ 8.15934827e-01 5.78143352e-01 7.89597467e-04 7.22256908e+01] [-9.73529804e-04 8.19827587e-06 9.99999526e-01 -4.22326952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.09028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:225.69, Y:72.25, Z:-0.42 [[ 5.80123355e-01 -8.14527426e-01 1.40180543e-03 2.25686974e+02] [ 8.14525104e-01 5.80125048e-01 1.94516434e-03 7.22456053e+01] [-2.39761215e-03 1.33704526e-05 9.99997126e-01 -4.21055746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.120281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:225.70, Y:72.27, Z:-0.42 [[ 5.85498866e-01 -8.10671205e-01 1.80985316e-03 2.25704245e+02] [ 8.10667310e-01 5.85501663e-01 2.51277463e-03 7.22658634e+01] [-3.09670607e-03 -4.03790004e-06 9.99995205e-01 -4.20322374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.15028169299995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:225.72, Y:72.29, Z:-0.42 [[ 5.88223093e-01 -8.08696791e-01 1.75867696e-03 2.25719092e+02] [ 8.08693102e-01 5.88225721e-01 2.44292724e-03 7.22868929e+01] [-3.01008645e-03 -1.47562940e-05 9.99995470e-01 -4.20714491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.180281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:225.73, Y:72.31, Z:-0.42 [[ 5.92781215e-01 -8.05362881e-01 1.03042355e-03 2.25734118e+02] [ 8.05361608e-01 5.92782110e-01 1.43183105e-03 7.23094530e+01] [-1.76396023e-03 -1.88989816e-05 9.99998444e-01 -4.21611188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.21028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:225.75, Y:72.33, Z:-0.42 [[ 5.94309014e-01 -8.04236689e-01 3.78603665e-04 2.25748787e+02] [ 8.04236517e-01 5.94309135e-01 5.26029898e-04 7.23307200e+01] [-6.48060160e-04 -8.13741686e-06 9.99999790e-01 -4.21999598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.240281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:225.76, Y:72.35, Z:-0.42 [[ 5.95281635e-01 -8.03516976e-01 -4.94755816e-04 2.25763182e+02] [ 8.03516681e-01 5.95281840e-01 -6.88933321e-04 7.23518309e+01] [ 8.48088771e-04 1.25648026e-05 9.99999640e-01 -4.21830997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.27028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:225.78, Y:72.37, Z:-0.42 [[ 5.95883956e-01 -8.03069453e-01 -1.32835977e-03 2.25777659e+02] [ 8.03067324e-01 5.95885435e-01 -1.84965169e-03 7.23736288e+01] [ 2.27694901e-03 3.54154372e-05 9.99997407e-01 -4.22534152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.300281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:225.79, Y:72.40, Z:-0.42 [[ 5.96141768e-01 -8.02877048e-01 -1.85400074e-03 2.25790509e+02] [ 8.02872896e-01 5.96144649e-01 -2.58266570e-03 7.23962297e+01] [ 3.17881563e-03 5.11079587e-05 9.99994946e-01 -4.23366620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.33028169299996 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:225.80, Y:72.42, Z:-0.42 [[ 5.95371870e-01 -8.03448961e-01 -1.45045796e-03 2.25804702e+02] [ 8.03446419e-01 5.95373635e-01 -2.02168844e-03 7.24172067e+01] [ 2.48788790e-03 3.82911744e-05 9.99996904e-01 -4.23665837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.360281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:225.82, Y:72.44, Z:-0.42 [[ 5.91732372e-01 -8.06133974e-01 -9.02967400e-04 2.25821541e+02] [ 8.06132991e-01 5.91733061e-01 -1.25937453e-03 7.24376316e+01] [ 1.54954025e-03 1.73008647e-05 9.99998799e-01 -4.23812823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.39028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:225.84, Y:72.46, Z:-0.42 [[ 5.91553086e-01 -8.06265547e-01 -9.02698244e-04 2.25836949e+02] [ 8.06264563e-01 5.91553774e-01 -1.25956750e-03 7.24595950e+01] [ 1.54954043e-03 1.72874359e-05 9.99998799e-01 -4.23845946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.420281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:225.85, Y:72.48, Z:-0.42 [[ 5.88553346e-01 -8.08457591e-01 -1.13240089e-03 2.25852925e+02] [ 8.08456046e-01 5.88554435e-01 -1.58082297e-03 7.24794923e+01] [ 1.94450790e-03 1.49023051e-05 9.99998109e-01 -4.24114713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.45028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:225.87, Y:72.50, Z:-0.42 [[ 5.85044509e-01 -8.10999248e-01 -1.77267734e-03 2.25869236e+02] [ 8.10995470e-01 5.85047194e-01 -2.47555450e-03 7.25000594e+01] [ 3.04477274e-03 1.06762704e-05 9.99995365e-01 -4.24746201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.480281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:225.89, Y:72.52, Z:-0.43 [[ 5.77872243e-01 -8.16124159e-01 -2.24239638e-03 2.25887305e+02] [ 8.16118146e-01 5.77876593e-01 -3.13296317e-03 7.25190513e+01] [ 3.85271531e-03 -1.96079209e-05 9.99992578e-01 -4.25364286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.51028169299997 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:225.90, Y:72.54, Z:-0.43 [[ 5.74606806e-01 -8.18426384e-01 -2.29610478e-03 2.25904700e+02] [ 8.18420092e-01 5.74611392e-01 -3.20958050e-03 7.25372340e+01] [ 3.94617333e-03 -3.49314891e-05 9.99992213e-01 -4.25541672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.54028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:225.93, Y:72.55, Z:-0.42 [[ 5.70584938e-01 -8.21236136e-01 -2.00942515e-03 2.25925395e+02] [ 8.21231329e-01 5.70588474e-01 -2.81026893e-03 7.25544652e+01] [ 3.45444923e-03 -4.67057623e-05 9.99994032e-01 -4.24013601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.57028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:225.94, Y:72.57, Z:-0.42 [[ 5.69857723e-01 -8.21741743e-01 -1.63813784e-03 2.25942512e+02] [ 8.21738547e-01 5.69860076e-01 -2.29225505e-03 7.25749400e+01] [ 2.81715102e-03 -3.98617690e-05 9.99996031e-01 -4.23520753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.60028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:225.96, Y:72.59, Z:-0.42 [[ 5.69584334e-01 -8.21931585e-01 -1.46823925e-03 2.25959443e+02] [ 8.21929016e-01 5.69586225e-01 -2.05560682e-03 7.25947851e+01] [ 2.52585702e-03 -3.59469965e-05 9.99996809e-01 -4.23731579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.630281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:225.98, Y:72.61, Z:-0.42 [[ 5.70131126e-01 -8.21552351e-01 -1.49451090e-03 2.25980755e+02] [ 8.21549685e-01 5.70133083e-01 -2.09349699e-03 7.26102196e+01] [ 2.57198749e-03 -3.42471646e-05 9.99996692e-01 -4.24257846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.66028169299994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:226.00, Y:72.63, Z:-0.42 [[ 5.70164452e-01 -8.21529459e-01 -1.35868956e-03 2.25998996e+02] [ 8.21527252e-01 5.70166070e-01 -1.90426440e-03 7.26287860e+01] [ 2.33908799e-03 -3.04566377e-05 9.99997264e-01 -4.24015173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.690281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:226.02, Y:72.65, Z:-0.42 [[ 5.70630119e-01 -8.21206684e-01 -9.21550002e-04 2.26018853e+02] [ 8.21205667e-01 5.70630863e-01 -1.29239255e-03 7.26454741e+01] [ 1.58718627e-03 -1.93039696e-05 9.99998740e-01 -4.23767465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.72028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:226.04, Y:72.67, Z:-0.42 [[ 5.70962417e-01 -8.20975957e-01 -6.29573485e-04 2.26036637e+02] [ 8.20975482e-01 5.70962764e-01 -8.83499743e-04 7.26650279e+01] [ 1.08479506e-03 -1.24192464e-05 9.99999412e-01 -4.24435511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.750281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:226.05, Y:72.68, Z:-0.42 [[ 5.71184908e-01 -8.20821240e-01 -5.40490855e-04 2.26054778e+02] [ 8.20820890e-01 5.71185164e-01 -7.58932226e-04 7.26839414e+01] [ 9.31668048e-04 -1.01555504e-05 9.99999566e-01 -4.24312947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.78028169299995 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:226.07, Y:72.70, Z:-0.42 [[ 5.71477079e-01 -8.20617941e-01 -3.78620221e-04 2.26072209e+02] [ 8.20617768e-01 5.71477204e-01 -5.32084608e-04 7.27030445e+01] [ 6.53011001e-04 -6.62832321e-06 9.99999787e-01 -4.24413309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.810281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:226.09, Y:72.72, Z:-0.42 [[ 5.74587963e-01 -8.18442741e-01 -3.90947641e-04 2.26090911e+02] [ 8.18442556e-01 5.74588096e-01 -5.49624728e-04 7.27226208e+01] [ 6.74470229e-04 -4.16043345e-06 9.99999773e-01 -4.22682911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.84028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:226.11, Y:72.74, Z:-0.42 [[ 5.76923351e-01 -8.16798226e-01 -3.22623757e-04 2.26106997e+02] [ 8.16798100e-01 5.76923442e-01 -4.53875135e-04 7.27438550e+01] [ 5.56853614e-04 -1.66730749e-06 9.99999845e-01 -4.22732258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.870281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:226.12, Y:72.76, Z:-0.42 [[ 5.82421013e-01 -8.12885972e-01 -1.46983045e-03 2.26123884e+02] [ 8.12883344e-01 5.82422867e-01 -2.06708088e-03 7.27636953e+01] [ 2.53636392e-03 9.11065124e-06 9.99996783e-01 -4.23709192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.90028169299995 meters Centerline goodness : 0.999642 Centerline is valid? [True, True] Translation: X:226.14, Y:72.78, Z:-0.42 [[ 5.84449937e-01 -8.11427825e-01 -1.77639300e-03 2.26139474e+02] [ 8.11423976e-01 5.84452636e-01 -2.49939770e-03 7.27839178e+01] [ 3.06629841e-03 1.93649573e-05 9.99995299e-01 -4.23928414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.930281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:226.16, Y:72.81, Z:-0.42 [[ 5.86029451e-01 -8.10288430e-01 -1.46393988e-03 2.26155020e+02] [ 8.10285809e-01 5.86031279e-01 -2.06085093e-03 7.28051471e+01] [ 2.52779822e-03 2.15096289e-05 9.99996805e-01 -4.24059069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.96028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:226.17, Y:72.83, Z:-0.42 [[ 5.87336746e-01 -8.09342189e-01 -8.76865345e-04 2.26169976e+02] [ 8.09341246e-01 5.87337400e-01 -1.23518954e-03 7.28272229e+01] [ 1.51470682e-03 1.57889166e-05 9.99998853e-01 -4.23262574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 267.990281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:226.18, Y:72.85, Z:-0.42 [[ 5.89408721e-01 -8.07834917e-01 3.25828681e-04 2.26183309e+02] [ 8.07834787e-01 5.89408811e-01 4.58517776e-04 7.28494295e+01] [-5.62452965e-04 -7.03863272e-06 9.99999842e-01 -4.22258753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.02028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:226.20, Y:72.87, Z:-0.42 [[ 5.89573983e-01 -8.07713842e-01 9.32135852e-04 2.26196964e+02] [ 8.07712774e-01 5.89574719e-01 1.31334353e-03 7.28714526e+01] [-1.61036948e-03 -2.14151411e-05 9.99998703e-01 -4.22551019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.050281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:226.21, Y:72.89, Z:-0.42 [[ 5.88158175e-01 -8.08745627e-01 6.87162333e-04 2.26208887e+02] [ 8.08745047e-01 5.88158577e-01 9.68532247e-04 7.28937755e+01] [-1.18745664e-03 -1.39110256e-05 9.99999295e-01 -4.22946150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.08028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.22, Y:72.92, Z:-0.42 [[ 5.86448040e-01 -8.09986846e-01 7.85413395e-05 2.26223592e+02] [ 8.09986839e-01 5.86448045e-01 1.10310293e-04 7.29157574e+01] [-1.35410301e-04 -1.07380383e-06 9.99999991e-01 -4.23354194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.110281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:226.24, Y:72.94, Z:-0.42 [[ 5.83377244e-01 -8.12200890e-01 -8.39542917e-04 2.26238600e+02] [ 8.12200025e-01 5.83377849e-01 -1.18565279e-03 7.29368525e+01] [ 1.45275899e-03 9.80607794e-06 9.99998945e-01 -4.22661772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.14028169299996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:226.25, Y:72.96, Z:-0.42 [[ 5.82182194e-01 -8.13058282e-01 -3.52712983e-04 2.26253020e+02] [ 8.13058129e-01 5.82182300e-01 -4.98705038e-04 7.29579463e+01] [ 6.10819517e-04 3.56103487e-06 9.99999813e-01 -4.22123437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.170281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:226.27, Y:72.98, Z:-0.42 [[ 5.81023879e-01 -8.13886451e-01 3.10311180e-04 2.26266862e+02] [ 8.13886334e-01 5.81023962e-01 4.37999277e-04 7.29791651e+01] [-5.36779908e-04 -1.93001033e-06 9.99999856e-01 -4.21626459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.20028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:226.28, Y:73.00, Z:-0.42 [[ 5.79481152e-01 -8.14985355e-01 6.82773436e-04 2.26282490e+02] [ 8.14984783e-01 5.79481554e-01 9.64805715e-04 7.29998196e+01] [-1.18195714e-03 -2.63676650e-06 9.99999302e-01 -4.22829186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.230281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:226.30, Y:73.02, Z:-0.42 [[ 5.78696439e-01 -8.15543028e-01 2.19473652e-05 2.26298038e+02] [ 8.15543028e-01 5.78696440e-01 3.05214576e-05 7.30194113e+01] [-3.75924241e-05 2.36361856e-07 9.99999999e-01 -4.23922700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.26028169299997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:226.31, Y:73.04, Z:-0.42 [[ 5.78086623e-01 -8.15974962e-01 -8.47276062e-04 2.26314178e+02] [ 8.15974080e-01 5.78087244e-01 -1.19959234e-03 7.30402152e+01] [ 1.46863680e-03 2.11297982e-06 9.99998922e-01 -4.24471674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.29028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:226.33, Y:73.06, Z:-0.42 [[ 5.78799720e-01 -8.15469219e-01 -9.14717933e-04 2.26330407e+02] [ 8.15468190e-01 5.78800443e-01 -1.29567769e-03 7.30613776e+01] [ 1.58602442e-03 4.01450931e-06 9.99998742e-01 -4.24324769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.32028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:226.35, Y:73.08, Z:-0.42 [[ 5.79889910e-01 -8.14694581e-01 -6.57485148e-04 2.26345171e+02] [ 8.14694048e-01 5.79890282e-01 -9.31957525e-04 7.30814090e+01] [ 1.14052999e-03 4.78352784e-06 9.99999350e-01 -4.23464194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.35028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:226.36, Y:73.10, Z:-0.42 [[ 5.82883203e-01 -8.12555437e-01 -9.13091424e-04 2.26361495e+02] [ 8.12554405e-01 5.82883918e-01 -1.29471936e-03 7.31007281e+01] [ 1.58425756e-03 1.27337082e-05 9.99998745e-01 -4.23484931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.380281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:226.38, Y:73.12, Z:-0.42 [[ 5.83970976e-01 -8.11773726e-01 -1.14762625e-03 2.26377185e+02] [ 8.11772094e-01 5.83972104e-01 -1.62790712e-03 7.31217192e+01] [ 1.99167394e-03 1.90395430e-05 9.99998016e-01 -4.24316920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.41028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:226.39, Y:73.14, Z:-0.42 [[ 5.84975246e-01 -8.11049864e-01 -1.44232355e-03 2.26392526e+02] [ 8.11047281e-01 5.84977023e-01 -2.04682214e-03 7.31435724e+01] [ 2.50380096e-03 2.75476953e-05 9.99996865e-01 -4.24526783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.41, Y:73.17, Z:-0.42 [[ 5.86563102e-01 -8.09900649e-01 2.16014905e-03 2.26406978e+02] [ 8.09901829e-01 5.86554318e-01 -3.61370560e-03 7.31650495e+01] [ 1.65969776e-03 3.86917504e-03 9.99991137e-01 -4.24484690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:226.42, Y:73.18, Z:-0.42 [[ 5.86580678e-01 -8.09882628e-01 -3.63827616e-03 2.26424693e+02] [ 8.09890719e-01 5.86572694e-01 3.08173166e-03 7.31821601e+01] [-3.61727483e-04 -4.75429034e-03 9.99988633e-01 -4.23194927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.500281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:226.44, Y:73.21, Z:-0.42 [[ 5.85208029e-01 -8.10882981e-01 5.94837721e-04 2.26437537e+02] [ 8.10883179e-01 5.85207693e-01 -6.53011837e-04 7.32060153e+01] [ 1.81412576e-04 8.64491672e-04 9.99999610e-01 -4.23871384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.53028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:226.45, Y:73.23, Z:-0.42 [[ 5.85149965e-01 -8.10925098e-01 -5.18080712e-05 2.26451528e+02] [ 8.10925095e-01 5.85149968e-01 -7.41655618e-05 7.32268394e+01] [ 9.04582067e-05 1.38551087e-06 9.99999996e-01 -4.23702802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.560281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:226.47, Y:73.25, Z:-0.42 [[ 5.85454132e-01 -8.10705481e-01 2.88045122e-04 2.26465046e+02] [ 8.10705378e-01 5.85454202e-01 4.09108302e-04 7.32490435e+01] [-5.00303570e-04 -5.99441575e-06 9.99999875e-01 -4.23530673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.59028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:226.48, Y:73.27, Z:-0.42 [[ 5.86811354e-01 -8.09723495e-01 5.44550311e-04 2.26476126e+02] [ 8.09723125e-01 5.86811606e-01 7.74243953e-04 7.32732207e+01] [-9.46471962e-04 -1.34001626e-05 9.99999552e-01 -4.23605609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.620281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:226.49, Y:73.30, Z:-0.42 [[ 5.86755961e-01 -8.09763795e-01 -1.98696708e-04 2.26488690e+02] [ 8.09763745e-01 5.86755995e-01 -2.83366050e-04 7.32957883e+01] [ 3.46046053e-04 5.36932872e-06 9.99999940e-01 -4.24763978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.65028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:226.50, Y:73.32, Z:-0.43 [[ 5.84672122e-01 -8.11267555e-01 -1.86108435e-03 2.26500895e+02] [ 8.11263225e-01 5.84675083e-01 -2.65096396e-03 7.33188139e+01] [ 3.23877069e-03 4.01154347e-05 9.99994754e-01 -4.25758228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.680281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:226.51, Y:73.34, Z:-0.43 [[ 5.82732843e-01 -8.12660085e-01 -2.45360350e-03 2.26514190e+02] [ 8.12652564e-01 5.82738006e-01 -3.49659471e-03 7.33404989e+01] [ 4.27135097e-03 4.36533979e-05 9.99990877e-01 -4.25227760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.71028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:226.53, Y:73.36, Z:-0.42 [[ 5.81153379e-01 -8.13790432e-01 -2.42529611e-03 2.26527843e+02] [ 8.13783087e-01 5.81158439e-01 -3.45786936e-03 7.33633379e+01] [ 4.22346230e-03 3.58875130e-05 9.99991081e-01 -4.24783055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.740281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.54, Y:73.39, Z:-0.42 [[ 5.78371540e-01 -8.15771878e-01 -1.61373931e-03 2.26540058e+02] [ 8.15768630e-01 5.78373791e-01 -2.30205405e-03 7.33869717e+01] [ 2.81129548e-03 1.50046387e-05 9.99996048e-01 -4.24129525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.77028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:226.55, Y:73.41, Z:-0.42 [[ 5.76876851e-01 -8.16830825e-01 -7.08297693e-04 2.26554821e+02] [ 8.16830199e-01 5.76877286e-01 -1.01117402e-03 7.34089203e+01] [ 1.23455896e-03 4.76393755e-06 9.99999238e-01 -4.23617966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.800281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.57, Y:73.43, Z:-0.42 [[ 5.75449249e-01 -8.17837490e-01 4.52206364e-05 2.26569686e+02] [ 8.17837487e-01 5.75449251e-01 6.40532068e-05 7.34304346e+01] [-7.84072952e-05 1.23761855e-07 9.99999997e-01 -4.23043438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.58, Y:73.45, Z:-0.42 [[ 5.73525990e-01 -8.19187175e-01 5.58719734e-04 2.26583215e+02] [ 8.19186786e-01 5.73526262e-01 7.97507730e-04 7.34515074e+01] [-9.73748544e-04 3.04413332e-07 9.99999526e-01 -4.22710015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.860281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:226.60, Y:73.47, Z:-0.42 [[ 5.73143494e-01 -8.19454873e-01 4.95127668e-04 2.26598502e+02] [ 8.19454568e-01 5.73143708e-01 7.07044230e-04 7.34735168e+01] [-8.63170148e-04 4.96828776e-07 9.99999627e-01 -4.23547757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:226.61, Y:73.49, Z:-0.42 [[ 5.73279275e-01 -8.19360012e-01 -2.09342063e-04 2.26614269e+02] [ 8.19359957e-01 5.73279313e-01 -2.99827581e-04 7.34929448e+01] [ 3.65678205e-04 3.58434981e-07 9.99999933e-01 -4.24682439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.920281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:226.63, Y:73.51, Z:-0.42 [[ 5.73268343e-01 -8.19367446e-01 -6.28546088e-04 2.26629738e+02] [ 8.19366952e-01 5.73268688e-01 -8.99636574e-04 7.35138553e+01] [ 1.09745871e-03 7.23275626e-07 9.99999398e-01 -4.24553708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.65, Y:73.53, Z:-0.42 [[ 5.73550177e-01 -8.19169899e-01 -9.33135443e-04 2.26645051e+02] [ 8.19168810e-01 5.73550936e-01 -1.33594297e-03 7.35347319e+01] [ 1.62956497e-03 1.83487508e-06 9.99998672e-01 -4.24609985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 268.980281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:226.66, Y:73.56, Z:-0.42 [[ 5.76602990e-01 -8.17022470e-01 -1.80983727e-03 2.26660773e+02] [ 8.17018359e-01 5.76605830e-01 -2.59193578e-03 7.35550661e+01] [ 3.16123250e-03 1.58476449e-05 9.99995003e-01 -4.23655032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:226.68, Y:73.58, Z:-0.42 [[ 5.78930559e-01 -8.15374694e-01 -1.87521410e-03 2.26676098e+02] [ 8.15370268e-01 5.78933595e-01 -2.68677893e-03 7.35768869e+01] [ 3.27635599e-03 2.64646053e-05 9.99994632e-01 -4.23954173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.04028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:226.69, Y:73.60, Z:-0.43 [[ 5.84180303e-01 -8.11623037e-01 -1.19141595e-03 2.26691098e+02] [ 8.11621240e-01 5.84181517e-01 -1.70807616e-03 7.35990889e+01] [ 2.08231714e-03 3.08459513e-05 9.99997832e-01 -4.25171521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:226.71, Y:73.62, Z:-0.43 [[ 5.86016819e-01 -8.10298466e-01 -8.27070555e-04 2.26705786e+02] [ 8.10297598e-01 5.86017402e-01 -1.18647711e-03 7.36207839e+01] [ 1.44607832e-03 2.51222608e-05 9.99998954e-01 -4.25706644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.10028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:226.72, Y:73.64, Z:-0.43 [[ 5.87486503e-01 -8.09233608e-01 -7.59568575e-04 2.26720319e+02] [ 8.09232874e-01 5.87486993e-01 -1.09026640e-03 7.36417405e+01] [ 1.32851687e-03 2.58489357e-05 9.99999117e-01 -4.25978376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:226.73, Y:73.66, Z:-0.43 [[ 5.88697247e-01 -8.08352939e-01 -1.03849816e-03 2.26734850e+02] [ 8.08351564e-01 5.88698161e-01 -1.49115333e-03 7.36631825e+01] [ 1.81674014e-03 3.83662449e-05 9.99998349e-01 -4.25712460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.16028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:226.75, Y:73.69, Z:-0.43 [[ 5.91449944e-01 -8.06338815e-01 -2.16327718e-03 2.26747305e+02] [ 8.06332833e-01 5.91453893e-01 -3.10726879e-03 7.36850583e+01] [ 3.78499014e-03 9.34725351e-05 9.99992833e-01 -4.25920845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.190281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:226.76, Y:73.71, Z:-0.43 [[ 5.91698006e-01 -8.06154249e-01 -2.96578511e-03 2.26760297e+02] [ 8.06142995e-01 5.91705424e-01 -4.26182392e-03 7.37086181e+01] [ 5.19055860e-03 1.30865827e-04 9.99986520e-01 -4.26824448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.22028169299995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:226.77, Y:73.73, Z:-0.43 [[ 5.90695965e-01 -8.06890326e-01 -2.50566526e-03 2.26774491e+02] [ 8.06882291e-01 5.90701270e-01 -3.60247684e-03 7.37303549e+01] [ 4.38690336e-03 1.06191615e-04 9.99990372e-01 -4.26533138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.250281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:226.79, Y:73.75, Z:-0.43 [[ 5.89017646e-01 -8.08117683e-01 -2.00585891e-03 2.26787838e+02] [ 8.08112537e-01 5.89021056e-01 -2.88501225e-03 7.37513339e+01] [ 3.51292255e-03 7.83633924e-05 9.99993827e-01 -4.26175536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.28028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:226.80, Y:73.77, Z:-0.43 [[ 5.85874402e-01 -8.10400916e-01 -1.24101187e-03 2.26799778e+02] [ 8.10398949e-01 5.85875715e-01 -1.78611609e-03 7.37739092e+01] [ 2.17454883e-03 4.07249859e-05 9.99997635e-01 -4.25211552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.310281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:226.81, Y:73.80, Z:-0.43 [[ 5.85702088e-01 -8.10525462e-01 -1.24065748e-03 2.26814861e+02] [ 8.10523494e-01 5.85703401e-01 -1.78636230e-03 7.37961079e+01] [ 2.17454944e-03 4.06940926e-05 9.99997635e-01 -4.25245540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.34028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.83, Y:73.82, Z:-0.43 [[ 5.84259015e-01 -8.11566550e-01 -1.06695128e-03 2.26828314e+02] [ 8.11565095e-01 5.84259988e-01 -1.53707323e-03 7.38185361e+01] [ 1.87081416e-03 3.21484744e-05 9.99998250e-01 -4.25055278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:226.84, Y:73.84, Z:-0.43 [[ 5.83044474e-01 -8.12439853e-01 -7.91890811e-04 2.26842729e+02] [ 8.12439051e-01 5.83045011e-01 -1.14152807e-03 7.38409367e+01] [ 1.38913088e-03 2.21986116e-05 9.99999035e-01 -4.25072858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.40028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:226.86, Y:73.86, Z:-0.43 [[ 5.80826163e-01 -8.14027289e-01 -7.35671265e-04 2.26857480e+02] [ 8.14026598e-01 5.80826629e-01 -1.06083642e-03 7.38616446e+01] [ 1.29084726e-03 1.73055707e-05 9.99999167e-01 -4.25304990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.87, Y:73.88, Z:-0.43 [[ 5.79754724e-01 -8.14789979e-01 -1.32288367e-03 2.26872056e+02] [ 8.14787745e-01 5.79756233e-01 -1.90826206e-03 7.38830169e+01] [ 2.32178286e-03 2.84545429e-05 9.99997304e-01 -4.25705444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.89, Y:73.91, Z:-0.43 [[ 5.78601444e-01 -8.15606827e-01 -2.42345489e-03 2.26886358e+02] [ 8.15599331e-01 5.78606517e-01 -3.49717402e-03 7.39053345e+01] [ 4.25454580e-03 4.69017493e-05 9.99990948e-01 -4.25721093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:226.90, Y:73.93, Z:-0.42 [[ 5.78023510e-01 -8.16017474e-01 -2.07490510e-03 2.26901102e+02] [ 8.16011975e-01 5.78027232e-01 -2.99574806e-03 7.39273457e+01] [ 3.64393442e-03 3.84654032e-05 9.99993360e-01 -4.24883414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:226.92, Y:73.95, Z:-0.42 [[ 5.77240555e-01 -8.16573397e-01 -1.10897213e-03 2.26916122e+02] [ 8.16571825e-01 5.77241620e-01 -1.60216683e-03 7.39490622e+01] [ 1.94843168e-03 1.92802737e-05 9.99998102e-01 -4.24111574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.93, Y:73.97, Z:-0.42 [[ 5.77763922e-01 -8.16203914e-01 -1.45595369e-04 2.26929706e+02] [ 8.16203887e-01 5.77763940e-01 -2.10923714e-04 7.39698941e+01] [ 2.56276515e-04 3.02860664e-06 9.99999967e-01 -4.23174812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.58028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:226.94, Y:73.99, Z:-0.42 [[ 5.78511738e-01 -8.15674009e-01 -2.81587617e-04 2.26943471e+02] [ 8.15673907e-01 5.78511807e-01 -4.07633841e-04 7.39909782e+01] [ 4.95398091e-04 6.13729008e-06 9.99999877e-01 -4.24418519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:226.96, Y:74.01, Z:-0.43 [[ 5.79898717e-01 -8.14688190e-01 -7.95299355e-04 2.26956681e+02] [ 8.14687377e-01 5.79899262e-01 -1.15086230e-03 7.40134164e+01] [ 1.39878743e-03 1.94632237e-05 9.99999022e-01 -4.25188874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:226.97, Y:74.03, Z:-0.42 [[ 5.79960607e-01 -8.14644039e-01 -8.85199555e-04 2.26970374e+02] [ 8.14643031e-01 5.79961283e-01 -1.28156725e-03 7.40349018e+01] [ 1.55740259e-03 2.21368743e-05 9.99998787e-01 -4.24611863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.670281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:226.98, Y:74.06, Z:-0.42 [[ 5.79730977e-01 -8.14807402e-01 -9.44500445e-04 2.26984730e+02] [ 8.14806254e-01 5.79731746e-01 -1.36801533e-03 7.40573664e+01] [ 1.66222591e-03 2.34959974e-05 9.99998618e-01 -4.24336948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:226.99, Y:74.08, Z:-0.42 [[ 5.79892526e-01 -8.14691838e-01 1.36626724e-03 2.26994692e+02] [ 8.14688935e-01 5.79883541e-01 -4.12530633e-03 7.40819068e+01] [ 2.56857751e-03 3.50531712e-03 9.99990558e-01 -4.24410560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.730281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.01, Y:74.10, Z:-0.42 [[ 5.79884574e-01 -8.14690458e-01 -3.65207282e-03 2.27010133e+02] [ 8.14697274e-01 5.79885994e-01 7.65542188e-04 7.41036752e+01] [ 1.49410596e-03 -3.41925988e-03 9.99993038e-01 -4.24453368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.02, Y:74.13, Z:-0.42 [[ 5.80809690e-01 -8.14039362e-01 -1.46704043e-04 2.27019368e+02] [ 8.14039334e-01 5.80809709e-01 -2.13288887e-04 7.41285826e+01] [ 2.58832681e-04 4.45739113e-06 9.99999967e-01 -4.24492126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.79028169299994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:227.03, Y:74.15, Z:-0.43 [[ 5.80717519e-01 -8.14105129e-01 -4.37942305e-05 2.27032277e+02] [ 8.14105126e-01 5.80717521e-01 -6.40653905e-05 7.41516068e+01] [ 7.75880400e-05 1.55078713e-06 9.99999997e-01 -4.25150507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.82028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.04, Y:74.17, Z:-0.43 [[ 5.80298337e-01 -8.14403808e-01 -5.26975436e-04 2.27044706e+02] [ 8.14403448e-01 5.80298577e-01 -7.65525835e-04 7.41740922e+01] [ 9.29250251e-04 1.50627572e-05 9.99999568e-01 -4.25193560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.85028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:227.05, Y:74.20, Z:-0.43 [[ 5.78800774e-01 -8.15467978e-01 -1.28067097e-03 2.27054943e+02] [ 8.15465856e-01 5.78802190e-01 -1.86054934e-03 7.41978720e+01] [ 2.25847357e-03 3.25439514e-05 9.99997449e-01 -4.25856671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.880281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.07, Y:74.22, Z:-0.43 [[ 5.77485634e-01 -8.16399244e-01 -1.61762891e-03 2.27068831e+02] [ 8.16395860e-01 5.77487898e-01 -2.35097114e-03 7.42213937e+01] [ 2.85349219e-03 3.70265175e-05 9.99995928e-01 -4.25574252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.91028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.08, Y:74.24, Z:-0.43 [[ 5.76124409e-01 -8.17359959e-01 -1.83371203e-03 2.27081918e+02] [ 8.17355611e-01 5.76127326e-01 -2.66646333e-03 7.42431253e+01] [ 3.23591197e-03 3.74197918e-05 9.99994764e-01 -4.25505161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.09, Y:74.27, Z:-0.43 [[ 5.72193685e-01 -8.20114939e-01 -2.42354184e-03 2.27094636e+02] [ 8.20107361e-01 5.72198816e-01 -3.52563835e-03 7.42660137e+01] [ 4.27817646e-03 2.97834955e-05 9.99990848e-01 -4.26208644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 269.97028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:227.11, Y:74.29, Z:-0.43 [[ 5.69457785e-01 -8.22015491e-01 -2.89211391e-03 2.27108064e+02] [ 8.22004713e-01 5.69465128e-01 -4.20936422e-03 7.42872491e+01] [ 5.10712062e-03 1.97239519e-05 9.99986958e-01 -4.26729251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.000281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.12, Y:74.31, Z:-0.43 [[ 5.65309671e-01 -8.24872730e-01 -3.15519368e-03 2.27122338e+02] [ 8.24859935e-01 5.65318476e-01 -4.59441113e-03 7.43097373e+01] [ 5.57349374e-03 -5.32780982e-06 9.99984468e-01 -4.26559723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.03028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:227.14, Y:74.33, Z:-0.43 [[ 5.64330998e-01 -8.25543301e-01 -2.96366960e-03 2.27136994e+02] [ 8.25532010e-01 5.64338780e-01 -4.31765686e-03 7.43312853e+01] [ 5.23692638e-03 -1.00165188e-05 9.99986287e-01 -4.26134915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:227.15, Y:74.35, Z:-0.43 [[ 5.64095481e-01 -8.25705255e-01 -2.66827229e-03 2.27152143e+02] [ 8.25696095e-01 5.64101792e-01 -3.88935523e-03 7.43515843e+01] [ 4.71663823e-03 -9.21430103e-06 9.99988877e-01 -4.25184488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.09028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:227.17, Y:74.37, Z:-0.43 [[ 5.64043111e-01 -8.25741823e-01 -2.41053963e-03 2.27167914e+02] [ 8.25734340e-01 5.64048262e-01 -3.51537316e-03 7.43731634e+01] [ 4.26245133e-03 -7.64333514e-06 9.99990916e-01 -4.25284698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.120281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:227.18, Y:74.39, Z:-0.42 [[ 5.64254807e-01 -8.25598519e-01 -1.89695870e-03 2.27182825e+02] [ 8.25593879e-01 5.64257996e-01 -2.76790947e-03 7.43936898e+01] [ 3.35555607e-03 -4.31126102e-06 9.99994370e-01 -4.24935902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.20, Y:74.41, Z:-0.42 [[ 5.65805364e-01 -8.24538173e-01 -1.04488134e-03 2.27198430e+02] [ 8.24536761e-01 5.65806329e-01 -1.52556235e-03 7.44143261e+01] [ 1.84908486e-03 1.62828785e-06 9.99998290e-01 -4.23912503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.180281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:227.21, Y:74.44, Z:-0.42 [[ 5.66744181e-01 -8.23893437e-01 -7.98262852e-04 2.27213464e+02] [ 8.23892612e-01 5.66744743e-01 -1.16625433e-03 7.44354918e+01] [ 1.41328056e-03 3.28498954e-06 9.99999001e-01 -4.24039189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.21028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.23, Y:74.46, Z:-0.42 [[ 5.67592485e-01 -8.23309158e-01 -8.94860053e-04 2.27228676e+02] [ 8.23308119e-01 5.67593190e-01 -1.30804566e-03 7.44558319e+01] [ 1.58484244e-03 5.69133732e-06 9.99998744e-01 -4.24040513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:227.24, Y:74.48, Z:-0.42 [[ 5.68512349e-01 -8.22674262e-01 -8.76201440e-04 2.27244835e+02] [ 8.22673264e-01 5.68513024e-01 -1.28140873e-03 7.44751905e+01] [ 1.55231391e-03 7.66918744e-06 9.99998795e-01 -4.23646971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.27028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:227.26, Y:74.50, Z:-0.42 [[ 5.68325732e-01 -8.22803212e-01 -8.58409701e-04 2.27259672e+02] [ 8.22802253e-01 5.68326380e-01 -1.25603203e-03 7.44957523e+01] [ 1.52132406e-03 7.53388454e-06 9.99998843e-01 -4.23963832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:227.27, Y:74.52, Z:-0.42 [[ 5.67481266e-01 -8.23385959e-01 -7.58500703e-04 2.27274937e+02] [ 8.23385210e-01 5.67481773e-01 -1.11041204e-03 7.45171052e+01] [ 1.34473301e-03 5.59976899e-06 9.99999096e-01 -4.24309170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.33028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:227.29, Y:74.54, Z:-0.42 [[ 5.67272302e-01 -8.23529811e-01 -8.86545055e-04 2.27289544e+02] [ 8.23528788e-01 5.67272994e-01 -1.29844941e-03 7.45387538e+01] [ 1.57222486e-03 6.47901010e-06 9.99998764e-01 -4.24283326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:227.30, Y:74.56, Z:-0.42 [[ 5.67063335e-01 -8.23673730e-01 -8.71734515e-04 2.27303774e+02] [ 8.23672740e-01 5.67064005e-01 -1.27717140e-03 7.45595341e+01] [ 1.54630180e-03 6.21311794e-06 9.99998804e-01 -4.24274094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.39028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:227.32, Y:74.58, Z:-0.42 [[ 5.66888410e-01 -8.23794562e-01 -2.24570829e-04 2.27319449e+02] [ 8.23794496e-01 5.66888454e-01 -3.29583795e-04 7.45808311e+01] [ 3.98815948e-04 1.83702057e-06 9.99999920e-01 -4.23293878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.420281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.33, Y:74.60, Z:-0.42 [[ 5.66676683e-01 -8.23940215e-01 2.42205879e-04 2.27333949e+02] [ 8.23940139e-01 5.66676734e-01 3.54565399e-04 7.46027181e+01] [-4.29393128e-04 -1.36079837e-06 9.99999908e-01 -4.23105966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.35, Y:74.62, Z:-0.42 [[ 5.66190621e-01 -8.24274058e-01 6.77299808e-04 2.27348928e+02] [ 8.24273460e-01 5.66191026e-01 9.92932221e-04 7.46248991e+01] [-1.20192934e-03 -3.90865483e-06 9.99999278e-01 -4.22957578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.480281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:227.37, Y:74.64, Z:-0.42 [[ 5.64152731e-01 -8.25669798e-01 1.03966681e-03 2.27365017e+02] [ 8.25668389e-01 5.64153689e-01 1.52521907e-03 7.46446582e+01] [-1.84585919e-03 -2.03648740e-06 9.99998296e-01 -4.23202277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.51028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:227.38, Y:74.67, Z:-0.42 [[ 5.62807627e-01 -8.26587593e-01 7.25642998e-04 2.27380552e+02] [ 8.26586907e-01 5.62808095e-01 1.06492641e-03 7.46654294e+01] [-1.28865271e-03 4.58296528e-07 9.99999170e-01 -4.23571762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.54028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:227.40, Y:74.69, Z:-0.42 [[ 5.62341870e-01 -8.26904793e-01 2.91386807e-04 2.27396040e+02] [ 8.26904682e-01 5.62341946e-01 4.27524810e-04 7.46868827e+01] [-5.17381338e-04 5.34013227e-07 9.99999866e-01 -4.23536232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.57028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:227.41, Y:74.71, Z:-0.42 [[ 5.63112188e-01 -8.26380386e-01 3.47675715e-04 2.27410090e+02] [ 8.26380228e-01 5.63112296e-01 5.10469776e-04 7.47090459e+01] [-6.17622680e-04 -1.39416219e-07 9.99999809e-01 -4.23485739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.60028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:227.42, Y:74.73, Z:-0.42 [[ 5.64393342e-01 -8.25505978e-01 1.89195409e-04 2.27423296e+02] [ 8.25505932e-01 5.64393373e-01 2.77667642e-04 7.47303124e+01] [-3.35996933e-04 -5.31835575e-07 9.99999944e-01 -4.22879237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.630281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:227.44, Y:74.75, Z:-0.42 [[ 5.65805637e-01 -8.24538629e-01 -1.72259600e-04 2.27436730e+02] [ 8.24538590e-01 5.65805664e-01 -2.53935170e-04 7.47531119e+01] [ 3.06844814e-04 1.64326337e-06 9.99999953e-01 -4.22309047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.66028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:227.45, Y:74.78, Z:-0.42 [[ 5.69111528e-01 -8.22259612e-01 -1.09554486e-03 2.27447763e+02] [ 8.22258030e-01 5.69112582e-01 -1.61309570e-03 7.47769479e+01] [ 1.94987180e-03 1.72107968e-05 9.99998099e-01 -4.22091465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.690281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:227.46, Y:74.80, Z:-0.42 [[ 5.70746917e-01 -8.21124951e-01 -1.33082560e-03 2.27460647e+02] [ 8.21122611e-01 5.70748468e-01 -1.96041365e-03 7.48002531e+01] [ 2.36931123e-03 2.61290491e-05 9.99997193e-01 -4.22417294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:227.47, Y:74.82, Z:-0.42 [[ 5.73454677e-01 -8.19235704e-01 -1.61111880e-03 2.27472689e+02] [ 8.19232264e-01 5.73456938e-01 -2.37438938e-03 7.48238354e+01] [ 2.86909181e-03 4.17241925e-05 9.99995883e-01 -4.22575498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:227.48, Y:74.85, Z:-0.42 [[ 5.73475439e-01 -8.19221599e-01 -1.37603545e-03 2.27484555e+02] [ 8.19219087e-01 5.73477089e-01 -2.02910243e-03 7.48463000e+01] [ 2.45140933e-03 3.63659030e-05 9.99996995e-01 -4.22240886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:227.50, Y:74.87, Z:-0.42 [[ 5.72906711e-01 -8.19620249e-01 -7.40397484e-04 2.27496226e+02] [ 8.19619521e-01 5.72907189e-01 -1.09255539e-03 7.48698087e+01] [ 1.31965956e-03 1.90880837e-05 9.99999129e-01 -4.22170615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.810281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:227.51, Y:74.89, Z:-0.42 [[ 5.71078806e-01 -8.20895193e-01 -2.83004190e-04 2.27507065e+02] [ 8.20895086e-01 5.71078876e-01 -4.18139786e-04 7.48944188e+01] [ 5.04866655e-04 6.47402023e-06 9.99999873e-01 -4.22099079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:227.52, Y:74.92, Z:-0.42 [[ 5.69790030e-01 -8.21790040e-01 -6.72181778e-04 2.27520762e+02] [ 8.21789441e-01 5.69790426e-01 -9.92930919e-04 7.49175334e+01] [ 1.19898348e-03 1.33702503e-05 9.99999281e-01 -4.22292787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.870281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:227.53, Y:74.94, Z:-0.42 [[ 5.68296812e-01 -8.22822949e-01 -1.06257447e-03 2.27534311e+02] [ 8.22821451e-01 5.68297805e-01 -1.57009560e-03 7.49397832e+01] [ 1.89576943e-03 1.79712559e-05 9.99998203e-01 -4.23103349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.90028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:227.55, Y:74.96, Z:-0.42 [[ 5.64845555e-01 -8.25195676e-01 -1.26323261e-03 2.27546822e+02] [ 8.25193563e-01 5.64846967e-01 -1.86749733e-03 7.49619420e+01] [ 2.25458383e-03 1.24361450e-05 9.99997458e-01 -4.24064905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.930281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:227.56, Y:74.98, Z:-0.42 [[ 5.63309513e-01 -8.26245530e-01 -8.46602762e-04 2.27561508e+02] [ 8.26244581e-01 5.63310150e-01 -1.25235282e-03 7.49838804e+01] [ 1.51165085e-03 5.96131130e-06 9.99998857e-01 -4.23692390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.96028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:227.58, Y:75.00, Z:-0.42 [[ 5.61032565e-01 -8.27793692e-01 -2.54578224e-04 2.27576358e+02] [ 8.27793606e-01 5.61032623e-01 -3.77175749e-04 7.50049523e+01] [ 4.55050394e-04 8.69651953e-07 9.99999896e-01 -4.23450349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 270.990281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:227.59, Y:75.03, Z:-0.42 [[ 5.60111376e-01 -8.28417119e-01 -5.69206312e-04 2.27589941e+02] [ 8.28416690e-01 5.60111665e-01 -8.43070897e-04 7.50258900e+01] [ 1.01723346e-03 6.73591558e-07 9.99999483e-01 -4.23248733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.02028169299996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:227.60, Y:75.05, Z:-0.42 [[ 5.59658800e-01 -8.28722800e-01 -7.40949342e-04 2.27604395e+02] [ 8.28722073e-01 5.59659290e-01 -1.09780560e-03 7.50478869e+01] [ 1.32445571e-03 3.55490361e-07 9.99999123e-01 -4.24147451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.050281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:227.62, Y:75.07, Z:-0.42 [[ 5.59643009e-01 -8.28733416e-01 -7.91835050e-04 2.27620270e+02] [ 8.28732585e-01 5.59643569e-01 -1.17374490e-03 7.50687994e+01] [ 1.41586701e-03 6.58619579e-07 9.99998998e-01 -4.24401917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.08028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:227.64, Y:75.09, Z:-0.42 [[ 5.59774409e-01 -8.28644863e-01 -5.49596844e-04 2.27635912e+02] [ 8.28644462e-01 5.59774679e-01 -8.15239797e-04 7.50905490e+01] [ 9.83194667e-04 9.29994366e-07 9.99999517e-01 -4.23827485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.110281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:227.65, Y:75.11, Z:-0.42 [[ 5.60001487e-01 -8.28491568e-01 -2.37105541e-04 2.27650893e+02] [ 8.28491493e-01 5.60001537e-01 -3.52208447e-04 7.51126588e+01] [ 4.24581197e-04 7.97330155e-07 9.99999910e-01 -4.23448477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.14028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:227.67, Y:75.14, Z:-0.42 [[ 5.61534541e-01 -8.27453254e-01 -2.66872242e-04 2.27665507e+02] [ 8.27453159e-01 5.61534605e-01 -3.96565625e-04 7.51350013e+01] [ 4.77997516e-04 1.86101719e-06 9.99999886e-01 -4.23177686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.170281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:227.68, Y:75.16, Z:-0.42 [[ 5.62470071e-01 -8.26817369e-01 -6.76199404e-04 2.27679883e+02] [ 8.26816760e-01 5.62470477e-01 -1.00427812e-03 7.51561695e+01] [ 1.21069679e-03 5.78338367e-06 9.99999267e-01 -4.23652834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.20028169299997 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:227.69, Y:75.18, Z:-0.42 [[ 5.62284057e-01 -8.26943881e-01 -6.75937966e-04 2.27694643e+02] [ 8.26943271e-01 5.62284463e-01 -1.00445415e-03 7.51785763e+01] [ 1.21069663e-03 5.82620098e-06 9.99999267e-01 -4.23686901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.230281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:227.71, Y:75.20, Z:-0.42 [[ 5.63713987e-01 -8.25968754e-01 -1.46901302e-03 2.27710142e+02] [ 8.25965868e-01 5.63715901e-01 -2.18359189e-03 7.51987583e+01] [ 2.63168467e-03 1.75666772e-05 9.99996537e-01 -4.24452012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.26028169299997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:227.72, Y:75.22, Z:-0.42 [[ 5.63806017e-01 -8.25906106e-01 -1.37122180e-03 2.27724965e+02] [ 8.25903588e-01 5.63807684e-01 -2.03927295e-03 7.52199479e+01] [ 2.45735337e-03 1.72573561e-05 9.99996981e-01 -4.23561145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.29028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:227.74, Y:75.24, Z:-0.42 [[ 5.63732105e-01 -8.25957117e-01 -9.77177329e-04 2.27739942e+02] [ 8.25955837e-01 5.63732952e-01 -1.45415577e-03 7.52411081e+01] [ 1.75193736e-03 1.26489731e-05 9.99998465e-01 -4.22806381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.32028169299997 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:227.75, Y:75.26, Z:-0.42 [[ 5.63764770e-01 -8.25935203e-01 -5.70121473e-04 2.27754819e+02] [ 8.25934766e-01 5.63765058e-01 -8.49110035e-04 7.52612856e+01] [ 1.02272443e-03 7.81517756e-06 9.99999477e-01 -4.22348541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.35028169299994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:227.77, Y:75.28, Z:-0.42 [[ 5.64252586e-01 -8.25602099e-01 -4.39766408e-04 2.27771336e+02] [ 8.25601839e-01 5.64252757e-01 -6.55435278e-04 7.52808079e+01] [ 7.89268150e-04 6.75909562e-06 9.99999689e-01 -4.22073727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.380281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:227.79, Y:75.30, Z:-0.42 [[ 5.65725771e-01 -8.24593103e-01 -7.52731416e-04 2.27786575e+02] [ 8.24592339e-01 5.65726272e-01 -1.12199045e-03 7.53023034e+01] [ 1.35102552e-03 1.40423515e-05 9.99999087e-01 -4.22281624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.41028169299994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:227.80, Y:75.32, Z:-0.42 [[ 5.66791175e-01 -8.23861152e-01 -7.52359798e-04 2.27801344e+02] [ 8.23860388e-01 5.66791674e-01 -1.12205001e-03 7.53241636e+01] [ 1.35084468e-03 1.61286087e-05 9.99999087e-01 -4.22099212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.440281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:227.82, Y:75.35, Z:-0.42 [[ 5.68318334e-01 -8.22808479e-01 -6.91094250e-04 2.27815123e+02] [ 8.22807833e-01 5.68318754e-01 -1.03131145e-03 7.53452827e+01] [ 1.24133363e-03 1.74754434e-05 9.99999229e-01 -4.21844946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.47028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:227.83, Y:75.37, Z:-0.42 [[ 5.70538357e-01 -8.21270655e-01 -7.02930609e-04 2.27829081e+02] [ 8.21269985e-01 5.70538790e-01 -1.04945802e-03 7.53674085e+01] [ 1.26293825e-03 2.14602440e-05 9.99999202e-01 -4.20867772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.500281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:227.84, Y:75.39, Z:-0.42 [[ 5.76082443e-01 -8.17391595e-01 2.26221713e-06 2.27839990e+02] [ 8.17391595e-01 5.76082443e-01 2.82017033e-06 7.53906157e+01] [-3.60840705e-06 2.24466653e-07 1.00000000e+00 -4.19999720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.53028169299995 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:227.85, Y:75.41, Z:-0.42 [[ 5.78381676e-01 -8.15766116e-01 5.29704743e-04 2.27851319e+02] [ 8.15765733e-01 5.78381918e-01 7.90718554e-04 7.54142879e+01] [-9.51413049e-04 -2.52221443e-05 9.99999547e-01 -4.20650212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.560281693 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:227.86, Y:75.44, Z:-0.42 [[ 5.79681537e-01 -8.14843029e-01 3.92220699e-04 2.27862374e+02] [ 8.14842819e-01 5.79681669e-01 5.85657872e-04 7.54393258e+01] [-7.04582383e-04 -1.98968355e-05 9.99999752e-01 -4.22702783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.59028169299995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:227.88, Y:75.46, Z:-0.42 [[ 5.78367601e-01 -8.15776200e-01 -3.30148935e-04 2.27875930e+02] [ 8.15776051e-01 5.78367695e-01 -4.93950520e-04 7.54617096e+01] [ 5.93900556e-04 1.63573832e-05 9.99999824e-01 -4.22556076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.620281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:227.89, Y:75.49, Z:-0.42 [[ 5.74621503e-01 -8.18419130e-01 -5.05662809e-04 2.27886789e+02] [ 8.18418780e-01 5.74621726e-01 -7.56698744e-04 7.54860412e+01] [ 9.09861564e-04 2.09714309e-05 9.99999586e-01 -4.21426041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.65028169299995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:227.90, Y:75.51, Z:-0.42 [[ 5.72992094e-01 -8.19560886e-01 -1.21056514e-04 2.27897832e+02] [ 8.19560866e-01 5.72992107e-01 -1.81553860e-04 7.55086078e+01] [ 2.18158869e-04 4.81574485e-06 9.99999976e-01 -4.21828927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.680281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:227.91, Y:75.53, Z:-0.42 [[ 5.71658563e-01 -8.20491568e-01 2.72609315e-04 2.27909954e+02] [ 8.20491467e-01 5.71658628e-01 4.07545203e-04 7.55307532e+01] [-4.90226869e-04 -9.30308755e-06 9.99999880e-01 -4.22274748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.71028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:227.92, Y:75.55, Z:-0.42 [[ 5.69349945e-01 -8.22095274e-01 -2.09108512e-05 2.27922819e+02] [ 8.22095273e-01 5.69349946e-01 -3.18620358e-05 7.55537383e+01] [ 3.80992211e-05 9.49936440e-07 9.99999999e-01 -4.22645110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.740281693 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:227.94, Y:75.58, Z:-0.42 [[ 5.67907706e-01 -8.23092001e-01 -6.28278794e-04 2.27936008e+02] [ 8.23091462e-01 5.67908053e-01 -9.42024709e-04 7.55771780e+01] [ 1.13217759e-03 1.78521801e-05 9.99999359e-01 -4.22552315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.77028169299996 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:227.95, Y:75.60, Z:-0.42 [[ 5.66415964e-01 -8.24118671e-01 -1.17167373e-03 2.27948270e+02] [ 8.24116798e-01 5.66417175e-01 -1.75727300e-03 7.55997623e+01] [ 2.11185761e-03 2.97514793e-05 9.99997770e-01 -4.23057520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.800281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:227.96, Y:75.62, Z:-0.42 [[ 5.64473015e-01 -8.25450413e-01 -1.35291496e-03 2.27961257e+02] [ 8.25447918e-01 5.64474636e-01 -2.03001062e-03 7.56222443e+01] [ 2.43935928e-03 2.91253811e-05 9.99997024e-01 -4.23152429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.83028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:227.98, Y:75.64, Z:-0.42 [[ 5.63616909e-01 -8.26035713e-01 -9.90239978e-04 2.27976157e+02] [ 8.26034375e-01 5.63617779e-01 -1.48673050e-03 7.56441168e+01] [ 1.78620935e-03 1.99741886e-05 9.99998405e-01 -4.23274816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.860281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:227.99, Y:75.67, Z:-0.42 [[ 5.62718889e-01 -8.26648122e-01 -5.77945776e-04 2.27990313e+02] [ 8.26647666e-01 5.62719186e-01 -8.68425462e-04 7.56652275e+01] [ 1.04310345e-03 1.09218847e-05 9.99999456e-01 -4.22586485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.89028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:228.00, Y:75.69, Z:-0.42 [[ 5.60653426e-01 -8.28050508e-01 -3.03856760e-04 2.28002433e+02] [ 8.28050382e-01 5.60653509e-01 -4.57044399e-04 7.56888580e+01] [ 5.48814205e-04 4.63480253e-06 9.99999849e-01 -4.21798422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.920281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:228.02, Y:75.71, Z:-0.42 [[ 5.59624135e-01 -8.28746403e-01 -4.76331744e-04 2.28016249e+02] [ 8.28746093e-01 5.59624338e-01 -7.16538536e-04 7.57115150e+01] [ 8.60395571e-04 6.23418663e-06 9.99999630e-01 -4.21773710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.95028169299997 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:228.03, Y:75.73, Z:-0.42 [[ 5.58669159e-01 -8.29390259e-01 -7.53771837e-04 2.28030690e+02] [ 8.29389484e-01 5.58669668e-01 -1.13418215e-03 7.57338230e+01] [ 1.36178909e-03 8.46215565e-06 9.99999073e-01 -4.22102673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 271.980281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:228.04, Y:75.75, Z:-0.42 [[ 5.57531062e-01 -8.30155243e-01 -1.17781300e-03 2.28044048e+02] [ 8.30153350e-01 5.57532306e-01 -1.77291574e-03 7.57549171e+01] [ 2.12846409e-03 1.06901881e-05 9.99997735e-01 -4.22394761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.01028169299997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:228.06, Y:75.78, Z:-0.42 [[ 5.56593389e-01 -8.30784388e-01 -1.04938385e-03 2.28056478e+02] [ 8.30782884e-01 5.56594378e-01 -1.58043802e-03 7.57784690e+01] [ 1.89708439e-03 7.85121526e-06 9.99998201e-01 -4.21917261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.04028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:228.07, Y:75.80, Z:-0.42 [[ 5.56882169e-01 -8.30591320e-01 -5.56434754e-04 2.28069211e+02] [ 8.30590896e-01 5.56882447e-01 -8.38758139e-04 7.57998683e+01] [ 1.00653398e-03 4.91980999e-06 9.99999493e-01 -4.21199125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.07028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:228.08, Y:75.82, Z:-0.42 [[ 5.56889109e-01 -8.30586726e-01 -4.59265646e-04 2.28082549e+02] [ 8.30586437e-01 5.56889298e-01 -6.92722503e-04 7.58225279e+01] [ 8.31126239e-04 4.30980078e-06 9.99999655e-01 -4.19930648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:228.10, Y:75.84, Z:-0.42 [[ 5.56622143e-01 -8.30765358e-01 -8.43203088e-04 2.28096331e+02] [ 8.30764384e-01 5.56622781e-01 -1.27208129e-03 7.58442311e+01] [ 1.52614712e-03 7.56552020e-06 9.99998835e-01 -4.20155789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.130281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:228.11, Y:75.87, Z:-0.42 [[ 5.56430772e-01 -8.30893553e-01 -8.36165018e-04 2.28109878e+02] [ 8.30892595e-01 5.56431400e-01 -1.26208847e-03 7.58671919e+01] [ 1.51392965e-03 7.50154200e-06 9.99998854e-01 -4.20222100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.16028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:228.12, Y:75.89, Z:-0.42 [[ 5.58585775e-01 -8.29446556e-01 -5.85895877e-04 2.28120792e+02] [ 8.29446083e-01 5.58586082e-01 -8.84996628e-04 7.58901456e+01] [ 1.06133069e-03 8.37748720e-06 9.99999437e-01 -4.19997818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.190281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:228.13, Y:75.91, Z:-0.42 [[ 5.60315691e-01 -8.28278923e-01 -5.93695539e-04 2.28133000e+02] [ 8.28278437e-01 5.60316005e-01 -8.97203687e-04 7.59131082e+01] [ 1.07579202e-03 1.09720899e-05 9.99999421e-01 -4.19373423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.22028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:228.14, Y:75.94, Z:-0.42 [[ 5.64722622e-01 -8.25279990e-01 -1.13971853e-03 2.28141719e+02] [ 8.25278192e-01 5.64723771e-01 -1.72274613e-03 7.59385502e+01] [ 2.06537405e-03 3.22888635e-05 9.99997867e-01 -4.19402740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.250281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:228.15, Y:75.96, Z:-0.42 [[ 5.66468253e-01 -8.24082142e-01 -1.53056386e-03 2.28152233e+02] [ 8.24078893e-01 5.66470318e-01 -2.31460041e-03 7.59619917e+01] [ 2.77443986e-03 4.98422793e-05 9.99996150e-01 -4.20032151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.28028169299995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:228.16, Y:75.99, Z:-0.42 [[ 5.67383941e-01 -8.23451909e-01 -1.55468843e-03 2.28164008e+02] [ 8.23448551e-01 5.67386069e-01 -2.35222951e-03 7.59858598e+01] [ 2.81905644e-03 5.44113118e-05 9.99996025e-01 -4.20854373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.310281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:228.17, Y:76.01, Z:-0.42 [[ 5.67041139e-01 -8.23688586e-01 -1.20811993e-03 2.28174238e+02] [ 8.23686557e-01 5.67042424e-01 -1.82892223e-03 7.60101554e+01] [ 2.19151762e-03 4.19619998e-05 9.99997598e-01 -4.21367305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.34028169299995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:228.19, Y:76.03, Z:-0.42 [[ 5.66380750e-01 -8.24143125e-01 -9.77449969e-04 2.28186032e+02] [ 8.24141796e-01 5.66381593e-01 -1.48063129e-03 7.60330771e+01] [ 1.77386177e-03 3.30436884e-05 9.99998426e-01 -4.21526325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.370281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:228.19, Y:76.06, Z:-0.42 [[ 5.64856676e-01 -8.25188951e-01 -3.62462035e-04 2.28194754e+02] [ 8.25188768e-01 5.64856792e-01 -5.49478517e-04 7.60575580e+01] [ 6.58162743e-04 1.12770089e-05 9.99999783e-01 -4.21017192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.40028169299995 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:228.21, Y:76.08, Z:-0.42 [[ 5.63422687e-01 -8.26168793e-01 -8.93448805e-06 2.28207586e+02] [ 8.26168793e-01 5.63422688e-01 -1.40592164e-05 7.60807722e+01] [ 1.66491792e-05 5.39886287e-07 1.00000000e+00 -4.20652309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.430281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:228.22, Y:76.10, Z:-0.42 [[ 5.61328868e-01 -8.27592760e-01 3.53298452e-04 2.28221172e+02] [ 8.27592587e-01 5.61328979e-01 5.35176342e-04 7.61034176e+01] [-6.41224726e-04 -8.02275091e-06 9.99999794e-01 -4.20947831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.46028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:228.24, Y:76.13, Z:-0.42 [[ 5.58797954e-01 -8.29303676e-01 5.09788502e-04 2.28235954e+02] [ 8.29303316e-01 5.58798186e-01 7.72855709e-04 7.61257871e+01] [-9.25800970e-04 -9.10089375e-06 9.99999571e-01 -4.20964218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.490281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:228.25, Y:76.15, Z:-0.42 [[ 5.54027082e-01 -8.32498555e-01 -3.84528886e-04 2.28250689e+02] [ 8.32498350e-01 5.54027216e-01 -5.84204425e-04 7.61471586e+01] [ 6.99388808e-04 3.54541031e-06 9.99999755e-01 -4.20835840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.52028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:228.27, Y:76.17, Z:-0.42 [[ 5.51874667e-01 -8.33926066e-01 -1.29191155e-03 2.28265245e+02] [ 8.33923756e-01 5.51876179e-01 -1.96249412e-03 7.61687369e+01] [ 2.34955022e-03 5.69505624e-06 9.99997240e-01 -4.21705245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.550281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:228.28, Y:76.19, Z:-0.42 [[ 5.48432430e-01 -8.36192304e-01 -2.07381571e-03 2.28282330e+02] [ 8.36186365e-01 5.48436351e-01 -3.15163237e-03 7.61883411e+01] [ 3.77272665e-03 -5.63902205e-06 9.99992883e-01 -4.22529707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.58028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:228.30, Y:76.21, Z:-0.42 [[ 5.47213735e-01 -8.36990967e-01 -1.80245150e-03 2.28298798e+02] [ 8.36986480e-01 5.47216703e-01 -2.74062317e-03 7.62090663e+01] [ 3.28020841e-03 -8.92089535e-06 9.99994620e-01 -4.21974554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.610281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:228.32, Y:76.23, Z:-0.42 [[ 5.46611921e-01 -8.37385880e-01 -5.43768727e-04 2.28315077e+02] [ 8.37385471e-01 5.46612191e-01 -8.27583478e-04 7.62301018e+01] [ 9.90237334e-04 -2.97703768e-06 9.99999510e-01 -4.21139848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.64028169299996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:228.33, Y:76.25, Z:-0.42 [[ 5.47667216e-01 -8.36696196e-01 -3.10112421e-04 2.28328770e+02] [ 8.36696063e-01 5.47667303e-01 -4.72279668e-04 7.62514740e+01] [ 5.64993035e-04 -8.17750635e-07 9.99999840e-01 -4.20295762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.670281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:228.34, Y:76.27, Z:-0.42 [[ 5.48937658e-01 -8.35863017e-01 -6.81426603e-04 2.28342412e+02] [ 8.35862373e-01 5.48938080e-01 -1.03787687e-03 7.62740610e+01] [ 1.24158391e-03 1.50842032e-07 9.99999229e-01 -4.20924088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.70028169299997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:228.35, Y:76.30, Z:-0.42 [[ 5.50144507e-01 -8.35068176e-01 -1.47084868e-03 2.28354998e+02] [ 8.35065169e-01 5.50146473e-01 -2.24081740e-03 7.62955407e+01] [ 2.68041752e-03 4.51888250e-06 9.99996408e-01 -4.21561511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.730281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:228.37, Y:76.32, Z:-0.42 [[ 5.53080031e-01 -8.33125223e-01 -2.20040328e-03 2.28366369e+02] [ 8.33118473e-01 5.53084408e-01 -3.35363612e-03 7.63196941e+01] [ 4.01100759e-03 2.16325521e-05 9.99991956e-01 -4.20923052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.76028169299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:228.38, Y:76.34, Z:-0.42 [[ 5.54818345e-01 -8.31969175e-01 -1.97375149e-03 2.28379166e+02] [ 8.31963732e-01 5.54821855e-01 -3.00973273e-03 7.63423793e+01] [ 3.59908532e-03 2.77652702e-05 9.99993523e-01 -4.20403166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.79028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:228.39, Y:76.37, Z:-0.42 [[ 5.56392380e-01 -8.30918098e-01 -1.62300427e-03 2.28391366e+02] [ 8.30914408e-01 5.56394747e-01 -2.47626810e-03 7.63658456e+01] [ 2.96060703e-03 2.91990678e-05 9.99995617e-01 -4.20010168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.82028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:228.40, Y:76.39, Z:-0.42 [[ 5.55338451e-01 -8.31623026e-01 -1.53181614e-03 2.28404219e+02] [ 8.31619739e-01 5.55340563e-01 -2.33836687e-03 7.63893279e+01] [ 2.79531937e-03 2.46964947e-05 9.99996093e-01 -4.19679655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.85028169299994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:228.42, Y:76.41, Z:-0.42 [[ 5.53355504e-01 -8.32944069e-01 -1.36514299e-03 2.28415913e+02] [ 8.32941459e-01 5.53357188e-01 -2.08513133e-03 7.64113706e+01] [ 2.49220945e-03 1.67347053e-05 9.99996894e-01 -4.20272161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.880281693 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:228.43, Y:76.44, Z:-0.42 [[ 5.49025500e-01 -8.35805193e-01 -8.24410530e-04 2.28427457e+02] [ 8.35804243e-01 5.49026119e-01 -1.26004518e-03 7.64353662e+01] [ 1.50577522e-03 2.75111468e-06 9.99998866e-01 -4.20006956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.91028169299994 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:228.44, Y:76.46, Z:-0.42 [[ 5.47105540e-01 -8.37063602e-01 -2.32045961e-04 2.28440415e+02] [ 8.37063527e-01 5.47105589e-01 -3.55227560e-04 7.64582958e+01] [ 4.24301703e-04 1.09754845e-07 9.99999910e-01 -4.19390201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.940281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:228.45, Y:76.48, Z:-0.42 [[ 5.45260159e-01 -8.38266831e-01 2.81778904e-04 2.28453081e+02] [ 8.38266721e-01 5.45260231e-01 4.30377691e-04 7.64800046e+01] [-5.14414173e-04 1.53806960e-06 9.99999868e-01 -4.18993023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 272.97028169299995 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:228.47, Y:76.50, Z:-0.42 [[ 5.42522777e-01 -8.40041092e-01 2.25178222e-05 2.28468043e+02] [ 8.40041091e-01 5.42522777e-01 3.39134043e-05 7.65018157e+01] [-4.07050846e-05 5.17101684e-07 9.99999999e-01 -4.18599668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.000281693 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:228.48, Y:76.52, Z:-0.42 [[ 5.41688740e-01 -8.40579087e-01 -3.27738778e-04 2.28483168e+02] [ 8.40578937e-01 5.41688839e-01 -5.02280424e-04 7.65236962e+01] [ 5.99738859e-04 -3.41066370e-06 9.99999820e-01 -4.18683122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.03028169299995 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:228.50, Y:76.55, Z:-0.42 [[ 5.42227468e-01 -8.40231434e-01 -7.14761789e-04 2.28495979e+02] [ 8.40230720e-01 5.42227939e-01 -1.09534329e-03 7.65463900e+01] [ 1.30790567e-03 -6.63959671e-06 9.99999145e-01 -4.17802896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.060281693 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:228.51, Y:76.57, Z:-0.42 [[ 5.42867655e-01 -8.39817736e-01 -9.38098843e-04 2.28508192e+02] [ 8.39816505e-01 5.42868465e-01 -1.43790558e-03 7.65690542e+01] [ 1.71684289e-03 -7.23846113e-06 9.99998526e-01 -4.17405582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.09028169299995 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:228.52, Y:76.59, Z:-0.42 [[ 5.43444230e-01 -8.39444806e-01 -8.86823425e-04 2.28521194e+02] [ 8.39443705e-01 5.43444953e-01 -1.36009832e-03 7.65917307e+01] [ 1.62366718e-03 -5.30075956e-06 9.99998682e-01 -4.17720784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.120281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:228.54, Y:76.61, Z:-0.42 [[ 5.43290931e-01 -8.39544030e-01 -8.86621906e-04 2.28535618e+02] [ 8.39542928e-01 5.43291654e-01 -1.36022971e-03 7.66143396e+01] [ 1.62366701e-03 -5.35668819e-06 9.99998682e-01 -4.17754853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.15028169299995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:228.55, Y:76.64, Z:-0.42 [[ 5.43417514e-01 -8.39462228e-01 -7.57292277e-04 2.28549844e+02] [ 8.39461423e-01 5.43418041e-01 -1.16258663e-03 7.66364999e+01] [ 1.38747385e-03 -3.94771406e-06 9.99999037e-01 -4.17693861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.180281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:228.56, Y:76.66, Z:-0.42 [[ 5.42221501e-01 -8.40235588e-01 1.69068676e-05 2.28563546e+02] [ 8.40235588e-01 5.42221501e-01 2.54062711e-05 7.66594208e+01] [-3.05145202e-05 4.29925353e-07 1.00000000e+00 -4.17012354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.21028169299996 meters Centerline goodness : 0.999130 Centerline is valid? [True, True] Translation: X:228.58, Y:76.68, Z:-0.42 [[ 5.41935211e-01 -8.40420167e-01 4.11781305e-04 2.28575433e+02] [ 8.40419930e-01 5.41935368e-01 6.31960926e-04 7.66814941e+01] [-7.54271560e-04 3.58733782e-06 9.99999716e-01 -4.16950575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.240281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:228.59, Y:76.70, Z:-0.42 [[ 5.41853469e-01 -8.40472793e-01 5.49302379e-04 2.28588519e+02] [ 8.40472370e-01 5.41853747e-01 8.43663286e-04 7.67034201e+01] [-1.00671759e-03 4.53159434e-06 9.99999493e-01 -4.17856884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.27028169299996 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:228.60, Y:76.73, Z:-0.42 [[ 5.41930242e-01 -8.40423471e-01 -5.00423272e-05 2.28603562e+02] [ 8.40423467e-01 5.41930244e-01 -7.74888598e-05 7.67255690e+01] [ 9.22429071e-05 -6.31896596e-08 9.99999996e-01 -4.17722417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.300281693 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:228.62, Y:76.75, Z:-0.42 [[ 5.42297839e-01 -8.40184915e-01 -1.53690708e-03 2.28615635e+02] [ 8.40181586e-01 5.42300017e-01 -2.36505364e-03 7.67485365e+01] [ 2.82054713e-03 -8.71754801e-06 9.99996022e-01 -4.17390436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.33028169299996 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:228.63, Y:76.77, Z:-0.42 [[ 5.42403835e-01 -8.40116013e-01 -1.77918186e-03 2.28627156e+02] [ 8.40111547e-01 5.42406753e-01 -2.73921084e-03 7.67719536e+01] [ 3.26629514e-03 -8.95275855e-06 9.99994666e-01 -4.17619412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.360281693 meters Centerline goodness : 0.999234 Centerline is valid? [True, True] Translation: X:228.64, Y:76.79, Z:-0.42 [[ 5.42724490e-01 -8.39909193e-01 -1.63557810e-03 2.28639884e+02] [ 8.39905416e-01 5.42726955e-01 -2.51908427e-03 7.67942456e+01] [ 3.00347436e-03 -6.56218043e-06 9.99995490e-01 -4.18227273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.39028169299996 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:228.65, Y:76.81, Z:-0.42 [[ 5.41265571e-01 -8.40850401e-01 -1.47794077e-03 2.28654876e+02] [ 8.40847317e-01 5.41267589e-01 -2.27726105e-03 7.68142051e+01] [ 2.71479730e-03 -1.01195267e-05 9.99996315e-01 -4.19001715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.420281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:228.67, Y:76.84, Z:-0.42 [[ 5.38692088e-01 -8.42501591e-01 -1.37958229e-03 2.28670285e+02] [ 8.42498907e-01 5.38693854e-01 -2.12692261e-03 7.68350522e+01] [ 2.53510819e-03 -1.65401905e-05 9.99996786e-01 -4.19524277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.45028169299997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:228.69, Y:76.86, Z:-0.42 [[ 5.35136779e-01 -8.44764437e-01 -1.29341361e-03 2.28685527e+02] [ 8.44762082e-01 5.35138342e-01 -1.99511141e-03 7.68561985e+01] [ 2.37755438e-03 -2.49692770e-05 9.99997173e-01 -4.19593497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.480281693 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:228.70, Y:76.88, Z:-0.42 [[ 5.31458502e-01 -8.47083559e-01 -1.14192518e-03 2.28700986e+02] [ 8.47081727e-01 5.31459728e-01 -1.76239261e-03 7.68771741e+01] [ 2.09978105e-03 -3.06654144e-05 9.99997795e-01 -4.19899711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.51028169299997 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:228.72, Y:76.90, Z:-0.42 [[ 5.25346004e-01 -8.50887237e-01 -1.57662794e-03 2.28718580e+02] [ 8.50883757e-01 5.25348366e-01 -2.43439512e-03 7.68961477e+01] [ 2.89967465e-03 -6.26273600e-05 9.99995794e-01 -4.19808184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.54028169299994 meters Centerline goodness : 0.999193 Centerline is valid? [True, True] Translation: X:228.73, Y:76.92, Z:-0.42 [[ 5.23271342e-01 -8.52162761e-01 -2.39406172e-03 2.28734819e+02] [ 8.52154743e-01 5.23276808e-01 -3.69814599e-03 7.69165498e+01] [ 4.40417927e-03 -1.04977230e-04 9.99990296e-01 -4.20487250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.57028169299997 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:228.75, Y:76.94, Z:-0.42 [[ 5.21773646e-01 -8.53080724e-01 -2.35386830e-03 2.28752968e+02] [ 8.53072974e-01 5.21778944e-01 -3.63792768e-03 7.69357154e+01] [ 4.33164489e-03 -1.09846644e-04 9.99990612e-01 -4.20833677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.60028169299994 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:228.77, Y:76.95, Z:-0.42 [[ 5.22252892e-01 -8.52772213e-01 -5.60966674e-03 2.28770983e+02] [ 8.52789853e-01 5.22250169e-01 2.05612684e-03 7.69526795e+01] [ 1.17624157e-03 -5.85768506e-03 9.99982152e-01 -4.20572832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.630281693 meters Centerline goodness : 0.999052 Centerline is valid? [True, True] Translation: X:228.78, Y:76.98, Z:-0.42 [[ 5.22506391e-01 -8.52623681e-01 4.46441337e-03 2.28783056e+02] [ 8.52634407e-01 5.22490777e-01 -4.23733495e-03 7.69761618e+01] [ 1.28023731e-03 6.02054704e-03 9.99981057e-01 -4.18863654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.66028169299994 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:228.81, Y:76.99, Z:-0.42 [[ 5.24016215e-01 -8.51708066e-01 -6.13863201e-04 2.28805261e+02] [ 8.51707536e-01 5.24016574e-01 -9.50690046e-04 7.69934624e+01] [ 1.13138487e-03 -2.46549151e-05 9.99999360e-01 -4.18247099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.690281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:228.82, Y:77.01, Z:-0.42 [[ 5.24800844e-01 -8.51223847e-01 -1.42659468e-03 2.28821889e+02] [ 8.51220980e-01 5.24802781e-01 -2.20997926e-03 7.70146359e+01] [ 2.62986790e-03 -5.45483425e-05 9.99996540e-01 -4.18562702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.72028169299995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:228.84, Y:77.03, Z:-0.42 [[ 5.28052179e-01 -8.49208388e-01 -2.45167966e-03 2.28839627e+02] [ 8.49199891e-01 5.28057864e-01 -3.79967623e-03 7.70341768e+01] [ 4.52134565e-03 -7.55387918e-05 9.99989776e-01 -4.18971910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.750281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:228.86, Y:77.06, Z:-0.42 [[ 5.30126820e-01 -8.47914916e-01 -2.41859200e-03 2.28855400e+02] [ 8.47906624e-01 5.30132333e-01 -3.75040970e-03 7.70555137e+01] [ 4.46220215e-03 -6.25474100e-05 9.99990042e-01 -4.19221936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.78028169299995 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:228.87, Y:77.08, Z:-0.42 [[ 5.32236206e-01 -8.46593219e-01 -2.13138406e-03 2.28870149e+02] [ 8.46586763e-01 5.32240472e-01 -3.30641653e-03 7.70764572e+01] [ 3.93359867e-03 -4.46069453e-05 9.99992262e-01 -4.18740946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.810281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:228.89, Y:77.10, Z:-0.42 [[ 5.37704317e-01 -8.43133291e-01 -5.67310104e-04 2.28886072e+02] [ 8.43132831e-01 5.37704616e-01 -8.80870938e-04 7.70972592e+01] [ 1.04773687e-03 -4.66966770e-06 9.99999451e-01 -4.17069480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.84028169299995 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:228.90, Y:77.12, Z:-0.42 [[ 5.40960624e-01 -8.41047904e-01 -1.64821737e-04 2.28900500e+02] [ 8.41047864e-01 5.40960649e-01 -2.56391086e-04 7.71184237e+01] [ 3.04799259e-04 7.45116964e-08 9.99999954e-01 -4.16597634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.870281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:228.91, Y:77.14, Z:-0.42 [[ 5.44505287e-01 -8.38757348e-01 -3.23743142e-04 2.28914763e+02] [ 8.38757197e-01 5.44505383e-01 -5.03378909e-04 7.71407941e+01] [ 5.98492642e-04 2.55058696e-06 9.99999821e-01 -4.16465427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.90028169299995 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:228.93, Y:77.16, Z:-0.42 [[ 5.50758231e-01 -8.34664712e-01 -4.36209883e-04 2.28926688e+02] [ 8.34664436e-01 5.50758403e-01 -6.78478534e-04 7.71649037e+01] [ 8.06548348e-04 9.58876122e-06 9.99999675e-01 -4.17716920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.930281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:228.94, Y:77.19, Z:-0.42 [[ 5.52786938e-01 -8.33322623e-01 8.80264243e-05 2.28938814e+02] [ 8.33322612e-01 5.52786945e-01 1.36445119e-04 7.71876698e+01] [-1.62362663e-04 -2.07066969e-06 9.99999987e-01 -4.17473149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.96028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:228.95, Y:77.21, Z:-0.42 [[ 5.55364671e-01 -8.31606522e-01 8.20994532e-04 2.28950839e+02] [ 8.31605542e-01 5.55365277e-01 1.27707004e-03 7.72112639e+01] [-1.51797163e-03 -2.64959819e-05 9.99998848e-01 -4.16390971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 273.990281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:228.96, Y:77.23, Z:-0.42 [[ 5.56092320e-01 -8.31120246e-01 6.84397416e-04 2.28963124e+02] [ 8.31119564e-01 5.56092741e-01 1.06507495e-03 7.72329307e+01] [-1.26579379e-03 -2.34639163e-05 9.99999199e-01 -4.16257598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.02028169299996 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:228.98, Y:77.26, Z:-0.42 [[ 5.56379215e-01 -8.30928314e-01 5.52693260e-04 2.28975707e+02] [ 8.30927869e-01 5.56379489e-01 8.60490129e-04 7.72560099e+01] [-1.02251281e-03 -1.95105901e-05 9.99999477e-01 -4.16949897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.050281693 meters Centerline goodness : 0.999387 Centerline is valid? [True, True] Translation: X:228.99, Y:77.28, Z:-0.42 [[ 5.55271651e-01 -8.31668878e-01 5.20644135e-04 2.28988422e+02] [ 8.31668482e-01 5.55271895e-01 8.10970809e-04 7.72790490e+01] [-9.63558238e-04 -1.73057823e-05 9.99999536e-01 -4.17738065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.08028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:229.00, Y:77.30, Z:-0.42 [[ 5.53514066e-01 -8.32839603e-01 6.12151326e-04 2.29003023e+02] [ 8.32839056e-01 5.53514405e-01 9.54056402e-04 7.73011397e+01] [-1.13341053e-03 -1.82601061e-05 9.99999358e-01 -4.17733828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.110281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:229.02, Y:77.32, Z:-0.42 [[ 5.51530852e-01 -8.34154232e-01 6.59837013e-04 2.29016470e+02] [ 8.34153598e-01 5.51531247e-01 1.02892606e-03 7.73222101e+01] [-1.22220375e-03 -1.70790462e-05 9.99999253e-01 -4.17605213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.14028169299996 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:229.03, Y:77.34, Z:-0.42 [[ 5.48824008e-01 -8.35937878e-01 2.69181195e-04 2.29027904e+02] [ 8.35937772e-01 5.48824074e-01 4.19723347e-04 7.73445832e+01] [-4.98595764e-04 -5.33552089e-06 9.99999876e-01 -4.17751982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.170281693 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:229.04, Y:77.37, Z:-0.42 [[ 5.47664146e-01 -8.36698209e-01 -2.99863814e-04 2.29041516e+02] [ 8.36698078e-01 5.47664228e-01 -4.68621831e-04 7.73665476e+01] [ 5.56319731e-04 5.75189723e-06 9.99999845e-01 -4.18845336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.20028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:229.06, Y:77.39, Z:-0.42 [[ 5.46192928e-01 -8.37658670e-01 -1.11277109e-03 2.29055782e+02] [ 8.37656865e-01 5.46194062e-01 -1.73879992e-03 7.73870830e+01] [ 2.06430979e-03 1.75998804e-05 9.99997869e-01 -4.19844569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.230281693 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:229.07, Y:77.41, Z:-0.42 [[ 5.43211258e-01 -8.39594721e-01 -1.49434188e-03 2.29072522e+02] [ 8.39591472e-01 5.43213314e-01 -2.33602120e-03 7.74081121e+01] [ 2.77305748e-03 1.43163153e-05 9.99996155e-01 -4.20006035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.26028169299997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:229.09, Y:77.43, Z:-0.42 [[ 5.42499426e-01 -8.40054837e-01 -1.49785218e-03 2.29085993e+02] [ 8.40051570e-01 5.42501494e-01 -2.34273735e-03 7.74307260e+01] [ 2.78061488e-03 1.26605902e-05 9.99996134e-01 -4.18871517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.29028169299994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:229.10, Y:77.45, Z:-0.42 [[ 5.43568711e-01 -8.39363211e-01 -1.56728989e-03 2.29098484e+02] [ 8.39359628e-01 5.43570971e-01 -2.45266557e-03 7.74533281e+01] [ 2.91061054e-03 1.76724089e-05 9.99995764e-01 -4.18377406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.32028169299997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:229.11, Y:77.48, Z:-0.42 [[ 5.44470589e-01 -8.38779338e-01 -1.00007605e-03 2.29113134e+02] [ 8.38777876e-01 5.44471507e-01 -1.56594072e-03 7.74754885e+01] [ 1.85799164e-03 1.37669974e-05 9.99998274e-01 -4.18888861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.35028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:229.13, Y:77.50, Z:-0.42 [[ 5.45344025e-01 -8.38212167e-01 -5.07521881e-04 2.29126888e+02] [ 8.38211790e-01 5.45344261e-01 -7.95291479e-04 7.74977859e+01] [ 9.43397139e-04 8.29663204e-06 9.99999555e-01 -4.18486828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.380281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:229.14, Y:77.52, Z:-0.42 [[ 5.46225549e-01 -8.37638017e-01 -4.50023588e-04 2.29139565e+02] [ 8.37637719e-01 5.46225735e-01 -7.05594489e-04 7.75206197e+01] [ 8.36847233e-04 8.45700593e-06 9.99999650e-01 -4.18817681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.41028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:229.15, Y:77.55, Z:-0.42 [[ 5.47745518e-01 -8.36643470e-01 -1.59720002e-03 2.29149421e+02] [ 8.36639722e-01 5.47747846e-01 -2.50444438e-03 7.75458785e+01] [ 2.97018990e-03 3.55172025e-05 9.99995588e-01 -4.20826317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.440281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:229.16, Y:77.57, Z:-0.42 [[ 5.48009750e-01 -8.36468821e-01 -2.28612241e-03 2.29162633e+02] [ 8.36461134e-01 5.48014516e-01 -3.58636697e-03 7.75685881e+01] [ 4.25271241e-03 5.31115210e-05 9.99990956e-01 -4.21626832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.47028169299995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:229.18, Y:77.59, Z:-0.42 [[ 5.46412222e-01 -8.37513766e-01 -2.09174092e-03 2.29176007e+02] [ 8.37507332e-01 5.46416224e-01 -3.28325803e-03 7.75899324e+01] [ 3.89273497e-03 4.21639618e-05 9.99992422e-01 -4.20955068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.500281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:229.19, Y:77.61, Z:-0.42 [[ 5.44553314e-01 -8.38724731e-01 -1.58562481e-03 2.29188952e+02] [ 8.38721034e-01 5.44555622e-01 -2.49024913e-03 7.76120077e+01] [ 2.95209444e-03 2.61765369e-05 9.99995642e-01 -4.20827010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.53028169299995 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:229.20, Y:77.63, Z:-0.42 [[ 5.42993694e-01 -8.39735440e-01 -1.49658143e-03 2.29202117e+02] [ 8.39732147e-01 5.42995756e-01 -2.35158540e-03 7.76345712e+01] [ 2.78734697e-03 2.01685025e-05 9.99996115e-01 -4.20631359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.560281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:229.21, Y:77.66, Z:-0.42 [[ 5.41698192e-01 -8.40571085e-01 -1.82222821e-03 2.29214864e+02] [ 8.40566205e-01 5.41701257e-01 -2.86424525e-03 7.76568943e+01] [ 3.39470505e-03 1.98530212e-05 9.99994238e-01 -4.20443909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.59028169299995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:229.23, Y:77.68, Z:-0.42 [[ 5.41545584e-01 -8.40669518e-01 -1.77260844e-03 2.29228009e+02] [ 8.40664896e-01 5.41548485e-01 -2.78780547e-03 7.76788182e+01] [ 3.30357649e-03 1.95540515e-05 9.99994543e-01 -4.21089249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.620281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:229.24, Y:77.70, Z:-0.42 [[ 5.40674687e-01 -8.41230589e-01 -1.40711120e-03 2.29241096e+02] [ 8.41227675e-01 5.40676517e-01 -2.21417440e-03 7.77017072e+01] [ 2.62342322e-03 1.34471612e-05 9.99996559e-01 -4.21475063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.65028169299995 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:229.25, Y:77.72, Z:-0.42 [[ 5.38300408e-01 -8.42752850e-01 -5.51338615e-04 2.29254895e+02] [ 8.42752403e-01 5.38300690e-01 -8.68257023e-04 7.77244710e+01] [ 1.02851204e-03 2.74116697e-06 9.99999471e-01 -4.20206168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.680281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:229.27, Y:77.75, Z:-0.42 [[ 5.37356339e-01 -8.43355269e-01 -2.36371025e-04 2.29268838e+02] [ 8.43355186e-01 5.37356391e-01 -3.72697699e-04 7.77459993e+01] [ 4.41332049e-04 9.26741100e-07 9.99999903e-01 -4.19562822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.71028169299996 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:229.28, Y:77.77, Z:-0.42 [[ 5.38362389e-01 -8.42713237e-01 -5.80947315e-04 2.29282865e+02] [ 8.42712740e-01 5.38362703e-01 -9.15779924e-04 7.77687680e+01] [ 1.08450023e-03 3.44976416e-06 9.99999412e-01 -4.18976196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.740281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:229.30, Y:77.79, Z:-0.42 [[ 5.40135893e-01 -8.41577000e-01 -1.17028816e-03 2.29295009e+02] [ 8.41574977e-01 5.40137160e-01 -1.84541517e-03 7.77909397e+01] [ 2.18517508e-03 1.18897411e-05 9.99997612e-01 -4.19147824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.77028169299996 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:229.31, Y:77.81, Z:-0.42 [[ 5.42487111e-01 -8.40063373e-01 -1.12424201e-03 2.29307119e+02] [ 8.40061501e-01 5.42488275e-01 -1.77366096e-03 7.78144024e+01] [ 2.09987572e-03 1.77557822e-05 9.99997795e-01 -4.19589568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.800281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:229.32, Y:77.84, Z:-0.42 [[ 5.48512090e-01 -8.36142624e-01 -1.01924462e-06 2.29317687e+02] [ 8.36142624e-01 5.48512090e-01 -2.04028936e-06 7.78387634e+01] [ 2.26504094e-06 2.66889506e-07 1.00000000e+00 -4.18593182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.83028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:229.33, Y:77.86, Z:-0.42 [[ 5.50857157e-01 -8.34599266e-01 6.76827055e-04 2.29328840e+02] [ 8.34598583e-01 5.50857572e-01 1.06821784e-03 7.78615619e+01] [-1.26436913e-03 -2.35565409e-05 9.99999200e-01 -4.18329445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.860281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.34, Y:77.89, Z:-0.42 [[ 5.53813844e-01 -8.32640502e-01 -1.43475298e-04 2.29336344e+02] [ 8.32640471e-01 5.53813863e-01 -2.27078155e-04 7.78864284e+01] [ 2.68533078e-04 6.29568622e-06 9.99999964e-01 -4.18438759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.89028169299996 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:229.35, Y:77.91, Z:-0.42 [[ 5.54693860e-01 -8.32053428e-01 -1.34720841e-03 2.29347578e+02] [ 8.32050704e-01 5.54695493e-01 -2.12966011e-03 7.79102179e+01] [ 2.51928142e-03 6.03636828e-05 9.99996825e-01 -4.19562999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.920281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:229.36, Y:77.93, Z:-0.42 [[ 5.55603887e-01 -8.31444683e-01 -2.01484162e-03 2.29359103e+02] [ 8.31438582e-01 5.55607533e-01 -3.18647698e-03 7.79339426e+01] [ 3.76884053e-03 9.52019347e-05 9.99992893e-01 -4.20510831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.95028169299997 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:229.37, Y:77.96, Z:-0.42 [[ 5.55973485e-01 -8.31197766e-01 -1.93876728e-03 2.29369506e+02] [ 8.31192109e-01 5.55976857e-01 -3.06781348e-03 7.79572979e+01] [ 3.62786945e-03 9.41348912e-05 9.99993415e-01 -4.20070055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 274.980281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:229.38, Y:77.98, Z:-0.42 [[ 5.56446154e-01 -8.30882526e-01 -1.38019001e-03 2.29375369e+02] [ 8.30879656e-01 5.56447862e-01 -2.18521167e-03 7.79831530e+01] [ 2.58365797e-03 6.91808321e-05 9.99996660e-01 -4.18789111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.01028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:229.39, Y:78.01, Z:-0.42 [[ 5.56278080e-01 -8.30995063e-01 -1.37977614e-03 2.29389431e+02] [ 8.30992192e-01 5.56279787e-01 -2.18547303e-03 7.80059813e+01] [ 2.58365888e-03 6.91475407e-05 9.99996660e-01 -4.18815772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.04028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:229.40, Y:78.03, Z:-0.42 [[ 5.56353814e-01 -8.30944090e-01 -1.53379276e-03 2.29399300e+02] [ 8.30940539e-01 5.56355923e-01 -2.43062621e-03 7.80307568e+01] [ 2.87304917e-03 7.77975800e-05 9.99995870e-01 -4.19294061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.07028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.41, Y:78.06, Z:-0.42 [[ 5.57112706e-01 -8.30434577e-01 -1.96108315e-03 2.29406454e+02] [ 8.30428763e-01 5.57116148e-01 -3.10918098e-03 7.80572267e+01] [ 3.67452248e-03 1.03624381e-04 9.99993244e-01 -4.20343662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.10028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:229.42, Y:78.08, Z:-0.42 [[ 5.56621558e-01 -8.30764878e-01 -1.46922454e-03 2.29415349e+02] [ 8.30761612e-01 5.56623491e-01 -2.33069327e-03 7.80814468e+01] [ 2.75406301e-03 7.67387714e-05 9.99996205e-01 -4.20308948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:229.42, Y:78.11, Z:-0.42 [[ 5.55231309e-01 -8.31695179e-01 -1.15017611e-03 2.29420067e+02] [ 8.31693178e-01 5.55232497e-01 -1.82556120e-03 7.81098731e+01] [ 2.15692561e-03 5.70151122e-05 9.99997672e-01 -4.19268544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.16028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:229.43, Y:78.13, Z:-0.42 [[ 5.54101222e-01 -8.32447845e-01 -1.55594765e-03 2.29429892e+02] [ 8.32444182e-01 5.54103401e-01 -2.47075871e-03 7.81333503e+01] [ 2.91893365e-03 7.38108558e-05 9.99995737e-01 -4.19477491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.190281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:229.44, Y:78.16, Z:-0.42 [[ 5.52586849e-01 -8.33453072e-01 -1.93684169e-03 2.29441191e+02] [ 8.33447396e-01 5.52590237e-01 -3.07695178e-03 7.81577265e+01] [ 3.63477472e-03 8.60274269e-05 9.99993391e-01 -4.19931917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.22028169299995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:229.45, Y:78.18, Z:-0.42 [[ 5.49012801e-01 -8.35812227e-01 -1.69297032e-03 2.29449038e+02] [ 8.35807897e-01 5.49015408e-01 -2.69091159e-03 7.81840827e+01] [ 3.17856360e-03 6.23469473e-05 9.99994946e-01 -4.19633481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.250281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:229.46, Y:78.21, Z:-0.42 [[ 5.46826644e-01 -8.37245507e-01 -7.62921551e-04 2.29459005e+02] [ 8.37244628e-01 5.46827175e-01 -1.21350689e-03 7.82071365e+01] [ 1.43318943e-03 2.48259301e-05 9.99998973e-01 -4.19273450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.28028169299995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:229.47, Y:78.23, Z:-0.42 [[ 5.41445755e-01 -8.40734997e-01 1.07678494e-03 2.29468570e+02] [ 8.40733253e-01 5.41446825e-01 1.71255344e-03 7.82320141e+01] [-2.02282540e-03 -2.19658890e-05 9.99997954e-01 -4.17926335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.310281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:229.48, Y:78.25, Z:-0.42 [[ 5.38367331e-01 -8.42709277e-01 1.30029460e-03 2.29481297e+02] [ 8.42706737e-01 5.38368901e-01 2.06916561e-03 7.82545337e+01] [-2.44374323e-03 -1.82041482e-05 9.99997014e-01 -4.17886177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.34028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:229.49, Y:78.28, Z:-0.42 [[ 5.35251029e-01 -8.44692387e-01 1.05232535e-03 2.29493320e+02] [ 8.44690726e-01 5.35252063e-01 1.67537627e-03 7.82763715e+01] [-1.97843689e-03 -7.85740956e-06 9.99998043e-01 -4.18274291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.370281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:229.51, Y:78.30, Z:-0.42 [[ 5.32614030e-01 -8.46357935e-01 7.35912526e-04 2.29505579e+02] [ 8.46357123e-01 5.32614538e-01 1.17207397e-03 7.82990502e+01] [-1.38395181e-03 -1.41823114e-06 9.99999042e-01 -4.18467384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.40028169299995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:229.52, Y:78.32, Z:-0.42 [[ 5.28859974e-01 -8.48709089e-01 1.06415467e-04 2.29517316e+02] [ 8.48709072e-01 5.28859984e-01 1.69213976e-04 7.83231972e+01] [-1.99892321e-04 8.25273264e-07 9.99999980e-01 -4.18096250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.430281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:229.53, Y:78.35, Z:-0.42 [[ 5.27639256e-01 -8.49468548e-01 -3.88148187e-05 2.29531344e+02] [ 8.49468546e-01 5.27639257e-01 -6.22953522e-05 7.83455696e+01] [ 7.33981645e-05 -1.02494338e-07 9.99999997e-01 -4.18277871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.46028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:229.55, Y:78.37, Z:-0.42 [[ 5.25595413e-01 -8.50734346e-01 7.31152310e-04 2.29545626e+02] [ 8.50733547e-01 5.25595922e-01 1.16609152e-03 7.83674990e+01] [-1.37632478e-03 9.12344120e-06 9.99999053e-01 -4.17383740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.490281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:229.56, Y:78.39, Z:-0.42 [[ 5.24076294e-01 -8.51670245e-01 1.35337232e-03 2.29559518e+02] [ 8.51667506e-01 5.24078041e-01 2.15990352e-03 7.83902511e+01] [-2.54879827e-03 2.06689949e-05 9.99996752e-01 -4.17353162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.52028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:229.57, Y:78.41, Z:-0.42 [[ 5.22301208e-01 -8.52759303e-01 1.73736013e-03 2.29573301e+02] [ 8.52754791e-01 5.22304097e-01 2.77430575e-03 7.84113555e+01] [-3.27324535e-03 3.25189294e-05 9.99994642e-01 -4.17886049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.550281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:229.59, Y:78.43, Z:-0.42 [[ 5.18636061e-01 -8.54994369e-01 1.12502155e-03 2.29591556e+02] [ 8.54992480e-01 5.18637280e-01 1.79726311e-03 7.84305865e+01] [-2.12012795e-03 2.97595069e-05 9.99997752e-01 -4.18907765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.58028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:229.61, Y:78.45, Z:-0.42 [[ 5.16962725e-01 -8.56007833e-01 3.60563469e-04 2.29608283e+02] [ 8.56007640e-01 5.16962851e-01 5.76015693e-04 7.84510730e+01] [-6.79471864e-04 1.08664414e-05 9.99999769e-01 -4.19538919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.610281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.63, Y:78.47, Z:-0.42 [[ 5.15579278e-01 -8.56841751e-01 -4.71546780e-04 2.29626306e+02] [ 8.56841418e-01 5.15579493e-01 -7.54669310e-04 7.84710470e+01] [ 8.89752023e-04 -1.49489534e-05 9.99999604e-01 -4.18899293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.64028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:229.64, Y:78.49, Z:-0.42 [[ 5.15962274e-01 -8.56611193e-01 -4.42946230e-04 2.29640394e+02] [ 8.56610899e-01 5.15962464e-01 -7.09311508e-04 7.84918836e+01] [ 8.36147806e-04 -1.34545897e-05 9.99999650e-01 -4.17979415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.670281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:229.66, Y:78.51, Z:-0.42 [[ 5.17094041e-01 -8.55928358e-01 -6.31924256e-04 2.29655623e+02] [ 8.55927759e-01 5.17094427e-01 -1.01221923e-03 7.85130412e+01] [ 1.19315165e-03 -1.74689808e-05 9.99999288e-01 -4.17820936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.70028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:229.67, Y:78.53, Z:-0.42 [[ 5.18291591e-01 -8.55203201e-01 -1.14546138e-03 2.29671472e+02] [ 8.55201232e-01 5.18292856e-01 -1.83537105e-03 7.85336607e+01] [ 2.16329965e-03 -2.83426009e-05 9.99997660e-01 -4.17983182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.730281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:229.69, Y:78.55, Z:-0.42 [[ 5.21009322e-01 -8.53549865e-01 -1.38348250e-03 2.29690189e+02] [ 8.53546984e-01 5.21011159e-01 -2.21776092e-03 7.85524573e+01] [ 2.61377935e-03 -2.53931969e-05 9.99996584e-01 -4.19321882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.76028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:229.71, Y:78.57, Z:-0.42 [[ 5.22141011e-01 -8.52858738e-01 -8.59024533e-04 2.29708010e+02] [ 8.52857625e-01 5.22141717e-01 -1.37792916e-03 7.85711033e+01] [ 1.62371147e-03 -1.31523009e-05 9.99998682e-01 -4.20210797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.79028169299994 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:229.72, Y:78.59, Z:-0.42 [[ 5.21977514e-01 -8.52958537e-01 -1.09968495e-03 2.29724741e+02] [ 8.52956712e-01 5.21978672e-01 -1.76468326e-03 7.85921346e+01] [ 2.07921374e-03 -1.68586823e-05 9.99997838e-01 -4.20790587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.82028169299997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:229.74, Y:78.61, Z:-0.42 [[ 5.21641484e-01 -8.53163113e-01 -1.69261648e-03 2.29741572e+02] [ 8.53158786e-01 5.21644229e-01 -2.71736181e-03 7.86127337e+01] [ 3.20129648e-03 -2.65819774e-05 9.99994876e-01 -4.20318621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.85028169299994 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:229.76, Y:78.63, Z:-0.42 [[ 5.21142335e-01 -8.53467267e-01 -2.07138158e-03 2.29758548e+02] [ 8.53460783e-01 5.21146451e-01 -3.32693816e-03 7.86343169e+01] [ 3.91892597e-03 -3.40346217e-05 9.99992320e-01 -4.20565463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.880281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:229.78, Y:78.65, Z:-0.42 [[ 5.20490135e-01 -8.53865683e-01 -1.84774887e-03 2.29776655e+02] [ 8.53860520e-01 5.20493414e-01 -2.96954431e-03 7.86524805e+01] [ 3.49733310e-03 -3.21012917e-05 9.99993884e-01 -4.19581078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.91028169299994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:229.79, Y:78.67, Z:-0.42 [[ 5.20401207e-01 -8.53920762e-01 -1.38450910e-03 2.29792223e+02] [ 8.53917860e-01 5.20403048e-01 -2.22637686e-03 7.86722487e+01] [ 2.62165218e-03 -2.36478420e-05 9.99996563e-01 -4.19021304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.940281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:229.81, Y:78.69, Z:-0.42 [[ 5.22857459e-01 -8.52420043e-01 -3.85273038e-04 2.29810398e+02] [ 8.52419817e-01 5.22857601e-01 -6.20173875e-04 7.86905167e+01] [ 7.30091577e-04 -4.15183587e-06 9.99999733e-01 -4.18687631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 275.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:229.83, Y:78.71, Z:-0.42 [[ 5.25183531e-01 -8.50988980e-01 1.23132888e-04 2.29825481e+02] [ 8.50988957e-01 5.25183546e-01 1.97747167e-04 7.87120837e+01] [-2.32948026e-04 9.31172524e-07 9.99999973e-01 -4.18647469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.000281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:229.84, Y:78.73, Z:-0.42 [[ 5.27545319e-01 -8.49526753e-01 4.81401289e-04 2.29839330e+02] [ 8.49526400e-01 5.27545539e-01 7.74711877e-04 7.87332319e+01] [-9.12099568e-04 2.67480085e-07 9.99999584e-01 -4.18650373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.03028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:229.85, Y:78.76, Z:-0.42 [[ 5.29560637e-01 -8.48272008e-01 3.63049994e-04 2.29853868e+02] [ 8.48271807e-01 5.29560762e-01 5.84444596e-04 7.87550620e+01] [-6.88025023e-04 -1.53377851e-06 9.99999763e-01 -4.18631485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.060281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:229.87, Y:78.78, Z:-0.42 [[ 5.32417949e-01 -8.46481206e-01 -8.33892156e-04 2.29870298e+02] [ 8.46480138e-01 5.32418602e-01 -1.34457569e-03 7.87753470e+01] [ 1.58213775e-03 1.00030828e-05 9.99998748e-01 -4.19038527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.09028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:229.89, Y:78.80, Z:-0.42 [[ 5.33170226e-01 -8.46007021e-01 -1.27699199e-03 2.29885142e+02] [ 8.46004514e-01 5.33171755e-01 -2.05987406e-03 7.87971512e+01] [ 2.42352397e-03 1.79225302e-05 9.99997063e-01 -4.19301438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.120281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:229.90, Y:78.82, Z:-0.42 [[ 5.34145634e-01 -8.45391027e-01 -1.56624745e-03 2.29898862e+02] [ 8.45387248e-01 5.34147930e-01 -2.52769274e-03 7.88197095e+01] [ 2.97349659e-03 2.60704162e-05 9.99995579e-01 -4.19486088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.15028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:229.91, Y:78.84, Z:-0.42 [[ 5.34759031e-01 -8.45003623e-01 -1.28694793e-03 2.29912452e+02] [ 8.45001067e-01 5.34760579e-01 -2.07818686e-03 7.88415118e+01] [ 2.44428444e-03 2.38568194e-05 9.99997012e-01 -4.19913049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.180281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:229.93, Y:78.86, Z:-0.42 [[ 5.35833804e-01 -8.44323120e-01 -7.76499770e-04 2.29926449e+02] [ 8.44322188e-01 5.35834367e-01 -1.25470576e-03 7.88639517e+01] [ 1.47545235e-03 1.66977778e-05 9.99998911e-01 -4.19024601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.21028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:229.94, Y:78.89, Z:-0.42 [[ 5.36310157e-01 -8.44020699e-01 -6.89128476e-04 2.29938238e+02] [ 8.44019964e-01 5.36310600e-01 -1.11419656e-03 7.88863304e+01] [ 1.30999186e-03 1.59167397e-05 9.99999142e-01 -4.18755520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.240281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:229.95, Y:78.91, Z:-0.42 [[ 5.36911974e-01 -8.43637895e-01 -7.96175274e-04 2.29949415e+02] [ 8.43636912e-01 5.36912564e-01 -1.28788706e-03 7.89089389e+01] [ 1.51398684e-03 1.97991357e-05 9.99998854e-01 -4.18625050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.27028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:229.96, Y:78.93, Z:-0.42 [[ 5.39518624e-01 -8.41972660e-01 -1.30176934e-03 2.29961636e+02] [ 8.41970025e-01 5.39520193e-01 -2.10648590e-03 7.89317874e+01] [ 2.47593438e-03 4.04376082e-05 9.99996934e-01 -4.19512543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.300281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:229.97, Y:78.95, Z:-0.42 [[ 5.40673157e-01 -8.41231547e-01 -1.42214777e-03 2.29974596e+02] [ 8.41228397e-01 5.40675025e-01 -2.30240976e-03 7.89549727e+01] [ 2.70577950e-03 4.85000673e-05 9.99996338e-01 -4.19688060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.33028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:229.98, Y:78.98, Z:-0.42 [[ 5.42241720e-01 -8.40222428e-01 -4.35105695e-04 2.29984371e+02] [ 8.40222132e-01 5.42241894e-01 -7.05113314e-04 7.89790305e+01] [ 8.28384556e-04 1.67564213e-05 9.99999657e-01 -4.19269497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.360281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:230.00, Y:79.00, Z:-0.42 [[ 5.42523822e-01 -8.40040383e-01 2.39835843e-04 2.29996181e+02] [ 8.40040294e-01 5.42523875e-01 3.88178995e-04 7.90019682e+01] [-4.56202703e-04 -9.12457965e-06 9.99999896e-01 -4.18853270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.39028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:230.01, Y:79.02, Z:-0.42 [[ 5.42548943e-01 -8.40023794e-01 8.18575299e-04 2.30008952e+02] [ 8.40022747e-01 5.42549559e-01 1.32663970e-03 7.90248236e+01] [-1.55852658e-03 -3.21450967e-05 9.99998785e-01 -4.19149271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.420281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.02, Y:79.05, Z:-0.42 [[ 5.41159990e-01 -8.40919350e-01 7.15599385e-04 2.30021115e+02] [ 8.40918550e-01 5.41160463e-01 1.16027464e-03 7.90486896e+01] [-1.36295149e-03 -2.61334168e-05 9.99999071e-01 -4.18734782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.45028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:230.03, Y:79.07, Z:-0.42 [[ 5.40277291e-01 -8.41487011e-01 2.41826552e-04 2.30032348e+02] [ 8.41486920e-01 5.40277346e-01 3.92059749e-04 7.90718670e+01] [-4.60566594e-04 -8.32709870e-06 9.99999894e-01 -4.19388258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.480281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:230.04, Y:79.10, Z:-0.42 [[ 5.39513566e-01 -8.41976797e-01 -4.30330414e-04 2.30041822e+02] [ 8.41976507e-01 5.39513738e-01 -6.99033154e-04 7.90965209e+01] [ 8.20738866e-04 1.48097714e-05 9.99999663e-01 -4.19763099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.51028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:230.05, Y:79.12, Z:-0.42 [[ 5.39434804e-01 -8.42027078e-01 -7.01794635e-04 2.30054042e+02] [ 8.42026306e-01 5.39435260e-01 -1.14034588e-03 7.91189922e+01] [ 1.33877488e-03 2.42127112e-05 9.99999104e-01 -4.19109188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.07, Y:79.14, Z:-0.42 [[ 5.39287795e-01 -8.42121071e-01 -8.81290738e-04 2.30066567e+02] [ 8.42119853e-01 5.39288514e-01 -1.43257975e-03 7.91419462e+01] [ 1.68167557e-03 3.04203482e-05 9.99998586e-01 -4.19044917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.57028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.08, Y:79.17, Z:-0.42 [[ 5.39478286e-01 -8.41999034e-01 -8.97910906e-04 2.30076765e+02] [ 8.41997768e-01 5.39479033e-01 -1.46035248e-03 7.91651611e+01] [ 1.71401948e-03 3.17894751e-05 9.99998531e-01 -4.19268541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:230.09, Y:79.19, Z:-0.42 [[ 5.39595003e-01 -8.41924577e-01 -4.88860198e-04 2.30088767e+02] [ 8.41924201e-01 5.39595225e-01 -7.95668097e-04 7.91888909e+01] [ 9.33679154e-04 1.77552980e-05 9.99999564e-01 -4.19070954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.10, Y:79.21, Z:-0.42 [[ 5.39587171e-01 -8.41929739e-01 1.76387565e-05 2.30100733e+02] [ 8.41929738e-01 5.39587171e-01 2.82798571e-05 7.92127601e+01] [-3.33272993e-05 -4.08854471e-07 9.99999999e-01 -4.18687821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.66028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.11, Y:79.24, Z:-0.42 [[ 5.40304941e-01 -8.41469185e-01 4.27084944e-04 2.30110396e+02] [ 8.41468898e-01 5.40305109e-01 6.95021137e-04 7.92378103e+01] [-8.15595047e-04 -1.61446574e-05 9.99999667e-01 -4.19174422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.690281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.12, Y:79.26, Z:-0.42 [[ 5.40258783e-01 -8.41498929e-01 2.49793552e-05 2.30121732e+02] [ 8.41498928e-01 5.40258783e-01 4.02333048e-05 7.92600949e+01] [-4.73515989e-05 -7.16295684e-07 9.99999999e-01 -4.20657598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.72028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:230.13, Y:79.28, Z:-0.42 [[ 5.39528863e-01 -8.41966403e-01 -1.08723138e-03 2.30133040e+02] [ 8.41964538e-01 5.39529957e-01 -1.77273608e-03 7.92834491e+01] [ 2.07917812e-03 4.10320178e-05 9.99997838e-01 -4.21960484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.750281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:230.15, Y:79.31, Z:-0.42 [[ 5.38746630e-01 -8.42466895e-01 -1.26494839e-03 2.30145644e+02] [ 8.42464369e-01 5.38748113e-01 -2.06353744e-03 7.93068200e+01] [ 2.41995054e-03 4.60498965e-05 9.99997071e-01 -4.21594666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.78028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:230.16, Y:79.33, Z:-0.42 [[ 5.37418696e-01 -8.43314840e-01 -1.10743429e-03 2.30157896e+02] [ 8.43312903e-01 5.37419835e-01 -1.80765123e-03 7.93292053e+01] [ 2.11957627e-03 3.75519382e-05 9.99997753e-01 -4.20660571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.17, Y:79.35, Z:-0.42 [[ 5.34156371e-01 -8.45385693e-01 3.36589825e-05 2.30171658e+02] [ 8.45385692e-01 5.34156372e-01 5.45372106e-05 7.93520159e+01] [-6.40841376e-05 -6.76576292e-07 9.99999998e-01 -4.20194840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.84028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.19, Y:79.37, Z:-0.42 [[ 5.32117300e-01 -8.46670571e-01 3.50936010e-04 2.30185188e+02] [ 8.46670377e-01 5.32117415e-01 5.72816383e-04 7.93741112e+01] [-6.71725937e-04 -7.67838265e-06 9.99999774e-01 -4.20906394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:230.20, Y:79.40, Z:-0.42 [[ 5.29972225e-01 -8.48014958e-01 2.67153382e-04 2.30198070e+02] [ 8.48014846e-01 5.29972293e-01 4.36176907e-04 7.93954408e+01] [-5.11468432e-04 -4.61161242e-06 9.99999869e-01 -4.21642532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.90028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:230.21, Y:79.42, Z:-0.42 [[ 5.25460734e-01 -8.50817852e-01 -7.01362364e-06 2.30211654e+02] [ 8.50817852e-01 5.25460734e-01 -1.19192676e-05 7.94181403e+01] [ 1.38265095e-05 2.95790883e-07 1.00000000e+00 -4.20964968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.930281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:230.23, Y:79.44, Z:-0.42 [[ 5.25270526e-01 -8.50935294e-01 -7.02156858e-06 2.30225399e+02] [ 8.50935294e-01 5.25270526e-01 -1.19143797e-05 7.94411532e+01] [ 1.38265892e-05 2.83371948e-07 1.00000000e+00 -4.20991629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.96028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:230.24, Y:79.46, Z:-0.42 [[ 5.23282284e-01 -8.52159405e-01 2.47271186e-05 2.30239452e+02] [ 8.52159404e-01 5.23282284e-01 4.00308648e-05 7.94629927e+01] [-4.70519410e-05 1.24004336e-07 9.99999999e-01 -4.20395616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 276.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:230.25, Y:79.48, Z:-0.42 [[ 5.19284408e-01 -8.54601426e-01 3.26978976e-04 2.30254930e+02] [ 8.54601258e-01 5.19284511e-01 5.35089638e-04 7.94828151e+01] [-6.27083485e-04 1.57293902e-06 9.99999803e-01 -4.20422338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.02028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:230.27, Y:79.50, Z:-0.42 [[ 5.17369346e-01 -8.55762194e-01 1.62854938e-04 2.30269847e+02] [ 8.55762153e-01 5.17369372e-01 2.66449155e-04 7.95045855e+01] [-3.12273271e-04 1.51246741e-06 9.99999951e-01 -4.20236088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.050281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:230.28, Y:79.53, Z:-0.42 [[ 5.15859219e-01 -8.56673354e-01 1.75590196e-04 2.30284870e+02] [ 8.56673306e-01 5.15859249e-01 2.87448933e-04 7.95264953e+01] [-3.36829668e-04 2.14025186e-06 9.99999943e-01 -4.21391821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.08028169299996 meters Centerline goodness : 0.999685 Centerline is valid? [True, True] Translation: X:230.30, Y:79.55, Z:-0.42 [[ 5.14486015e-01 -8.57498654e-01 4.46052700e-04 2.30301231e+02] [ 8.57498342e-01 5.14486208e-01 7.31263056e-04 7.95466111e+01] [-8.56545049e-04 6.26483539e-06 9.99999633e-01 -4.19640422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.110281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.32, Y:79.57, Z:-0.42 [[ 5.14817511e-01 -8.57299279e-01 9.36705612e-04 2.30316114e+02] [ 8.57297901e-01 5.14818363e-01 1.53696653e-03 7.95681309e+01] [-1.79987355e-03 1.17784731e-05 9.99998380e-01 -4.18835057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.14028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:230.33, Y:79.59, Z:-0.42 [[ 5.15592335e-01 -8.56832809e-01 1.44284158e-03 2.30329840e+02] [ 8.56829534e-01 5.15594354e-01 2.36894608e-03 7.95896942e+01] [-2.77371170e-03 1.48588323e-05 9.99996153e-01 -4.18605991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.34, Y:79.61, Z:-0.42 [[ 5.17869197e-01 -8.55457990e-01 1.76684613e-03 2.30344660e+02] [ 8.55453066e-01 5.17872211e-01 2.90253746e-03 7.96116337e+01] [-3.39799937e-03 8.31919343e-06 9.99994227e-01 -4.19617046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:230.36, Y:79.63, Z:-0.42 [[ 5.19148921e-01 -8.54682450e-01 1.51892582e-03 2.30358382e+02] [ 8.54678804e-01 5.19151143e-01 2.49652538e-03 7.96334803e+01] [-2.92228851e-03 2.12524507e-06 9.99995730e-01 -4.19776063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.23028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:230.37, Y:79.66, Z:-0.42 [[ 5.20825353e-01 -8.53662559e-01 1.08935762e-03 2.30371246e+02] [ 8.53660680e-01 5.20826492e-01 1.79131362e-03 7.96550590e+01] [-2.09654367e-03 -3.01978510e-06 9.99997802e-01 -4.19186562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.26028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:230.38, Y:79.68, Z:-0.42 [[ 5.24694934e-01 -8.51289447e-01 1.22641218e-03 2.30381645e+02] [ 8.51287055e-01 5.24696368e-01 2.01778924e-03 7.96792062e+01] [-2.36121670e-03 -1.46949766e-05 9.99997212e-01 -4.17740245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.39, Y:79.70, Z:-0.42 [[ 5.27145919e-01 -8.49773878e-01 1.23927010e-03 2.30393047e+02] [ 8.49771430e-01 5.27147376e-01 2.03998703e-03 7.97035152e+01] [-2.38680568e-03 -2.22745150e-05 9.99997151e-01 -4.18044504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.32028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:230.40, Y:79.73, Z:-0.42 [[ 5.32642089e-01 -8.46340591e-01 9.38093819e-05 2.30402036e+02] [ 8.46340577e-01 5.32642097e-01 1.54089391e-04 7.97291629e+01] [-1.80378932e-04 -2.67980861e-06 9.99999984e-01 -4.20597647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.35028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:230.41, Y:79.75, Z:-0.42 [[ 5.34589303e-01 -8.45111844e-01 -4.98944823e-04 2.30411614e+02] [ 8.45111443e-01 5.34589535e-01 -8.22845960e-04 7.97524888e+01] [ 9.62127548e-04 1.82206684e-05 9.99999537e-01 -4.21113326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.380281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.42, Y:79.78, Z:-0.42 [[ 5.35815517e-01 -8.44334871e-01 -5.98067328e-04 2.30421397e+02] [ 8.44334295e-01 5.35815850e-01 -9.86716214e-04 7.97776326e+01] [ 1.15357286e-03 2.37291020e-05 9.99999334e-01 -4.20418083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.41028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:230.43, Y:79.80, Z:-0.42 [[ 5.35854452e-01 -8.44310366e-01 1.14463034e-04 2.30426795e+02] [ 8.44310345e-01 5.35854464e-01 1.88398764e-04 7.98039513e+01] [-2.20402557e-04 -4.31199286e-06 9.99999976e-01 -4.19259984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.440281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:230.44, Y:79.83, Z:-0.42 [[ 5.34714209e-01 -8.45032911e-01 3.06282200e-04 2.30437254e+02] [ 8.45032760e-01 5.34714297e-01 5.05187798e-04 7.98281349e+01] [-5.90673787e-04 -1.13126010e-05 9.99999826e-01 -4.18689774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.45, Y:79.85, Z:-0.42 [[ 5.31196304e-01 -8.47248774e-01 3.37659253e-05 2.30445820e+02] [ 8.47248772e-01 5.31196305e-01 5.53134525e-05 7.98528920e+01] [-6.48005896e-05 -7.74162771e-07 9.99999998e-01 -4.19574961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.500281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:230.46, Y:79.88, Z:-0.42 [[ 5.29165241e-01 -8.48518783e-01 -1.51101464e-04 2.30456525e+02] [ 8.48518746e-01 5.29165262e-01 -2.50171178e-04 7.98765127e+01] [ 2.92232590e-04 4.16946692e-06 9.99999957e-01 -4.20009606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.53028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:230.46, Y:79.90, Z:-0.42 [[ 5.26776205e-01 -8.50004002e-01 1.60057461e-04 2.30464775e+02] [ 8.50003961e-01 5.26776230e-01 2.64219815e-04 7.99023716e+01] [-3.08902366e-04 -3.13523558e-06 9.99999952e-01 -4.19363025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.560281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:230.48, Y:79.93, Z:-0.42 [[ 5.25551375e-01 -8.50761834e-01 2.32870208e-04 2.30476800e+02] [ 8.50761747e-01 5.25551427e-01 3.84808812e-04 7.99264127e+01] [-4.49765920e-04 -4.11973506e-06 9.99999899e-01 -4.19476999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.59028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.49, Y:79.95, Z:-0.42 [[ 5.24082620e-01 -8.51667351e-01 3.61978319e-04 2.30489004e+02] [ 8.51667141e-01 5.24082745e-01 5.98692720e-04 7.99491824e+01] [-6.99593634e-04 -5.47940870e-06 9.99999755e-01 -4.20463780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.50, Y:79.97, Z:-0.42 [[ 5.20561691e-01 -8.53824006e-01 3.04695716e-04 2.30500156e+02] [ 8.53823857e-01 5.20561780e-01 5.04129164e-04 7.99720218e+01] [-5.89050527e-04 -2.27385901e-06 9.99999827e-01 -4.20012289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.51, Y:80.00, Z:-0.42 [[ 5.18553391e-01 -8.55045210e-01 2.63441806e-04 2.30512342e+02] [ 8.55045099e-01 5.18553458e-01 4.36052799e-04 7.99953108e+01] [-5.09453516e-04 -8.62032747e-07 9.99999870e-01 -4.19940535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.52, Y:80.02, Z:-0.42 [[ 5.14573770e-01 -8.57445707e-01 8.33856734e-04 2.30523255e+02] [ 8.57444593e-01 5.14574446e-01 1.38182105e-03 8.00186878e+01] [-1.61391789e-03 3.93708102e-06 9.99998698e-01 -4.19770625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.54, Y:80.04, Z:-0.42 [[ 5.13151237e-01 -8.58297670e-01 9.57807615e-04 2.30535551e+02] [ 8.58296201e-01 5.13152131e-01 1.58809150e-03 8.00422406e+01] [-1.85455625e-03 7.15151905e-06 9.99998280e-01 -4.19640660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.740281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.55, Y:80.07, Z:-0.42 [[ 5.12734816e-01 -8.58546621e-01 8.40888093e-04 2.30547598e+02] [ 8.58545488e-01 5.12735506e-01 1.39486267e-03 8.00658114e+01] [-1.62870782e-03 6.74602113e-06 9.99998674e-01 -4.19766708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.56, Y:80.09, Z:-0.42 [[ 5.13447402e-01 -8.58120475e-01 1.00778706e-03 2.30555853e+02] [ 8.58118845e-01 5.13448391e-01 1.67262922e-03 8.00905225e+01] [-1.95276403e-03 5.99394120e-06 9.99998093e-01 -4.20428373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.57, Y:80.11, Z:-0.42 [[ 5.13709282e-01 -8.57963359e-01 1.28374261e-03 2.30565487e+02] [ 8.57960711e-01 5.13710886e-01 2.13183314e-03 8.01141743e+01] [-2.48850727e-03 6.25824661e-06 9.99996904e-01 -4.19824152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.83028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:230.57, Y:80.14, Z:-0.42 [[ 5.11868329e-01 -8.59062402e-01 1.61344946e-03 2.30573521e+02] [ 8.59058219e-01 5.11870872e-01 2.68086274e-03 8.01385118e+01] [-3.12890617e-03 1.37982865e-05 9.99995105e-01 -4.20281438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.860281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.59, Y:80.16, Z:-0.42 [[ 5.09460009e-01 -8.60492503e-01 1.77524813e-03 2.30585383e+02] [ 8.60487442e-01 5.09463101e-01 2.95130071e-03 8.01606714e+01] [-3.44399555e-03 2.40090370e-05 9.99994069e-01 -4.20714294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.89028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:230.60, Y:80.18, Z:-0.42 [[ 5.06536638e-01 -8.62216683e-01 1.73958784e-03 2.30598212e+02] [ 8.62211828e-01 5.06539624e-01 2.89352283e-03 8.01823028e+01] [-3.37601382e-03 3.42178874e-05 9.99994301e-01 -4.20747341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.920281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.61, Y:80.20, Z:-0.42 [[ 4.99387205e-01 -8.66377662e-01 1.47182739e-03 2.30611746e+02] [ 8.66374201e-01 4.99389371e-01 2.44935269e-03 8.02036549e+01] [-2.85707941e-03 5.19778854e-05 9.99995917e-01 -4.21263853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.95028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.63, Y:80.23, Z:-0.42 [[ 4.95477961e-01 -8.68619797e-01 1.11265400e-03 2.30626552e+02] [ 8.68617823e-01 4.95479208e-01 1.85245827e-03 8.02256776e+01] [-2.16037885e-03 4.86188469e-05 9.99997665e-01 -4.21908890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 277.98028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.64, Y:80.24, Z:-0.42 [[ 4.89067324e-01 -8.72246039e-01 -1.62764075e-05 2.30643259e+02] [ 8.72246038e-01 4.89067324e-01 -2.74491662e-05 8.02446893e+01] [ 3.19026856e-05 -7.72541660e-07 1.00000000e+00 -4.22745697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.66, Y:80.27, Z:-0.42 [[ 4.86959523e-01 -8.73424425e-01 -4.42852593e-04 2.30659550e+02] [ 8.73424114e-01 4.86959724e-01 -7.38578821e-04 8.02659688e+01] [ 8.60744158e-04 -2.71401437e-05 9.99999629e-01 -4.22858243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.04028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.67, Y:80.29, Z:-0.42 [[ 4.85960791e-01 -8.73980332e-01 -6.99967714e-04 2.30674858e+02] [ 8.73979553e-01 4.85961293e-01 -1.16778151e-03 8.02857252e+01] [ 1.36077529e-03 -4.42614436e-05 9.99999073e-01 -4.22581285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.07028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:230.69, Y:80.30, Z:-0.42 [[ 4.86477194e-01 -8.73692128e-01 -1.41591948e-03 2.30694608e+02] [ 8.73688937e-01 4.86479247e-01 -2.36293462e-03 8.03041880e+01] [ 2.75329281e-03 -8.75593800e-05 9.99996206e-01 -4.23321486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.10028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.71, Y:80.32, Z:-0.42 [[ 4.86814046e-01 -8.73504093e-01 -1.63856439e-03 2.30710938e+02] [ 8.73499814e-01 4.86816794e-01 -2.73589232e-03 8.03238177e+01] [ 3.18749380e-03 -9.94148746e-05 9.99994915e-01 -4.23358692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.130281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:230.73, Y:80.34, Z:-0.42 [[ 4.87280519e-01 -8.73244488e-01 -1.32715196e-03 2.30727453e+02] [ 8.73241676e-01 4.87282319e-01 -2.21713368e-03 8.03436667e+01] [ 2.58279745e-03 -7.85583579e-05 9.99996662e-01 -4.22938869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.75, Y:80.36, Z:-0.42 [[ 4.89136735e-01 -8.72206976e-01 -4.95730651e-04 2.30747078e+02] [ 8.72206583e-01 4.89136985e-01 -8.28889153e-04 8.03619559e+01] [ 9.65443097e-04 -2.69394035e-05 9.99999534e-01 -4.21513236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.190281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:230.76, Y:80.38, Z:-0.42 [[ 4.89854164e-01 -8.71804371e-01 -1.89552136e-04 2.30763207e+02] [ 8.71804314e-01 4.89854201e-01 -3.17356157e-04 8.03824777e+01] [ 3.69525395e-04 -9.79413475e-06 9.99999932e-01 -4.21932856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:230.78, Y:80.40, Z:-0.42 [[ 4.90325533e-01 -8.71539361e-01 1.20037761e-04 2.30783479e+02] [ 8.71539337e-01 4.90325548e-01 2.00359093e-04 8.04004032e+01] [-2.33478417e-04 6.37645171e-06 9.99999973e-01 -4.23158227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:230.80, Y:80.42, Z:-0.42 [[ 4.90177488e-01 -8.71622641e-01 3.91446708e-05 2.30799378e+02] [ 8.71622639e-01 4.90177490e-01 6.50545683e-05 8.04194511e+01] [-7.58908710e-05 2.23109635e-06 9.99999997e-01 -4.23186049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:230.81, Y:80.44, Z:-0.42 [[ 4.89728993e-01 -8.71874707e-01 -9.06805592e-05 2.30814928e+02] [ 8.71874694e-01 4.89729002e-01 -1.52304678e-04 8.04407275e+01] [ 1.77199496e-04 -4.47406833e-06 9.99999984e-01 -4.22774267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.310281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:230.83, Y:80.46, Z:-0.42 [[ 4.90276591e-01 -8.71566879e-01 -1.99863492e-04 2.30830606e+02] [ 8.71566814e-01 4.90276632e-01 -3.35351365e-04 8.04611532e+01] [ 3.90269542e-04 -9.77946335e-06 9.99999924e-01 -4.22191949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.34028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:230.84, Y:80.48, Z:-0.42 [[ 4.90424670e-01 -8.71483525e-01 -3.30764739e-04 2.30844820e+02] [ 8.71483348e-01 4.90424781e-01 -5.54979938e-04 8.04808178e+01] [ 6.45871098e-04 -1.60801091e-05 9.99999791e-01 -4.22400422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.86, Y:80.50, Z:-0.42 [[ 4.90164598e-01 -8.71629865e-01 -2.15053437e-04 2.30862165e+02] [ 8.71629790e-01 4.90164645e-01 -3.61184391e-04 8.05006553e+01] [ 4.20230694e-04 -1.04071807e-05 9.99999912e-01 -4.22612071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:230.88, Y:80.52, Z:-0.42 [[ 4.89072637e-01 -8.72243021e-01 -2.61085190e-04 2.30876261e+02] [ 8.72242911e-01 4.89072707e-01 -4.38629271e-04 8.05214988e+01] [ 5.10280961e-04 -1.32081312e-05 9.99999870e-01 -4.22647457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.430281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.89, Y:80.54, Z:-0.42 [[ 4.87483355e-01 -8.73132214e-01 -3.40206076e-04 2.30890957e+02] [ 8.73132027e-01 4.87483474e-01 -5.71720864e-04 8.05426931e+01] [ 6.65032743e-04 -1.83404161e-05 9.99999779e-01 -4.23181235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.46028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.91, Y:80.56, Z:-0.42 [[ 4.84209841e-01 -8.74951881e-01 -1.90506263e-04 2.30907357e+02] [ 8.74951822e-01 4.84209878e-01 -3.20545748e-04 8.05613028e+01] [ 3.72707120e-04 -1.14723964e-05 9.99999930e-01 -4.22964561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:230.92, Y:80.58, Z:-0.42 [[ 4.82628102e-01 -8.75825387e-01 -8.05219080e-05 2.30922698e+02] [ 8.75825377e-01 4.82628109e-01 -1.35809196e-04 8.05823354e+01] [ 1.57807278e-04 -4.97779596e-06 9.99999988e-01 -4.22371671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.94, Y:80.60, Z:-0.42 [[ 4.81164759e-01 -8.76630181e-01 6.80462311e-07 2.30937774e+02] [ 8.76630181e-01 4.81164759e-01 6.94985763e-07 8.06025759e+01] [-9.36659940e-07 2.62111144e-07 1.00000000e+00 -4.22595447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.550281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:230.95, Y:80.62, Z:-0.42 [[ 4.77848448e-01 -8.78441821e-01 -9.10051502e-04 2.30954748e+02] [ 8.78440488e-01 4.77849309e-01 -1.53166455e-03 8.06212901e+01] [ 1.78034568e-03 -6.75225563e-05 9.99998413e-01 -4.23623823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:230.97, Y:80.64, Z:-0.42 [[ 4.75914241e-01 -8.79490878e-01 -1.19630983e-03 2.30969930e+02] [ 8.79488576e-01 4.75915736e-01 -2.01444011e-03 8.06415812e+01] [ 2.34102437e-03 -9.34400882e-05 9.99997255e-01 -4.23984739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.610281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:230.99, Y:80.66, Z:-0.42 [[ 4.73569935e-01 -8.80755926e-01 -7.17916588e-04 2.30988111e+02] [ 8.80755097e-01 4.73570475e-01 -1.20973140e-03 8.06597600e+01] [ 1.40546220e-03 -5.94162752e-05 9.99999011e-01 -4.22622338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.64028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.00, Y:80.68, Z:-0.42 [[ 4.72899122e-01 -8.81116573e-01 7.15103423e-05 2.31004333e+02] [ 8.81116565e-01 4.72899127e-01 1.20082442e-04 8.06812905e+01] [-1.39623808e-04 6.22206593e-06 9.99999990e-01 -4.21897080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.02, Y:80.70, Z:-0.42 [[ 4.72873270e-01 -8.81130239e-01 6.10152142e-04 2.31019767e+02] [ 8.81129641e-01 4.72873661e-01 1.02835030e-03 8.07007984e+01] [-1.19463542e-03 5.13437708e-05 9.99999285e-01 -4.21840727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:231.04, Y:80.72, Z:-0.42 [[ 4.74370557e-01 -8.80325245e-01 1.94688175e-04 2.31039198e+02] [ 8.80325184e-01 4.74370597e-01 3.27985578e-04 8.07190340e+01] [-3.81088329e-04 1.58022020e-05 9.99999927e-01 -4.22421010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.73028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.05, Y:80.74, Z:-0.42 [[ 4.75699125e-01 -8.79608033e-01 -2.22978263e-04 2.31053916e+02] [ 8.79607953e-01 4.75699177e-01 -3.76782156e-04 8.07394962e+01] [ 4.37491187e-04 -1.68985112e-05 9.99999904e-01 -4.22252533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.07, Y:80.76, Z:-0.42 [[ 4.80778159e-01 -8.76842261e-01 -1.02198005e-04 2.31068577e+02] [ 8.76842244e-01 4.80778170e-01 -1.73021550e-04 8.07617591e+01] [ 2.00847177e-04 -6.42654521e-06 9.99999980e-01 -4.21481919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.79028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.08, Y:80.78, Z:-0.42 [[ 4.84197932e-01 -8.74958464e-01 2.19535908e-04 2.31081486e+02] [ 8.74958386e-01 4.84197982e-01 3.70461614e-04 8.07835870e+01] [-4.30437368e-04 1.27080361e-05 9.99999907e-01 -4.21061264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.82028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.09, Y:80.81, Z:-0.42 [[ 4.84008728e-01 -8.75063142e-01 2.19438062e-04 2.31094418e+02] [ 8.75063064e-01 4.84008778e-01 3.70519541e-04 8.08061250e+01] [-4.30437941e-04 1.26874509e-05 9.99999907e-01 -4.21087094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.85028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.11, Y:80.83, Z:-0.42 [[ 4.87251155e-01 -8.73261743e-01 4.89809889e-04 2.31107970e+02] [ 8.73261351e-01 4.87251400e-01 8.27968626e-04 8.08289163e+01] [-9.61693880e-04 2.43033765e-05 9.99999537e-01 -4.20649847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.880281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:231.12, Y:80.85, Z:-0.42 [[ 4.91642247e-01 -8.70797219e-01 3.22144537e-04 2.31120887e+02] [ 8.70797049e-01 4.91642353e-01 5.44670893e-04 8.08510861e+01] [-6.32677797e-04 1.27392903e-05 9.99999800e-01 -4.20396481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.13, Y:80.87, Z:-0.42 [[ 4.92728143e-01 -8.70183291e-01 1.31823769e-04 2.31133716e+02] [ 8.70183262e-01 4.92728161e-01 2.22713969e-04 8.08731850e+01] [-2.58755258e-04 4.97339740e-06 9.99999967e-01 -4.20774530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.940281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.15, Y:80.89, Z:-0.42 [[ 4.93819609e-01 -8.69564368e-01 6.33607854e-05 2.31147696e+02] [ 8.69564361e-01 4.93819613e-01 1.06839411e-04 8.08937084e+01] [-1.24192543e-04 2.33688485e-06 9.99999992e-01 -4.21748442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 278.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.16, Y:80.92, Z:-0.42 [[ 4.93247457e-01 -8.69888992e-01 -2.96177507e-04 2.31161196e+02] [ 8.69888847e-01 4.93247546e-01 -5.02523974e-04 8.09152164e+01] [ 5.83228902e-04 -9.77283823e-06 9.99999830e-01 -4.21819575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.17, Y:80.94, Z:-0.42 [[ 4.91805706e-01 -8.70704390e-01 -1.00614062e-03 2.31174663e+02] [ 8.70702718e-01 4.91806733e-01 -1.70692677e-03 8.09373767e+01] [ 1.98105537e-03 -3.65730527e-05 9.99998037e-01 -4.22022536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.03028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.19, Y:80.96, Z:-0.42 [[ 4.88373494e-01 -8.72632642e-01 -1.89804576e-03 2.31187913e+02] [ 8.72626700e-01 4.88377175e-01 -3.22151945e-03 8.09575604e+01] [ 3.73816526e-03 -8.29807007e-05 9.99993010e-01 -4.22498740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.20, Y:80.98, Z:-0.42 [[ 4.86483868e-01 -8.73688226e-01 -1.52626723e-03 2.31201404e+02] [ 8.73684384e-01 4.86486257e-01 -2.59199132e-03 8.09787174e+01] [ 3.00710033e-03 -7.25138830e-05 9.99995476e-01 -4.22992902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.22, Y:81.00, Z:-0.42 [[ 4.83366479e-01 -8.75418013e-01 -3.86433826e-04 2.31216782e+02] [ 8.75417767e-01 4.83366633e-01 -6.56971484e-04 8.09989572e+01] [ 7.61913889e-04 -2.07330440e-05 9.99999710e-01 -4.22069190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.120281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:231.23, Y:81.02, Z:-0.42 [[ 4.81759673e-01 -8.76303378e-01 -7.83564836e-05 2.31230511e+02] [ 8.76303368e-01 4.81759680e-01 -1.33681534e-04 8.10188040e+01] [ 1.54894575e-04 -4.26167815e-06 9.99999988e-01 -4.21646494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.24, Y:81.04, Z:-0.42 [[ 4.80409503e-01 -8.77044303e-01 -1.25090682e-05 2.31244950e+02] [ 8.77044303e-01 4.80409503e-01 -2.17429081e-05 8.10398216e+01] [ 2.50789690e-05 -5.25507270e-07 1.00000000e+00 -4.22012122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.26, Y:81.06, Z:-0.42 [[ 4.78133300e-01 -8.78287008e-01 -6.91860049e-04 2.31262277e+02] [ 8.78286220e-01 4.78133798e-01 -1.17785344e-03 8.10582694e+01] [ 1.36529505e-03 -4.44801954e-05 9.99999067e-01 -4.23411384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.21028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:231.28, Y:81.08, Z:-0.42 [[ 4.77800994e-01 -8.78467096e-01 -1.33062937e-03 2.31277029e+02] [ 8.78464178e-01 4.77802839e-01 -2.26614734e-03 8.10776097e+01] [ 2.62651436e-03 -8.61427796e-05 9.99996547e-01 -4.23330869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.240281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:231.29, Y:81.10, Z:-0.42 [[ 4.78137515e-01 -8.78282976e-01 -1.87896554e-03 2.31292640e+02] [ 8.78277149e-01 4.78141192e-01 -3.20146413e-03 8.10990363e+01] [ 3.71020226e-03 -1.19512396e-04 9.99993110e-01 -4.23299353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.27028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.31, Y:81.12, Z:-0.42 [[ 4.81334143e-01 -8.76534541e-01 -2.15448394e-03 2.31309317e+02] [ 8.76526854e-01 4.81338950e-01 -3.67289468e-03 8.11184908e+01] [ 4.25645609e-03 -1.20573417e-04 9.99990934e-01 -4.22621236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.300281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:231.32, Y:81.14, Z:-0.42 [[ 4.83460063e-01 -8.75364564e-01 -1.80227919e-03 2.31323447e+02] [ 8.75359170e-01 4.83463413e-01 -3.07431065e-03 8.11393676e+01] [ 3.56247865e-03 -9.13351957e-05 9.99993650e-01 -4.22198520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.33028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:231.34, Y:81.16, Z:-0.42 [[ 4.87546327e-01 -8.73095003e-01 -1.92212427e-03 2.31339403e+02] [ 8.73088843e-01 4.87550110e-01 -3.28067868e-03 8.11588518e+01] [ 3.80147606e-03 -7.87024138e-05 9.99992771e-01 -4.21502230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.360281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:231.35, Y:81.18, Z:-0.42 [[ 4.89244092e-01 -8.72143582e-01 -2.40650344e-03 2.31354623e+02] [ 8.72133903e-01 4.89250003e-01 -4.10965151e-03 8.11795226e+01] [ 4.76158800e-03 -8.81705167e-05 9.99988660e-01 -4.22457932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.39028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.37, Y:81.20, Z:-0.42 [[ 4.90610147e-01 -8.71374630e-01 -2.81752954e-03 2.31369563e+02] [ 8.71361337e-01 4.90618228e-01 -4.81403069e-03 8.12012336e+01] [ 5.57715556e-03 -9.32740075e-05 9.99984443e-01 -4.23067238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.420281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:231.38, Y:81.22, Z:-0.42 [[ 4.93807437e-01 -8.69568564e-01 -2.17430446e-03 2.31384447e+02] [ 8.69560620e-01 4.93812221e-01 -3.71722316e-03 8.12217459e+01] [ 4.30607852e-03 -5.50970935e-05 9.99990727e-01 -4.22852306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.45028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.40, Y:81.24, Z:-0.42 [[ 4.95129015e-01 -8.68818687e-01 -1.16056495e-03 2.31398564e+02] [ 8.68816419e-01 4.95130375e-01 -1.98539720e-03 8.12434355e+01] [ 2.29958115e-03 -2.52901236e-05 9.99997356e-01 -4.22074847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.48028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.41, Y:81.27, Z:-0.42 [[ 4.96509924e-01 -8.68030939e-01 -4.29380273e-04 2.31413326e+02] [ 8.68030627e-01 4.96510110e-01 -7.35232628e-04 8.12655746e+01] [ 8.51396315e-04 -7.66493154e-06 9.99999638e-01 -4.20499237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.51028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.43, Y:81.29, Z:-0.42 [[ 4.98781627e-01 -8.66727335e-01 -7.84192916e-04 2.31427416e+02] [ 8.66726295e-01 4.98782244e-01 -1.34313152e-03 8.12875460e+01] [ 1.55527031e-03 -9.75129530e-06 9.99998791e-01 -4.19411830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.54028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.44, Y:81.31, Z:-0.42 [[ 4.99815396e-01 -8.66131000e-01 -1.28860166e-03 2.31439853e+02] [ 8.66128186e-01 4.99817057e-01 -2.20795334e-03 8.13107031e+01] [ 2.55644192e-03 -1.25251402e-05 9.99996732e-01 -4.20262868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.45, Y:81.33, Z:-0.42 [[ 5.02349851e-01 -8.64663287e-01 -1.42361362e-03 2.31453167e+02] [ 8.64659843e-01 5.02351868e-01 -2.44057548e-03 8.13329411e+01] [ 2.82543098e-03 -4.91880080e-06 9.99996008e-01 -4.21601664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.60028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:231.47, Y:81.35, Z:-0.42 [[ 5.03645990e-01 -8.63909343e-01 -1.16784206e-03 2.31466715e+02] [ 8.63907020e-01 5.03647344e-01 -2.00333599e-03 8.13548709e+01] [ 2.31888123e-03 6.51874272e-08 9.99997311e-01 -4.20917100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:231.48, Y:81.38, Z:-0.42 [[ 5.05281220e-01 -8.62954452e-01 -7.08807726e-04 2.31479698e+02] [ 8.62953594e-01 5.05281717e-01 -1.21673321e-03 8.13777594e+01] [ 1.40813293e-03 3.12426799e-06 9.99999009e-01 -4.20162001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.66028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.49, Y:81.40, Z:-0.42 [[ 5.09066436e-01 -8.60727212e-01 1.73906154e-04 2.31488807e+02] [ 8.60727160e-01 5.09066466e-01 2.98093305e-04 8.14022879e+01] [-3.45106811e-04 -2.06354614e-06 9.99999940e-01 -4.18662464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.690281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:231.50, Y:81.43, Z:-0.42 [[ 5.11059735e-01 -8.59545184e-01 1.54300477e-04 2.31499997e+02] [ 8.59545144e-01 5.11059758e-01 2.64600358e-04 8.14265196e+01] [-3.06292728e-04 -2.59836336e-06 9.99999953e-01 -4.18718637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.51, Y:81.45, Z:-0.42 [[ 5.14180161e-01 -8.57682088e-01 -4.44678184e-04 2.31508855e+02] [ 8.57681747e-01 5.14180353e-01 -7.64790326e-04 8.14511167e+01] [ 8.84591750e-04 1.18476507e-05 9.99999609e-01 -4.18253622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.750281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:231.52, Y:81.48, Z:-0.42 [[ 5.14906306e-01 -8.57246051e-01 -8.39473976e-04 2.31519739e+02] [ 8.57244835e-01 5.14906990e-01 -1.44407852e-03 8.14757971e+01] [ 1.67018163e-03 2.39304076e-05 9.99998605e-01 -4.19180380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.78028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:231.53, Y:81.50, Z:-0.42 [[ 5.14989533e-01 -8.57195559e-01 -1.24681616e-03 2.31529393e+02] [ 8.57192874e-01 5.14991041e-01 -2.14576887e-03 8.14993564e+01] [ 2.48144270e-03 3.62865739e-05 9.99996921e-01 -4.19684255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.54, Y:81.52, Z:-0.42 [[ 5.15290180e-01 -8.57015248e-01 -9.46691623e-04 2.31538731e+02] [ 8.57013698e-01 5.15291048e-01 -1.63020321e-03 8.15238307e+01] [ 1.88493072e-03 2.87000150e-05 9.99998223e-01 -4.19473619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:231.55, Y:81.55, Z:-0.42 [[ 5.15860393e-01 -8.56672466e-01 -5.84733359e-04 2.31550687e+02] [ 8.56671873e-01 5.15860724e-01 -1.00763600e-03 8.15476796e+01] [ 1.16485499e-03 1.88748825e-05 9.99999321e-01 -4.18940991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.870281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:231.56, Y:81.57, Z:-0.42 [[ 5.16130114e-01 -8.56510140e-01 -2.93464320e-04 2.31561128e+02] [ 8.56509990e-01 5.16130197e-01 -5.06242843e-04 8.15704337e+01] [ 5.85067926e-04 9.93205411e-06 9.99999829e-01 -4.18705472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.90028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:231.57, Y:81.59, Z:-0.42 [[ 5.15973412e-01 -8.56604588e-01 -1.30203387e-04 2.31567193e+02] [ 8.56604559e-01 5.15973429e-01 -2.24918281e-04 8.15946744e+01] [ 2.59847519e-04 4.51903756e-06 9.99999966e-01 -4.18867623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.58, Y:81.62, Z:-0.42 [[ 5.14939929e-01 -8.57226069e-01 -5.80534000e-04 2.31577768e+02] [ 8.57225483e-01 5.14940256e-01 -1.00203901e-03 8.16180002e+01] [ 1.15791429e-03 1.83413599e-05 9.99999329e-01 -4.20372383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.59, Y:81.64, Z:-0.42 [[ 5.12425320e-01 -8.58730176e-01 -1.66631836e-03 2.31589175e+02] [ 8.58725358e-01 5.12428027e-01 -2.87688615e-03 8.16412034e+01] [ 3.32433718e-03 4.32794761e-05 9.99994473e-01 -4.21061795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 279.990281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:231.60, Y:81.66, Z:-0.42 [[ 5.11361155e-01 -8.59363918e-01 -1.85069986e-03 2.31600478e+02] [ 8.59357972e-01 5.11364502e-01 -3.19707704e-03 8.16625019e+01] [ 3.69383487e-03 4.44473319e-05 9.99993177e-01 -4.19972408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.02028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:231.61, Y:81.69, Z:-0.42 [[ 5.10653051e-01 -8.59784918e-01 -1.83207753e-03 2.31611509e+02] [ 8.59779087e-01 5.10656336e-01 -3.16666870e-03 8.16851680e+01] [ 3.65821599e-03 4.18870852e-05 9.99993308e-01 -4.19434609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.050281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:231.62, Y:81.71, Z:-0.42 [[ 5.09388133e-01 -8.60535279e-01 -1.66258851e-03 2.31620945e+02] [ 8.60530476e-01 5.09390845e-01 -2.87536254e-03 8.17091538e+01] [ 3.32125827e-03 3.39674708e-05 9.99994484e-01 -4.20052953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.08028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:231.63, Y:81.73, Z:-0.42 [[ 5.08284154e-01 -8.61188271e-01 -1.40723482e-03 2.31632180e+02] [ 8.61184829e-01 5.08286102e-01 -2.43516361e-03 8.17315863e+01] [ 2.81241223e-03 2.58658004e-05 9.99996045e-01 -4.20474045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.110281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.64, Y:81.75, Z:-0.42 [[ 5.05891837e-01 -8.62596481e-01 -8.72010404e-04 2.31643830e+02] [ 8.62595159e-01 5.05892589e-01 -1.51005723e-03 8.17528755e+01] [ 1.74371365e-03 1.17336737e-05 9.99998480e-01 -4.20939103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.14028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.66, Y:81.78, Z:-0.42 [[ 5.04571421e-01 -8.63369491e-01 -8.96025626e-04 2.31657047e+02] [ 8.63368095e-01 5.04572217e-01 -1.55242824e-03 8.17761358e+01] [ 1.79242882e-03 9.71098624e-06 9.99998394e-01 -4.20787968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.170281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:231.67, Y:81.80, Z:-0.42 [[ 5.03576275e-01 -8.63950360e-01 -8.42912745e-04 2.31669504e+02] [ 8.63949125e-01 5.03576980e-01 -1.46127177e-03 8.17982401e+01] [ 1.68693773e-03 7.62806782e-06 9.99998577e-01 -4.21056659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.68, Y:81.82, Z:-0.42 [[ 5.02728374e-01 -8.64444072e-01 -7.92670942e-04 2.31681631e+02] [ 8.64442978e-01 5.02728999e-01 -1.37494882e-03 8.18209178e+01] [ 1.58706503e-03 6.00695599e-06 9.99998741e-01 -4.20871127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.23028169299994 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:231.69, Y:81.84, Z:-0.42 [[ 5.01325757e-01 -8.65257155e-01 -1.59400544e-03 2.31693235e+02] [ 8.65252734e-01 5.01328291e-01 -2.76593816e-03 8.18442452e+01] [ 3.19236781e-03 7.41848051e-06 9.99994904e-01 -4.21897747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.26028169299997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:231.71, Y:81.87, Z:-0.42 [[ 4.99751019e-01 -8.66163291e-01 -3.17372640e-03 2.31705344e+02] [ 8.66145767e-01 4.99761096e-01 -5.50978202e-03 8.18664960e+01] [ 6.35847591e-03 4.60949578e-06 9.99979785e-01 -4.23166691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.29028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:231.72, Y:81.89, Z:-0.42 [[ 4.98810959e-01 -8.66703977e-01 -3.44146399e-03 2.31717393e+02] [ 8.66683360e-01 4.98822831e-01 -5.97799448e-03 8.18888086e+01] [ 6.89783240e-03 -7.70418882e-07 9.99976210e-01 -4.23019751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.32028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:231.73, Y:81.91, Z:-0.42 [[ 4.98554352e-01 -8.66852956e-01 -3.08374077e-03 2.31730033e+02] [ 8.66836388e-01 4.98563889e-01 -5.35946722e-03 8.19116366e+01] [ 6.18331180e-03 -1.11300558e-06 9.99980883e-01 -4.22076357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.35028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:231.74, Y:81.93, Z:-0.42 [[ 4.99091567e-01 -8.66548075e-01 -1.42878497e-03 2.31742237e+02] [ 8.66544512e-01 4.99093612e-01 -2.48484263e-03 8.19341588e+01] [ 2.86633305e-03 2.05822495e-06 9.99995892e-01 -4.20496444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.380281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:231.75, Y:81.96, Z:-0.42 [[ 4.99056626e-01 -8.66568859e-01 -9.46890660e-04 2.31754010e+02] [ 8.66567292e-01 4.99057524e-01 -1.64794452e-03 8.19550888e+01] [ 1.90061031e-03 1.87315769e-06 9.99998194e-01 -4.19963878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.41028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:231.77, Y:81.98, Z:-0.42 [[ 4.98712315e-01 -8.66767098e-01 -9.08374787e-04 2.31766643e+02] [ 8.66765655e-01 4.98713142e-01 -1.58173606e-03 8.19781422e+01] [ 1.82401522e-03 1.48318511e-06 9.99998337e-01 -4.19872602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.440281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:231.78, Y:82.00, Z:-0.42 [[ 4.98130144e-01 -8.67101073e-01 -1.44519439e-03 2.31777096e+02] [ 8.67097418e-01 4.98132240e-01 -2.51764656e-03 8.20009579e+01] [ 2.90295195e-03 9.91313252e-07 9.99995786e-01 -4.20138308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.47028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:231.79, Y:82.02, Z:-0.42 [[ 4.98308015e-01 -8.66998975e-01 -1.37849645e-03 2.31787979e+02] [ 8.66995645e-01 4.98309922e-01 -2.40293127e-03 8.20229197e+01] [ 2.77025740e-03 2.24949279e-06 9.99996163e-01 -4.20344048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.500281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.80, Y:82.04, Z:-0.42 [[ 4.97945637e-01 -8.67206885e-01 -1.53659877e-03 2.31800721e+02] [ 8.67202744e-01 4.97948008e-01 -2.67998553e-03 8.20447802e+01] [ 3.08924820e-03 1.94442953e-06 9.99995228e-01 -4.20899611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:231.81, Y:82.07, Z:-0.42 [[ 4.96458836e-01 -8.68058535e-01 -1.73285628e-03 2.31814766e+02] [ 8.68053269e-01 4.96461861e-01 -3.02388776e-03 8.20670550e+01] [ 3.48520863e-03 -2.97575650e-06 9.99993927e-01 -4.20592671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.560281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:231.83, Y:82.09, Z:-0.42 [[ 4.94284829e-01 -8.69298255e-01 -1.74676485e-03 2.31828763e+02] [ 8.69292905e-01 4.94287915e-01 -3.04994356e-03 8.20886904e+01] [ 3.51471537e-03 -1.09094620e-05 9.99993823e-01 -4.20247838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.59028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:231.84, Y:82.11, Z:-0.42 [[ 4.91768204e-01 -8.70724463e-01 -1.71548399e-03 2.31842604e+02] [ 8.70719306e-01 4.91771196e-01 -2.99703792e-03 8.21097390e+01] [ 3.45321985e-03 -1.98570719e-05 9.99994037e-01 -4.20351073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:231.86, Y:82.13, Z:-0.42 [[ 4.86882105e-01 -8.73466197e-01 -1.61851192e-03 2.31859395e+02] [ 8.73461615e-01 4.86884794e-01 -2.82917413e-03 8.21302260e+01] [ 3.25921681e-03 -3.62337836e-05 9.99994688e-01 -4.21525831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.65028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:231.88, Y:82.15, Z:-0.42 [[ 4.84642585e-01 -8.74710624e-01 -1.70000246e-03 2.31875026e+02] [ 8.74705572e-01 4.84645564e-01 -2.97320734e-03 8.21520868e+01] [ 3.42459470e-03 -4.60587301e-05 9.99994135e-01 -4.22135439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.680281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.89, Y:82.17, Z:-0.42 [[ 4.82822320e-01 -8.75715271e-01 -2.31781284e-03 2.31893694e+02] [ 8.75705882e-01 4.82827878e-01 -4.05574697e-03 8.21718023e+01] [ 4.67078421e-03 -7.15171798e-05 9.99989089e-01 -4.22347744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.71028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.91, Y:82.19, Z:-0.42 [[ 4.83433405e-01 -8.75377336e-01 -2.58132965e-03 2.31908703e+02] [ 8.75365673e-01 4.83440290e-01 -4.51937342e-03 8.21924939e+01] [ 5.20407582e-03 -7.47912865e-05 9.99986456e-01 -4.21452745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.740281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:231.92, Y:82.22, Z:-0.42 [[ 4.83239833e-01 -8.75484212e-01 -2.58034957e-03 2.31921763e+02] [ 8.75472547e-01 4.83246717e-01 -4.51993311e-03 8.22159249e+01] [ 5.20407553e-03 -7.48134867e-05 9.99986456e-01 -4.21479405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.77028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:231.94, Y:82.24, Z:-0.42 [[ 4.84690329e-01 -8.74681758e-01 -2.66594010e-03 2.31936426e+02] [ 8.74669280e-01 4.84697656e-01 -4.67252739e-03 8.22363421e+01] [ 5.37914939e-03 -6.70870717e-05 9.99985530e-01 -4.21230845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.800281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:231.95, Y:82.26, Z:-0.42 [[ 4.89314657e-01 -8.72103649e-01 -2.52835260e-03 2.31953459e+02] [ 8.72092377e-01 4.89321188e-01 -4.43402803e-03 8.22560756e+01] [ 5.10410852e-03 -3.53221249e-05 9.99986973e-01 -4.20777505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.83028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:231.97, Y:82.28, Z:-0.42 [[ 4.91832273e-01 -8.70686924e-01 -2.30118638e-03 2.31967643e+02] [ 8.70677561e-01 4.91837656e-01 -4.03806248e-03 8.22775867e+01] [ 4.64769832e-03 -1.75418966e-05 9.99989199e-01 -4.20232423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:231.98, Y:82.30, Z:-0.42 [[ 4.94478296e-01 -8.69187683e-01 -1.99651387e-03 2.31981542e+02] [ 8.69180614e-01 4.94482327e-01 -3.50557572e-03 8.22989050e+01] [ 4.03424406e-03 -1.90003723e-06 9.99991862e-01 -4.19993806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.00, Y:82.32, Z:-0.42 [[ 4.99532480e-01 -8.66293557e-01 -1.66579866e-03 2.31996943e+02] [ 8.66288613e-01 4.99535257e-01 -2.92679621e-03 8.23185077e+01] [ 3.36758986e-03 1.89673612e-05 9.99994329e-01 -4.19763777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.920281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.01, Y:82.34, Z:-0.42 [[ 5.01197887e-01 -8.65331321e-01 -1.54375886e-03 2.32010565e+02] [ 8.65327065e-01 5.01200264e-01 -2.71395510e-03 8.23398781e+01] [ 3.12220270e-03 2.43722392e-05 9.99995126e-01 -4.20387177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.02, Y:82.36, Z:-0.42 [[ 5.02881489e-01 -8.64353871e-01 -1.61041885e-03 2.32024401e+02] [ 8.64349229e-01 5.02884067e-01 -2.83285011e-03 8.23603260e+01] [ 3.25843893e-03 3.26235918e-05 9.99994691e-01 -4.21428367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 280.98028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:232.04, Y:82.38, Z:-0.42 [[ 5.03001291e-01 -8.64284355e-01 -1.50138890e-03 2.32038205e+02] [ 8.64280316e-01 5.03003531e-01 -2.64259273e-03 8.23814731e+01] [ 3.03915547e-03 3.16066797e-05 9.99995381e-01 -4.21240451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.05, Y:82.40, Z:-0.42 [[ 5.02620319e-01 -8.64506265e-01 -1.31628537e-03 2.32051239e+02] [ 8.64503157e-01 5.02622041e-01 -2.31825746e-03 8.24018446e+01] [ 2.66574214e-03 2.72704427e-05 9.99996447e-01 -4.20391664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.04028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.07, Y:82.42, Z:-0.42 [[ 5.02626981e-01 -8.64501998e-01 -1.55371347e-03 2.32065307e+02] [ 8.64497664e-01 5.02629381e-01 -2.73756189e-03 8.24222605e+01] [ 3.14756976e-03 3.27908046e-05 9.99995046e-01 -4.19859654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.08, Y:82.44, Z:-0.42 [[ 5.03433071e-01 -8.64032230e-01 -1.85723107e-03 2.32077799e+02] [ 8.64026027e-01 5.03436495e-01 -3.27418274e-03 8.24441759e+01] [ 3.76399731e-03 4.36358915e-05 9.99992915e-01 -4.19989016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.10028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:232.09, Y:82.47, Z:-0.42 [[ 5.04782187e-01 -8.63244548e-01 -1.94771104e-03 2.32090930e+02] [ 8.63237713e-01 5.04785942e-01 -3.43559903e-03 8.24661441e+01] [ 3.94893929e-03 5.28915629e-05 9.99992202e-01 -4.20551102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.130281693 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:232.10, Y:82.49, Z:-0.42 [[ 5.06279598e-01 -8.62368525e-01 -1.22290116e-03 2.32104868e+02] [ 8.62365824e-01 5.06281074e-01 -2.15855107e-03 8.24873870e+01] [ 2.48059822e-03 3.82422003e-05 9.99996923e-01 -4.19738474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.12, Y:82.51, Z:-0.42 [[ 5.06836197e-01 -8.62041705e-01 -1.08103465e-03 2.32117488e+02] [ 8.62039591e-01 5.06837348e-01 -1.90937488e-03 8.25082971e+01] [ 2.19386952e-03 3.58456379e-05 9.99997593e-01 -4.19390831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.190281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.13, Y:82.53, Z:-0.42 [[ 5.07869619e-01 -8.61432767e-01 -1.42729182e-03 2.32128996e+02] [ 8.61429076e-01 5.07871622e-01 -2.52222890e-03 8.25294457e+01] [ 2.89761163e-03 5.14527559e-05 9.99995801e-01 -4.19268715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:232.14, Y:82.55, Z:-0.42 [[ 5.08367692e-01 -8.61138832e-01 -1.48379928e-03 2.32140607e+02] [ 8.61134837e-01 5.08369855e-01 -2.62347492e-03 8.25522933e+01] [ 3.01349495e-03 5.59386395e-05 9.99995458e-01 -4.19808523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.15, Y:82.57, Z:-0.42 [[ 5.08600548e-01 -8.61001775e-01 -1.19447782e-03 2.32152444e+02] [ 8.60999182e-01 5.08601949e-01 -2.11321921e-03 8.25746739e+01] [ 2.42699924e-03 4.63400236e-05 9.99997054e-01 -4.19319277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.16, Y:82.60, Z:-0.42 [[ 5.08709606e-01 -8.60938109e-01 -3.30653771e-04 2.32164721e+02] [ 8.60937910e-01 5.08709713e-01 -5.85537430e-04 8.25964376e+01] [ 6.72318273e-04 1.31961488e-05 9.99999774e-01 -4.18528952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.18, Y:82.62, Z:-0.42 [[ 5.08548675e-01 -8.61033027e-01 -6.09137216e-04 2.32176522e+02] [ 8.61032351e-01 5.08549040e-01 -1.07898087e-03 8.26185168e+01] [ 1.23881431e-03 2.42274404e-05 9.99999232e-01 -4.18984260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.34028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.19, Y:82.64, Z:-0.42 [[ 5.08261028e-01 -8.61202230e-01 -1.20282717e-03 2.32188074e+02] [ 8.61199594e-01 5.08262449e-01 -2.13132666e-03 8.26420026e+01] [ 2.44685515e-03 4.73960096e-05 9.99997005e-01 -4.20330863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.370281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.20, Y:82.67, Z:-0.42 [[ 5.07680437e-01 -8.61542677e-01 -2.18864768e-03 2.32197273e+02] [ 8.61533944e-01 5.07685147e-01 -3.88000257e-03 8.26661976e+01] [ 4.45393172e-03 8.42071333e-05 9.99990078e-01 -4.20749801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:232.21, Y:82.69, Z:-0.42 [[ 5.07134720e-01 -8.61864079e-01 -2.16452401e-03 2.32208258e+02] [ 8.61855530e-01 5.07139333e-01 -3.83948571e-03 8.26879147e+01] [ 4.40683007e-03 8.16295226e-05 9.99990287e-01 -4.20273636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.22, Y:82.71, Z:-0.42 [[ 5.05288986e-01 -8.62947017e-01 -2.34219353e-03 2.32220136e+02] [ 8.62937008e-01 5.05294408e-01 -4.15699918e-03 8.27106175e+01] [ 4.77076734e-03 7.93204223e-05 9.99988617e-01 -4.19649184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.23, Y:82.73, Z:-0.42 [[ 5.03855712e-01 -8.63784396e-01 -2.43708362e-03 2.32232401e+02] [ 8.63773558e-01 5.03861600e-01 -4.32774416e-03 8.27341387e+01] [ 4.96619073e-03 7.54702234e-05 9.99987666e-01 -4.20798427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:232.24, Y:82.76, Z:-0.42 [[ 5.02070329e-01 -8.64822795e-01 -2.63010108e-03 2.32243781e+02] [ 8.64810172e-01 5.02077213e-01 -4.67315116e-03 8.27565251e+01] [ 5.36196147e-03 7.17123731e-05 9.99985622e-01 -4.21765023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.52028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:232.26, Y:82.78, Z:-0.42 [[ 4.97610012e-01 -8.67396443e-01 -2.77235750e-03 2.32257312e+02] [ 8.67382441e-01 4.97617733e-01 -4.92878386e-03 8.27787129e+01] [ 5.65478384e-03 4.79179779e-05 9.99984010e-01 -4.21958255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.550281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:232.27, Y:82.80, Z:-0.42 [[ 4.95002847e-01 -8.68887166e-01 -2.69716103e-03 2.32271503e+02] [ 8.68873921e-01 4.95010194e-01 -4.79774687e-03 8.28008471e+01] [ 5.50382289e-03 3.14054804e-05 9.99984853e-01 -4.21389191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.29, Y:82.82, Z:-0.42 [[ 4.90648914e-01 -8.71355217e-01 -1.93130779e-03 2.32285733e+02] [ 8.71348436e-01 4.90652715e-01 -3.43758891e-03 8.28215090e+01] [ 3.94296244e-03 3.80724330e-06 9.99992227e-01 -4.21044218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.30, Y:82.84, Z:-0.42 [[ 4.88929958e-01 -8.72321325e-01 -1.73287418e-03 2.32298524e+02] [ 8.72315865e-01 4.88933029e-01 -3.08628907e-03 8.28433659e+01] [ 3.53949519e-03 -2.63445683e-06 9.99993736e-01 -4.20734921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.64028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.31, Y:82.87, Z:-0.42 [[ 4.87294689e-01 -8.73235319e-01 -1.99100146e-03 2.32313055e+02] [ 8.73228112e-01 4.87298756e-01 -3.54785098e-03 8.28659563e+01] [ 4.06832131e-03 -9.74950368e-06 9.99991724e-01 -4.21167515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.33, Y:82.89, Z:-0.42 [[ 4.85212848e-01 -8.74392413e-01 -2.52969722e-03 2.32327685e+02] [ 8.74380780e-01 4.85219442e-01 -4.51054894e-03 8.28861259e+01] [ 5.17144805e-03 -2.33423303e-05 9.99986628e-01 -4.20897448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.70028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.35, Y:82.91, Z:-0.42 [[ 4.82069338e-01 -8.76126465e-01 -3.40167672e-03 2.32346283e+02] [ 8.76105448e-01 4.82081336e-01 -6.06867099e-03 8.29051363e+01] [ 6.95680812e-03 -5.47073005e-05 9.99975800e-01 -4.20575200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.73028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:232.36, Y:82.93, Z:-0.42 [[ 4.80709156e-01 -8.76873872e-01 -3.30455118e-03 2.32360996e+02] [ 8.76854031e-01 4.80720510e-01 -5.89904134e-03 8.29253626e+01] [ 6.76128076e-03 -6.18858387e-05 9.99977140e-01 -4.20943061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.76028169299997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:232.38, Y:82.94, Z:-0.42 [[ 4.77178713e-01 -8.78801043e-01 -3.03350497e-03 2.32379125e+02] [ 8.78784342e-01 4.77188348e-01 -5.41852234e-03 8.29428787e+01] [ 6.20935631e-03 -8.01931483e-05 9.99980719e-01 -4.21847767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.39, Y:82.96, Z:-0.42 [[ 4.75632399e-01 -8.79639403e-01 -2.88811320e-03 2.32394981e+02] [ 8.79624262e-01 4.75641160e-01 -5.16181780e-03 8.29628010e+01] [ 5.91424384e-03 -8.53266521e-05 9.99982507e-01 -4.21838642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.41, Y:82.98, Z:-0.42 [[ 4.75000244e-01 -8.79981584e-01 -2.67969964e-03 2.32410771e+02] [ 8.79968539e-01 4.75007795e-01 -4.79222084e-03 8.29834719e+01] [ 5.48994430e-03 -8.17453079e-05 9.99984927e-01 -4.21306389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.43, Y:83.00, Z:-0.42 [[ 4.75580303e-01 -8.79669946e-01 -2.03988665e-03 2.32427538e+02] [ 8.79662374e-01 4.75584674e-01 -3.65041784e-03 8.30019080e+01] [ 4.18130169e-03 -5.83447108e-05 9.99991257e-01 -4.19649455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.44, Y:83.02, Z:-0.42 [[ 4.76260817e-01 -8.79302175e-01 -1.82205525e-03 2.32442699e+02] [ 8.79296123e-01 4.76264300e-01 -3.26247801e-03 8.30221917e+01] [ 3.73648388e-03 -4.83356755e-05 9.99993018e-01 -4.19270905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.46, Y:83.04, Z:-0.42 [[ 4.77256499e-01 -8.78762685e-01 -1.54183641e-03 2.32458123e+02] [ 8.78758344e-01 4.77258989e-01 -2.76247039e-03 8.30433581e+01] [ 3.16341118e-03 -3.64946662e-05 9.99994996e-01 -4.19025294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.47, Y:83.06, Z:-0.42 [[ 4.81413685e-01 -8.76492758e-01 -1.14408632e-03 2.32472954e+02] [ 8.76490358e-01 4.81415044e-01 -2.05125212e-03 8.30631324e+01] [ 2.34868800e-03 -1.52797842e-05 9.99997242e-01 -4.18444994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 281.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.48, Y:83.09, Z:-0.42 [[ 4.83870218e-01 -8.75132435e-01 3.58246272e-03 2.32483836e+02] [ 8.75129244e-01 4.83840271e-01 -6.88472729e-03 8.30880030e+01] [ 4.29170842e-03 6.46643238e-03 9.99969883e-01 -4.17510870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.50, Y:83.11, Z:-0.42 [[ 4.89647298e-01 -8.71891830e-01 -7.08236480e-03 2.32503794e+02] [ 8.71914345e-01 4.89658390e-01 1.91051137e-04 8.31061356e+01] [ 3.30136342e-03 -6.26876313e-03 9.99974902e-01 -4.16527341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.51, Y:83.13, Z:-0.42 [[ 4.92918314e-01 -8.70073681e-01 -1.82362703e-03 2.32514119e+02] [ 8.70067518e-01 4.92921686e-01 -3.27488359e-03 8.31296631e+01] [ 3.74829533e-03 2.75714492e-05 9.99992975e-01 -4.17034759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.52, Y:83.15, Z:-0.42 [[ 4.96047107e-01 -8.68293546e-01 -1.89349199e-03 2.32524876e+02] [ 8.68286881e-01 4.96050719e-01 -3.40244979e-03 8.31513374e+01] [ 3.89359326e-03 4.36811252e-05 9.99992419e-01 -4.17383218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.53, Y:83.17, Z:-0.42 [[ 5.01635402e-01 -8.65075988e-01 -2.33655891e-03 2.32534874e+02] [ 8.65065792e-01 5.01640836e-01 -4.20095924e-03 8.31744767e+01] [ 4.80626233e-03 8.60726929e-05 9.99988446e-01 -4.17726710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.120281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:232.55, Y:83.20, Z:-0.42 [[ 5.04383286e-01 -8.63476552e-01 -2.39662416e-03 2.32545099e+02] [ 8.63465794e-01 5.04388969e-01 -4.31159986e-03 8.31965310e+01] [ 4.93179617e-03 1.05295917e-04 9.99987833e-01 -4.16903857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.55, Y:83.22, Z:-0.42 [[ 5.07280684e-01 -8.61778070e-01 -2.20599561e-03 2.32554952e+02] [ 8.61768928e-01 5.07285468e-01 -3.97101306e-03 8.32206283e+01] [ 4.54120148e-03 1.13359745e-04 9.99989682e-01 -4.15484852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.56, Y:83.25, Z:-0.42 [[ 5.12800642e-01 -8.58506164e-01 -1.63336726e-03 2.32559160e+02] [ 8.58501129e-01 5.12803232e-01 -2.94216623e-03 8.32466668e+01] [ 3.36346386e-03 1.06497096e-04 9.99994338e-01 -4.16089315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.57, Y:83.27, Z:-0.42 [[ 5.14578193e-01 -8.57441182e-01 -1.97568772e-03 2.32567338e+02] [ 8.57433799e-01 5.14581967e-01 -3.56084139e-03 8.32705584e+01] [ 4.06986532e-03 1.38309905e-04 9.99991709e-01 -4.16609738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.58, Y:83.29, Z:-0.42 [[ 5.15960781e-01 -8.56609298e-01 -2.23215977e-03 2.32575601e+02] [ 8.56599856e-01 5.15965583e-01 -4.02545080e-03 8.32943998e+01] [ 4.59995620e-03 1.64907005e-04 9.99989407e-01 -4.17448634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.58, Y:83.32, Z:-0.42 [[ 5.17100328e-01 -8.55921761e-01 -2.27800770e-03 2.32578623e+02] [ 8.55911909e-01 5.17105316e-01 -4.11057759e-03 8.33202196e+01] [ 4.69630270e-03 1.75807106e-04 9.99988957e-01 -4.16411777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:83.35, Z:-0.42 [[ 5.17074073e-01 -8.55938381e-01 -1.97251910e-03 2.32585465e+02] [ 8.55930986e-01 5.17077813e-01 -3.56128670e-03 8.33460367e+01] [ 4.06818784e-03 1.53108801e-04 9.99991713e-01 -4.15012655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:83.38, Z:-0.41 [[ 5.17569143e-01 -8.55639873e-01 -1.60927842e-03 2.32586922e+02] [ 8.55634944e-01 5.17571630e-01 -2.90717987e-03 8.33754664e+01] [ 3.32041587e-03 1.27711742e-04 9.99994479e-01 -4.14915255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.360281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.59, Y:83.40, Z:-0.42 [[ 5.17260160e-01 -8.55826805e-01 -1.55159577e-03 2.32593818e+02] [ 8.55822219e-01 5.17262473e-01 -2.80414932e-03 8.34003559e+01] [ 3.20244842e-03 1.22584588e-04 9.99994865e-01 -4.15194860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.60, Y:83.43, Z:-0.42 [[ 5.16568740e-01 -8.56244124e-01 -1.65452157e-03 2.32600881e+02] [ 8.56238906e-01 5.16571374e-01 -2.99184481e-03 8.34263067e+01] [ 3.41642802e-03 1.28827762e-04 9.99994156e-01 -4.15312268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:83.45, Z:-0.42 [[ 5.15596603e-01 -8.56829855e-01 -1.65627125e-03 2.32607854e+02] [ 8.56824623e-01 5.15599248e-01 -2.99673052e-03 8.34515511e+01] [ 3.42166039e-03 1.25970092e-04 9.99994138e-01 -4.15466028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.61, Y:83.48, Z:-0.41 [[ 5.12423342e-01 -8.58732542e-01 -8.59722794e-04 2.32609641e+02] [ 8.58731134e-01 5.12424060e-01 -1.55659034e-03 8.34793192e+01] [ 1.77723742e-03 5.93624934e-05 9.99998419e-01 -4.14986238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.48028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.61, Y:83.51, Z:-0.41 [[ 5.08039326e-01 -8.61333541e-01 -7.57748433e-04 2.32611828e+02] [ 8.61332448e-01 5.08039889e-01 -1.37283380e-03 8.35056318e+01] [ 1.56743423e-03 4.47802482e-05 9.99998771e-01 -4.14965974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.62, Y:83.53, Z:-0.42 [[ 5.05854460e-01 -8.62617947e-01 -1.24218607e-03 2.32620484e+02] [ 8.62615011e-01 5.05855981e-01 -2.25142139e-03 8.35312738e+01] [ 2.57048375e-03 6.73632073e-05 9.99996694e-01 -4.15992025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.63, Y:83.56, Z:-0.42 [[ 5.03655622e-01 -8.63902417e-01 -1.90492431e-03 2.32628248e+02] [ 8.63895516e-01 5.03659215e-01 -3.45438839e-03 8.35559328e+01] [ 3.94368716e-03 9.41665667e-05 9.99992219e-01 -4.16904775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.57028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.64, Y:83.58, Z:-0.42 [[ 5.01351872e-01 -8.65239765e-01 -2.53937099e-03 2.32635802e+02] [ 8.65227505e-01 5.01358291e-01 -4.60743759e-03 8.35811663e+01] [ 5.25967292e-03 1.12813835e-04 9.99986161e-01 -4.17043332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.60028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.64, Y:83.61, Z:-0.42 [[ 4.98150971e-01 -8.67084841e-01 -3.08028207e-03 2.32640341e+02] [ 8.67066820e-01 4.98160481e-01 -5.59148180e-03 8.36064508e+01] [ 6.38276390e-03 1.14591709e-04 9.99979623e-01 -4.16963925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.65, Y:83.63, Z:-0.42 [[ 4.97968760e-01 -8.67189503e-01 -3.07910658e-03 2.32652574e+02] [ 8.67171479e-01 4.97978266e-01 -5.59212922e-03 8.36293761e+01] [ 6.38276391e-03 1.14592241e-04 9.99979623e-01 -4.16985991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.66, Y:83.65, Z:-0.42 [[ 4.96173499e-01 -8.68218636e-01 -2.87383959e-03 2.32663069e+02] [ 8.68202935e-01 4.96181812e-01 -5.22228701e-03 8.36526984e+01] [ 5.96003384e-03 9.60844504e-05 9.99982234e-01 -4.17459030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.67, Y:83.68, Z:-0.42 [[ 4.91862670e-01 -8.70670256e-01 -2.10222243e-03 2.32674224e+02] [ 8.70661867e-01 4.91867160e-01 -3.82247769e-03 8.36758571e+01] [ 4.36213181e-03 4.98091781e-05 9.99990485e-01 -4.17330137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.69, Y:83.70, Z:-0.42 [[ 4.89659021e-01 -8.71911276e-01 -2.18415772e-03 2.32685630e+02] [ 8.71902222e-01 4.89663890e-01 -3.97367731e-03 8.37000886e+01] [ 4.53419722e-03 4.13749749e-05 9.99989720e-01 -4.16965740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.70, Y:83.72, Z:-0.42 [[ 4.88208146e-01 -8.72723052e-01 -2.69816132e-03 2.32696161e+02] [ 8.72709232e-01 4.88215600e-01 -4.91162713e-03 8.37233718e+01] [ 5.60377467e-03 4.31860828e-05 9.99984298e-01 -4.16914454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.71, Y:83.75, Z:-0.42 [[ 4.86960307e-01 -8.73419026e-01 -2.97736646e-03 2.32706666e+02] [ 8.73402192e-01 4.86969407e-01 -5.42283398e-03 8.37472021e+01] [ 6.18629275e-03 4.02665062e-05 9.99980864e-01 -4.17813665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.72, Y:83.77, Z:-0.42 [[ 4.86831319e-01 -8.73492397e-01 -2.50978359e-03 2.32718521e+02] [ 8.73480422e-01 4.86837787e-01 -4.57395016e-03 8.37699093e+01] [ 5.21716817e-03 3.44953582e-05 9.99986390e-01 -4.17527312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.73, Y:83.79, Z:-0.42 [[ 4.86884028e-01 -8.73464399e-01 -1.97148639e-03 2.32729697e+02] [ 8.73457001e-01 4.86888018e-01 -3.59517219e-03 8.37927548e+01] [ 4.10014802e-03 2.84233282e-05 9.99991594e-01 -4.17041925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:232.74, Y:83.82, Z:-0.42 [[ 4.87399679e-01 -8.73177447e-01 -1.64302667e-03 2.32737504e+02] [ 8.73172300e-01 4.87402447e-01 -2.99806183e-03 8.38173772e+01] [ 3.41865519e-03 2.66089961e-05 9.99994156e-01 -4.16007609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:232.75, Y:83.84, Z:-0.42 [[ 4.87774159e-01 -8.72967829e-01 -1.88137750e-03 2.32746868e+02] [ 8.72961071e-01 4.87777786e-01 -3.43507503e-03 8.38406580e+01] [ 3.91640414e-03 3.31715165e-05 9.99992330e-01 -4.16191892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.76, Y:83.87, Z:-0.42 [[ 4.88309170e-01 -8.72666362e-01 -2.75221115e-03 2.32756486e+02] [ 8.72651881e-01 4.88316923e-01 -5.02761923e-03 8.38654511e+01] [ 5.73138547e-03 5.33103414e-05 9.99983574e-01 -4.15958879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.77, Y:83.89, Z:-0.42 [[ 4.88261838e-01 -8.72692843e-01 -2.75295025e-03 2.32766877e+02] [ 8.72678342e-01 4.88269596e-01 -5.03113015e-03 8.38887049e+01] [ 5.73481319e-03 5.40687929e-05 9.99983554e-01 -4.15689540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 282.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:232.78, Y:83.91, Z:-0.42 [[ 4.87639132e-01 -8.73042271e-01 -2.29592630e-03 2.32776890e+02] [ 8.73032177e-01 4.87644535e-01 -4.19839453e-03 8.39133391e+01] [ 4.78497180e-03 4.28839242e-05 9.99988551e-01 -4.15752385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.02028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:232.78, Y:83.94, Z:-0.42 [[ 4.85130910e-01 -8.74440682e-01 -1.22260901e-03 2.32783434e+02] [ 8.74437820e-01 4.85132450e-01 -2.23721743e-03 8.39384396e+01] [ 2.54944124e-03 1.62477642e-05 9.99996750e-01 -4.15441147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.050281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:232.79, Y:83.96, Z:-0.42 [[ 4.83376233e-01 -8.75411759e-01 -1.29193095e-03 2.32794406e+02] [ 8.75408564e-01 4.83377959e-01 -2.36530434e-03 8.39619832e+01] [ 2.69510618e-03 1.23644820e-05 9.99996368e-01 -4.16075415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.08028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:232.80, Y:83.99, Z:-0.42 [[ 4.79947449e-01 -8.77294798e-01 -2.06955464e-03 2.32803889e+02] [ 8.77286608e-01 4.79951911e-01 -3.79092899e-03 8.39855889e+01] [ 4.31904899e-03 3.85412512e-06 9.99990673e-01 -4.16892505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.110281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:232.81, Y:84.01, Z:-0.42 [[ 4.78784394e-01 -8.77929082e-01 -2.45604511e-03 2.32813297e+02] [ 8.77917541e-01 4.78790693e-01 -4.50143894e-03 8.40091558e+01] [ 5.12787569e-03 -9.86366330e-07 9.99986852e-01 -4.17176469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.14028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:232.82, Y:84.03, Z:-0.42 [[ 4.78049524e-01 -8.78329101e-01 -2.57737963e-03 2.32821217e+02] [ 8.78316383e-01 4.78056472e-01 -4.72659099e-03 8.40333929e+01] [ 5.38363542e-03 -4.21017911e-06 9.99985508e-01 -4.17080022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.170281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:232.83, Y:84.06, Z:-0.42 [[ 4.77570497e-01 -8.78589911e-01 -2.48778027e-03 2.32832744e+02] [ 8.78578053e-01 4.77576977e-01 -4.56470252e-03 8.40575207e+01] [ 5.19860816e-03 -5.74189509e-06 9.99986487e-01 -4.16573775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.20028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:232.84, Y:84.08, Z:-0.42 [[ 4.76560893e-01 -8.79138669e-01 -2.21743038e-03 2.32844165e+02] [ 8.79129243e-01 4.76566052e-01 -4.07096000e-03 8.40816524e+01] [ 4.63569039e-03 -9.34756135e-06 9.99989255e-01 -4.16197461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.23028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:232.86, Y:84.10, Z:-0.42 [[ 4.74976197e-01 -8.79996660e-01 -1.86832731e-03 2.32855208e+02] [ 8.79989967e-01 4.74979872e-01 -3.43210927e-03 8.41048715e+01] [ 3.90766256e-03 -1.39390754e-05 9.99992365e-01 -4.15779623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.26028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:232.87, Y:84.13, Z:-0.42 [[ 4.71335432e-01 -8.81953595e-01 -8.75966281e-04 2.32866752e+02] [ 8.81952125e-01 4.71336245e-01 -1.61023489e-03 8.41288057e+01] [ 1.83302710e-03 -1.35995679e-05 9.99998320e-01 -4.16109858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.29028169299994 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:232.88, Y:84.15, Z:-0.42 [[ 4.69247206e-01 -8.83066549e-01 -7.27814590e-04 2.32879706e+02] [ 8.83065535e-01 4.69247770e-01 -1.33874434e-03 8.41504556e+01] [ 1.52372572e-03 -1.45059369e-05 9.99998839e-01 -4.16397514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.32028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:232.89, Y:84.17, Z:-0.42 [[ 4.64911447e-01 -8.85356401e-01 -1.17911706e-03 2.32894397e+02] [ 8.85353743e-01 4.64912941e-01 -2.16965975e-03 8.41702195e+01] [ 2.46910892e-03 -3.52360513e-05 9.99996951e-01 -4.16360488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.35028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:232.91, Y:84.19, Z:-0.42 [[ 4.63274152e-01 -8.86213561e-01 -1.60752453e-03 2.32907901e+02] [ 8.86208621e-01 4.63276938e-01 -2.95961853e-03 8.41913196e+01] [ 3.36758312e-03 -5.34873383e-05 9.99994328e-01 -4.16863497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.380281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:232.92, Y:84.21, Z:-0.42 [[ 4.62683740e-01 -8.86519012e-01 2.79259077e-03 2.32917766e+02] [ 8.86501644e-01 4.62648011e-01 -8.46477022e-03 8.42123675e+01] [ 6.21219316e-03 6.39214785e-03 9.99960274e-01 -4.17363720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.41028169299994 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:232.94, Y:84.23, Z:-0.42 [[ 4.62343870e-01 -8.86658664e-01 -8.63482412e-03 2.32938958e+02] [ 8.86679511e-01 4.62378229e-01 -2.41193427e-03 8.42302957e+01] [ 6.13111710e-03 -6.54117861e-03 9.99959810e-01 -4.18791155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.440281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:232.95, Y:84.25, Z:-0.42 [[ 4.62502389e-01 -8.86612563e-01 -3.11496441e-03 2.32950959e+02] [ 8.86593950e-01 4.62512867e-01 -5.74590198e-03 8.42527608e+01] [ 6.53510000e-03 -1.04215207e-04 9.99978641e-01 -4.18093891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.47028169299995 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:232.97, Y:84.27, Z:-0.42 [[ 4.62497818e-01 -8.86615601e-01 -2.92320477e-03 2.32965320e+02] [ 8.86599188e-01 4.62507046e-01 -5.39552049e-03 8.42725800e+01] [ 6.13575544e-03 -9.62945167e-05 9.99981171e-01 -4.17686954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.500281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:232.98, Y:84.29, Z:-0.42 [[ 4.63294687e-01 -8.86202203e-01 -1.92028192e-03 2.32983138e+02] [ 8.86195108e-01 4.63298663e-01 -3.54658201e-03 8.42917921e+01] [ 4.03265284e-03 -5.86318364e-05 9.99991867e-01 -4.17233180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.53028169299995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:233.00, Y:84.31, Z:-0.42 [[ 4.64191587e-01 -8.85733345e-01 -1.61652190e-03 2.32997638e+02] [ 8.85728308e-01 4.64194399e-01 -2.98728001e-03 8.43137289e+01] [ 3.39631392e-03 -4.51289589e-05 9.99994232e-01 -4.17000032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.560281693 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:233.01, Y:84.33, Z:-0.42 [[ 4.67316970e-01 -8.84087981e-01 -1.81417174e-03 2.33013873e+02] [ 8.84081618e-01 4.67320490e-01 -3.35445068e-03 8.43334237e+01] [ 3.81342916e-03 -3.62841601e-05 9.99992728e-01 -4.17854055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.59028169299995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:233.03, Y:84.35, Z:-0.42 [[ 4.69298349e-01 -8.83037447e-01 -1.98171427e-03 2.33026934e+02] [ 8.83029836e-01 4.69302532e-01 -3.66645978e-03 8.43537908e+01] [ 4.16764481e-03 -2.92493087e-05 9.99991315e-01 -4.17607837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.620281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:233.04, Y:84.38, Z:-0.42 [[ 4.71107356e-01 -8.82073548e-01 -2.02862668e-03 2.33040013e+02] [ 8.82065554e-01 4.71111723e-01 -3.75544098e-03 8.43761649e+01] [ 4.26828496e-03 -2.01658420e-05 9.99990891e-01 -4.17750248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.65028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:233.05, Y:84.40, Z:-0.42 [[ 4.72866448e-01 -8.81131675e-01 -2.07189522e-03 2.33053427e+02] [ 8.81123318e-01 4.72870987e-01 -3.83768205e-03 8.43990114e+01] [ 4.36124236e-03 -1.08841107e-05 9.99990490e-01 -4.17291004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.680281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:233.07, Y:84.42, Z:-0.42 [[ 4.72731515e-01 -8.81204155e-01 -2.03774258e-03 2.33067029e+02] [ 8.81196062e-01 4.72735907e-01 -3.77655988e-03 8.44218074e+01] [ 4.29123434e-03 -1.03518634e-05 9.99990793e-01 -4.17371095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.71028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:233.08, Y:84.44, Z:-0.42 [[ 4.72373453e-01 -8.81396323e-01 -1.96042525e-03 2.33080827e+02] [ 8.81388825e-01 4.72377521e-01 -3.63545210e-03 8.44434494e+01] [ 4.13033493e-03 -1.06058410e-05 9.99991470e-01 -4.17963993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:233.10, Y:84.46, Z:-0.42 [[ 4.71110852e-01 -8.82072182e-01 -1.79772417e-03 2.33096313e+02] [ 8.82065874e-01 4.71114282e-01 -3.33575947e-03 8.44630342e+01] [ 3.78931416e-03 -1.41986537e-05 9.99992820e-01 -4.18908028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.77028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.11, Y:84.48, Z:-0.42 [[ 4.70731079e-01 -8.82274988e-01 -1.75981408e-03 2.33108857e+02] [ 8.82268940e-01 4.70734369e-01 -3.26690639e-03 8.44840541e+01] [ 3.71071476e-03 -1.47949308e-05 9.99993115e-01 -4.19329384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.800281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:233.12, Y:84.51, Z:-0.42 [[ 4.70919798e-01 -8.82174521e-01 -1.63067795e-03 2.33122390e+02] [ 8.82169321e-01 4.70922621e-01 -3.02895930e-03 8.45067730e+01] [ 3.43999385e-03 -1.21371609e-05 9.99994083e-01 -4.18313990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.83028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:233.13, Y:84.53, Z:-0.42 [[ 4.71024555e-01 -8.82118263e-01 -1.79952739e-03 2.33134922e+02] [ 8.82111923e-01 4.71027992e-01 -3.34452354e-03 8.45285866e+01] [ 3.79789307e-03 -1.20318564e-05 9.99992788e-01 -4.18455115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.860281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:233.15, Y:84.55, Z:-0.42 [[ 4.71339208e-01 -8.81949419e-01 -2.13860581e-03 2.33146574e+02] [ 8.81940454e-01 4.71344060e-01 -3.97656320e-03 8.45497430e+01] [ 4.51514675e-03 -1.18128346e-05 9.99989807e-01 -4.18499475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.89028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:233.16, Y:84.57, Z:-0.42 [[ 4.71415516e-01 -8.81907853e-01 -2.43917500e-03 2.33158614e+02] [ 8.81896178e-01 4.71421826e-01 -4.53795570e-03 8.45724468e+01] [ 5.15193911e-03 -1.18363787e-05 9.99986729e-01 -4.18882032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.920281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.17, Y:84.59, Z:-0.42 [[ 4.71859238e-01 -8.81671560e-01 -2.02978579e-03 2.33171722e+02] [ 8.81663463e-01 4.71863603e-01 -3.77850847e-03 8.45949871e+01] [ 4.28918550e-03 -6.66384285e-06 9.99990801e-01 -4.19122167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.95028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.18, Y:84.62, Z:-0.42 [[ 4.72621170e-01 -8.81264573e-01 -1.40766130e-03 2.33184250e+02] [ 8.81260674e-01 4.72623267e-01 -2.62162258e-03 8.46175257e+01] [ 2.97563658e-03 -1.48221418e-06 9.99995573e-01 -4.18879989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 283.98028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:233.20, Y:84.64, Z:-0.42 [[ 4.75049918e-01 -8.79958697e-01 -5.16800531e-04 2.33197349e+02] [ 8.79958170e-01 4.75050199e-01 -9.63326434e-04 8.46407250e+01] [ 1.09319367e-03 2.86529411e-06 9.99999402e-01 -4.17864829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:233.21, Y:84.66, Z:-0.42 [[ 4.76375271e-01 -8.79241941e-01 -4.59963534e-04 2.33208359e+02] [ 8.79241522e-01 4.76375493e-01 -8.58039597e-04 8.46624741e+01] [ 9.73539755e-04 4.32980798e-06 9.99999526e-01 -4.18225533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.04028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:233.22, Y:84.68, Z:-0.42 [[ 4.78078351e-01 -8.78316833e-01 -7.94716593e-04 2.33219495e+02] [ 8.78315581e-01 4.78079011e-01 -1.48308497e-03 8.46839323e+01] [ 1.68255581e-03 1.10188486e-05 9.99998584e-01 -4.18026578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.07028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.23, Y:84.71, Z:-0.42 [[ 4.83189499e-01 -8.75515322e-01 -9.10687777e-04 2.33230293e+02] [ 8.75513671e-01 4.83190357e-01 -1.70043745e-03 8.47073186e+01] [ 1.92879459e-03 2.43139222e-05 9.99998140e-01 -4.18241524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.10028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.24, Y:84.73, Z:-0.42 [[ 4.85625144e-01 -8.74166800e-01 -7.91248404e-04 2.33241201e+02] [ 8.74165550e-01 4.85625788e-01 -1.47837563e-03 8.47306852e+01] [ 1.67659752e-03 2.62542830e-05 9.99998594e-01 -4.17605784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.130281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:233.25, Y:84.75, Z:-0.42 [[ 4.88816160e-01 -8.72386174e-01 -1.06071421e-03 2.33249854e+02] [ 8.72383922e-01 4.88817309e-01 -1.98295186e-03 8.47541566e+01] [ 2.24839525e-03 4.39488938e-05 9.99997471e-01 -4.16966881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.16028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.26, Y:84.78, Z:-0.42 [[ 4.89270609e-01 -8.72131084e-01 -1.28209882e-03 2.33260428e+02] [ 8.72127789e-01 4.89272285e-01 -2.39796702e-03 8.47781713e+01] [ 2.71863700e-03 5.51007727e-05 9.99996303e-01 -4.16912193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.27, Y:84.80, Z:-0.42 [[ 4.88885615e-01 -8.72346941e-01 -1.29217559e-03 2.33269997e+02] [ 8.72343590e-01 4.88887320e-01 -2.41839255e-03 8.48004073e+01] [ 2.74140561e-03 5.50962391e-05 9.99996241e-01 -4.17061172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.22028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:233.28, Y:84.82, Z:-0.42 [[ 4.88033144e-01 -8.72825049e-01 -2.88196804e-04 2.33277740e+02] [ 8.72824882e-01 4.88033229e-01 -5.40044030e-04 8.48246901e+01] [ 6.12013574e-04 1.20140452e-05 9.99999813e-01 -4.16270363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.250281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:233.29, Y:84.85, Z:-0.42 [[ 4.87969420e-01 -8.72860701e-01 2.06650299e-04 2.33287316e+02] [ 8.72860615e-01 4.87969463e-01 3.86688338e-04 8.48489044e+01] [-4.38364089e-04 -8.31517631e-06 9.99999904e-01 -4.15541141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.28028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:233.29, Y:84.87, Z:-0.42 [[ 4.88198284e-01 -8.72732728e-01 1.45498042e-04 2.33293987e+02] [ 8.72732686e-01 4.88198305e-01 2.72272998e-04 8.48744533e+01] [-3.08653454e-04 -5.94231300e-06 9.99999952e-01 -4.15995606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.310281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:233.30, Y:84.90, Z:-0.42 [[ 4.88264416e-01 -8.72695733e-01 -1.33524125e-04 2.33303214e+02] [ 8.72695697e-01 4.88264435e-01 -2.50755806e-04 8.48986799e+01] [ 2.84028603e-04 5.90920821e-06 9.99999960e-01 -4.16778421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.34028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.31, Y:84.92, Z:-0.42 [[ 4.88942730e-01 -8.72315315e-01 -9.99029337e-04 2.33308177e+02] [ 8.72313301e-01 4.88943749e-01 -1.87516456e-03 8.49237212e+01] [ 2.12420391e-03 4.53814993e-05 9.99997743e-01 -4.18806365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.370281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.32, Y:84.95, Z:-0.42 [[ 4.89257796e-01 -8.72137381e-01 -1.78834672e-03 2.33315753e+02] [ 8.72130919e-01 4.89261057e-01 -3.35824600e-03 8.49480710e+01] [ 3.80382028e-03 8.33755706e-05 9.99992762e-01 -4.19451681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.40028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.32, Y:84.97, Z:-0.42 [[ 4.89384464e-01 -8.72064575e-01 -2.49486227e-03 2.33323211e+02] [ 8.72051984e-01 4.89390809e-01 -4.68763048e-03 8.49715817e+01] [ 5.30887915e-03 1.18403940e-04 9.99985901e-01 -4.19446985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.33, Y:85.00, Z:-0.42 [[ 4.88450035e-01 -8.72581742e-01 4.20319891e-03 2.33328570e+02] [ 8.72553888e-01 4.88378169e-01 -1.16823145e-02 8.49994276e+01] [ 8.14102377e-03 9.37374448e-03 9.99922925e-01 -4.17498220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.46028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.35, Y:85.02, Z:-0.42 [[ 4.84996965e-01 -8.74462231e-01 -9.68249562e-03 2.33345410e+02] [ 8.74502023e-01 4.85021803e-01 -2.49992071e-04 8.50200754e+01] [ 4.91483011e-03 -8.34611661e-03 9.99953092e-01 -4.18614284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.35, Y:85.04, Z:-0.42 [[ 4.82188525e-01 -8.76066163e-01 -1.51782146e-03 2.33352352e+02] [ 8.76061507e-01 4.82190912e-01 -2.85679618e-03 8.50448444e+01] [ 3.23462218e-03 4.78093817e-05 9.99994767e-01 -4.18930260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.36, Y:85.07, Z:-0.42 [[ 4.79138046e-01 -8.77739004e-01 -9.87064958e-04 2.33363381e+02] [ 8.77737036e-01 4.79139062e-01 -1.85889149e-03 8.50688826e+01] [ 2.10456294e-03 2.42821646e-05 9.99997785e-01 -4.18996365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.38, Y:85.09, Z:-0.42 [[ 4.78944225e-01 -8.77844779e-01 -9.86656083e-04 2.33375701e+02] [ 8.77842810e-01 4.78945241e-01 -1.85910855e-03 8.50926927e+01] [ 2.10456297e-03 2.42803542e-05 9.99997785e-01 -4.19000344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.39, Y:85.12, Z:-0.42 [[ 4.73849007e-01 -8.80605711e-01 -8.36592150e-04 2.33385395e+02] [ 8.80604299e-01 4.73849746e-01 -1.57729261e-03 8.51166735e+01] [ 1.78539186e-03 1.06918955e-05 9.99998406e-01 -4.20163925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.40, Y:85.14, Z:-0.42 [[ 4.71945686e-01 -8.81626680e-01 -1.29121361e-03 2.33397361e+02] [ 8.81623315e-01 4.71947452e-01 -2.43580085e-03 8.51393683e+01] [ 2.75685198e-03 1.12016828e-05 9.99996200e-01 -4.20497733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.64028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.41, Y:85.16, Z:-0.42 [[ 4.69753230e-01 -8.82792784e-01 -2.96696724e-03 2.33409124e+02] [ 8.82775020e-01 4.69762599e-01 -5.60046063e-03 8.51611947e+01] [ 6.33781647e-03 1.16699043e-05 9.99979916e-01 -4.21244358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.670281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.42, Y:85.18, Z:-0.42 [[ 4.70185430e-01 -8.82561167e-01 -3.38335583e-03 2.33419879e+02] [ 8.82538031e-01 4.70197603e-01 -6.39040747e-03 8.51834003e+01] [ 7.23077128e-03 1.87362887e-05 9.99973857e-01 -4.21509366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.70028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:233.43, Y:85.21, Z:-0.42 [[ 4.71498090e-01 -8.81860445e-01 -3.42148583e-03 2.33431153e+02] [ 8.81836738e-01 4.71510503e-01 -6.46631681e-03 8.52058980e+01] [ 7.31565553e-03 3.16641204e-05 9.99973240e-01 -4.21046196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.44, Y:85.23, Z:-0.42 [[ 4.75155416e-01 -8.79899470e-01 -2.06238431e-03 2.33444103e+02] [ 8.79890828e-01 4.75159890e-01 -3.90000328e-03 8.52284607e+01] [ 4.41157312e-03 3.84346446e-05 9.99990268e-01 -4.19973018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:233.46, Y:85.25, Z:-0.42 [[ 4.76541440e-01 -8.79151082e-01 -1.27675267e-03 2.33455862e+02] [ 8.79147764e-01 4.76543150e-01 -2.41584706e-03 8.52503956e+01] [ 2.73232230e-03 2.87969800e-05 9.99996267e-01 -4.18899755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.47, Y:85.27, Z:-0.42 [[ 4.77021535e-01 -8.78891340e-01 -6.83467573e-04 2.33467402e+02] [ 8.78890388e-01 4.77022025e-01 -1.29401944e-03 8.52740284e+01] [ 1.46333156e-03 1.65820579e-05 9.99998929e-01 -4.18694165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.48, Y:85.30, Z:-0.42 [[ 4.77283865e-01 -8.78748600e-01 -1.00528309e-03 2.33478513e+02] [ 8.78746537e-01 4.77284923e-01 -1.90437667e-03 8.52975620e+01] [ 2.15327480e-03 2.55392213e-05 9.99997681e-01 -4.19291325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.85028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:233.49, Y:85.32, Z:-0.42 [[ 4.77248937e-01 -8.78766926e-01 -1.46360362e-03 2.33491537e+02] [ 8.78762548e-01 4.77251179e-01 -2.77418678e-03 8.53209112e+01] [ 3.13637014e-03 3.78176413e-05 9.99995081e-01 -4.20679381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.880281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.50, Y:85.34, Z:-0.42 [[ 4.76561764e-01 -8.79137427e-01 -2.50403145e-03 2.33504829e+02] [ 8.79124605e-01 4.76568338e-01 -4.74839540e-03 8.53422828e+01] [ 5.36783422e-03 6.15480270e-05 9.99985591e-01 -4.22135357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.91028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:233.52, Y:85.37, Z:-0.42 [[ 4.76039016e-01 -8.79420954e-01 -2.37493920e-03 2.33516492e+02] [ 8.79409411e-01 4.76044937e-01 -4.50621086e-03 8.53653826e+01] [ 5.09343404e-03 5.65883042e-05 9.99987027e-01 -4.21882348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.53, Y:85.39, Z:-0.42 [[ 4.75970298e-01 -8.79459425e-01 -1.84272366e-03 2.33527479e+02] [ 8.79452468e-01 4.75973863e-01 -3.49842679e-03 8.53895378e+01] [ 3.95381271e-03 4.45593717e-05 9.99992183e-01 -4.20599596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 284.97028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.54, Y:85.41, Z:-0.42 [[ 4.76707538e-01 -8.79061892e-01 -3.36643321e-04 2.33537011e+02] [ 8.79061659e-01 4.76707657e-01 -6.39572164e-04 8.54126649e+01] [ 7.22703965e-04 8.95863566e-06 9.99999739e-01 -4.19463458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.55, Y:85.44, Z:-0.42 [[ 4.76840193e-01 -8.78989943e-01 -3.31517208e-04 2.33547955e+02] [ 8.78989717e-01 4.76840308e-01 -6.30186394e-04 8.54365819e+01] [ 7.12008270e-04 9.09798440e-06 9.99999747e-01 -4.19454880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.56, Y:85.46, Z:-0.42 [[ 4.76536029e-01 -8.79154565e-01 -8.14155460e-04 2.33558601e+02] [ 8.79153202e-01 4.76536724e-01 -1.54842122e-03 8.54611826e+01] [ 1.74927656e-03 2.21111202e-05 9.99998470e-01 -4.20616807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.060281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.57, Y:85.49, Z:-0.42 [[ 4.74582205e-01 -8.80209591e-01 -1.67528805e-03 2.33568035e+02] [ 8.80203820e-01 4.74585161e-01 -3.18755064e-03 8.54850956e+01] [ 3.60077950e-03 3.81598678e-05 9.99993516e-01 -4.22634953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.58, Y:85.51, Z:-0.42 [[ 4.72924608e-01 -8.81100645e-01 -1.99201418e-03 2.33578716e+02] [ 8.81092485e-01 4.72928801e-01 -3.79235026e-03 8.55087311e+01] [ 4.28352314e-03 3.83470354e-05 9.99990825e-01 -4.22112764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:233.59, Y:85.53, Z:-0.42 [[ 4.71356752e-01 -8.81940543e-01 -1.92134265e-03 2.33589337e+02] [ 8.81932949e-01 4.71360667e-01 -3.65999681e-03 8.55315304e+01] [ 4.13354493e-03 3.06688186e-05 9.99991456e-01 -4.21796482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.60, Y:85.56, Z:-0.42 [[ 4.67701508e-01 -8.83885785e-01 -1.10380416e-03 2.33600452e+02] [ 8.83883281e-01 4.67702811e-01 -2.10387682e-03 8.55554022e+01] [ 2.37583912e-03 8.35231751e-06 9.99997178e-01 -4.20792607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.180281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:233.61, Y:85.58, Z:-0.42 [[ 4.65975019e-01 -8.84797343e-01 -9.71440715e-04 2.33612803e+02] [ 8.84795403e-01 4.65976032e-01 -1.85265618e-03 8.55789765e+01] [ 2.09189335e-03 3.76521941e-06 9.99997812e-01 -4.21108001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.21028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:233.62, Y:85.60, Z:-0.42 [[ 4.64733409e-01 -8.85448421e-01 -1.98813035e-03 2.33624332e+02] [ 8.85440294e-01 4.64737661e-01 -3.79373343e-03 8.56027896e+01] [ 4.28311432e-03 2.70395004e-06 9.99990827e-01 -4.22219863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:233.63, Y:85.63, Z:-0.42 [[ 4.65100395e-01 -8.85254189e-01 -2.57739200e-03 2.33634674e+02] [ 8.85240515e-01 4.65107537e-01 -4.92040181e-03 8.56256125e+01] [ 5.55457076e-03 6.86901280e-06 9.99984573e-01 -4.22014425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.65, Y:85.65, Z:-0.42 [[ 4.66426858e-01 -8.84556117e-01 -2.54200117e-03 2.33645397e+02] [ 8.84542790e-01 4.66433785e-01 -4.85558256e-03 8.56492551e+01] [ 5.48071048e-03 1.62653109e-05 9.99984981e-01 -4.21003322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.300281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.65, Y:85.67, Z:-0.42 [[ 4.70602368e-01 -8.82343878e-01 -1.64088823e-03 2.33654826e+02] [ 8.82338305e-01 4.70605228e-01 -3.13612291e-03 8.56742473e+01] [ 3.53934943e-03 2.80483301e-05 9.99993736e-01 -4.19177477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.66, Y:85.70, Z:-0.42 [[ 4.72310645e-01 -8.81431478e-01 -1.09764957e-03 2.33664905e+02] [ 8.81428978e-01 4.72311920e-01 -2.09911838e-03 8.56991190e+01] [ 2.36866199e-03 2.39358135e-05 9.99997194e-01 -4.19441843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.360281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:233.67, Y:85.72, Z:-0.42 [[ 4.74825360e-01 -8.80080039e-01 -4.25184472e-05 2.33670660e+02] [ 8.80080036e-01 4.74825362e-01 -8.14379700e-05 8.57242698e+01] [ 9.18607690e-05 1.24917692e-06 9.99999996e-01 -4.19549381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.39028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:233.68, Y:85.75, Z:-0.42 [[ 4.75497037e-01 -8.79717322e-01 -4.20221717e-05 2.33678774e+02] [ 8.79717318e-01 4.75497039e-01 -8.05356802e-05 8.57481937e+01] [ 9.08300511e-05 1.32684511e-06 9.99999996e-01 -4.19305404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.69, Y:85.77, Z:-0.42 [[ 4.75876616e-01 -8.79512034e-01 -1.68864686e-04 2.33687671e+02] [ 8.79511975e-01 4.75876646e-01 -3.23570255e-04 8.57732375e+01] [ 3.64942694e-04 5.46100500e-06 9.99999933e-01 -4.19470540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.69, Y:85.80, Z:-0.42 [[ 4.74065990e-01 -8.80489091e-01 -6.30145283e-04 2.33694656e+02] [ 8.80488263e-01 4.74066409e-01 -1.20793814e-03 8.57996802e+01] [ 1.36230707e-03 1.78068652e-05 9.99999072e-01 -4.19821601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.70, Y:85.82, Z:-0.42 [[ 4.72207913e-01 -8.81486989e-01 -6.12457063e-04 2.33704604e+02] [ 8.81486206e-01 4.72208310e-01 -1.17470126e-03 8.58238131e+01] [ 1.32469119e-03 1.48307748e-05 9.99999123e-01 -4.20398656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.51028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:233.71, Y:85.85, Z:-0.42 [[ 4.68947926e-01 -8.83225066e-01 -1.15134244e-03 2.33714120e+02] [ 8.83222303e-01 4.68949339e-01 -2.20949600e-03 8.58484420e+01] [ 2.49140353e-03 1.92472417e-05 9.99996896e-01 -4.21928417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:233.72, Y:85.87, Z:-0.42 [[ 4.68064760e-01 -8.83692932e-01 -1.47734164e-03 2.33724568e+02] [ 8.83688379e-01 4.68067091e-01 -2.83678806e-03 8.58720225e+01] [ 3.19834456e-03 2.22908855e-05 9.99994885e-01 -4.22067651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:233.73, Y:85.90, Z:-0.42 [[ 4.68671830e-01 -8.83371309e-01 -1.35869697e-03 2.33733232e+02] [ 8.83367452e-01 4.68673798e-01 -2.61048143e-03 8.58962977e+01] [ 2.94281007e-03 2.32304313e-05 9.99995670e-01 -4.21523828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.74, Y:85.92, Z:-0.42 [[ 4.69204102e-01 -8.83089235e-01 -9.55474311e-04 2.33744074e+02] [ 8.83087325e-01 4.69205075e-01 -1.83679915e-03 8.59201875e+01] [ 2.07037095e-03 1.80664401e-05 9.99997857e-01 -4.21343095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:233.76, Y:85.94, Z:-0.42 [[ 4.69174204e-01 -8.83105509e-01 -4.76412078e-04 2.33755104e+02] [ 8.83105033e-01 4.69174446e-01 -9.16420762e-04 8.59426898e+01] [ 1.03281660e-03 9.23907694e-06 9.99999467e-01 -4.21903316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.66028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:233.77, Y:85.97, Z:-0.42 [[ 4.68114198e-01 -8.83667305e-01 -1.09139486e-03 2.33767210e+02] [ 8.83664809e-01 4.68115470e-01 -2.10048362e-03 8.59655302e+01] [ 2.36702752e-03 1.88389716e-05 9.99997198e-01 -4.22532850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.690281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:233.78, Y:85.99, Z:-0.42 [[ 4.67196434e-01 -8.84152039e-01 -1.63239319e-03 2.33779668e+02] [ 8.84146451e-01 4.67199285e-01 -3.14344204e-03 8.59890264e+01] [ 3.54193362e-03 2.53302624e-05 9.99993727e-01 -4.23268202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.72028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:233.79, Y:86.01, Z:-0.42 [[ 4.66722266e-01 -8.84401162e-01 -2.21609106e-03 2.33792886e+02] [ 8.84390855e-01 4.66727526e-01 -4.26983961e-03 8.60120522e+01] [ 4.81056181e-03 3.29385542e-05 9.99988429e-01 -4.23505683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.750281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.81, Y:86.03, Z:-0.42 [[ 4.65437449e-01 -8.85077541e-01 -2.39331482e-03 2.33808443e+02] [ 8.85065514e-01 4.65443601e-01 -4.61404407e-03 8.60323175e+01] [ 5.19773985e-03 2.93084958e-05 9.99986491e-01 -4.23413859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.78028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.82, Y:86.05, Z:-0.42 [[ 4.64701058e-01 -8.85465831e-01 -1.78561979e-03 2.33821706e+02] [ 8.85459134e-01 4.64704488e-01 -3.44401455e-03 8.60537611e+01] [ 3.87934274e-03 1.93438459e-05 9.99992475e-01 -4.22154229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.810281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:233.84, Y:86.08, Z:-0.42 [[ 4.62643680e-01 -8.86544309e-01 -1.15203352e-04 2.33835306e+02] [ 8.86544281e-01 4.62643694e-01 -2.22390775e-04 8.60759049e+01] [ 2.50457381e-04 7.54813502e-07 9.99999969e-01 -4.21718078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.84028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:233.85, Y:86.10, Z:-0.42 [[ 4.61634364e-01 -8.87070291e-01 -1.16294735e-04 2.33848274e+02] [ 8.87070262e-01 4.61634378e-01 -2.24608723e-04 8.60967875e+01] [ 2.52929373e-04 5.25504227e-07 9.99999968e-01 -4.22219754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.870281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:233.86, Y:86.12, Z:-0.42 [[ 4.61211774e-01 -8.87289939e-01 -5.13788666e-04 2.33862839e+02] [ 8.87289383e-01 4.61212061e-01 -9.92665346e-04 8.61187854e+01] [ 1.11774750e-03 1.94971727e-06 9.99999375e-01 -4.22980888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:233.88, Y:86.14, Z:-0.42 [[ 4.62038546e-01 -8.86858260e-01 -1.67603713e-03 2.33877461e+02] [ 8.86852343e-01 4.62041586e-01 -3.23948592e-03 8.61395297e+01] [ 3.64736370e-03 1.03699097e-05 9.99993348e-01 -4.22230361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.930281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.89, Y:86.16, Z:-0.42 [[ 4.63361567e-01 -8.86167853e-01 -1.61061879e-03 2.33889509e+02] [ 8.86162379e-01 4.63364366e-01 -3.11479167e-03 8.61628778e+01] [ 3.50653160e-03 1.60049694e-05 9.99993852e-01 -4.22363381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:233.90, Y:86.19, Z:-0.42 [[ 4.65127976e-01 -8.85242279e-01 -1.44031159e-03 2.33901921e+02] [ 8.85237892e-01 4.65130205e-01 -2.78703073e-03 8.61862927e+01] [ 3.13712986e-03 2.13075641e-05 9.99995079e-01 -4.21290210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 285.990281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.91, Y:86.21, Z:-0.42 [[ 4.68893256e-01 -8.83253597e-01 -1.48258317e-03 2.33914549e+02] [ 8.83248934e-01 4.68895599e-01 -2.87011601e-03 8.62083848e+01] [ 3.23021701e-03 3.62880373e-05 9.99994782e-01 -4.21383763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.02028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:233.93, Y:86.23, Z:-0.42 [[ 4.70492060e-01 -8.82402639e-01 -1.67468243e-03 2.33925236e+02] [ 8.82396678e-01 4.70495038e-01 -3.24391557e-03 8.62310220e+01] [ 3.65036943e-03 4.85023028e-05 9.99993336e-01 -4.21572864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.050281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:233.93, Y:86.26, Z:-0.42 [[ 4.74798145e-01 -8.80094455e-01 -6.87440377e-04 2.33933857e+02] [ 8.80093447e-01 4.74798642e-01 -1.33244239e-03 8.62566152e+01] [ 1.49907091e-03 2.76294030e-05 9.99998876e-01 -4.20961469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.08028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.94, Y:86.28, Z:-0.42 [[ 4.77449311e-01 -8.78659240e-01 3.09567037e-04 2.33943212e+02] [ 8.78659035e-01 4.77449411e-01 6.00281810e-04 8.62805391e+01] [-6.75245758e-04 -1.46002632e-05 9.99999772e-01 -4.20151341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.110281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:233.95, Y:86.30, Z:-0.42 [[ 4.80828237e-01 -8.76814297e-01 9.45809863e-04 2.33952817e+02] [ 8.76812378e-01 4.80829165e-01 1.83526674e-03 8.63046532e+01] [-2.06396108e-03 -5.31502780e-05 9.99997869e-01 -4.18329483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.14028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:233.96, Y:86.33, Z:-0.42 [[ 4.84194182e-01 -8.74959998e-01 9.97714479e-04 2.33961403e+02] [ 8.74957857e-01 4.84195206e-01 1.93690379e-03 8.63283487e+01] [-2.17780190e-03 -6.48794241e-05 9.99997627e-01 -4.18021056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.170281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:233.97, Y:86.36, Z:-0.42 [[ 4.90063819e-01 -8.71686492e-01 -3.35203028e-04 2.33966093e+02] [ 8.71686249e-01 4.90063933e-01 -6.51220330e-04 8.63559766e+01] [ 7.31930879e-04 2.69476520e-05 9.99999732e-01 -4.20074970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.20028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:233.97, Y:86.38, Z:-0.42 [[ 4.92145627e-01 -8.70512517e-01 -7.99919618e-04 2.33970465e+02] [ 8.70511131e-01 4.92146273e-01 -1.55489464e-03 8.63822172e+01] [ 1.74723271e-03 6.88956678e-05 9.99998471e-01 -4.21835620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.23028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:233.98, Y:86.41, Z:-0.42 [[ 4.91694243e-01 -8.70767814e-01 -4.30989025e-04 2.33979458e+02] [ 8.70767411e-01 4.91694431e-01 -8.38255267e-04 8.64077117e+01] [ 9.41840610e-04 3.68740916e-05 9.99999556e-01 -4.21119975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.26028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:233.99, Y:86.43, Z:-0.42 [[ 4.90429619e-01 -8.71480783e-01 -1.83262265e-04 2.33988170e+02] [ 8.71480710e-01 4.90429653e-01 -3.56674559e-04 8.64325840e+01] [ 4.00712273e-04 1.52142386e-05 9.99999920e-01 -4.20516407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.29028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:234.00, Y:86.46, Z:-0.42 [[ 4.88825864e-01 -8.72381316e-01 -3.39123719e-04 2.33997430e+02] [ 8.72381066e-01 4.88825981e-01 -6.60353718e-04 8.64578197e+01] [ 7.41852730e-04 2.69528647e-05 9.99999724e-01 -4.20537880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.32028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:234.01, Y:86.48, Z:-0.42 [[ 4.84608700e-01 -8.74729954e-01 -1.38388666e-03 2.34005537e+02] [ 8.74725805e-01 4.84610666e-01 -2.69612050e-03 8.64829376e+01] [ 3.02902360e-03 9.60420753e-05 9.99995408e-01 -4.22363924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.35028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:234.02, Y:86.51, Z:-0.42 [[ 4.82283964e-01 -8.76013128e-01 -1.78267380e-03 2.34015218e+02] [ 8.76006242e-01 4.82287246e-01 -3.47519659e-03 8.65068839e+01] [ 3.90407867e-03 1.14398214e-04 9.99992373e-01 -4.23251704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:234.02, Y:86.53, Z:-0.42 [[ 4.79827151e-01 -8.77361794e-01 -1.47866286e-03 2.34021314e+02] [ 8.77357058e-01 4.79829422e-01 -2.88429439e-03 8.65323397e+01] [ 3.24007565e-03 8.66474675e-05 9.99994747e-01 -4.22922433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.41028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:234.03, Y:86.56, Z:-0.42 [[ 4.79382089e-01 -8.77604909e-01 -1.56122037e-03 2.34029263e+02] [ 8.77599623e-01 4.79384622e-01 -3.04720175e-03 8.65554492e+01] [ 3.42266425e-03 9.06475338e-05 9.99994139e-01 -4.22438185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.440281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:234.04, Y:86.58, Z:-0.42 [[ 4.79182181e-01 -8.77714078e-01 -1.56052913e-03 2.34040779e+02] [ 8.77708791e-01 4.79184714e-01 -3.04755581e-03 8.65787113e+01] [ 3.42266434e-03 9.06443089e-05 9.99994139e-01 -4.22442041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.47028169299995 meters Centerline goodness : 0.999783 Centerline is valid? [True, True] Translation: X:234.05, Y:86.60, Z:-0.42 [[ 4.79108936e-01 -8.77753985e-01 -1.60301161e-03 2.34050332e+02] [ 8.77748401e-01 4.79111609e-01 -3.13240315e-03 8.66030023e+01] [ 3.51750082e-03 9.37214578e-05 9.99993809e-01 -4.23131375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:234.06, Y:86.63, Z:-0.42 [[ 4.79053432e-01 -8.77783501e-01 -1.98368429e-03 2.34056893e+02] [ 8.77774939e-01 4.79057525e-01 -3.87867939e-03 8.66276352e+01] [ 4.35493966e-03 1.16866323e-04 9.99990510e-01 -4.23641199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.53028169299995 meters Centerline goodness : 0.999826 Centerline is valid? [True, True] Translation: X:234.07, Y:86.65, Z:-0.42 [[ 4.79036006e-01 -8.77793208e-01 -1.89457019e-03 2.34066154e+02] [ 8.77785389e-01 4.79039739e-01 -3.70664810e-03 8.66527225e+01] [ 4.16124494e-03 1.12591871e-04 9.99991336e-01 -4.23957954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.560281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:234.07, Y:86.68, Z:-0.42 [[ 4.79369657e-01 -8.77611775e-01 -1.51796761e-03 2.34073051e+02] [ 8.77606749e-01 4.79372052e-01 -2.97171209e-03 8.66779959e+01] [ 3.33568077e-03 9.23699833e-05 9.99994432e-01 -4.23448074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.59028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:234.08, Y:86.70, Z:-0.42 [[ 4.78598769e-01 -8.78032879e-01 -1.21754530e-03 2.34082315e+02] [ 8.78029643e-01 4.78600312e-01 -2.38502642e-03 8.67014113e+01] [ 2.67684917e-03 7.24298436e-05 9.99996415e-01 -4.23149005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.620281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:234.09, Y:86.73, Z:-0.42 [[ 4.76434858e-01 -8.79209233e-01 -9.75488986e-04 2.34091927e+02] [ 8.79207155e-01 4.76435854e-01 -1.91199852e-03 8.67264579e+01] [ 2.14580468e-03 5.32858490e-05 9.99997696e-01 -4.22648249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.65028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:234.10, Y:86.75, Z:-0.42 [[ 4.69677852e-01 -8.82837219e-01 -1.07750425e-03 2.34100120e+02] [ 8.82834690e-01 4.69679086e-01 -2.11323649e-03 8.67506444e+01] [ 2.37172504e-03 4.12822468e-05 9.99997187e-01 -4.22843869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.680281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:234.11, Y:86.77, Z:-0.42 [[ 4.61501176e-01 -8.87139004e-01 -1.02586119e-03 2.34110707e+02] [ 8.87136720e-01 4.61502316e-01 -2.01316405e-03 8.67734496e+01] [ 2.25939366e-03 1.89984469e-05 9.99997447e-01 -4.23262916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.71028169299996 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:234.12, Y:86.80, Z:-0.42 [[ 4.57623121e-01 -8.89146064e-01 -5.96101279e-04 2.34121951e+02] [ 8.89145294e-01 4.57623510e-01 -1.17049637e-03 8.67975135e+01] [ 1.31353220e-03 5.62555346e-06 9.99999137e-01 -4.23560660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.740281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:234.13, Y:86.82, Z:-0.42 [[ 4.54613051e-01 -8.90688954e-01 -4.01639593e-04 2.34132263e+02] [ 8.90688605e-01 4.54613228e-01 -7.89022237e-04 8.68202165e+01] [ 8.85364063e-04 9.63997670e-07 9.99999608e-01 -4.23183143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.77028169299996 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:234.14, Y:86.84, Z:-0.42 [[ 4.50878256e-01 -8.92585440e-01 -1.73202387e-04 2.34143127e+02] [ 8.92585375e-01 4.50878290e-01 -3.40494181e-04 8.68444886e+01] [ 3.82013344e-04 -1.07649503e-06 9.99999927e-01 -4.22494971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.800281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:234.15, Y:86.87, Z:-0.42 [[ 4.50060176e-01 -8.92998194e-01 -2.50006672e-04 2.34153888e+02] [ 8.92998059e-01 4.50060246e-01 -4.91739078e-04 8.68670068e+01] [ 5.51640173e-04 -1.94329666e-06 9.99999848e-01 -4.22683330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.83028169299996 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:234.16, Y:86.89, Z:-0.42 [[ 4.50519014e-01 -8.92766575e-01 -6.78133108e-04 2.34164026e+02] [ 8.92765578e-01 4.50519525e-01 -1.33443797e-03 8.68910903e+01] [ 1.49685383e-03 -4.22421545e-06 9.99998880e-01 -4.22451180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.860281693 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:234.17, Y:86.91, Z:-0.42 [[ 4.50984472e-01 -8.92531599e-01 -5.92846119e-04 2.34174171e+02] [ 8.92530835e-01 4.50984862e-01 -1.16730706e-03 8.69138064e+01] [ 1.30922306e-03 -2.69608498e-06 9.99999143e-01 -4.21962909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.89028169299996 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:234.19, Y:86.94, Z:-0.42 [[ 4.51507291e-01 -8.92267288e-01 -5.01790532e-04 2.34185189e+02] [ 8.92266741e-01 4.51507570e-01 -9.88565641e-04 8.69381982e+01] [ 1.10862701e-03 -1.38640748e-06 9.99999385e-01 -4.21949387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.920281693 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:234.20, Y:86.96, Z:-0.42 [[ 4.52575472e-01 -8.91725782e-01 -7.56144586e-04 2.34195213e+02] [ 8.91724536e-01 4.52576104e-01 -1.49046650e-03 8.69622409e+01] [ 1.67130038e-03 2.75902272e-07 9.99998603e-01 -4.22178531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.95028169299997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:234.21, Y:86.99, Z:-0.42 [[ 4.52724358e-01 -8.91650118e-01 -8.50498880e-04 2.34206457e+02] [ 8.91648540e-01 4.52725157e-01 -1.67740123e-03 8.69860703e+01] [ 1.88069724e-03 1.05430799e-06 9.99998232e-01 -4.22795671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 286.98028169299994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:234.22, Y:87.01, Z:-0.42 [[ 4.50588413e-01 -8.92731154e-01 -1.08106224e-03 2.34216472e+02] [ 8.92728605e-01 4.50589710e-01 -2.13338801e-03 8.70087957e+01] [ 2.39165746e-03 -3.81526615e-06 9.99997140e-01 -4.23174044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.01028169299997 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:234.23, Y:87.03, Z:-0.42 [[ 4.49025448e-01 -8.93518207e-01 -1.16636789e-03 2.34227366e+02] [ 8.93515239e-01 4.49026963e-01 -2.30307742e-03 8.70312771e+01] [ 2.58157224e-03 -8.02711388e-06 9.99996668e-01 -4.23547798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.04028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:234.24, Y:87.06, Z:-0.42 [[ 4.47331717e-01 -8.94367391e-01 -1.14208646e-03 2.34239315e+02] [ 8.94364545e-01 4.47333175e-01 -2.25641860e-03 8.70550125e+01] [ 2.52896038e-03 -1.20740323e-05 9.99996802e-01 -4.23783950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.07028169299997 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:234.25, Y:87.08, Z:-0.42 [[ 4.45283633e-01 -8.95388940e-01 -1.06464520e-03 2.34251810e+02] [ 8.95386466e-01 4.45284905e-01 -2.10462039e-03 8.70778670e+01] [ 2.35852426e-03 -1.61158888e-05 9.99997219e-01 -4.24203209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.10028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:234.27, Y:87.10, Z:-0.42 [[ 4.42767417e-01 -8.96636276e-01 -6.35465096e-04 2.34265031e+02] [ 8.96635395e-01 4.42767873e-01 -1.25678928e-03 8.70995770e+01] [ 1.40824639e-03 -1.33151543e-05 9.99999008e-01 -4.24158612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.130281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:234.28, Y:87.12, Z:-0.42 [[ 4.42902140e-01 -8.96569820e-01 -5.02588571e-04 2.34276277e+02] [ 8.96569268e-01 4.42902425e-01 -9.94579211e-04 8.71228432e+01] [ 1.11430740e-03 -1.01042057e-05 9.99999379e-01 -4.23458873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.16028169299994 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:234.29, Y:87.15, Z:-0.42 [[ 4.45052203e-01 -8.95503904e-01 -1.13771598e-03 2.34287492e+02] [ 8.95501071e-01 4.45053657e-01 -2.25255190e-03 8.71474665e+01] [ 2.52351368e-03 -1.63226920e-05 9.99996816e-01 -4.23693283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.190281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:234.30, Y:87.17, Z:-0.42 [[ 4.46053741e-01 -8.95004926e-01 -1.49765195e-03 2.34298611e+02] [ 8.95000008e-01 4.46056255e-01 -2.96702933e-03 8.71698200e+01] [ 3.32354288e-03 -1.69439696e-05 9.99994477e-01 -4.24284851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.22028169299995 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:234.31, Y:87.19, Z:-0.42 [[ 4.45167340e-01 -8.95446759e-01 -1.06776867e-03 2.34311135e+02] [ 8.95444258e-01 4.45168621e-01 -2.11667909e-03 8.71920862e+01] [ 2.37071054e-03 -1.38509240e-05 9.99997190e-01 -4.24595376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.250281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:234.32, Y:87.22, Z:-0.42 [[ 4.43078158e-01 -8.96482593e-01 -8.40037567e-04 2.34324149e+02] [ 8.96481045e-01 4.43078954e-01 -1.66618510e-03 8.72151996e+01] [ 1.86590891e-03 -1.48275292e-05 9.99998259e-01 -4.24123357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.28028169299995 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:234.34, Y:87.24, Z:-0.42 [[ 4.40576616e-01 -8.97714665e-01 -7.91219720e-04 2.34337527e+02] [ 8.97713292e-01 4.40577326e-01 -1.57029167e-03 8.72376277e+01] [ 1.75826733e-03 -1.84546680e-05 9.99998454e-01 -4.23839096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.310281693 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:234.35, Y:87.26, Z:-0.43 [[ 4.35229027e-01 -9.00319033e-01 -1.15414967e-03 2.34354817e+02] [ 9.00316117e-01 4.35230555e-01 -2.29189475e-03 8.72583516e+01] [ 2.56575767e-03 -4.16004327e-05 9.99996708e-01 -4.25220807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.34028169299995 meters Centerline goodness : 0.999243 Centerline is valid? [True, True] Translation: X:234.37, Y:87.28, Z:-0.42 [[ 4.31991834e-01 -9.01876643e-01 -1.25517615e-03 2.34368728e+02] [ 9.01873197e-01 4.31993654e-01 -2.49403681e-03 8.72792049e+01] [ 2.79154168e-03 -5.46061873e-05 9.99996102e-01 -4.24921963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.370281693 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:234.38, Y:87.30, Z:-0.42 [[ 4.29069159e-01 -9.03271392e-01 -6.70661523e-04 2.34382964e+02] [ 9.03270408e-01 4.29069682e-01 -1.33342020e-03 8.73000449e+01] [ 1.49220085e-03 -3.36592237e-05 9.99998886e-01 -4.22481322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.40028169299995 meters Centerline goodness : 0.999314 Centerline is valid? [True, True] Translation: X:234.40, Y:87.32, Z:-0.42 [[ 4.29818934e-01 -9.02914931e-01 -5.58051105e-04 2.34395552e+02] [ 9.02914249e-01 4.29819296e-01 -1.11018169e-03 8.73231710e+01] [ 1.24226076e-03 -2.66951825e-05 9.99999228e-01 -4.21884541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.430281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:234.41, Y:87.34, Z:-0.42 [[ 4.31877734e-01 -9.01932088e-01 -3.64037858e-04 2.34408200e+02] [ 9.01931797e-01 4.31877887e-01 -7.24681941e-04 8.73449118e+01] [ 8.10833797e-04 -1.53633249e-05 9.99999671e-01 -4.21636523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.46028169299996 meters Centerline goodness : 0.999240 Centerline is valid? [True, True] Translation: X:234.42, Y:87.37, Z:-0.42 [[ 4.38424688e-01 -8.98767892e-01 2.65173597e-04 2.34423452e+02] [ 8.98767736e-01 4.38424768e-01 5.28042958e-04 8.73653282e+01] [-5.90846728e-04 6.82240496e-06 9.99999825e-01 -4.20960612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.490281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:234.44, Y:87.39, Z:-0.42 [[ 4.41634164e-01 -8.97195195e-01 2.17943980e-04 2.34436165e+02] [ 8.97195090e-01 4.41634218e-01 4.34230037e-04 8.73883180e+01] [-4.85840621e-04 3.76744919e-06 9.99999882e-01 -4.21153408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.52028169299996 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:234.45, Y:87.41, Z:-0.42 [[ 4.48731838e-01 -8.93666022e-01 -8.82640828e-04 2.34448086e+02] [ 8.93664289e-01 4.48732706e-01 -1.75974587e-03 8.74101872e+01] [ 1.96869490e-03 8.69409501e-07 9.99998062e-01 -4.21536591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.550281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:234.46, Y:87.43, Z:-0.42 [[ 4.51967661e-01 -8.92033034e-01 -1.51638664e-03 2.34459698e+02] [ 8.92027906e-01 4.51970204e-01 -3.02495336e-03 8.74341320e+01] [ 3.38371991e-03 1.45218938e-05 9.99994275e-01 -4.22525958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.58028169299996 meters Centerline goodness : 0.999208 Centerline is valid? [True, True] Translation: X:234.47, Y:87.46, Z:-0.42 [[ 4.54098519e-01 -8.90949467e-01 -1.89266285e-03 2.34470371e+02] [ 8.90941459e-01 4.54102462e-01 -3.77769455e-03 8.74576016e+01] [ 4.22519780e-03 2.91936958e-05 9.99991073e-01 -4.23515164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.610281693 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:234.48, Y:87.48, Z:-0.42 [[ 4.55347658e-01 -8.90312653e-01 -1.37495534e-03 2.34479652e+02] [ 8.90308418e-01 4.55349733e-01 -2.74600478e-03 8.74818620e+01] [ 3.07088835e-03 2.62525334e-05 9.99995284e-01 -4.23332309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.64028169299996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:234.49, Y:87.50, Z:-0.42 [[ 4.54839440e-01 -8.90572822e-01 -1.06373829e-03 2.34490705e+02] [ 8.90570286e-01 4.54840684e-01 -2.12577639e-03 8.75048316e+01] [ 2.37699013e-03 1.95532330e-05 9.99997175e-01 -4.23417581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.670281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:234.50, Y:87.53, Z:-0.42 [[ 4.52292601e-01 -8.91868389e-01 -1.47644570e-03 2.34502912e+02] [ 8.91863503e-01 4.52295010e-01 -2.95215743e-03 8.75276398e+01] [ 3.30072491e-03 1.84509234e-05 9.99994552e-01 -4.24286019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.70028169299997 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:234.51, Y:87.55, Z:-0.43 [[ 4.50936138e-01 -8.92554237e-01 -1.87970116e-03 2.34514692e+02] [ 8.92546315e-01 4.50940056e-01 -3.76056003e-03 8.75512890e+01] [ 4.20413633e-03 1.80520756e-05 9.99991162e-01 -4.25008777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.73028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:234.53, Y:87.58, Z:-0.43 [[ 4.49442939e-01 -8.93306205e-01 -2.25152971e-03 2.34525818e+02] [ 8.93294835e-01 4.49448578e-01 -4.50696317e-03 8.75752600e+01] [ 5.03804499e-03 1.43429053e-05 9.99987309e-01 -4.25568762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.76028169299997 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:234.54, Y:87.60, Z:-0.42 [[ 4.46881060e-01 -8.94590958e-01 -2.08228637e-03 2.34535878e+02] [ 8.94581237e-01 4.46885912e-01 -4.17037381e-03 8.75978448e+01] [ 4.66132315e-03 8.86753576e-07 9.99989136e-01 -4.24885069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.79028169299994 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:234.55, Y:87.62, Z:-0.42 [[ 4.45761276e-01 -8.95150552e-01 -1.54079153e-03 2.34546972e+02] [ 8.95145226e-01 4.45763939e-01 -3.08779113e-03 8.76206239e+01] [ 3.45086723e-03 -2.81446809e-06 9.99994046e-01 -4.24444856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.82028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:234.56, Y:87.64, Z:-0.42 [[ 4.43352695e-01 -8.96347148e-01 -4.23234530e-04 2.34557149e+02] [ 8.96346746e-01 4.43352897e-01 -8.48778245e-04 8.76427729e+01] [ 9.48442214e-04 -3.05677107e-06 9.99999550e-01 -4.22812626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.85028169299994 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:234.57, Y:87.66, Z:-0.42 [[ 4.41931719e-01 -8.97048673e-01 -1.83820307e-04 2.34567593e+02] [ 8.97048597e-01 4.41931757e-01 -3.68922656e-04 8.76648103e+01] [ 4.12177611e-04 -1.85712527e-06 9.99999915e-01 -4.22893707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.880281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:234.58, Y:87.69, Z:-0.42 [[ 4.40348709e-01 -8.97826821e-01 -1.17723808e-04 2.34579882e+02] [ 8.97826790e-01 4.40348724e-01 -2.36423813e-04 8.76882773e+01] [ 2.64107169e-04 -1.58666831e-06 9.99999965e-01 -4.23706065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.91028169299994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:234.59, Y:87.71, Z:-0.42 [[ 4.37154137e-01 -8.99386488e-01 -4.54636404e-04 2.34593893e+02] [ 8.99386024e-01 4.37154373e-01 -9.13224200e-04 8.77101098e+01] [ 1.02008780e-03 -9.67389167e-06 9.99999480e-01 -4.23430172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.940281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:234.61, Y:87.73, Z:-0.42 [[ 4.34239098e-01 -9.00797447e-01 -6.03613796e-04 2.34607837e+02] [ 9.00796631e-01 4.34239518e-01 -1.21314780e-03 8.77330791e+01] [ 1.35491340e-03 -1.69370672e-05 9.99999082e-01 -4.23641549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 287.97028169299995 meters Centerline goodness : 0.999424 Centerline is valid? [True, True] Translation: X:234.62, Y:87.75, Z:-0.42 [[ 4.32862112e-01 -9.01459811e-01 -7.75205853e-04 2.34619805e+02] [ 9.01458463e-01 4.32862806e-01 -1.55899908e-03 8.77549277e+01] [ 1.74093280e-03 -2.39842413e-05 9.99998484e-01 -4.23868225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.000281693 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:234.63, Y:87.78, Z:-0.42 [[ 4.31867995e-01 -9.01936382e-01 -8.93423244e-04 2.34631935e+02] [ 9.01934590e-01 4.31868918e-01 -1.79783434e-03 8.77774172e+01] [ 2.00737393e-03 -2.93822160e-05 9.99997985e-01 -4.23109144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.03028169299995 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:234.64, Y:87.80, Z:-0.42 [[ 4.31894868e-01 -9.01923681e-01 -7.04600359e-04 2.34643798e+02] [ 9.01922565e-01 4.31895443e-01 -1.41879179e-03 8.77989329e+01] [ 1.58395560e-03 -2.27260683e-05 9.99998745e-01 -4.21589590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.060281693 meters Centerline goodness : 0.999524 Centerline is valid? [True, True] Translation: X:234.66, Y:87.82, Z:-0.42 [[ 4.32397350e-01 -9.01683065e-01 -4.25710436e-04 2.34656017e+02] [ 9.01682657e-01 4.32397560e-01 -8.57761960e-04 8.78225533e+01] [ 9.57505587e-04 -1.29617190e-05 9.99999542e-01 -4.21538256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.09028169299995 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:234.67, Y:87.84, Z:-0.42 [[ 4.33943216e-01 -9.00939990e-01 -6.47223507e-04 2.34669543e+02] [ 9.00939046e-01 4.33943699e-01 -1.30465598e-03 8.78441823e+01] [ 1.45627531e-03 -1.69623157e-05 9.99998940e-01 -4.21507284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.120281693 meters Centerline goodness : 0.999401 Centerline is valid? [True, True] Translation: X:234.68, Y:87.87, Z:-0.42 [[ 4.34615657e-01 -9.00615516e-01 -9.60887605e-04 2.34681759e+02] [ 9.00613431e-01 4.34616718e-01 -1.93806009e-03 8.78665370e+01] [ 2.16306480e-03 -2.30770255e-05 9.99997660e-01 -4.21815496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.15028169299995 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:234.69, Y:87.89, Z:-0.42 [[ 4.35466728e-01 -9.00204191e-01 -1.06936903e-03 2.34693527e+02] [ 9.00201604e-01 4.35468040e-01 -2.15813144e-03 8.78895941e+01] [ 2.40843500e-03 -2.28532825e-05 9.99997099e-01 -4.22302757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.180281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:234.70, Y:87.91, Z:-0.42 [[ 4.38297931e-01 -8.98829098e-01 -1.08448514e-03 2.34703609e+02] [ 8.98826430e-01 4.38299273e-01 -2.18999546e-03 8.79125845e+01] [ 2.44376069e-03 -1.48934301e-05 9.99997014e-01 -4.21515008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.21028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:234.71, Y:87.94, Z:-0.42 [[ 4.40152761e-01 -8.97922523e-01 -8.30550146e-04 2.34714461e+02] [ 8.97920955e-01 4.40153545e-01 -1.67825821e-03 8.79355272e+01] [ 1.87251543e-03 -7.07839569e-06 9.99998247e-01 -4.20694609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.240281693 meters Centerline goodness : 0.999439 Centerline is valid? [True, True] Translation: X:234.73, Y:87.96, Z:-0.42 [[ 4.42721668e-01 -8.96658737e-01 -7.96122768e-04 2.34726025e+02] [ 8.96657292e-01 4.42722384e-01 -1.60969224e-03 8.79581358e+01] [ 1.79580598e-03 -1.20365226e-06 9.99998388e-01 -4.20556574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.27028169299996 meters Centerline goodness : 0.999548 Centerline is valid? [True, True] Translation: X:234.74, Y:87.98, Z:-0.42 [[ 4.43157869e-01 -8.96442784e-01 -1.19896330e-03 2.34737971e+02] [ 8.96439503e-01 4.43159491e-01 -2.42557201e-03 8.79816941e+01] [ 2.70571849e-03 1.13264553e-07 9.99996340e-01 -4.21726115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.300281693 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:234.75, Y:88.00, Z:-0.42 [[ 4.43289873e-01 -8.96376366e-01 -1.87068682e-03 2.34750077e+02] [ 8.96368368e-01 4.43293820e-01 -3.78668298e-03 8.80047595e+01] [ 4.22355703e-03 1.77372587e-06 9.99991081e-01 -4.22470386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.33028169299996 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:234.77, Y:88.03, Z:-0.42 [[ 4.41854019e-01 -8.97084023e-01 -2.29805572e-03 2.34765958e+02] [ 8.97071951e-01 4.41859995e-01 -4.65391000e-03 8.80253627e+01] [ 5.19036719e-03 -5.17248855e-06 9.99986530e-01 -4.23868123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.360281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:234.78, Y:88.05, Z:-0.42 [[ 4.41659182e-01 -8.97179965e-01 -2.29704069e-03 2.34777571e+02] [ 8.97167892e-01 4.41665156e-01 -4.65441108e-03 8.80495109e+01] [ 5.19036720e-03 -5.16776194e-06 9.99986530e-01 -4.23872101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.39028169299996 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:234.79, Y:88.07, Z:-0.42 [[ 4.39935004e-01 -8.98027907e-01 -1.75239935e-03 2.34790885e+02] [ 8.98020878e-01 4.39938494e-01 -3.55289658e-03 8.80718404e+01] [ 3.96154821e-03 -1.06476281e-05 9.99992153e-01 -4.23283090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.420281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:234.81, Y:88.09, Z:-0.42 [[ 4.37672437e-01 -8.99134401e-01 -4.07961596e-04 2.34805703e+02] [ 8.99134020e-01 4.37672627e-01 -8.27545409e-04 8.80932362e+01] [ 9.22628169e-04 -4.61833392e-06 9.99999574e-01 -4.19943529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.45028169299997 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:234.82, Y:88.12, Z:-0.42 [[ 4.36885918e-01 -8.99516918e-01 -9.15341513e-05 2.34819559e+02] [ 8.99516899e-01 4.36885928e-01 -1.85843774e-04 8.81162726e+01] [ 2.07159602e-04 -1.14398798e-06 9.99999979e-01 -4.19343319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.48028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:234.83, Y:88.14, Z:-0.42 [[ 4.36369254e-01 -8.99767658e-01 -1.90107966e-04 2.34832808e+02] [ 8.99767575e-01 4.36369295e-01 -3.86161925e-04 8.81368816e+01] [ 4.30413290e-04 -2.54379251e-06 9.99999907e-01 -4.19681807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.51028169299997 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:234.85, Y:88.16, Z:-0.42 [[ 4.35785984e-01 -9.00049882e-01 -8.86786613e-04 2.34848873e+02] [ 9.00048078e-01 4.35786886e-01 -1.80201245e-03 8.81581094e+01] [ 2.00835107e-03 -1.28588189e-05 9.99997983e-01 -4.21639103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.54028169299994 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:234.86, Y:88.18, Z:-0.42 [[ 4.36279117e-01 -8.99810609e-01 -1.18320080e-03 2.34861363e+02] [ 8.99807393e-01 4.36280721e-01 -2.40591379e-03 8.81794326e+01] [ 2.68107445e-03 -1.50028820e-05 9.99996406e-01 -4.21800658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.57028169299997 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:234.87, Y:88.20, Z:-0.42 [[ 4.37377882e-01 -8.99277172e-01 -1.07521535e-03 2.34873969e+02] [ 8.99274511e-01 4.37379204e-01 -2.18768774e-03 8.82012268e+01] [ 2.43761448e-03 -1.00675282e-05 9.99997029e-01 -4.21499276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.60028169299994 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:234.89, Y:88.22, Z:-0.42 [[ 4.39718005e-01 -8.98135522e-01 -8.12757997e-04 2.34888463e+02] [ 8.98133998e-01 4.39718756e-01 -1.65472051e-03 8.82224636e+01] [ 1.84354820e-03 -2.35519017e-06 9.99998301e-01 -4.20488007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.630281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:234.90, Y:88.24, Z:-0.42 [[ 4.41643391e-01 -8.97189735e-01 -1.30142431e-03 2.34901161e+02] [ 8.97185818e-01 4.41645309e-01 -2.65127053e-03 8.82429672e+01] [ 2.95346065e-03 3.29667252e-06 9.99995639e-01 -4.20331419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.66028169299994 meters Centerline goodness : 0.999324 Centerline is valid? [True, True] Translation: X:234.91, Y:88.26, Z:-0.42 [[ 4.42665964e-01 -8.96685025e-01 -1.67633521e-03 2.34912012e+02] [ 8.96678514e-01 4.42669138e-01 -3.41710754e-03 8.82645569e+01] [ 3.80613102e-03 9.50344191e-06 9.99992757e-01 -4.21511920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.690281693 meters Centerline goodness : 0.999284 Centerline is valid? [True, True] Translation: X:234.92, Y:88.29, Z:-0.42 [[ 4.43512466e-01 -8.96265798e-01 -2.07659279e-03 2.34922764e+02] [ 8.96255790e-01 4.43517327e-01 -4.23558619e-03 8.82874880e+01] [ 4.71721592e-03 1.73769613e-05 9.99988874e-01 -4.21676829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.72028169299995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:234.93, Y:88.31, Z:-0.42 [[ 4.45192747e-01 -8.95433050e-01 -1.75255775e-03 2.34933930e+02] [ 8.95425906e-01 4.45196196e-01 -3.57688689e-03 8.83101320e+01] [ 3.98309478e-03 2.31184918e-05 9.99992067e-01 -4.21143606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.750281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:234.95, Y:88.33, Z:-0.42 [[ 4.46092959e-01 -8.94985644e-01 -1.32984791e-03 2.34946089e+02] [ 8.94981524e-01 4.46094941e-01 -2.71587641e-03 8.83326596e+01] [ 3.02390882e-03 2.13440392e-05 9.99995428e-01 -4.20978248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.78028169299995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:234.96, Y:88.35, Z:-0.42 [[ 4.47404676e-01 -8.94331373e-01 -6.71922375e-04 2.34957373e+02] [ 8.94330319e-01 4.47405180e-01 -1.37316918e-03 8.83541571e+01] [ 1.52868983e-03 1.34417585e-05 9.99998831e-01 -4.21166777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.810281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:234.97, Y:88.38, Z:-0.42 [[ 4.47821552e-01 -8.94122861e-01 -4.09710734e-04 2.34967335e+02] [ 8.94122468e-01 4.47821739e-01 -8.37821005e-04 8.83784143e+01] [ 9.32592287e-04 8.86272994e-06 9.99999565e-01 -4.21114399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.84028169299995 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:234.98, Y:88.40, Z:-0.42 [[ 4.48603439e-01 -8.93730805e-01 -4.49456777e-04 2.34976490e+02] [ 8.93730332e-01 4.48603664e-01 -9.19659505e-04 8.84020839e+01] [ 1.02355599e-03 1.08692621e-05 9.99999476e-01 -4.20967103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.870281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:234.99, Y:88.43, Z:-0.42 [[ 4.49914523e-01 -8.93071272e-01 -7.90522056e-04 2.34985166e+02] [ 8.93069806e-01 4.49915217e-01 -1.61850739e-03 8.84257829e+01] [ 1.80111036e-03 2.21986025e-05 9.99998378e-01 -4.21077601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.90028169299995 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:235.00, Y:88.45, Z:-0.42 [[ 4.50464842e-01 -8.92793498e-01 -1.09365737e-03 2.34995432e+02] [ 8.92790687e-01 4.50466169e-01 -2.24060569e-03 8.84484170e+01] [ 2.49305384e-03 3.29069734e-05 9.99996892e-01 -4.21446162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.930281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:235.01, Y:88.47, Z:-0.42 [[ 4.51181385e-01 -8.92431218e-01 -1.37093520e-03 2.35005001e+02] [ 8.92426794e-01 4.51183465e-01 -2.81043040e-03 8.84721816e+01] [ 3.12665912e-03 4.45545746e-05 9.99995111e-01 -4.21103686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.96028169299996 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:235.02, Y:88.49, Z:-0.42 [[ 4.50891548e-01 -8.92577370e-01 -1.56545204e-03 2.35015355e+02] [ 8.92571596e-01 4.50894263e-01 -3.21090178e-03 8.84939383e+01] [ 3.57183161e-03 5.04904547e-05 9.99993620e-01 -4.21743596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 288.990281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:235.03, Y:88.52, Z:-0.42 [[ 4.50231297e-01 -8.92910214e-01 -1.76872151e-03 2.35027146e+02] [ 8.92902837e-01 4.50234768e-01 -3.63004296e-03 8.85165941e+01] [ 4.03764236e-03 5.50624950e-05 9.99991847e-01 -4.22521237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.02028169299996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:235.04, Y:88.54, Z:-0.42 [[ 4.48093183e-01 -8.93985816e-01 -1.36374464e-03 2.35040827e+02] [ 8.93981430e-01 4.48095257e-01 -2.80068855e-03 8.85377171e+01] [ 3.11486335e-03 3.58070608e-05 9.99995148e-01 -4.22321919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.050281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:235.05, Y:88.56, Z:-0.42 [[ 4.46684468e-01 -8.94690775e-01 -1.18453789e-03 2.35053147e+02] [ 8.94687464e-01 4.46686038e-01 -2.43427699e-03 8.85594544e+01] [ 2.70704171e-03 2.75625218e-05 9.99996336e-01 -4.21895063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.08028169299996 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:235.07, Y:88.58, Z:-0.42 [[ 4.45308368e-01 -8.95376757e-01 -9.59069211e-04 2.35065589e+02] [ 8.95374586e-01 4.45309400e-01 -1.97216845e-03 8.85811831e+01] [ 2.19291633e-03 1.94969162e-05 9.99997595e-01 -4.21073826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.110281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:235.08, Y:88.60, Z:-0.42 [[ 4.43302749e-01 -8.96371888e-01 -3.33579670e-04 2.35080195e+02] [ 8.96371625e-01 4.43302875e-01 -6.86456751e-04 8.86016919e+01] [ 7.63197360e-04 5.29681384e-06 9.99999709e-01 -4.20040881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.14028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:235.10, Y:88.62, Z:-0.42 [[ 4.41446874e-01 -8.97287377e-01 -1.42392835e-04 2.35095595e+02] [ 8.97287329e-01 4.41446897e-01 -2.93260642e-04 8.86226439e+01] [ 3.25997947e-04 1.69170734e-06 9.99999947e-01 -4.20030353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.170281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:235.11, Y:88.65, Z:-0.42 [[ 4.40556440e-01 -8.97724822e-01 -4.09649654e-04 2.35108678e+02] [ 8.97724425e-01 4.40556630e-01 -8.44016074e-04 8.86455183e+01] [ 9.38168051e-04 4.08421651e-06 9.99999560e-01 -4.20239723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.20028169299997 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:235.12, Y:88.67, Z:-0.42 [[ 4.39745923e-01 -8.98121991e-01 -6.42871894e-04 2.35121387e+02] [ 8.98121013e-01 4.39746393e-01 -1.32531457e-03 8.86679546e+01] [ 1.47299476e-03 5.42492304e-06 9.99998915e-01 -4.20486454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.23028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:235.14, Y:88.69, Z:-0.42 [[ 4.38318241e-01 -8.98819245e-01 -1.04150163e-03 2.35136250e+02] [ 8.98816677e-01 4.38319478e-01 -2.14850919e-03 8.86879903e+01] [ 2.38763186e-03 5.61173096e-06 9.99997150e-01 -4.20472537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.26028169299997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:235.15, Y:88.71, Z:-0.42 [[ 4.37775465e-01 -8.99083766e-01 -1.01195530e-03 2.35149988e+02] [ 8.99081339e-01 4.37776635e-01 -2.08882622e-03 8.87107326e+01] [ 2.32104013e-03 4.60674482e-06 9.99997306e-01 -4.20225871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.29028169299994 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:235.16, Y:88.73, Z:-0.42 [[ 4.37096919e-01 -8.99413857e-01 -9.98694657e-04 2.35163832e+02] [ 8.99411491e-01 4.37098060e-01 -2.06277258e-03 8.87326961e+01] [ 2.29181374e-03 3.39408845e-06 9.99997374e-01 -4.19959730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.32028169299997 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:235.18, Y:88.76, Z:-0.42 [[ 4.36706555e-01 -8.99603601e-01 -8.63371214e-04 2.35175297e+02] [ 8.99601832e-01 4.36707408e-01 -1.78434605e-03 8.87567845e+01] [ 1.98224474e-03 2.54529135e-06 9.99998035e-01 -4.19331570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.35028169299994 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:235.19, Y:88.78, Z:-0.42 [[ 4.36388979e-01 -8.99757965e-01 -5.12065949e-04 2.35186678e+02] [ 8.99757342e-01 4.36389280e-01 -1.05899906e-03 8.87792348e+01] [ 1.17630293e-03 1.40042058e-06 9.99999308e-01 -4.19242228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.380281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:235.20, Y:88.80, Z:-0.42 [[ 4.35737619e-01 -9.00073676e-01 -3.25255663e-04 2.35200786e+02] [ 9.00073424e-01 4.35737740e-01 -6.73085345e-04 8.88020237e+01] [ 7.47552568e-04 5.34626869e-07 9.99999721e-01 -4.18786925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.41028169299994 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:235.21, Y:88.82, Z:-0.42 [[ 4.35763992e-01 -9.00060758e-01 -6.12867153e-04 2.35213284e+02] [ 9.00059863e-01 4.35764423e-01 -1.26896171e-03 8.88248349e+01] [ 1.40920834e-03 1.35069706e-06 9.99999007e-01 -4.19475607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.440281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:235.23, Y:88.85, Z:-0.42 [[ 4.37888936e-01 -8.99028477e-01 -1.03755801e-03 2.35225886e+02] [ 8.99025907e-01 4.37890165e-01 -2.14959640e-03 8.88466680e+01] [ 2.38688483e-03 8.49295242e-06 9.99997151e-01 -4.19666586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.47028169299995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:235.24, Y:88.87, Z:-0.42 [[ 4.39465844e-01 -8.98258964e-01 -7.78448787e-04 2.35238346e+02] [ 8.98257514e-01 4.39466533e-01 -1.61376897e-03 8.88703805e+01] [ 1.79168463e-03 9.94886794e-06 9.99998395e-01 -4.19356089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.500281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:235.25, Y:88.89, Z:-0.42 [[ 4.41021812e-01 -8.97496231e-01 -5.25802839e-04 2.35250193e+02] [ 8.97495568e-01 4.41022126e-01 -1.09071470e-03 8.88934772e+01] [ 1.21080302e-03 9.12325579e-06 9.99999267e-01 -4.18603839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.53028169299995 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:235.26, Y:88.92, Z:-0.42 [[ 4.44040844e-01 -8.96006287e-01 -6.80377510e-04 2.35260395e+02] [ 8.96005174e-01 4.44041365e-01 -1.41200884e-03 8.89161199e+01] [ 1.56728456e-03 1.73678264e-05 9.99998772e-01 -4.18339747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.560281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:235.27, Y:88.94, Z:-0.42 [[ 4.45826410e-01 -8.95118820e-01 -1.05413233e-03 2.35269963e+02] [ 8.95116144e-01 4.45827655e-01 -2.18868624e-03 8.89396028e+01] [ 2.42909559e-03 3.22032661e-05 9.99997049e-01 -4.19387847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.59028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:235.28, Y:88.96, Z:-0.42 [[ 4.50091153e-01 -8.92980734e-01 -1.83355686e-03 2.35278930e+02] [ 8.92972613e-01 4.50094881e-01 -3.80923969e-03 8.89641349e+01] [ 4.22685221e-03 7.71890215e-05 9.99991064e-01 -4.20267566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.620281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:235.29, Y:88.99, Z:-0.42 [[ 4.51902664e-01 -8.92065058e-01 -1.97841143e-03 2.35289347e+02] [ 8.92055583e-01 4.51906985e-01 -4.11263241e-03 8.89881412e+01] [ 4.56279362e-03 9.36565789e-05 9.99989586e-01 -4.19818048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.65028169299995 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:235.30, Y:89.01, Z:-0.42 [[ 4.52923314e-01 -8.91547288e-01 -1.97614574e-03 2.35299395e+02] [ 8.91537818e-01 4.52927614e-01 -4.11043231e-03 8.90123830e+01] [ 4.55969575e-03 9.99019551e-05 9.99989600e-01 -4.19752816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.680281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:235.31, Y:89.04, Z:-0.42 [[ 4.52325086e-01 -8.91850810e-01 -2.03689101e-03 2.35307970e+02] [ 8.91840740e-01 4.52329660e-01 -4.23949314e-03 8.90363541e+01] [ 4.70234161e-03 1.01046711e-04 9.99988939e-01 -4.19252502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.71028169299996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:235.32, Y:89.06, Z:-0.42 [[ 4.50780778e-01 -8.92633153e-01 -1.65649369e-03 2.35318133e+02] [ 8.92626490e-01 4.50783815e-01 -3.44986856e-03 8.90607247e+01] [ 3.82618759e-03 7.65042878e-05 9.99992677e-01 -4.19148868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.740281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:235.33, Y:89.08, Z:-0.42 [[ 4.46913568e-01 -8.94576569e-01 -1.01179262e-03 2.35328638e+02] [ 8.94574085e-01 4.46914712e-01 -2.10857026e-03 8.90836773e+01] [ 2.33846256e-03 3.72252059e-05 9.99997265e-01 -4.18799626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.77028169299996 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:235.34, Y:89.11, Z:-0.42 [[ 4.44571482e-01 -8.95742931e-01 -8.93868018e-04 2.35340076e+02] [ 8.95740992e-01 4.44572380e-01 -1.86405168e-03 8.91063389e+01] [ 2.06710015e-03 2.80299954e-05 9.99997863e-01 -4.18959113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.800281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:235.35, Y:89.13, Z:-0.42 [[ 4.40729332e-01 -8.97639785e-01 -6.88110196e-04 2.35352350e+02] [ 8.97638636e-01 4.40729869e-01 -1.43577783e-03 8.91271825e+01] [ 1.59208202e-03 1.51151049e-05 9.99998733e-01 -4.18252355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.83028169299996 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:235.36, Y:89.15, Z:-0.42 [[ 4.38598941e-01 -8.98682691e-01 -6.23813497e-04 2.35364099e+02] [ 8.98681748e-01 4.38599384e-01 -1.30247066e-03 8.91502254e+01] [ 1.44411205e-03 1.06524474e-05 9.99998957e-01 -4.17753316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.860281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:235.38, Y:89.17, Z:-0.42 [[ 4.36362971e-01 -8.99770452e-01 -7.01165595e-04 2.35375416e+02] [ 8.99769259e-01 4.36363534e-01 -1.46492710e-03 8.91730962e+01] [ 1.62406122e-03 8.35269473e-06 9.99998681e-01 -4.18652992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.89028169299996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:235.39, Y:89.19, Z:-0.42 [[ 4.33235315e-01 -9.01280010e-01 -1.22699511e-03 2.35389796e+02] [ 9.01276359e-01 4.33237053e-01 -2.56522332e-03 8.91937851e+01] [ 2.84356424e-03 5.48364983e-06 9.99995957e-01 -4.19666362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.920281693 meters Centerline goodness : 0.999588 Centerline is valid? [True, True] Translation: X:235.40, Y:89.22, Z:-0.42 [[ 4.32118804e-01 -9.01815667e-01 -1.35696574e-03 2.35404053e+02] [ 9.01811200e-01 4.32120935e-01 -2.83868495e-03 8.92161486e+01] [ 3.14634386e-03 2.92224597e-06 9.99995050e-01 -4.19908727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.95028169299997 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:235.42, Y:89.24, Z:-0.42 [[ 4.31831528e-01 -9.01952795e-01 -1.63916176e-03 2.35420240e+02] [ 9.01946269e-01 4.31834639e-01 -3.43122229e-03 8.92366749e+01] [ 3.80264736e-03 3.27413072e-06 9.99992770e-01 -4.19054229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 289.98028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:235.43, Y:89.26, Z:-0.42 [[ 4.31973930e-01 -9.01884689e-01 -1.59129787e-03 2.35433365e+02] [ 9.01878529e-01 4.31976861e-01 -3.33324110e-03 8.92591549e+01] [ 3.69360297e-03 4.71587464e-06 9.99993179e-01 -4.18845621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.01028169299997 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:235.45, Y:89.28, Z:-0.42 [[ 4.32411669e-01 -9.01674905e-01 -1.58551490e-03 2.35446226e+02] [ 9.01668781e-01 4.32414576e-01 -3.32334384e-03 8.92807588e+01] [ 3.68217549e-03 7.44336700e-06 9.99993221e-01 -4.19596213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.04028169299994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:235.46, Y:89.30, Z:-0.42 [[ 4.33432438e-01 -9.01184333e-01 -1.76655526e-03 2.35459213e+02] [ 9.01176717e-01 4.33436038e-01 -3.70489425e-03 8.93020641e+01] [ 4.10448136e-03 1.38428757e-05 9.99991577e-01 -4.19117585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.07028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:235.47, Y:89.32, Z:-0.42 [[ 4.36929852e-01 -8.99493630e-01 -1.87479642e-03 2.35473651e+02] [ 8.99485025e-01 4.36933873e-01 -3.93452687e-03 8.93235919e+01] [ 4.35824392e-03 3.27609352e-05 9.99990502e-01 -4.18143188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.10028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:235.49, Y:89.35, Z:-0.42 [[ 4.42107921e-01 -8.96960585e-01 -1.51492292e-03 2.35485843e+02] [ 8.96954945e-01 4.42110514e-01 -3.18108915e-03 8.93451264e+01] [ 3.52307494e-03 4.75671082e-05 9.99993793e-01 -4.17219772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.130281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:235.50, Y:89.37, Z:-0.42 [[ 4.44759879e-01 -8.95649120e-01 -1.14196594e-03 2.35497195e+02] [ 8.95645907e-01 4.44761342e-01 -2.39942421e-03 8.93684659e+01] [ 2.65694449e-03 4.43705050e-05 9.99996469e-01 -4.16967041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.16028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:235.51, Y:89.39, Z:-0.42 [[ 4.47669000e-01 -8.94198765e-01 -1.01692436e-03 2.35507807e+02] [ 8.94196210e-01 4.47670153e-01 -2.13820212e-03 8.93903381e+01] [ 2.36722438e-03 4.78768927e-05 9.99997197e-01 -4.16946774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.190281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:235.52, Y:89.41, Z:-0.42 [[ 4.50071757e-01 -8.92992055e-01 -7.76881271e-04 2.35518382e+02] [ 8.92990560e-01 4.50072426e-01 -1.63458600e-03 8.94135625e+01] [ 1.80932515e-03 4.19333544e-05 9.99998362e-01 -4.16810864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.22028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:235.53, Y:89.44, Z:-0.42 [[ 4.52788917e-01 -8.91617527e-01 -6.18488644e-04 2.35528664e+02] [ 8.91616577e-01 4.52789338e-01 -1.30211886e-03 8.94373010e+01] [ 1.44103706e-03 3.81302603e-05 9.99998961e-01 -4.16228316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.250281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:235.54, Y:89.46, Z:-0.42 [[ 4.52619149e-01 -8.91703720e-01 -6.18246590e-04 2.35539933e+02] [ 8.91702770e-01 4.52619569e-01 -1.30223381e-03 8.94616361e+01] [ 1.44103724e-03 3.81237602e-05 9.99998961e-01 -4.16232296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.28028169299995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:235.55, Y:89.49, Z:-0.42 [[ 4.52437261e-01 -8.91795920e-01 -7.50222671e-04 2.35550883e+02] [ 8.91794519e-01 4.52437881e-01 -1.58118648e-03 8.94859277e+01] [ 1.74952480e-03 4.63432126e-05 9.99998469e-01 -4.16284216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.310281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:235.56, Y:89.51, Z:-0.42 [[ 4.50231650e-01 -8.92911051e-01 -1.14742979e-03 2.35562043e+02] [ 8.92907774e-01 4.50233108e-01 -2.41985506e-03 8.95092374e+01] [ 2.67732621e-03 6.49463553e-05 9.99996414e-01 -4.16904616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.34028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:235.57, Y:89.53, Z:-0.42 [[ 4.48953598e-01 -8.93554077e-01 -1.33334194e-03 2.35573618e+02] [ 8.93549651e-01 4.48955572e-01 -2.81332912e-03 8.95316994e+01] [ 3.11247300e-03 7.16470067e-05 9.99995154e-01 -4.17899111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.370281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:235.59, Y:89.55, Z:-0.42 [[ 4.46778316e-01 -8.94642872e-01 -1.80752517e-03 2.35587615e+02] [ 8.94634737e-01 4.46781964e-01 -3.81629453e-03 8.95532359e+01] [ 4.22179034e-03 8.79628398e-05 9.99991084e-01 -4.18575938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.40028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:235.60, Y:89.58, Z:-0.42 [[ 4.46155160e-01 -8.94953762e-01 -1.82658796e-03 2.35600096e+02] [ 8.94945447e-01 4.46158891e-01 -3.85890951e-03 8.95769157e+01] [ 4.26849404e-03 8.69758120e-05 9.99990886e-01 -4.18149832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.430281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:235.61, Y:89.60, Z:-0.42 [[ 4.46237307e-01 -8.94912542e-01 -1.95146930e-03 2.35612039e+02] [ 8.94903038e-01 4.46241564e-01 -4.12538431e-03 8.95988188e+01] [ 4.56268487e-03 9.45245786e-05 9.99989586e-01 -4.17295636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.46028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:235.62, Y:89.62, Z:-0.42 [[ 4.46007842e-01 -8.95026742e-01 -2.03373534e-03 2.35623142e+02] [ 8.95016408e-01 4.46012468e-01 -4.30212775e-03 8.96214674e+01] [ 4.75759070e-03 9.85562116e-05 9.99988678e-01 -4.17499125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.490281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:235.64, Y:89.64, Z:-0.42 [[ 4.45484344e-01 -8.95287555e-01 -1.97296280e-03 2.35635001e+02] [ 8.95277819e-01 4.45488703e-01 -4.17635989e-03 8.96440240e+01] [ 4.61797568e-03 9.41531112e-05 9.99989333e-01 -4.18199521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.52028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:235.65, Y:89.67, Z:-0.42 [[ 4.44821437e-01 -8.95618718e-01 -1.00079749e-03 2.35649961e+02] [ 8.95616210e-01 4.44822561e-01 -2.11982155e-03 8.96663806e+01] [ 2.34372916e-03 4.66116176e-05 9.99997252e-01 -4.17627627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.550281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:235.66, Y:89.69, Z:-0.42 [[ 4.44927516e-01 -8.95566537e-01 -2.88200799e-04 2.35662089e+02] [ 8.95566329e-01 4.44927609e-01 -6.10899221e-04 8.96889551e+01] [ 6.75329392e-04 1.37029420e-05 9.99999772e-01 -4.17286545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.68, Y:89.71, Z:-0.42 [[ 4.45442994e-01 -8.95310303e-01 2.50454065e-05 2.35675234e+02] [ 8.95310301e-01 4.45442995e-01 5.30285746e-05 8.97107240e+01] [-5.86333300e-05 -1.19779666e-06 9.99999998e-01 -4.16850815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.610281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:235.69, Y:89.73, Z:-0.42 [[ 4.45217477e-01 -8.95422428e-01 -2.69870608e-04 2.35687009e+02] [ 8.95422245e-01 4.45217559e-01 -5.72795649e-04 8.97329009e+01] [ 6.33045204e-04 1.33704881e-05 9.99999800e-01 -4.16710584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.64028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:235.70, Y:89.76, Z:-0.42 [[ 4.44259715e-01 -8.95897892e-01 -5.21728702e-04 2.35698325e+02] [ 8.95897208e-01 4.44260021e-01 -1.10801188e-03 8.97562678e+01] [ 1.22444871e-03 2.48297557e-05 9.99999250e-01 -4.16955497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.670281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:235.71, Y:89.78, Z:-0.42 [[ 4.41430618e-01 -8.97294828e-01 -1.00027236e-03 2.35709134e+02] [ 8.97292312e-01 4.41431749e-01 -2.12564617e-03 8.97792264e+01] [ 2.34888329e-03 4.07886036e-05 9.99997241e-01 -4.18001074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:235.72, Y:89.80, Z:-0.42 [[ 4.39824828e-01 -8.98082825e-01 -1.16659059e-03 2.35720378e+02] [ 8.98079399e-01 4.39826373e-01 -2.48079858e-03 8.98010272e+01] [ 2.74105990e-03 4.34258367e-05 9.99996242e-01 -4.18362867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.73028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:235.73, Y:89.82, Z:-0.42 [[ 4.36494275e-01 -8.99706019e-01 -1.35188234e-03 2.35734828e+02] [ 8.99701420e-01 4.36496367e-01 -2.87678249e-03 8.98209734e+01] [ 3.17835025e-03 3.94086220e-05 9.99994948e-01 -4.18732904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:235.75, Y:89.84, Z:-0.42 [[ 4.34526142e-01 -9.00658167e-01 -1.37816817e-03 2.35745990e+02] [ 9.00653386e-01 4.34528326e-01 -2.93471178e-03 8.98427096e+01] [ 3.24202524e-03 3.39571537e-05 9.99994744e-01 -4.18213788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.79028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:235.76, Y:89.87, Z:-0.42 [[ 4.32650205e-01 -9.01561305e-01 -1.00665632e-03 2.35755722e+02] [ 9.01558754e-01 4.32651376e-01 -2.14479724e-03 8.98650533e+01] [ 2.36919744e-03 2.03871504e-05 9.99997193e-01 -4.17721746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.82028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:235.77, Y:89.89, Z:-0.42 [[ 4.32158872e-01 -9.01796990e-01 -9.47685910e-04 2.35767237e+02] [ 9.01794727e-01 4.32159911e-01 -2.02046184e-03 8.98890959e+01] [ 2.23159826e-03 1.85423525e-05 9.99997510e-01 -4.18332324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.85028169299994 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:235.78, Y:89.91, Z:-0.42 [[ 4.31909503e-01 -9.01916174e-01 -1.18138945e-03 2.35778905e+02] [ 9.01912653e-01 4.31911118e-01 -2.52038296e-03 8.99114540e+01] [ 2.78342940e-03 2.30672633e-05 9.99996126e-01 -4.19048585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.880281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:235.79, Y:89.93, Z:-0.42 [[ 4.31578316e-01 -9.02073791e-01 -1.74153539e-03 2.35789574e+02] [ 9.02066130e-01 4.31581828e-01 -3.71783317e-03 8.99333630e+01] [ 4.10537489e-03 3.35560843e-05 9.99991572e-01 -4.19483930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.91028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:235.80, Y:89.96, Z:-0.42 [[ 4.31708050e-01 -9.02011725e-01 -1.73418602e-03 2.35799172e+02] [ 9.02004118e-01 4.31711532e-01 -3.70463298e-03 8.99573565e+01] [ 4.09029049e-03 3.50769483e-05 9.99991634e-01 -4.19488992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.940281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:235.81, Y:89.98, Z:-0.42 [[ 4.33171750e-01 -9.01310022e-01 -1.57474592e-03 2.35808293e+02] [ 9.01303736e-01 4.33174611e-01 -3.36629192e-03 8.99815032e+01] [ 3.71621260e-03 3.88581869e-05 9.99993094e-01 -4.18864826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 290.97028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:235.82, Y:90.00, Z:-0.42 [[ 4.33728353e-01 -9.01042444e-01 -1.49355820e-03 2.35818569e+02] [ 9.01036780e-01 4.33730923e-01 -3.19496815e-03 9.00040725e+01] [ 3.52660429e-03 3.99974073e-05 9.99993781e-01 -4.18909148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.000281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:235.83, Y:90.03, Z:-0.42 [[ 4.33704753e-01 -9.01053350e-01 -1.74583131e-03 2.35829135e+02] [ 9.01045602e-01 4.33708264e-01 -3.73705539e-03 9.00274741e+01] [ 4.12446774e-03 4.77050550e-05 9.99991493e-01 -4.18785156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.03028169299995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:235.84, Y:90.05, Z:-0.42 [[ 4.32782892e-01 -9.01494385e-01 -2.61560600e-03 2.35839999e+02] [ 9.01476978e-01 4.32790791e-01 -5.60263815e-03 9.00505284e+01] [ 6.18275702e-03 6.68173548e-05 9.99980884e-01 -4.19274337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.060281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:235.85, Y:90.07, Z:-0.42 [[ 4.31645501e-01 -9.02039178e-01 -2.73544402e-03 2.35850364e+02] [ 9.02020123e-01 4.31654164e-01 -5.86349065e-03 9.00728526e+01] [ 6.46986408e-03 6.35238068e-05 9.99979068e-01 -4.19986403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.09028169299995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:235.86, Y:90.09, Z:-0.42 [[ 4.29710588e-01 -9.02965119e-01 -1.67434646e-03 2.35861181e+02] [ 9.02957977e-01 4.29713849e-01 -3.59156566e-03 9.00944332e+01] [ 3.96254838e-03 3.14692967e-05 9.99992149e-01 -4.18507599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.120281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:235.87, Y:90.12, Z:-0.42 [[ 4.29395344e-01 -9.03115971e-01 -1.08675259e-03 2.35871552e+02] [ 9.03112959e-01 4.29396719e-01 -2.33275038e-03 9.01174549e+01] [ 2.57339212e-03 2.02118038e-05 9.99996689e-01 -4.17737667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.15028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:235.88, Y:90.14, Z:-0.42 [[ 4.30074522e-01 -9.02792833e-01 -1.00271399e-03 2.35881632e+02] [ 9.02790264e-01 4.30075691e-01 -2.15388551e-03 9.01395985e+01] [ 2.37575532e-03 2.10908499e-05 9.99997178e-01 -4.16969998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.180281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:235.89, Y:90.16, Z:-0.42 [[ 4.31637565e-01 -9.02045454e-01 -1.73544415e-03 2.35892745e+02] [ 9.02037742e-01 4.31641051e-01 -3.73027142e-03 9.01629240e+01] [ 4.11396331e-03 4.46891438e-05 9.99991537e-01 -4.18208496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.21028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:235.90, Y:90.18, Z:-0.42 [[ 4.31989040e-01 -9.01876800e-01 -1.92525851e-03 2.35902887e+02] [ 9.01867296e-01 4.31993327e-01 -4.14062670e-03 9.01848461e+01] [ 4.56603399e-03 5.23776662e-05 9.99989574e-01 -4.19237046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.240281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:235.91, Y:90.21, Z:-0.42 [[ 4.31317259e-01 -9.02198817e-01 -1.64823000e-03 2.35913034e+02] [ 9.02191845e-01 4.31320407e-01 -3.54717139e-03 9.02077784e+01] [ 3.91116906e-03 4.29365810e-05 9.99992350e-01 -4.18397522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.27028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:235.92, Y:90.23, Z:-0.42 [[ 4.29684618e-01 -9.02977801e-01 -1.49000262e-03 2.35923584e+02] [ 9.02972100e-01 4.29687200e-01 -3.20874995e-03 9.02304438e+01] [ 3.53766503e-03 3.33196974e-05 9.99993742e-01 -4.18439943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.300281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:235.93, Y:90.25, Z:-0.42 [[ 4.24318683e-01 -9.05511717e-01 -1.47827906e-03 2.35934026e+02] [ 9.05506113e-01 4.24321258e-01 -3.18567725e-03 9.02528132e+01] [ 3.51193331e-03 1.31516468e-05 9.99993833e-01 -4.19035758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.33028169299996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:235.94, Y:90.28, Z:-0.42 [[ 4.20967203e-01 -9.07074533e-01 -1.55089587e-03 2.35944781e+02] [ 9.07068368e-01 4.20970060e-01 -3.34443350e-03 9.02755053e+01] [ 3.68653119e-03 1.12823329e-06 9.99993205e-01 -4.18739950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.360281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:235.96, Y:90.30, Z:-0.42 [[ 4.17500128e-01 -9.08675649e-01 -1.48575821e-03 2.35955991e+02] [ 9.08669993e-01 4.17502772e-01 -3.20614108e-03 9.02983227e+01] [ 3.53365050e-03 -1.14995941e-05 9.99993757e-01 -4.18765721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.39028169299996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:235.97, Y:90.32, Z:-0.42 [[ 4.11284585e-01 -9.11506451e-01 -9.90464519e-04 2.35967202e+02] [ 9.11503942e-01 4.11285777e-01 -2.13859301e-03 9.03195729e+01] [ 2.35670529e-03 -2.32419780e-05 9.99997223e-01 -4.17634836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.420281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:235.98, Y:90.34, Z:-0.42 [[ 4.08479754e-01 -9.12766978e-01 -8.56580937e-04 2.35978008e+02] [ 9.12765103e-01 4.08480652e-01 -1.85056142e-03 9.03413277e+01] [ 2.03902810e-03 -2.59403114e-05 9.99997921e-01 -4.17930683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.45028169299997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:235.99, Y:90.36, Z:-0.42 [[ 4.03474675e-01 -9.14990332e-01 -9.37357909e-04 2.35990481e+02] [ 9.14988089e-01 4.03475761e-01 -2.02638998e-03 9.03640046e+01] [ 2.23232843e-03 -4.00742865e-05 9.99997508e-01 -4.18943603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.48028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:236.00, Y:90.39, Z:-0.42 [[ 4.01307265e-01 -9.15943020e-01 -9.28969794e-04 2.36002628e+02] [ 9.15940817e-01 4.01308337e-01 -2.00964262e-03 9.03864292e+01] [ 2.21352146e-03 -4.43971687e-05 9.99997549e-01 -4.18581138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.51028169299997 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:236.01, Y:90.41, Z:-0.42 [[ 3.99960694e-01 -9.16531984e-01 -7.52490904e-04 2.36014360e+02] [ 9.16530537e-01 3.99961400e-01 -1.62881729e-03 9.04080348e+01] [ 1.79383046e-03 -3.82179971e-05 9.99998390e-01 -4.17794903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.54028169299994 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:236.03, Y:90.43, Z:-0.42 [[ 3.99397256e-01 -9.16777468e-01 -9.52469157e-04 2.36026281e+02] [ 9.16775148e-01 3.99398388e-01 -2.06308037e-03 9.04310661e+01] [ 2.27180025e-03 -4.92114129e-05 9.99997418e-01 -4.17141098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.57028169299997 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:236.04, Y:90.45, Z:-0.42 [[ 4.00270651e-01 -9.16396146e-01 -1.22888113e-03 2.36037232e+02] [ 9.16392277e-01 4.00272533e-01 -2.66358431e-03 9.04542920e+01] [ 2.93278576e-03 -5.99825564e-05 9.99995698e-01 -4.17610566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.60028169299994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:236.05, Y:90.48, Z:-0.42 [[ 4.03957308e-01 -9.14776917e-01 -1.29808004e-03 2.36050484e+02] [ 9.14772586e-01 4.03959390e-01 -2.81547748e-03 9.04761819e+01] [ 3.09990543e-03 -5.01153361e-05 9.99995194e-01 -4.17339994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.630281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:236.06, Y:90.50, Z:-0.42 [[ 4.06001939e-01 -9.13871551e-01 -1.10178742e-03 2.36061987e+02] [ 9.13868422e-01 4.06003433e-01 -2.39143782e-03 9.04980947e+01] [ 2.63279646e-03 -3.59603432e-05 9.99996534e-01 -4.17154197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.66028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:236.07, Y:90.52, Z:-0.42 [[ 4.07875411e-01 -9.13036961e-01 -1.07586005e-03 2.36073246e+02] [ 9.13033971e-01 4.07876828e-01 -2.33680362e-03 9.05200075e+01] [ 2.57240647e-03 -2.91720388e-05 9.99996691e-01 -4.16891495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.690281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:236.09, Y:90.54, Z:-0.42 [[ 4.10270400e-01 -9.11962975e-01 -1.31568551e-03 2.36085201e+02] [ 9.11958492e-01 4.10272508e-01 -2.85964611e-03 9.05422737e+01] [ 3.14768097e-03 -2.66224192e-05 9.99995046e-01 -4.17983601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.72028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:236.10, Y:90.56, Z:-0.42 [[ 4.11130983e-01 -9.11575206e-01 -1.39987238e-03 2.36096081e+02] [ 9.11570121e-01 4.11133365e-01 -3.04479340e-03 9.05639177e+01] [ 3.35109241e-03 -2.42729262e-05 9.99994385e-01 -4.19015766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.750281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:236.11, Y:90.58, Z:-0.42 [[ 4.13000142e-01 -9.10728872e-01 -1.95031264e-03 2.36109059e+02] [ 9.10718981e-01 4.13004746e-01 -4.24471097e-03 9.05841081e+01] [ 4.67126921e-03 -2.31205086e-05 9.99989089e-01 -4.20032833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.78028169299995 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:236.12, Y:90.61, Z:-0.42 [[ 4.14407519e-01 -9.10088552e-01 -2.28813504e-03 2.36121083e+02] [ 9.10074909e-01 4.14413835e-01 -4.98327030e-03 9.06066372e+01] [ 5.48345207e-03 -1.72696095e-05 9.99984966e-01 -4.19777291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.810281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:236.13, Y:90.63, Z:-0.42 [[ 4.16261366e-01 -9.09241403e-01 -2.55867858e-03 2.36132173e+02] [ 9.09224303e-01 4.16269230e-01 -5.57636038e-03 9.06283531e+01] [ 6.13535690e-03 -5.18935352e-06 9.99981179e-01 -4.19485161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.84028169299995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:236.15, Y:90.65, Z:-0.42 [[ 4.20095636e-01 -9.07476843e-01 -2.33146991e-03 2.36145164e+02] [ 9.07462599e-01 4.20102105e-01 -5.08452034e-03 9.06503294e+01] [ 5.59353989e-03 2.02630638e-05 9.99984356e-01 -4.19660166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.870281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:236.16, Y:90.67, Z:-0.42 [[ 4.22517184e-01 -9.06352678e-01 -2.01301847e-03 2.36160003e+02] [ 9.06342032e-01 4.22521978e-01 -4.39311791e-03 9.06712605e+01] [ 4.83225873e-03 3.16845601e-05 9.99988324e-01 -4.19976794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.90028169299995 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:236.17, Y:90.69, Z:-0.42 [[ 4.23238877e-01 -9.06015975e-01 -1.97646553e-03 2.36171553e+02] [ 9.06005693e-01 4.23243490e-01 -4.31647472e-03 9.06931916e+01] [ 4.74732122e-03 3.62108886e-05 9.99988731e-01 -4.20030839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.930281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:236.18, Y:90.72, Z:-0.42 [[ 4.24184627e-01 -9.05574096e-01 -1.72029388e-03 2.36182520e+02] [ 9.05566292e-01 4.24188114e-01 -3.75963007e-03 9.07166593e+01] [ 4.13435182e-03 3.69371253e-05 9.99991453e-01 -4.20101757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.96028169299996 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:236.19, Y:90.74, Z:-0.42 [[ 4.27367926e-01 -9.04077032e-01 -1.17284250e-03 2.36193091e+02] [ 9.04073394e-01 4.27369534e-01 -2.56508382e-03 9.07392284e+01] [ 2.82027052e-03 3.58988523e-05 9.99996022e-01 -4.20302682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 291.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.20, Y:90.76, Z:-0.42 [[ 4.28988246e-01 -9.03308942e-01 -1.42823751e-03 2.36204711e+02] [ 9.03303536e-01 4.28990620e-01 -3.12573555e-03 9.07623596e+01] [ 3.43620537e-03 5.07718145e-05 9.99994095e-01 -4.20179690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.02028169299996 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:236.22, Y:90.78, Z:-0.42 [[ 4.31500611e-01 -9.02110630e-01 -1.90628762e-03 2.36215409e+02] [ 9.02100973e-01 4.31504814e-01 -4.17487553e-03 9.07845208e+01] [ 4.58877188e-03 8.17974184e-05 9.99989468e-01 -4.20282751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.050281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:236.22, Y:90.81, Z:-0.42 [[ 4.32066841e-01 -9.01839809e-01 -1.78983581e-03 2.36224716e+02] [ 9.01831282e-01 4.32070541e-01 -3.92249244e-03 9.08084713e+01] [ 4.31079516e-03 8.06489893e-05 9.99990705e-01 -4.19982308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.08028169299996 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:236.23, Y:90.83, Z:-0.42 [[ 4.32777355e-01 -9.01499995e-01 -1.23290158e-03 2.36233760e+02] [ 9.01495943e-01 4.32779107e-01 -2.70352045e-03 9.08312897e+01] [ 2.97079772e-03 5.85666554e-05 9.99995585e-01 -4.20543827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.110281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.25, Y:90.85, Z:-0.42 [[ 4.32715728e-01 -9.01530360e-01 -3.30686139e-04 2.36245796e+02] [ 9.01530068e-01 4.32715854e-01 -7.25690086e-04 9.08542855e+01] [ 7.97324779e-04 1.58940171e-05 9.99999682e-01 -4.20904936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.14028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.26, Y:90.88, Z:-0.42 [[ 4.31478245e-01 -9.02123297e-01 -2.85078235e-04 2.36256558e+02] [ 9.02123080e-01 4.31478339e-01 -6.26058346e-04 9.08759919e+01] [ 6.87786903e-04 1.29549019e-05 9.99999763e-01 -4.20778139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.170281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.27, Y:90.90, Z:-0.42 [[ 4.31260372e-01 -9.02227472e-01 -2.84930118e-04 2.36267037e+02] [ 9.02227254e-01 4.31260466e-01 -6.26125775e-04 9.08997845e+01] [ 6.87786971e-04 1.29515166e-05 9.99999763e-01 -4.20781994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.20028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:236.28, Y:90.92, Z:-0.42 [[ 4.27163146e-01 -9.04174139e-01 -8.79643546e-04 2.36277629e+02] [ 9.04172071e-01 4.27164050e-01 -1.93416155e-03 9.09230311e+01] [ 2.12457095e-03 3.08534047e-05 9.99997743e-01 -4.21189209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.23028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:236.29, Y:90.95, Z:-0.42 [[ 4.25182577e-01 -9.05106583e-01 -1.35994885e-03 2.36288259e+02] [ 9.05101638e-01 4.25184750e-01 -2.99237517e-03 9.09455529e+01] [ 3.28664797e-03 4.14138545e-05 9.99994598e-01 -4.21979981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.26028169299997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:236.30, Y:90.97, Z:-0.42 [[ 4.23686611e-01 -9.05807366e-01 -1.63422434e-03 2.36300404e+02] [ 9.05800220e-01 4.23689761e-01 -3.59838645e-03 9.09678153e+01] [ 3.95184907e-03 4.43073973e-05 9.99992190e-01 -4.22518724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.29028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.31, Y:90.99, Z:-0.42 [[ 4.22470325e-01 -9.06374945e-01 -1.81219140e-03 2.36314214e+02] [ 9.06366152e-01 4.22474210e-01 -3.99261277e-03 9.09882147e+01] [ 4.38440830e-03 4.42514728e-05 9.99990387e-01 -4.21828386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.32028169299997 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.32, Y:91.01, Z:-0.42 [[ 4.22364650e-01 -9.06424050e-01 -1.88270227e-03 2.36324532e+02] [ 9.06414549e-01 4.22368843e-01 -4.15039057e-03 9.10105024e+01] [ 4.55720861e-03 4.64695323e-05 9.99989615e-01 -4.21041826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.35028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:236.33, Y:91.03, Z:-0.42 [[ 4.23888471e-01 -9.05712628e-01 -1.78851907e-03 2.36333956e+02] [ 9.05704037e-01 4.23892241e-01 -3.94537685e-03 9.10341235e+01] [ 4.33151699e-03 5.25308190e-05 9.99990618e-01 -4.20760782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.380281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:236.34, Y:91.06, Z:-0.42 [[ 4.24949420e-01 -9.05215652e-01 -1.61710088e-03 2.36343997e+02] [ 9.05208615e-01 4.24952493e-01 -3.56969345e-03 9.10562502e+01] [ 3.91853344e-03 5.31255128e-05 9.99992321e-01 -4.21220126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.41028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:236.36, Y:91.08, Z:-0.42 [[ 4.26220307e-01 -9.04618704e-01 -1.11804668e-03 2.36355872e+02] [ 9.04615334e-01 4.26221772e-01 -2.46976609e-03 9.10792513e+01] [ 2.71073244e-03 4.12622908e-05 9.99996325e-01 -4.21584054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.440281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.37, Y:91.10, Z:-0.42 [[ 4.26021813e-01 -9.04712434e-01 -9.09746224e-04 2.36365870e+02] [ 9.04710199e-01 4.26022783e-01 -2.01108210e-03 9.11017107e+01] [ 2.20702360e-03 3.37081536e-05 9.99997564e-01 -4.20526737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.47028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:236.38, Y:91.12, Z:-0.42 [[ 4.25431727e-01 -9.04990364e-01 -5.35168052e-04 2.36375764e+02] [ 9.04989590e-01 4.25432063e-01 -1.18390343e-03 9.11237186e+01] [ 1.29909884e-03 1.93485645e-05 9.99999156e-01 -4.20513198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.500281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:236.39, Y:91.15, Z:-0.42 [[ 4.24629239e-01 -9.05367318e-01 -1.70949421e-04 2.36387723e+02] [ 9.05367239e-01 4.24629273e-01 -3.78491406e-04 9.11461950e+01] [ 4.15263878e-04 5.94651270e-06 9.99999914e-01 -4.19920697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.40, Y:91.17, Z:-0.42 [[ 4.24674708e-01 -9.05345941e-01 -3.45278846e-04 2.36398601e+02] [ 9.05345618e-01 4.24674848e-01 -7.64946331e-04 9.11684568e+01] [ 8.39172298e-04 1.22566689e-05 9.99999648e-01 -4.20132834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.560281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.41, Y:91.19, Z:-0.42 [[ 4.26261043e-01 -9.04598921e-01 -1.52190282e-03 2.36409093e+02] [ 9.04592632e-01 4.26263755e-01 -3.37368105e-03 9.11921015e+01] [ 3.70056025e-03 6.13667224e-05 9.99993151e-01 -4.20944218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.59028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:236.42, Y:91.22, Z:-0.42 [[ 4.27285217e-01 -9.04114063e-01 -2.25915765e-03 2.36419485e+02] [ 9.04100179e-01 4.27291178e-01 -5.01145506e-03 9.12152570e+01] [ 5.49624513e-03 9.88158264e-05 9.99984891e-01 -4.21500682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.620281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:236.43, Y:91.24, Z:-0.42 [[ 4.28319220e-01 -9.03623559e-01 -2.66639306e-03 2.36430495e+02] [ 9.03604183e-01 4.28327500e-01 -5.91892856e-03 9.12382207e+01] [ 6.49057277e-03 1.25826938e-04 9.99978928e-01 -4.22146526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.65028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:236.44, Y:91.26, Z:-0.42 [[ 4.28903820e-01 -9.03347679e-01 -2.11772536e-03 2.36441915e+02] [ 9.03335435e-01 4.28909035e-01 -4.70440581e-03 9.12597016e+01] [ 5.15802561e-03 1.04721265e-04 9.99986692e-01 -4.21832144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.680281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:236.45, Y:91.28, Z:-0.42 [[ 4.28650189e-01 -9.03469343e-01 -1.47052125e-03 2.36451920e+02] [ 9.03463433e-01 4.28652705e-01 -3.26858698e-03 9.12821619e+01] [ 3.58341104e-03 7.25182515e-05 9.99993577e-01 -4.20919200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.46, Y:91.31, Z:-0.42 [[ 4.28884720e-01 -9.03358822e-01 -8.57537243e-04 2.36462596e+02] [ 9.03356809e-01 4.28885575e-01 -1.90743359e-03 9.13055849e+01] [ 2.09088232e-03 4.34070140e-05 9.99997813e-01 -4.20870669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.740281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.47, Y:91.33, Z:-0.42 [[ 4.28896335e-01 -9.03353089e-01 -1.06312590e-03 2.36472557e+02] [ 9.03349992e-01 4.28897649e-01 -2.36606821e-03 9.13280712e+01] [ 2.59336723e-03 5.44232148e-05 9.99996636e-01 -4.21080128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.77028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:236.48, Y:91.35, Z:-0.42 [[ 4.28813769e-01 -9.03391981e-01 -1.29583129e-03 2.36481391e+02] [ 9.03387375e-01 4.28815722e-01 -2.88562857e-03 9.13506832e+01] [ 3.16252654e-03 6.67596405e-05 9.99994997e-01 -4.21077857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.800281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:236.49, Y:91.38, Z:-0.42 [[ 4.30161382e-01 -9.02751205e-01 -1.20294953e-03 2.36487409e+02] [ 9.02747228e-01 4.30163059e-01 -2.68051922e-03 9.13753985e+01] [ 2.93730641e-03 6.70964995e-05 9.99995684e-01 -4.21218092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.83028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:236.50, Y:91.40, Z:-0.42 [[ 4.31271601e-01 -9.02221396e-01 -1.16542464e-03 2.36495949e+02] [ 9.02217656e-01 4.31273170e-01 -2.59873810e-03 9.13996770e+01] [ 2.84725350e-03 6.92952562e-05 9.99995944e-01 -4.21150712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.860281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:236.50, Y:91.42, Z:-0.42 [[ 4.33181447e-01 -9.01305918e-01 -1.21506804e-03 2.36502875e+02] [ 9.01301844e-01 4.33183144e-01 -2.71103570e-03 9.14233301e+01] [ 2.96981951e-03 7.92273060e-05 9.99995587e-01 -4.20347871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:236.51, Y:91.45, Z:-0.42 [[ 4.33198484e-01 -9.01297653e-01 -1.27032598e-03 2.36510726e+02] [ 9.01293196e-01 4.33200338e-01 -2.83592286e-03 9.14466870e+01] [ 3.10631626e-03 8.35813148e-05 9.99995172e-01 -4.20546223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.920281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:236.52, Y:91.47, Z:-0.42 [[ 4.31430710e-01 -9.02145224e-01 -1.24012275e-03 2.36517089e+02] [ 9.02140973e-01 4.31432485e-01 -2.77033428e-03 9.14721822e+01] [ 3.03427308e-03 7.64417342e-05 9.99995394e-01 -4.21493980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.95028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:236.53, Y:91.50, Z:-0.42 [[ 4.29952198e-01 -9.02850728e-01 -1.29290474e-03 2.36525069e+02] [ 9.02846105e-01 4.29954135e-01 -2.89013128e-03 9.14961397e+01] [ 3.16524687e-03 7.53242870e-05 9.99994988e-01 -4.21585418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 292.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:236.53, Y:91.52, Z:-0.42 [[ 4.28667367e-01 -9.03461266e-01 -1.42432562e-03 2.36533161e+02] [ 9.03455652e-01 4.28669726e-01 -3.18598691e-03 9.15202669e+01] [ 3.48898105e-03 7.89135875e-05 9.99993910e-01 -4.21369750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.01028169299997 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:236.54, Y:91.55, Z:-0.42 [[ 4.27315822e-01 -9.04100981e-01 -1.61389794e-03 2.36541274e+02] [ 9.04093768e-01 4.27318861e-01 -3.61239428e-03 9.15450358e+01] [ 3.95561824e-03 8.45181565e-05 9.99992173e-01 -4.21250024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.55, Y:91.57, Z:-0.42 [[ 4.26601965e-01 -9.04437497e-01 -1.89175507e-03 2.36548041e+02] [ 9.04427576e-01 4.26606148e-01 -4.23721543e-03 9.15701204e+01] [ 4.63933086e-03 9.66489739e-05 9.99989234e-01 -4.21066639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.07028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.55, Y:91.60, Z:-0.42 [[ 4.27035316e-01 -9.04232628e-01 -2.04767740e-03 2.36554311e+02] [ 9.04220988e-01 4.27040212e-01 -4.58941883e-03 9.15960932e+01] [ 5.02434284e-03 1.08291037e-04 9.99987372e-01 -4.21075505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.10028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.56, Y:91.62, Z:-0.42 [[ 4.27254476e-01 -9.04129012e-01 -2.08397190e-03 2.36562195e+02] [ 9.04116937e-01 4.27259544e-01 -4.67394499e-03 9.16206624e+01] [ 5.11624615e-03 1.12809624e-04 9.99986906e-01 -4.20880836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.130281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:236.57, Y:91.64, Z:-0.42 [[ 4.27594124e-01 -9.03968473e-01 -2.06506960e-03 2.36569725e+02] [ 9.03956601e-01 4.27599095e-01 -4.63426542e-03 9.16442530e+01] [ 5.07225173e-03 1.14851369e-04 9.99987129e-01 -4.20987931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.16028169299994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:236.58, Y:91.67, Z:-0.42 [[ 4.28572454e-01 -9.03505740e-01 -1.74062047e-03 2.36576735e+02] [ 9.03497290e-01 4.28575976e-01 -3.90882252e-03 9.16692981e+01] [ 4.27763170e-03 1.02567778e-04 9.99990846e-01 -4.20470287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.190281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:236.59, Y:91.69, Z:-0.42 [[ 4.28994829e-01 -9.03305696e-01 -1.50240545e-03 2.36585090e+02] [ 9.03299390e-01 4.28997450e-01 -3.37625867e-03 9.16921119e+01] [ 3.69432179e-03 9.12755800e-05 9.99993172e-01 -4.20184289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.59, Y:91.72, Z:-0.42 [[ 4.29347401e-01 -9.03139109e-01 -7.48028908e-04 2.36591169e+02] [ 9.03137543e-01 4.29348050e-01 -1.68218051e-03 9.17177187e+01] [ 1.84040776e-03 4.66668425e-05 9.99998305e-01 -4.19854385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.250281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:236.60, Y:91.74, Z:-0.42 [[ 4.29418374e-01 -9.03105622e-01 -3.09508360e-04 2.36598412e+02] [ 9.03105353e-01 4.29418485e-01 -6.96577127e-04 9.17414854e+01] [ 7.61991330e-04 1.96043599e-05 9.99999710e-01 -4.19152148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.61, Y:91.77, Z:-0.42 [[ 4.29445727e-01 -9.03092667e-01 -3.86876054e-05 2.36606093e+02] [ 9.03092663e-01 4.29445729e-01 -8.72108961e-05 9.17651422e+01] [ 9.53737478e-05 2.51385412e-06 9.99999995e-01 -4.18896091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.310281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:236.61, Y:91.79, Z:-0.42 [[ 4.28678163e-01 -9.03457266e-01 3.06360303e-05 2.36613280e+02] [ 9.03457264e-01 4.28678164e-01 6.89426051e-05 9.17902530e+01] [-7.54196947e-05 -1.87584520e-06 9.99999997e-01 -4.18020303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.34028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:236.62, Y:91.81, Z:-0.42 [[ 4.28159471e-01 -9.03703193e-01 8.09793872e-05 2.36620423e+02] [ 9.03703174e-01 4.28159479e-01 1.82505748e-04 9.18143067e+01] [-1.99603119e-04 -4.96023530e-06 9.99999980e-01 -4.17724527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:236.62, Y:91.84, Z:-0.42 [[ 4.27503323e-01 -9.04013777e-01 9.10881402e-06 2.36623380e+02] [ 9.04013776e-01 4.27503323e-01 2.04608827e-05 9.18407326e+01] [-2.23909680e-05 -5.12601968e-07 1.00000000e+00 -4.17655382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.40028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.63, Y:91.86, Z:-0.42 [[ 4.27199581e-01 -9.04157342e-01 -1.36387529e-04 2.36629015e+02] [ 9.04157290e-01 4.27199603e-01 -3.08064231e-04 9.18647757e+01] [ 3.36803235e-04 8.28913179e-06 9.99999943e-01 -4.17395104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.430281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:236.63, Y:91.89, Z:-0.42 [[ 4.27066139e-01 -9.04220256e-01 -4.90746895e-04 2.36634697e+02] [ 9.04219577e-01 4.27066420e-01 -1.10897941e-03 9.18902320e+01] [ 1.21234317e-03 2.98646053e-05 9.99999265e-01 -4.17872342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.46028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:236.63, Y:91.92, Z:-0.42 [[ 4.27516251e-01 -9.04007208e-01 -9.07628275e-04 2.36634591e+02] [ 9.04004880e-01 4.27517211e-01 -2.05237731e-03 9.19176505e+01] [ 2.24339059e-03 5.69242639e-05 9.99997482e-01 -4.19417877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.490281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:236.64, Y:91.94, Z:-0.42 [[ 4.27138167e-01 -9.04186096e-01 -6.99726719e-04 2.36638817e+02] [ 9.04184711e-01 4.27138738e-01 -1.58342174e-03 9.19430813e+01] [ 1.73058831e-03 4.36576572e-05 9.99998502e-01 -4.19141907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.52028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:236.64, Y:91.97, Z:-0.42 [[ 4.24409247e-01 -9.05470480e-01 -6.45105791e-06 2.36638597e+02] [ 9.05470480e-01 4.24409247e-01 -1.46955415e-05 9.19715160e+01] [ 1.60442677e-05 3.95681221e-07 1.00000000e+00 -4.19093447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.550281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:236.64, Y:92.00, Z:-0.42 [[ 4.21234166e-01 -9.06951911e-01 -8.89893451e-05 2.36642906e+02] [ 9.06951889e-01 4.21234175e-01 -2.01736028e-04 9.19962628e+01] [ 2.20450229e-04 4.26905264e-06 9.99999976e-01 -4.18855827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.64, Y:92.02, Z:-0.42 [[ 4.12387775e-01 -9.11008100e-01 -7.51670278e-04 2.36644762e+02] [ 9.11006505e-01 4.12388460e-01 -1.70449346e-03 9.20218397e+01] [ 1.86278749e-03 1.81357521e-05 9.99998265e-01 -4.20212969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.610281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.65, Y:92.05, Z:-0.42 [[ 4.06507724e-01 -9.13646525e-01 -1.22372566e-03 2.36651652e+02] [ 9.13642306e-01 4.06509566e-01 -2.77673967e-03 9.20466079e+01] [ 3.03441474e-03 1.07185875e-05 9.99995396e-01 -4.21664689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.64028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:236.66, Y:92.07, Z:-0.42 [[ 4.00129049e-01 -9.16458000e-01 -1.21548780e-03 2.36658836e+02] [ 9.16453845e-01 4.00130895e-01 -2.75991527e-03 9.20716416e+01] [ 3.01570065e-03 -9.61619761e-06 9.99995453e-01 -4.22631045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.670281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.67, Y:92.09, Z:-0.42 [[ 3.86521458e-01 -9.22280414e-01 -2.73322709e-05 2.36667062e+02] [ 9.22280412e-01 3.86521459e-01 -6.21987711e-05 9.20945488e+01] [ 6.79292176e-05 -1.16685835e-06 9.99999998e-01 -4.22774639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:236.68, Y:92.12, Z:-0.42 [[ 3.79033837e-01 -9.25382732e-01 3.87583007e-04 2.36679904e+02] [ 9.25382313e-01 3.79034034e-01 8.81144400e-04 9.21164467e+01] [-9.62302962e-04 2.46789166e-05 9.99999537e-01 -4.22488341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.73028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:236.70, Y:92.14, Z:-0.42 [[ 3.64514119e-01 -9.31197835e-01 2.19052754e-04 2.36699029e+02] [ 9.31197702e-01 3.64514185e-01 4.98305764e-04 9.21354153e+01] [-5.43869085e-04 2.23419345e-05 9.99999852e-01 -4.22639146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.76028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:236.71, Y:92.16, Z:-0.42 [[ 3.58921676e-01 -9.33367669e-01 -1.60171414e-04 2.36713590e+02] [ 9.33367597e-01 3.58921712e-01 -3.64790889e-04 9.21562311e+01] [ 3.97973019e-04 -1.85674510e-05 9.99999921e-01 -4.23720093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.79028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:236.73, Y:92.18, Z:-0.42 [[ 3.54832064e-01 -9.34929730e-01 -7.79005410e-04 2.36728594e+02] [ 9.34928050e-01 3.54832905e-01 -1.77500669e-03 9.21765501e+01] [ 1.93592328e-03 -9.84847208e-05 9.99998121e-01 -4.23778051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.82028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:236.75, Y:92.19, Z:-0.42 [[ 3.51207111e-01 -9.36297299e-01 -9.66475327e-04 2.36752268e+02] [ 9.36294715e-01 3.51208416e-01 -2.20365934e-03 9.21934869e+01] [ 2.40271455e-03 -1.30964911e-04 9.99997105e-01 -4.22491161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.85028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:236.77, Y:92.21, Z:-0.42 [[ 3.51753430e-01 -9.36092397e-01 -7.40964366e-04 2.36769246e+02] [ 9.36090875e-01 3.51754197e-01 -1.69070167e-03 9.22131355e+01] [ 1.84329030e-03 -9.88998720e-05 9.99998296e-01 -4.21345612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.880281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:236.79, Y:92.23, Z:-0.42 [[ 3.57623779e-01 -9.33865707e-01 -2.72259691e-04 2.36793058e+02] [ 9.33865501e-01 3.57623881e-01 -6.21730921e-04 9.22295670e+01] [ 6.77979754e-04 -3.19081709e-05 9.99999770e-01 -4.21130869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.81, Y:92.25, Z:-0.42 [[ 3.61508378e-01 -9.32368685e-01 -5.72246101e-04 2.36809575e+02] [ 9.32367770e-01 3.61508825e-01 -1.30758339e-03 9.22491647e+01] [ 1.42602183e-03 -6.08414700e-05 9.99998981e-01 -4.21273992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.940281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:236.83, Y:92.27, Z:-0.42 [[ 3.65127690e-01 -9.30956999e-01 -9.14126541e-04 2.36825390e+02] [ 9.30954657e-01 3.65128824e-01 -2.09009123e-03 9.22685735e+01] [ 2.27955901e-03 -8.78601760e-05 9.99997398e-01 -4.21675621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 293.97028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:236.85, Y:92.29, Z:-0.42 [[ 3.70886064e-01 -9.28678039e-01 -7.92408383e-04 2.36847547e+02] [ 9.28676271e-01 3.70886905e-01 -1.81288277e-03 9.22865975e+01] [ 1.97747831e-03 -6.35179091e-05 9.99998043e-01 -4.21961560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.000281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:236.87, Y:92.30, Z:-0.42 [[ 3.76131733e-01 -9.26565983e-01 -6.30769534e-04 2.36870225e+02] [ 9.26564859e-01 3.76132260e-01 -1.44393873e-03 9.23036725e+01] [ 1.57515728e-03 -4.13377079e-05 9.99998759e-01 -4.20864373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.03028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.89, Y:92.32, Z:-0.42 [[ 3.78661453e-01 -9.25535131e-01 -4.75364003e-04 2.36886263e+02] [ 9.25534491e-01 3.78661750e-01 -1.08898578e-03 9.23243756e+01] [ 1.18789676e-03 -2.76088436e-05 9.99999294e-01 -4.21020148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.060281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:236.90, Y:92.35, Z:-0.42 [[ 3.78434697e-01 -9.25627870e-01 -4.75098771e-04 2.36896369e+02] [ 9.25627230e-01 3.78434994e-01 -1.08910152e-03 9.23483310e+01] [ 1.18789672e-03 -2.76105552e-05 9.99999294e-01 -4.21024003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:236.91, Y:92.37, Z:-0.42 [[ 3.80703015e-01 -9.24697269e-01 -4.19592294e-04 2.36910904e+02] [ 9.24696768e-01 3.80703245e-01 -9.62579978e-04 9.23691609e+01] [ 1.04983522e-03 -2.15385385e-05 9.99999449e-01 -4.21125800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.120281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:236.93, Y:92.39, Z:-0.42 [[ 3.86013942e-01 -9.22492937e-01 -1.32909829e-04 2.36928808e+02] [ 9.22492887e-01 3.86013965e-01 -3.05145319e-04 9.23891073e+01] [ 3.32799451e-04 -4.81802421e-06 9.99999945e-01 -4.20684082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.15028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:236.94, Y:92.41, Z:-0.42 [[ 3.88875973e-01 -9.21290110e-01 -1.02955563e-04 2.36941600e+02] [ 9.21290080e-01 3.88875987e-01 -2.36527781e-04 9.24101889e+01] [ 2.57947652e-04 -2.87196817e-06 9.99999967e-01 -4.19685535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.180281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:236.95, Y:92.43, Z:-0.42 [[ 3.92038569e-01 -9.19948780e-01 -4.91179607e-05 2.36953746e+02] [ 9.19948773e-01 3.92038573e-01 -1.12975554e-04 9.24327647e+01] [ 1.23187858e-04 -8.95233243e-07 9.99999992e-01 -4.19879996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:236.96, Y:92.46, Z:-0.42 [[ 3.98933994e-01 -9.16979643e-01 5.42385680e-05 2.36963306e+02] [ 9.16979634e-01 3.98933998e-01 1.24641892e-04 9.24554387e+01] [-1.35931687e-04 1.17742536e-08 9.99999991e-01 -4.19571840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.97, Y:92.48, Z:-0.42 [[ 4.01912909e-01 -9.15677840e-01 3.28867485e-04 2.36972477e+02] [ 9.15677527e-01 4.01913043e-01 7.56760719e-04 9.24789768e+01] [-8.25125152e-04 -3.01533574e-06 9.99999660e-01 -4.19733990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:236.98, Y:92.50, Z:-0.42 [[ 4.06048997e-01 -9.13850890e-01 8.73398582e-04 2.36981700e+02] [ 9.13848677e-01 4.06049936e-01 2.01136497e-03 9.25024568e+01] [-2.19273111e-03 -1.85585913e-05 9.99997596e-01 -4.20197499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.300281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:236.99, Y:92.53, Z:-0.42 [[ 4.06829711e-01 -9.13503478e-01 9.90532551e-04 2.36990895e+02] [ 9.13500626e-01 4.06830916e-01 2.28280061e-03 9.25253771e+01] [-2.48832557e-03 -2.38590087e-05 9.99996904e-01 -4.19614888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.33028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.00, Y:92.55, Z:-0.42 [[ 4.06626658e-01 -9.13593754e-01 1.10202230e-03 2.36999199e+02] [ 9.13590220e-01 4.06628150e-01 2.54129794e-03 9.25488469e+01] [-2.76982721e-03 -2.65626951e-05 9.99996164e-01 -4.19860857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.360281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:237.00, Y:92.57, Z:-0.42 [[ 4.05750527e-01 -9.13983630e-01 6.58322600e-04 2.37004415e+02] [ 9.13982368e-01 4.05751061e-01 1.51913687e-03 9.25738652e+01] [-1.65558132e-03 -1.46953372e-05 9.99998629e-01 -4.19907895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.01, Y:92.60, Z:-0.42 [[ 4.06053475e-01 -9.13849302e-01 -1.72687607e-04 2.37011109e+02] [ 9.13849215e-01 4.06053511e-01 -3.98908834e-04 9.25977498e+01] [ 4.34662969e-04 4.16788386e-06 9.99999906e-01 -4.20139024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.420281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:237.02, Y:92.62, Z:-0.42 [[ 4.06734834e-01 -9.13546023e-01 -6.61880987e-04 2.37018768e+02] [ 9.13544743e-01 4.06735372e-01 -1.52977603e-03 9.26212437e+01] [ 1.66673122e-03 1.75553025e-05 9.99998611e-01 -4.20654924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.45028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.03, Y:92.65, Z:-0.42 [[ 4.07771951e-01 -9.13083168e-01 -1.07940314e-03 2.37025799e+02] [ 9.13079755e-01 4.07773378e-01 -2.49651786e-03 9.26453178e+01] [ 2.71968030e-03 3.24288064e-05 9.99996301e-01 -4.20395161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.48028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:237.03, Y:92.67, Z:-0.42 [[ 4.09688807e-01 -9.12224361e-01 -1.34081381e-03 2.37031226e+02] [ 9.12219083e-01 4.09690998e-01 -3.10322910e-03 9.26710987e+01] [ 3.38016053e-03 4.82422839e-05 9.99994286e-01 -4.21369839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.51028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.04, Y:92.70, Z:-0.42 [[ 4.09508009e-01 -9.12304920e-01 -1.70984196e-03 2.37040210e+02] [ 9.12296327e-01 4.09511574e-01 -3.96014224e-03 9.26953836e+01] [ 4.31305733e-03 6.18274252e-05 9.99990697e-01 -4.21462792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.54028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:237.05, Y:92.72, Z:-0.42 [[ 4.07624332e-01 -9.13145940e-01 -2.62605128e-03 2.37047795e+02] [ 9.13125658e-01 4.07632782e-01 -6.08666609e-03 9.27186381e+01] [ 6.62847901e-03 8.31583945e-05 9.99978028e-01 -4.22867606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.57028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:237.06, Y:92.74, Z:-0.42 [[ 4.06373437e-01 -9.13702113e-01 -3.01299909e-03 2.37056190e+02] [ 9.13675391e-01 4.06384597e-01 -6.98847754e-03 9.27422761e+01] [ 7.60982311e-03 8.70285128e-05 9.99971041e-01 -4.22733561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.06, Y:92.77, Z:-0.42 [[ 4.04922535e-01 -9.14345391e-01 -3.20090342e-03 2.37064180e+02] [ 9.14315210e-01 4.04935178e-01 -7.42959362e-03 9.27661322e+01] [ 8.08937308e-03 8.17752019e-05 9.99967277e-01 -4.22289521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.630281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:237.07, Y:92.79, Z:-0.42 [[ 4.01688875e-01 -9.15774210e-01 -1.90877661e-03 2.37072069e+02] [ 9.15763481e-01 4.01693409e-01 -4.43316422e-03 9.27893799e+01] [ 4.82652045e-03 3.27648315e-05 9.99988352e-01 -4.19419412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.66028169299994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:237.08, Y:92.81, Z:-0.42 [[ 3.99387507e-01 -9.16782032e-01 -5.69811629e-04 2.37081724e+02] [ 9.16781075e-01 3.99387914e-01 -1.32440904e-03 9.28124479e+01] [ 1.44177029e-03 6.55990747e-06 9.99998961e-01 -4.18640659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:237.09, Y:92.84, Z:-0.42 [[ 3.96258227e-01 -9.18138656e-01 9.08627619e-04 2.37091652e+02] [ 9.18136224e-01 3.96259269e-01 2.11322463e-03 9.28351948e+01] [-2.30028533e-03 -3.13871206e-06 9.99997354e-01 -4.17179198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.10, Y:92.86, Z:-0.42 [[ 3.95397798e-01 -9.18509615e-01 8.17309212e-04 2.37101191e+02] [ 9.18507645e-01 3.95398643e-01 1.90219948e-03 9.28587550e+01] [-2.07035146e-03 -1.42072552e-06 9.99997857e-01 -4.17754960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.750281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.11, Y:92.88, Z:-0.42 [[ 3.95357431e-01 -9.18527262e-01 4.13320786e-04 2.37110019e+02] [ 9.18526757e-01 3.95357647e-01 9.62626193e-04 9.28814599e+01] [-1.04760793e-03 -9.35217765e-07 9.99999451e-01 -4.18461822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.78028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:237.12, Y:92.91, Z:-0.42 [[ 3.97409663e-01 -9.17641201e-01 -4.32003859e-04 2.37118278e+02] [ 9.17640648e-01 3.97409897e-01 -1.00706517e-03 9.29061912e+01] [ 1.09580710e-03 3.79312905e-06 9.99999400e-01 -4.17667937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.12, Y:92.93, Z:-0.42 [[ 3.98694640e-01 -9.17082762e-01 -1.33833139e-03 2.37123814e+02] [ 9.17077449e-01 3.98696886e-01 -3.12187896e-03 9.29312596e+01] [ 3.39660994e-03 1.73228718e-05 9.99994231e-01 -4.17490543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.84028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:237.13, Y:92.96, Z:-0.42 [[ 3.99007776e-01 -9.16946538e-01 -1.35666672e-03 2.37131722e+02] [ 9.16941070e-01 3.99010082e-01 -3.16692811e-03 9.29558275e+01] [ 3.44522746e-03 1.96455113e-05 9.99994065e-01 -4.17805421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:237.14, Y:92.98, Z:-0.42 [[ 3.98678155e-01 -9.17090348e-01 -1.01150395e-03 2.37139508e+02] [ 9.17087303e-01 3.98679438e-01 -2.36300052e-03 9.29786720e+01] [ 2.57035080e-03 1.44392540e-05 9.99996697e-01 -4.18530787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.15, Y:93.00, Z:-0.42 [[ 3.96197460e-01 -9.18165163e-01 -5.53159910e-04 2.37146495e+02] [ 9.18164252e-01 3.96197846e-01 -1.29317396e-03 9.30030150e+01] [ 1.40650805e-03 4.46058459e-06 9.99999011e-01 -4.18380686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.930281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:237.15, Y:93.03, Z:-0.42 [[ 3.94394365e-01 -9.18941060e-01 -6.42558851e-04 2.37154364e+02] [ 9.18939831e-01 3.94394888e-01 -1.50319952e-03 9.30269989e+01] [ 1.63477369e-03 2.38049817e-06 9.99998664e-01 -4.17970479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:237.16, Y:93.05, Z:-0.42 [[ 3.90099753e-01 -9.20771981e-01 -1.06870170e-03 2.37160783e+02] [ 9.20768582e-01 3.90101217e-01 -2.50186577e-03 9.30512329e+01] [ 2.72054973e-03 -8.04973018e-06 9.99996299e-01 -4.18451087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 294.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.17, Y:93.08, Z:-0.42 [[ 3.87677673e-01 -9.21794095e-01 -1.29158681e-03 2.37170828e+02] [ 9.21789129e-01 3.87679824e-01 -3.02578339e-03 9.30751376e+01] [ 3.28987141e-03 -1.75420180e-05 9.99994588e-01 -4.18884891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.02028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.18, Y:93.10, Z:-0.42 [[ 3.85088727e-01 -9.22878208e-01 -1.57654714e-03 2.37180652e+02] [ 9.22870807e-01 3.85091953e-01 -3.69598452e-03 9.30982561e+01] [ 4.01805919e-03 -3.16673562e-05 9.99991927e-01 -4.19613221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.19, Y:93.12, Z:-0.42 [[ 3.80452174e-01 -9.24798417e-01 -2.00776584e-03 2.37190178e+02] [ 9.24786424e-01 3.80457466e-01 -4.71023989e-03 9.31214233e+01] [ 5.11989190e-03 -6.47335872e-05 9.99986891e-01 -4.20530092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.20, Y:93.14, Z:-0.42 [[ 3.77282716e-01 -9.26096576e-01 -1.69853025e-03 2.37202217e+02] [ 9.26087995e-01 3.77286533e-01 -3.98718559e-03 9.31428850e+01] [ 4.33335151e-03 -6.86922660e-05 9.99990609e-01 -4.19925591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:237.21, Y:93.17, Z:-0.42 [[ 3.75905127e-01 -9.26656369e-01 -1.81908055e-03 2.37214401e+02] [ 9.26646519e-01 3.75909520e-01 -4.27323672e-03 9.31653121e+01] [ 4.64363172e-03 -7.93130706e-05 9.99989215e-01 -4.18741591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:237.23, Y:93.19, Z:-0.42 [[ 3.74862752e-01 -9.27078342e-01 -1.91438503e-03 2.37226288e+02] [ 9.27067423e-01 3.74867630e-01 -4.50041797e-03 9.31877805e+01] [ 4.88988101e-03 -8.77249350e-05 9.99988041e-01 -4.19022295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.170281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:237.24, Y:93.21, Z:-0.42 [[ 3.74345315e-01 -9.27287731e-01 -1.74592828e-03 2.37238743e+02] [ 9.27278637e-01 3.74349378e-01 -4.10755023e-03 9.32090192e+01] [ 4.46246810e-03 -8.13198165e-05 9.99990040e-01 -4.19772793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.20028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:237.25, Y:93.23, Z:-0.42 [[ 3.74274202e-01 -9.27316600e-01 -1.65676818e-03 2.37250426e+02] [ 9.27308400e-01 3.74277861e-01 -3.90058438e-03 9.32315468e+01] [ 4.23716830e-03 -7.64469407e-05 9.99991020e-01 -4.20194362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.23028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:237.26, Y:93.25, Z:-0.42 [[ 3.74835769e-01 -9.27089558e-01 -1.76036630e-03 2.37264467e+02] [ 9.27080283e-01 3.74839894e-01 -4.14749607e-03 9.32537903e+01] [ 4.50495581e-03 -7.73710070e-05 9.99989850e-01 -4.20459539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.26028169299997 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:237.28, Y:93.28, Z:-0.42 [[ 3.74955895e-01 -9.27040964e-01 -1.76881931e-03 2.37275200e+02] [ 9.27031588e-01 3.74960059e-01 -4.16998529e-03 9.32756167e+01] [ 4.52898378e-03 -7.61908035e-05 9.99989741e-01 -4.20492161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.29028169299994 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:237.29, Y:93.30, Z:-0.42 [[ 3.74995200e-01 -9.27025182e-01 -1.70640750e-03 2.37286262e+02] [ 9.27016443e-01 3.74999075e-01 -4.02581456e-03 9.32990322e+01] [ 4.37193271e-03 -7.22066780e-05 9.99990440e-01 -4.19591375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.32028169299997 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:237.30, Y:93.32, Z:-0.42 [[ 3.75645940e-01 -9.26762271e-01 -1.34958775e-03 2.37299684e+02] [ 9.26756794e-01 3.75648361e-01 -3.18644368e-03 9.33196364e+01] [ 3.46004620e-03 -5.37649853e-05 9.99994013e-01 -4.20400768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.35028169299994 meters Centerline goodness : 0.999394 Centerline is valid? [True, True] Translation: X:237.31, Y:93.34, Z:-0.42 [[ 3.75595943e-01 -9.26782648e-01 -1.26963138e-03 2.37311086e+02] [ 9.26777794e-01 3.75598085e-01 -2.99992069e-03 9.33420061e+01] [ 3.25714555e-03 -4.99081302e-05 9.99994694e-01 -4.20161686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.380281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:237.32, Y:93.36, Z:-0.42 [[ 3.75549671e-01 -9.26796820e-01 -3.17791509e-03 2.37323091e+02] [ 9.26800233e-01 3.75553825e-01 -8.08278839e-04 9.33634519e+01] [ 1.94258843e-03 -2.64174359e-03 9.99994624e-01 -4.20484185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.41028169299994 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:237.33, Y:93.39, Z:-0.42 [[ 3.75343499e-01 -9.26884612e-01 1.47402625e-03 2.37331096e+02] [ 9.26882075e-01 3.75337023e-01 -3.42618285e-03 9.33863677e+01] [ 2.62241954e-03 2.65224397e-03 9.99993044e-01 -4.21178736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.440281693 meters Centerline goodness : 0.999384 Centerline is valid? [True, True] Translation: X:237.35, Y:93.41, Z:-0.42 [[ 3.74627071e-01 -9.27174649e-01 -1.31440631e-03 2.37345903e+02] [ 9.27169427e-01 3.74629373e-01 -3.11230948e-03 9.34073659e+01] [ 3.37806966e-03 -5.27219580e-05 9.99994293e-01 -4.22157332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.47028169299995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:237.36, Y:93.43, Z:-0.42 [[ 3.74315854e-01 -9.27299584e-01 -1.76690013e-03 2.37357443e+02] [ 9.27290135e-01 3.74320018e-01 -4.18676782e-03 9.34301697e+01] [ 4.54377415e-03 -7.12554905e-05 9.99989674e-01 -4.15403038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.500281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:237.37, Y:93.45, Z:-0.42 [[ 3.73984962e-01 -9.27432256e-01 -2.15853841e-03 2.37367917e+02] [ 9.27418135e-01 3.73991181e-01 -5.11855401e-03 9.34533576e+01] [ 5.55438642e-03 -8.76054391e-05 9.99984570e-01 -4.22928826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.53028169299995 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:237.38, Y:93.48, Z:-0.42 [[ 3.74270515e-01 -9.27317717e-01 -1.85293641e-03 2.37379290e+02] [ 9.27307297e-01 3.74275094e-01 -4.39664718e-03 9.34753677e+01] [ 4.77059677e-03 -7.27060559e-05 9.99988618e-01 -4.22663529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.560281693 meters Centerline goodness : 0.999196 Centerline is valid? [True, True] Translation: X:237.39, Y:93.50, Z:-0.42 [[ 3.74527050e-01 -9.27215123e-01 -1.26664402e-03 2.37391203e+02] [ 9.27210246e-01 3.74529188e-01 -3.00762879e-03 9.34975268e+01] [ 3.26311405e-03 -4.80069817e-05 9.99994675e-01 -4.21773484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.59028169299995 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:237.40, Y:93.52, Z:-0.42 [[ 3.74948438e-01 -9.27045050e-01 -1.06962944e-03 2.37403074e+02] [ 9.27041567e-01 3.74949961e-01 -2.54168427e-03 9.35200081e+01] [ 2.75731334e-03 -3.85904062e-05 9.99996198e-01 -4.20062171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.620281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:237.41, Y:93.54, Z:-0.42 [[ 3.74861886e-01 -9.27079396e-01 -1.53652369e-03 2.37412844e+02] [ 9.27072197e-01 3.74865031e-01 -3.65381700e-03 9.35439218e+01] [ 3.96336746e-03 -5.47916647e-05 9.99992144e-01 -4.20550356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.65028169299995 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:237.42, Y:93.57, Z:-0.42 [[ 3.75965219e-01 -9.26629953e-01 -2.66147413e-03 2.37423454e+02] [ 9.26608311e-01 3.75974630e-01 -6.33376406e-03 9.35660950e+01] [ 6.86970224e-03 -8.48690511e-05 9.99976400e-01 -4.22049991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.680281693 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:237.43, Y:93.59, Z:-0.42 [[ 3.76715252e-01 -9.26325486e-01 -2.59092948e-03 2.37433639e+02] [ 9.26304938e-01 3.76724154e-01 -6.17036626e-03 9.35896481e+01] [ 6.69183324e-03 -7.55196890e-05 9.99977607e-01 -4.22225798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.71028169299996 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:237.44, Y:93.61, Z:-0.42 [[ 3.77317164e-01 -9.26083050e-01 -1.39330116e-03 2.37443103e+02] [ 9.26077098e-01 3.77319735e-01 -3.32066835e-03 9.36131562e+01] [ 3.60093470e-03 -3.73591322e-05 9.99993516e-01 -4.19982045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.740281693 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:237.45, Y:93.64, Z:-0.42 [[ 3.77539094e-01 -9.25993334e-01 -7.60236555e-04 2.37452294e+02] [ 9.25991559e-01 3.77539859e-01 -1.81329925e-03 9.36360917e+01] [ 1.96612262e-03 -1.93812742e-05 9.99998067e-01 -4.19130081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.77028169299996 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:237.46, Y:93.66, Z:-0.42 [[ 3.80054909e-01 -9.24963748e-01 -5.74996803e-04 2.37462731e+02] [ 9.24962730e-01 3.80055344e-01 -1.37247271e-03 9.36596797e+01] [ 1.48801811e-03 -1.02356230e-05 9.99998893e-01 -4.18977297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.800281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:237.47, Y:93.68, Z:-0.42 [[ 3.81168883e-01 -9.24505140e-01 -7.27431029e-04 2.37472386e+02] [ 9.24503507e-01 3.81169577e-01 -1.73763284e-03 9.36817522e+01] [ 1.88372507e-03 -1.01809688e-05 9.99998226e-01 -4.19805761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.83028169299996 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:237.48, Y:93.70, Z:-0.42 [[ 3.82136100e-01 -9.24105893e-01 -5.46433243e-04 2.37482213e+02] [ 9.24104970e-01 3.82136491e-01 -1.30626654e-03 9.37042004e+01] [ 1.41594069e-03 -5.79007237e-06 9.99998998e-01 -4.20215852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.860281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:237.49, Y:93.73, Z:-0.42 [[ 3.84009274e-01 -9.23329167e-01 3.56504754e-04 2.37490411e+02] [ 9.23328773e-01 3.84009439e-01 8.52715572e-04 9.37275628e+01] [-9.24238349e-04 1.72041006e-06 9.99999573e-01 -4.18006613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.89028169299996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:237.50, Y:93.75, Z:-0.42 [[ 3.84119976e-01 -9.23282914e-01 7.10458227e-04 2.37499087e+02] [ 9.23281348e-01 3.84120633e-01 1.70054562e-03 9.37511108e+01] [-1.84298638e-03 2.73928779e-06 9.99998302e-01 -4.17134259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.920281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:237.51, Y:93.77, Z:-0.42 [[ 3.84160989e-01 -9.23265858e-01 6.99929924e-04 2.37509364e+02] [ 9.23264336e-01 3.84161627e-01 1.67654771e-03 9.37749427e+01] [-1.81678548e-03 2.15610824e-06 9.99998350e-01 -4.19030019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.95028169299997 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:237.52, Y:93.80, Z:-0.42 [[ 3.84379510e-01 -9.23175108e-01 3.33658817e-04 2.37519762e+02] [ 9.23174762e-01 3.84379655e-01 7.99798675e-04 9.37976619e+01] [-8.66605889e-04 5.99176393e-07 9.99999625e-01 -4.20111611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 295.98028169299994 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:237.53, Y:93.82, Z:-0.42 [[ 3.84159264e-01 -9.23266781e-01 3.33467004e-04 2.37529463e+02] [ 9.23266435e-01 3.84159408e-01 7.99878667e-04 9.38217900e+01] [-8.66605889e-04 5.98091660e-07 9.99999625e-01 -4.20112645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.01028169299997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:237.54, Y:93.85, Z:-0.42 [[ 3.84720625e-01 -9.23033022e-01 -2.84014129e-04 2.37540114e+02] [ 9.23032771e-01 3.84720729e-01 -6.81812686e-04 9.38453928e+01] [ 7.38601747e-04 1.53054035e-07 9.99999727e-01 -4.20365694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.04028169299994 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:237.55, Y:93.87, Z:-0.42 [[ 3.87409466e-01 -9.21906889e-01 -1.26261026e-03 2.37548847e+02] [ 9.21901899e-01 3.87411523e-01 -3.03330843e-03 9.38682031e+01] [ 3.28557771e-03 1.11296019e-05 9.99994602e-01 -4.19618934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.07028169299997 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:237.56, Y:93.89, Z:-0.42 [[ 3.89712060e-01 -9.20935837e-01 -1.30200038e-03 2.37556226e+02] [ 9.20930517e-01 3.89714234e-01 -3.13034269e-03 9.38913924e+01] [ 3.39025285e-03 2.08804209e-05 9.99994253e-01 -4.18983138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.10028169299994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:237.56, Y:93.92, Z:-0.42 [[ 3.95614989e-01 -9.18415798e-01 -1.09636474e-03 2.37562065e+02] [ 9.18412011e-01 3.95616506e-01 -2.63786287e-03 9.39163191e+01] [ 2.85639492e-03 3.66635394e-05 9.99995920e-01 -4.19311449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.130281693 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:237.57, Y:93.94, Z:-0.42 [[ 3.98653178e-01 -9.17101097e-01 -1.10585211e-03 2.37570252e+02] [ 9.17097232e-01 3.98654708e-01 -2.66263338e-03 9.39408849e+01] [ 2.88275714e-03 4.72933520e-05 9.99995844e-01 -4.19699051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.16028169299994 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:237.57, Y:93.97, Z:-0.42 [[ 4.02867768e-01 -9.15257324e-01 -1.26204405e-03 2.37574231e+02] [ 9.15252275e-01 4.02869738e-01 -3.04091653e-03 9.39666170e+01] [ 3.29166048e-03 6.99985668e-05 9.99994580e-01 -4.20976136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.190281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:237.58, Y:93.99, Z:-0.42 [[ 4.03515411e-01 -9.14971686e-01 -1.45820464e-03 2.37580775e+02] [ 9.14964936e-01 4.03518037e-01 -3.51573956e-03 9.39901221e+01] [ 3.80521403e-03 8.44489764e-05 9.99992757e-01 -4.21560823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.22028169299995 meters Centerline goodness : 0.999157 Centerline is valid? [True, True] Translation: X:237.59, Y:94.01, Z:-0.42 [[ 4.02376747e-01 -9.15472237e-01 -1.88045210e-03 2.37586687e+02] [ 9.15461001e-01 4.02381127e-01 -4.53696039e-03 9.40148552e+01] [ 4.91011972e-03 1.04086805e-04 9.99987940e-01 -4.21751418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.250281693 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:237.59, Y:94.04, Z:-0.42 [[ 4.00907973e-01 -9.16116344e-01 -1.90836746e-03 2.37594101e+02] [ 9.16104762e-01 4.00912503e-01 -4.60767631e-03 9.40388769e+01] [ 4.98625595e-03 9.89896493e-05 9.99987564e-01 -4.21036604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.28028169299995 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:237.60, Y:94.06, Z:-0.42 [[ 3.99314154e-01 -9.16812482e-01 -1.75500492e-03 2.37600916e+02] [ 9.16802681e-01 3.99318001e-01 -4.24002577e-03 9.40624678e+01] [ 4.58811360e-03 8.41090868e-05 9.99989471e-01 -4.20733520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.310281693 meters Centerline goodness : 0.999298 Centerline is valid? [True, True] Translation: X:237.60, Y:94.09, Z:-0.42 [[ 3.95641734e-01 -9.18404105e-01 -1.23241741e-03 2.37604423e+02] [ 9.18399272e-01 3.95643651e-01 -2.97972191e-03 9.40876034e+01] [ 3.22418696e-03 4.70510920e-05 9.99994801e-01 -4.20720310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.34028169299995 meters Centerline goodness : 0.999233 Centerline is valid? [True, True] Translation: X:237.61, Y:94.11, Z:-0.42 [[ 3.94282732e-01 -9.18988397e-01 -1.20522169e-03 2.37611473e+02] [ 9.18983772e-01 3.94284572e-01 -2.91612638e-03 9.41117238e+01] [ 3.15508662e-03 4.21991057e-05 9.99995022e-01 -4.21022663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.370281693 meters Centerline goodness : 0.999261 Centerline is valid? [True, True] Translation: X:237.62, Y:94.14, Z:-0.42 [[ 3.93063345e-01 -9.19509874e-01 -1.67288217e-03 2.37616944e+02] [ 9.19500954e-01 3.93066901e-01 -4.05046670e-03 9.41351180e+01] [ 4.38199873e-03 5.38732322e-05 9.99990398e-01 -4.21577247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.40028169299995 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:237.62, Y:94.16, Z:-0.42 [[ 3.92574492e-01 -9.19718498e-01 -1.77588754e-03 2.37624235e+02] [ 9.19708433e-01 3.92578504e-01 -4.30299102e-03 9.41594967e+01] [ 4.65471571e-03 5.59457654e-05 9.99989165e-01 -4.22122594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.430281693 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:237.63, Y:94.18, Z:-0.42 [[ 3.91173406e-01 -9.20316126e-01 -1.26255196e-03 2.37628840e+02] [ 9.20311035e-01 3.91175442e-01 -3.06149128e-03 9.41847492e+01] [ 3.31141911e-03 3.56334744e-05 9.99994517e-01 -4.21029685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.46028169299996 meters Centerline goodness : 0.999291 Centerline is valid? [True, True] Translation: X:237.64, Y:94.21, Z:-0.42 [[ 3.90137102e-01 -9.20756409e-01 -8.23018449e-04 2.37636523e+02] [ 9.20754243e-01 3.90137969e-01 -1.99727305e-03 9.42084563e+01] [ 2.16009271e-03 2.14125922e-05 9.99997667e-01 -4.20497601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.490281693 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:237.64, Y:94.23, Z:-0.42 [[ 3.89051224e-01 -9.21215931e-01 -5.94931689e-04 2.37644907e+02] [ 9.21214798e-01 3.89051679e-01 -1.44487736e-03 9.42318858e+01] [ 1.56250321e-03 1.40714280e-05 9.99998779e-01 -4.19764634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.52028169299996 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:237.65, Y:94.26, Z:-0.42 [[ 3.87543246e-01 -9.21851287e-01 -6.60964048e-04 2.37652634e+02] [ 9.21849888e-01 3.87543809e-01 -1.60644687e-03 9.42551266e+01] [ 1.73705764e-03 1.32579991e-05 9.99998491e-01 -4.20324721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.550281693 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:237.66, Y:94.28, Z:-0.42 [[ 3.87287875e-01 -9.21958346e-01 -9.54003126e-04 2.37661019e+02] [ 9.21955426e-01 3.87289049e-01 -2.32037328e-03 9.42788981e+01] [ 2.50876247e-03 1.91040762e-05 9.99996853e-01 -4.21389376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.58028169299996 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:237.67, Y:94.30, Z:-0.42 [[ 3.87116278e-01 -9.22030417e-01 -9.47366173e-04 2.37669991e+02] [ 9.22027534e-01 3.87117437e-01 -2.30600871e-03 9.43017579e+01] [ 2.49295214e-03 1.91958144e-05 9.99996892e-01 -4.21329855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.610281693 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:237.68, Y:94.32, Z:-0.42 [[ 3.87133275e-01 -9.22023447e-01 -7.68519182e-04 2.37678650e+02] [ 9.22021546e-01 3.87134038e-01 -1.87210297e-03 9.43249550e+01] [ 2.02364276e-03 1.61621082e-05 9.99997952e-01 -4.21084954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.64028169299996 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:237.69, Y:94.35, Z:-0.42 [[ 3.87363218e-01 -9.21927043e-01 -5.13769315e-04 2.37686294e+02] [ 9.21926193e-01 3.87363559e-01 -1.25247529e-03 9.43498757e+01] [ 1.35370635e-03 1.15054694e-05 9.99999084e-01 -4.19368559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.670281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:237.70, Y:94.37, Z:-0.42 [[ 3.87373253e-01 -9.21922894e-01 -3.74446402e-04 2.37695271e+02] [ 9.21922441e-01 3.87373434e-01 -9.13523701e-04 9.43741339e+01] [ 9.87249003e-04 8.66410695e-06 9.99999513e-01 -4.18960478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.70028169299997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:237.70, Y:94.40, Z:-0.42 [[ 3.88357460e-01 -9.21508770e-01 -2.63901517e-04 2.37704486e+02] [ 9.21508545e-01 3.88357550e-01 -6.44248151e-04 9.43963992e+01] [ 6.96168468e-04 7.01107265e-06 9.99999758e-01 -4.19557846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.73028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:237.71, Y:94.42, Z:-0.42 [[ 3.88970962e-01 -9.21249979e-01 -2.57079723e-04 2.37714235e+02] [ 9.21249765e-01 3.88971047e-01 -6.28057662e-04 9.44196021e+01] [ 6.78594678e-04 7.46155914e-06 9.99999770e-01 -4.19870154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.76028169299997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:237.72, Y:94.44, Z:-0.42 [[ 3.90147860e-01 -9.20751845e-01 -8.29300654e-04 2.37723629e+02] [ 9.20749613e-01 3.90148740e-01 -2.02745011e-03 9.44428076e+01] [ 2.19032904e-03 2.74270660e-05 9.99997601e-01 -4.20515656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.79028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:237.73, Y:94.47, Z:-0.42 [[ 3.90140920e-01 -9.20754639e-01 -9.77975440e-04 2.37732283e+02] [ 9.20751531e-01 3.90142144e-01 -2.39275987e-03 9.44655937e+01] [ 2.58469419e-03 3.30411548e-05 9.99996659e-01 -4.20457326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.82028169299997 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:237.74, Y:94.49, Z:-0.42 [[ 3.91659182e-01 -9.20109891e-01 -9.34387700e-04 2.37740994e+02] [ 9.20107048e-01 3.91660295e-01 -2.28779515e-03 9.44895860e+01] [ 2.47098551e-03 3.62992669e-05 9.99996946e-01 -4.19102593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.85028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:237.75, Y:94.51, Z:-0.42 [[ 3.93563514e-01 -9.19296961e-01 -9.25843192e-04 2.37749199e+02] [ 9.19294163e-01 3.93564601e-01 -2.26856758e-03 9.45132410e+01] [ 2.44986638e-03 4.17031839e-05 9.99996998e-01 -4.18820635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.880281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:237.75, Y:94.54, Z:-0.42 [[ 3.98912643e-01 -9.16987364e-01 -1.69657422e-03 2.37754536e+02] [ 9.16977935e-01 3.98916237e-01 -4.15968821e-03 9.45378582e+01] [ 4.49117253e-03 1.03631096e-04 9.99989909e-01 -4.19669594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.91028169299994 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:237.76, Y:94.56, Z:-0.42 [[ 4.00534473e-01 -9.16279458e-01 -2.02246156e-03 2.37761355e+02] [ 9.16266031e-01 4.00539557e-01 -4.96233182e-03 9.45623565e+01] [ 5.35695857e-03 1.34472132e-04 9.99985642e-01 -4.20580939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.940281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:237.77, Y:94.59, Z:-0.42 [[ 4.01012727e-01 -9.16070275e-01 -2.01115444e-03 2.37767927e+02] [ 9.16056974e-01 4.01017746e-01 -4.93834966e-03 9.45860885e+01] [ 5.33038395e-03 1.38009015e-04 9.99985784e-01 -4.20604599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 296.97028169299995 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:237.77, Y:94.61, Z:-0.42 [[ 3.99300558e-01 -9.16819254e-01 -1.23287093e-03 2.37773909e+02] [ 9.16814252e-01 3.99302453e-01 -3.02945061e-03 9.46113771e+01] [ 3.26974704e-03 7.93476787e-05 9.99994651e-01 -4.19634330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.000281693 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:237.78, Y:94.64, Z:-0.42 [[ 3.96949890e-01 -9.17839927e-01 -8.08201956e-04 2.37782651e+02] [ 9.17837777e-01 3.96950710e-01 -1.98742234e-03 9.46353352e+01] [ 2.14495192e-03 4.71087933e-05 9.99997699e-01 -4.19073601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.03028169299995 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:237.79, Y:94.66, Z:-0.42 [[ 3.89303788e-01 -9.21109086e-01 -7.81963053e-04 2.37792416e+02] [ 9.21107077e-01 3.89304572e-01 -1.92438297e-03 9.46578398e+01] [ 2.07698843e-03 2.88978787e-05 9.99997843e-01 -4.19098188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.060281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:237.80, Y:94.68, Z:-0.42 [[ 3.84938656e-01 -9.22941685e-01 -9.36617909e-04 2.37802315e+02] [ 9.22938803e-01 3.84939794e-01 -2.30668580e-03 9.46817399e+01] [ 2.48947798e-03 2.34915190e-05 9.99996901e-01 -4.19992488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.09028169299995 meters Centerline goodness : 0.999330 Centerline is valid? [True, True] Translation: X:237.81, Y:94.70, Z:-0.42 [[ 3.79532950e-01 -9.25177766e-01 -9.17580533e-04 2.37811971e+02] [ 9.25175002e-01 3.79534059e-01 -2.26123290e-03 9.47042746e+01] [ 2.44029547e-03 9.28982350e-06 9.99997022e-01 -4.19825366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.120281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:237.82, Y:94.73, Z:-0.42 [[ 3.78713122e-01 -9.25513954e-01 -5.40393306e-04 2.37821864e+02] [ 9.25512994e-01 3.78713508e-01 -1.33271128e-03 9.47279440e+01] [ 1.43809713e-03 4.57422201e-06 9.99998966e-01 -4.20138982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.15028169299995 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:237.83, Y:94.75, Z:-0.42 [[ 3.78716712e-01 -9.25512608e-01 -2.53541687e-04 2.37831166e+02] [ 9.25512397e-01 3.78716797e-01 -6.25776406e-04 9.47506920e+01] [ 6.75184449e-04 2.33600791e-06 9.99999772e-01 -4.19269828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.180281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:237.84, Y:94.77, Z:-0.42 [[ 3.80152390e-01 -9.24923865e-01 -6.56728256e-05 2.37841224e+02] [ 9.24923851e-01 3.80152396e-01 -1.62228129e-04 9.47738801e+01] [ 1.75014350e-04 9.29048098e-07 9.99999985e-01 -4.18362109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.21028169299996 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:237.85, Y:94.80, Z:-0.42 [[ 3.81057008e-01 -9.24551449e-01 -4.17008624e-04 2.37850512e+02] [ 9.24550875e-01 3.81057236e-01 -1.03075694e-03 9.47961356e+01] [ 1.11189198e-03 7.23146699e-06 9.99999382e-01 -4.17927719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.240281693 meters Centerline goodness : 0.999178 Centerline is valid? [True, True] Translation: X:237.86, Y:94.82, Z:-0.42 [[ 3.82356378e-01 -9.24014760e-01 -5.69527069e-04 2.37859930e+02] [ 9.24011780e-01 3.82356610e-01 -2.37755512e-03 9.48186881e+01] [ 2.41465846e-03 3.82823643e-04 9.99997011e-01 -4.18856872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.27028169299996 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:237.87, Y:94.84, Z:-0.42 [[ 3.85143385e-01 -9.22855555e-01 -1.48233395e-03 2.37868526e+02] [ 9.22851589e-01 3.85146106e-01 -2.72439975e-03 9.48436459e+01] [ 3.08514259e-03 -3.18689699e-04 9.99995190e-01 -4.19539219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.300281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:237.88, Y:94.87, Z:-0.42 [[ 3.85665236e-01 -9.22638783e-01 -4.94619220e-05 2.37876098e+02] [ 9.22638774e-01 3.85665239e-01 -1.22527554e-04 9.48669962e+01] [ 1.32124417e-04 1.61913090e-06 9.99999991e-01 -4.20417160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.33028169299996 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:237.89, Y:94.89, Z:-0.42 [[ 3.82958194e-01 -9.23765579e-01 4.20369693e-04 2.37887321e+02] [ 9.23764991e-01 3.82958425e-01 1.04188977e-03 9.48898726e+01] [-1.12344602e-03 -1.06774183e-05 9.99999369e-01 -4.20350666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.360281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:237.90, Y:94.91, Z:-0.42 [[ 3.78825361e-01 -9.25468104e-01 3.67006301e-04 2.37899342e+02] [ 9.25467656e-01 3.78825538e-01 9.10325786e-04 9.49117544e+01] [-9.81508839e-04 -5.20203303e-06 9.99999518e-01 -4.20311932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.39028169299996 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:237.91, Y:94.93, Z:-0.42 [[ 3.69667725e-01 -9.29163440e-01 -1.03700821e-03 2.37913845e+02] [ 9.29159874e-01 3.69669179e-01 -2.57413768e-03 9.49337896e+01] [ 2.77514460e-03 -1.19707938e-05 9.99996149e-01 -4.20876833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.420281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:237.93, Y:94.96, Z:-0.42 [[ 3.65168696e-01 -9.30939690e-01 -1.76530889e-03 2.37925895e+02] [ 9.30929363e-01 3.65172961e-01 -4.38514551e-03 9.49568695e+01] [ 4.72694908e-03 -4.20600109e-05 9.99988827e-01 -4.22496840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.45028169299997 meters Centerline goodness : 0.999105 Centerline is valid? [True, True] Translation: X:237.94, Y:94.98, Z:-0.42 [[ 3.57861181e-01 -9.33772453e-01 -2.09310281e-03 2.37944052e+02] [ 9.33757960e-01 3.57867290e-01 -5.20331006e-03 9.49770643e+01] [ 5.60776063e-03 -9.23887234e-05 9.99984272e-01 -4.22410461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.48028169299994 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:237.96, Y:95.00, Z:-0.42 [[ 3.56100339e-01 -9.34446282e-01 -1.64137475e-03 2.37958549e+02] [ 9.34437364e-01 3.56104113e-01 -4.08343342e-03 9.49988996e+01] [ 4.40024947e-03 -7.96498701e-05 9.99990316e-01 -4.21089987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.51028169299997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:237.98, Y:95.02, Z:-0.42 [[ 3.57939068e-01 -9.33744578e-01 -8.28669665e-04 2.37976163e+02] [ 9.33742299e-01 3.57940025e-01 -2.06320442e-03 9.50186104e+01] [ 2.22311998e-03 -3.52624524e-05 9.99997528e-01 -4.18566633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.54028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:237.99, Y:95.04, Z:-0.42 [[ 3.60663650e-01 -9.32695445e-01 -9.68928023e-04 2.37988994e+02] [ 9.32692321e-01 3.60664950e-01 -2.41421985e-03 9.50406232e+01] [ 2.60119023e-03 -3.29903840e-05 9.99996616e-01 -4.18525190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.57028169299997 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:238.00, Y:95.06, Z:-0.42 [[ 3.64207732e-01 -9.31316794e-01 -1.32553014e-03 2.38001420e+02] [ 9.31310930e-01 3.64210143e-01 -3.30519817e-03 9.50618583e+01] [ 3.56095809e-03 -3.07019785e-05 9.99993659e-01 -4.18586898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.60028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:238.02, Y:95.08, Z:-0.42 [[ 3.73799804e-01 -9.27508464e-01 -1.32483176e-03 2.38016136e+02] [ 9.27502572e-01 3.73802152e-01 -3.30602460e-03 9.50828279e+01] [ 3.56159076e-03 7.00648387e-06 9.99993658e-01 -4.19377323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.630281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:238.03, Y:95.11, Z:-0.42 [[ 3.82305972e-01 -9.24035742e-01 -3.01103433e-04 2.38027303e+02] [ 9.24035436e-01 3.82306091e-01 -7.51958000e-04 9.51059854e+01] [ 8.09949745e-04 9.24779239e-06 9.99999672e-01 -4.18638398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.66028169299994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:238.04, Y:95.13, Z:-0.42 [[ 3.85540999e-01 -9.22690704e-01 -4.33211401e-05 2.38037132e+02] [ 9.22690698e-01 3.85541002e-01 -1.08287230e-04 9.51299258e+01] [ 1.16617696e-04 1.77715372e-06 9.99999993e-01 -4.18241692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.690281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:238.05, Y:95.15, Z:-0.42 [[ 3.87799945e-01 -9.21743565e-01 4.97878216e-05 2.38047297e+02] [ 9.21743557e-01 3.87799948e-01 1.24493817e-04 9.51532699e+01] [-1.34059090e-04 -2.38709173e-06 9.99999991e-01 -4.18874044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.72028169299995 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:238.06, Y:95.18, Z:-0.42 [[ 3.89543417e-01 -9.21008091e-01 -1.47984359e-04 2.38057738e+02] [ 9.21008017e-01 3.89543445e-01 -3.70402275e-04 9.51760299e+01] [ 3.98789829e-04 7.99298756e-06 9.99999920e-01 -4.19794581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.750281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:238.07, Y:95.20, Z:-0.42 [[ 3.89504752e-01 -9.21024419e-01 -2.60382754e-04 2.38066616e+02] [ 9.21024188e-01 3.89504839e-01 -6.52208536e-04 9.52000357e+01] [ 7.02120331e-04 1.42195096e-05 9.99999753e-01 -4.19578226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.78028169299995 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:238.08, Y:95.22, Z:-0.42 [[ 3.89488634e-01 -9.21031254e-01 1.81387612e-04 2.38075102e+02] [ 9.21031142e-01 3.89488676e-01 4.54656906e-04 9.52226271e+01] [-4.89401641e-04 -1.00200581e-05 9.99999880e-01 -4.18796429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.810281693 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:238.08, Y:95.25, Z:-0.42 [[ 3.89533115e-01 -9.21012408e-01 3.11773522e-04 2.38083811e+02] [ 9.21012076e-01 3.89533239e-01 7.82088616e-04 9.52450597e+01] [-8.41759469e-04 -1.75022364e-05 9.99999646e-01 -4.18548533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.84028169299995 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:238.09, Y:95.27, Z:-0.42 [[ 3.90235139e-01 -9.20715231e-01 1.66591524e-05 2.38089566e+02] [ 9.20715230e-01 3.90235140e-01 4.17983398e-05 9.52697414e+01] [-4.49853547e-05 -9.72845614e-07 9.99999999e-01 -4.18673272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.870281693 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:238.10, Y:95.29, Z:-0.42 [[ 3.90016806e-01 -9.20807738e-01 1.66489018e-05 2.38098884e+02] [ 9.20807737e-01 3.90016806e-01 4.18024227e-05 9.52940180e+01] [-4.49853458e-05 -9.73209813e-07 9.99999999e-01 -4.18674157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.90028169299995 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:238.11, Y:95.32, Z:-0.42 [[ 3.90478168e-01 -9.20612087e-01 -4.30347979e-04 2.38105256e+02] [ 9.20611452e-01 3.90478404e-01 -1.08191235e-03 9.53187674e+01] [ 1.16406318e-03 2.62798737e-05 9.99999322e-01 -4.19465911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.930281693 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:238.11, Y:95.34, Z:-0.42 [[ 3.91012360e-01 -9.20385046e-01 -8.37670485e-04 2.38110802e+02] [ 9.20382635e-01 3.91013254e-01 -2.10723758e-03 9.53434369e+01] [ 2.26701022e-03 5.29785731e-05 9.99997429e-01 -4.20632157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.96028169299996 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:238.12, Y:95.37, Z:-0.42 [[ 3.90694448e-01 -9.20520054e-01 -8.24099571e-04 2.38119097e+02] [ 9.20517717e-01 3.90695313e-01 -2.07466473e-03 9.53671923e+01] [ 2.23174233e-03 5.19617357e-05 9.99997508e-01 -4.20564554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 297.990281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:238.13, Y:95.39, Z:-0.42 [[ 3.89632811e-01 -9.20969922e-01 -8.22168606e-04 2.38125715e+02] [ 9.20967594e-01 3.89633675e-01 -2.07142579e-03 9.53903955e+01] [ 2.22806542e-03 4.99048100e-05 9.99997517e-01 -4.20743842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.02028169299996 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:238.13, Y:95.41, Z:-0.42 [[ 3.88998821e-01 -9.21238078e-01 -5.67323486e-04 2.38132946e+02] [ 9.21236968e-01 3.88999233e-01 -1.43045927e-03 9.54142170e+01] [ 1.53848195e-03 3.38076010e-05 9.99998816e-01 -4.20185302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.050281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:238.14, Y:95.44, Z:-0.42 [[ 3.88712597e-01 -9.21358963e-01 -4.21692427e-04 2.38140077e+02] [ 9.21358349e-01 3.88712825e-01 -1.06404185e-03 9.54385012e+01] [ 1.14428175e-03 2.50766312e-05 9.99999345e-01 -4.19215826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.08028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:238.14, Y:95.47, Z:-0.42 [[ 3.89840048e-01 -9.20882061e-01 -9.83119314e-04 2.38142464e+02] [ 9.20878717e-01 3.89841283e-01 -2.48244756e-03 9.54653339e+01] [ 2.66930192e-03 6.24238251e-05 9.99996435e-01 -4.19291935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.110281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:238.15, Y:95.49, Z:-0.42 [[ 3.90845851e-01 -9.20455559e-01 -1.04153848e-03 2.38147463e+02] [ 9.20451799e-01 3.90847232e-01 -2.63192497e-03 9.54907490e+01] [ 2.82965240e-03 6.99909897e-05 9.99995994e-01 -4.19394627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.14028169299996 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:238.15, Y:95.52, Z:-0.42 [[ 3.93120730e-01 -9.19486568e-01 -7.36587464e-04 2.38148653e+02] [ 9.19484683e-01 3.93121417e-01 -1.86278423e-03 9.55162434e+01] [ 2.00237338e-03 5.50182055e-05 9.99997994e-01 -4.19177880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.170281693 meters Centerline goodness : 0.999388 Centerline is valid? [True, True] Translation: X:238.15, Y:95.54, Z:-0.42 [[ 3.93362826e-01 -9.19383154e-01 -5.51274522e-04 2.38153294e+02] [ 9.19382096e-01 3.93363210e-01 -1.39522184e-03 9.55404325e+01] [ 1.49959457e-03 4.19964812e-05 9.99998875e-01 -4.19197189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.20028169299997 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:238.15, Y:95.57, Z:-0.42 [[ 3.91631578e-01 -9.20121775e-01 -7.92021320e-04 2.38153295e+02] [ 9.20119590e-01 3.91632375e-01 -2.00597010e-03 9.55682710e+01] [ 2.15591796e-03 5.68469038e-05 9.99997674e-01 -4.19195257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.23028169299994 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:238.16, Y:95.59, Z:-0.42 [[ 3.89718387e-01 -9.20933603e-01 -9.37060184e-04 2.38158547e+02] [ 9.20930542e-01 3.89719509e-01 -2.37507162e-03 9.55935822e+01] [ 2.55247390e-03 6.26417381e-05 9.99996740e-01 -4.19378143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.26028169299997 meters Centerline goodness : 0.999453 Centerline is valid? [True, True] Translation: X:238.16, Y:95.62, Z:-0.42 [[ 3.85426393e-01 -9.22737900e-01 -1.12392023e-03 2.38160317e+02] [ 9.22733499e-01 3.85428027e-01 -2.85048645e-03 9.56194222e+01] [ 3.06344223e-03 6.15738634e-05 9.99995306e-01 -4.19795014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.29028169299994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:238.17, Y:95.65, Z:-0.42 [[ 3.83073908e-01 -9.23717068e-01 -1.07647000e-03 2.38166153e+02] [ 9.23713029e-01 3.83075417e-01 -2.73221930e-03 9.56450006e+01] [ 2.93616680e-03 5.22925587e-05 9.99995688e-01 -4.19700188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.32028169299997 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:238.17, Y:95.67, Z:-0.42 [[ 3.80506441e-01 -9.24777804e-01 -9.28057734e-04 2.38170979e+02] [ 9.24774801e-01 3.80507571e-01 -2.35705895e-03 9.56689612e+01] [ 2.53288880e-03 3.86317069e-05 9.99996792e-01 -4.18839336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.35028169299994 meters Centerline goodness : 0.999579 Centerline is valid? [True, True] Translation: X:238.17, Y:95.70, Z:-0.42 [[ 3.75969047e-01 -9.26632128e-01 -4.18308209e-04 2.38174054e+02] [ 9.26631518e-01 3.75969280e-01 -1.06320868e-03 9.56956168e+01] [ 1.14247436e-03 1.21159831e-05 9.99999347e-01 -4.19541002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.380281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:238.18, Y:95.72, Z:-0.42 [[ 3.74051938e-01 -9.27407657e-01 -4.31306577e-04 2.38181324e+02] [ 9.27407008e-01 3.74052187e-01 -1.09707371e-03 9.57198170e+01] [ 1.17876573e-03 1.03658062e-05 9.99999305e-01 -4.18990859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.41028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:238.19, Y:95.74, Z:-0.42 [[ 3.70660558e-01 -9.28768092e-01 -7.63527752e-04 2.38188006e+02] [ 9.28766059e-01 3.70661344e-01 -1.94334953e-03 9.57440250e+01] [ 2.08793125e-03 1.11843582e-05 9.99997820e-01 -4.19033928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.440281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:238.20, Y:95.77, Z:-0.42 [[ 3.69150902e-01 -9.29368848e-01 -1.07518731e-03 2.38196601e+02] [ 9.29364813e-01 3.69152468e-01 -2.73863308e-03 9.57682580e+01] [ 2.94210832e-03 1.17276194e-05 9.99995672e-01 -4.18931162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.47028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:238.20, Y:95.79, Z:-0.42 [[ 3.67325537e-01 -9.30091814e-01 -1.08073035e-03 2.38204730e+02] [ 9.30087734e-01 3.67327127e-01 -2.75486690e-03 9.57921349e+01] [ 2.95926073e-03 6.75892473e-06 9.99995621e-01 -4.19399393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.500281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:238.21, Y:95.81, Z:-0.42 [[ 3.63161105e-01 -9.31725916e-01 -9.10640832e-04 2.38213525e+02] [ 9.31723020e-01 3.63162246e-01 -2.32315356e-03 9.58145874e+01] [ 2.49525275e-03 -4.78601175e-06 9.99996887e-01 -4.20502920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.53028169299995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:238.22, Y:95.84, Z:-0.42 [[ 3.61090298e-01 -9.32530477e-01 -8.39953717e-04 2.38223215e+02] [ 9.32528012e-01 3.61091275e-01 -2.14440079e-03 9.58383250e+01] [ 2.30301905e-03 -8.95805074e-06 9.99997348e-01 -4.20284918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.560281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:238.23, Y:95.86, Z:-0.42 [[ 3.57529140e-01 -9.33901737e-01 -6.77405733e-04 2.38234122e+02] [ 9.33900134e-01 3.57529781e-01 -1.73069204e-03 9.58614813e+01] [ 1.85848903e-03 -1.38564677e-05 9.99998273e-01 -4.21533304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.59028169299995 meters Centerline goodness : 0.999366 Centerline is valid? [True, True] Translation: X:238.25, Y:95.88, Z:-0.42 [[ 3.55708903e-01 -9.34596710e-01 -4.07840660e-04 2.38245462e+02] [ 9.34596128e-01 3.55709137e-01 -1.04275709e-03 9.58844968e+01] [ 1.11963000e-03 -1.02483204e-05 9.99999373e-01 -4.20977744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.620281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:238.26, Y:95.91, Z:-0.42 [[ 3.52399972e-01 -9.35849484e-01 5.05210784e-05 2.38261129e+02] [ 9.35849475e-01 3.52399976e-01 1.29242066e-04 9.59058368e+01] [-1.38754747e-04 1.73522436e-06 9.99999990e-01 -4.20045890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.65028169299995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:238.27, Y:95.93, Z:-0.42 [[ 3.50674345e-01 -9.36497458e-01 1.24317834e-04 2.38273300e+02] [ 9.36497404e-01 3.50674367e-01 3.18312370e-04 9.59274417e+01] [-3.41693803e-04 4.79934663e-06 9.99999942e-01 -4.20265454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.680281693 meters Centerline goodness : 0.999516 Centerline is valid? [True, True] Translation: X:238.29, Y:95.95, Z:-0.42 [[ 3.49447312e-01 -9.36956016e-01 1.38123672e-05 2.38285463e+02] [ 9.36956015e-01 3.49447312e-01 3.53717020e-05 9.59503568e+01] [-3.79684235e-05 5.81034371e-07 9.99999999e-01 -4.20282010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.71028169299996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:238.30, Y:95.97, Z:-0.42 [[ 3.48956429e-01 -9.37138949e-01 1.18890770e-05 2.38302088e+02] [ 9.37138949e-01 3.48956430e-01 3.04660022e-05 9.59708642e+01] [-3.26996471e-05 5.10409781e-07 9.99999999e-01 -4.19998094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.740281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:238.32, Y:95.99, Z:-0.42 [[ 3.49802138e-01 -9.36823598e-01 -9.85255079e-05 2.38315302e+02] [ 9.36823564e-01 3.49802152e-01 -2.52899217e-04 9.59923476e+01] [ 2.71386389e-04 -3.83633064e-06 9.99999963e-01 -4.19402344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.77028169299996 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:238.33, Y:96.01, Z:-0.42 [[ 3.53930904e-01 -9.35271201e-01 -8.34019768e-04 2.38331748e+02] [ 9.35268749e-01 3.53931886e-01 -2.14197584e-03 9.60119349e+01] [ 2.29851450e-03 -2.19211797e-05 9.99997358e-01 -4.19588741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.800281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:238.34, Y:96.03, Z:-0.42 [[ 3.56411705e-01 -9.34328442e-01 -1.02968612e-03 2.38344372e+02] [ 9.34324694e-01 3.56413191e-01 -2.64646769e-03 9.60345855e+01] [ 2.83966375e-03 -1.88291123e-05 9.99995968e-01 -4.19767667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.83028169299996 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:238.36, Y:96.06, Z:-0.42 [[ 3.59282917e-01 -9.33228197e-01 -9.57831571e-04 2.38356825e+02] [ 9.33224945e-01 3.59284194e-01 -2.46362068e-03 9.60571483e+01] [ 2.64325403e-03 -8.73549054e-06 9.99996507e-01 -4.19692307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.860281693 meters Centerline goodness : 0.999454 Centerline is valid? [True, True] Translation: X:238.37, Y:96.08, Z:-0.42 [[ 3.66402152e-01 -9.30456376e-01 -6.29144186e-04 2.38370336e+02] [ 9.30454966e-01 3.66402692e-01 -1.61947536e-03 9.60781713e+01] [ 1.73737130e-03 7.98892560e-06 9.99998491e-01 -4.18701803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.89028169299996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:238.38, Y:96.10, Z:-0.42 [[ 3.74217961e-01 -9.27340687e-01 -4.09063984e-04 2.38382053e+02] [ 9.27340089e-01 3.74218185e-01 -1.05374871e-03 9.61010699e+01] [ 1.13026324e-03 1.49902631e-05 9.99999361e-01 -4.18643324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.920281693 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:238.39, Y:96.12, Z:-0.42 [[ 3.77789500e-01 -9.25891445e-01 -3.53891368e-04 2.38391852e+02] [ 9.25890996e-01 3.77789666e-01 -9.12292821e-04 9.61246600e+01] [ 9.78380621e-04 1.69898177e-05 9.99999521e-01 -4.18270184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.95028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:238.40, Y:96.15, Z:-0.42 [[ 3.80620052e-01 -9.24731359e-01 -5.38900794e-04 2.38401028e+02] [ 9.24730314e-01 3.80620432e-01 -1.39026946e-03 9.61475720e+01] [ 1.49074242e-03 3.08265324e-05 9.99998888e-01 -4.18306020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 298.98028169299994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:238.41, Y:96.17, Z:-0.42 [[ 3.84885188e-01 -9.22963725e-01 -1.16385049e-03 2.38409385e+02] [ 9.22958837e-01 3.84886939e-01 -3.00475961e-03 9.61701273e+01] [ 3.22123497e-03 8.23013739e-05 9.99994808e-01 -4.19299486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.01028169299997 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:238.42, Y:96.19, Z:-0.42 [[ 3.86124981e-01 -9.22445581e-01 -1.28416157e-03 2.38417843e+02] [ 9.22439619e-01 3.86127105e-01 -3.31781335e-03 9.61946724e+01] [ 3.55635185e-03 9.65291042e-05 9.99993672e-01 -4.19697925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.04028169299994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:238.43, Y:96.22, Z:-0.42 [[ 3.87421795e-01 -9.21901818e-01 -1.17946520e-03 2.38425191e+02] [ 9.21896778e-01 3.87423579e-01 -3.04965266e-03 9.62185466e+01] [ 3.26843295e-03 9.41567431e-05 9.99994654e-01 -4.19458398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.07028169299997 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:238.43, Y:96.24, Z:-0.42 [[ 3.86783535e-01 -9.22169751e-01 -1.20290801e-03 2.38433570e+02] [ 9.22164503e-01 3.86785394e-01 -3.11255560e-03 9.62424918e+01] [ 3.33557188e-03 9.46061911e-05 9.99994433e-01 -4.20181521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.10028169299994 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:238.44, Y:96.27, Z:-0.42 [[ 3.84621170e-01 -9.23073085e-01 -1.62318297e-03 2.38442348e+02] [ 9.23063523e-01 3.84624577e-01 -4.20322853e-03 9.62656053e+01] [ 4.50420318e-03 1.18349686e-04 9.99989849e-01 -4.21647727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.130281693 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:238.45, Y:96.29, Z:-0.42 [[ 3.83179947e-01 -9.23672519e-01 -1.48513249e-03 2.38451686e+02] [ 9.23664507e-01 3.83182811e-01 -3.84862752e-03 9.62897677e+01] [ 4.12394872e-03 1.02952723e-04 9.99991491e-01 -4.21877859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.16028169299994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:238.46, Y:96.31, Z:-0.42 [[ 3.82904879e-01 -9.23786951e-01 -1.23367891e-03 2.38459921e+02] [ 9.23781415e-01 3.82906857e-01 -3.19949647e-03 9.63125030e+01] [ 3.42803720e-03 8.54531615e-05 9.99994121e-01 -4.20515161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.190281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:238.47, Y:96.34, Z:-0.42 [[ 3.83524793e-01 -9.23529589e-01 -1.35319104e-03 2.38468427e+02] [ 9.23522916e-01 3.83527167e-01 -3.51212959e-03 9.63365952e+01] [ 3.76254112e-03 9.72858336e-05 9.99992917e-01 -4.19463158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.22028169299995 meters Centerline goodness : 0.999390 Centerline is valid? [True, True] Translation: X:238.47, Y:96.36, Z:-0.42 [[ 3.84218427e-01 -9.23240615e-01 -1.72262184e-03 2.38474273e+02] [ 9.23229781e-01 3.84222267e-01 -4.47452733e-03 9.63603995e+01] [ 4.79293503e-03 1.28820068e-04 9.99988506e-01 -4.19401567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.250281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:238.48, Y:96.39, Z:-0.42 [[ 3.83920254e-01 -9.23364657e-01 -1.71719455e-03 2.38481535e+02] [ 9.23353876e-01 3.83924072e-01 -4.46385474e-03 9.63854233e+01] [ 4.78103802e-03 1.28186001e-04 9.99988563e-01 -4.19426899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.28028169299995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:238.49, Y:96.41, Z:-0.42 [[ 3.83044833e-01 -9.23728846e-01 -1.29382342e-03 2.38488414e+02] [ 9.23722719e-01 3.83047007e-01 -3.36590955e-03 9.64104940e+01] [ 3.60478294e-03 9.41601786e-05 9.99993498e-01 -4.18989575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.310281693 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:238.50, Y:96.43, Z:-0.42 [[ 3.81895033e-01 -9.24204710e-01 -1.35586681e-03 2.38496950e+02] [ 9.24197972e-01 3.81897429e-01 -3.53016607e-03 9.64338380e+01] [ 3.78039815e-03 9.50635305e-05 9.99992850e-01 -4.19007231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.34028169299995 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:238.50, Y:96.46, Z:-0.42 [[ 3.79244395e-01 -9.25294340e-01 -2.01807970e-03 2.38504723e+02] [ 9.25279407e-01 3.79249743e-01 -5.25846882e-03 9.64571587e+01] [ 5.63098765e-03 1.26957240e-04 9.99984138e-01 -4.20394794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.370281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:238.51, Y:96.48, Z:-0.42 [[ 3.76834379e-01 -9.26278054e-01 -2.19494193e-03 2.38512663e+02] [ 9.26260378e-01 3.76840751e-01 -5.72378106e-03 9.64817280e+01] [ 6.12895635e-03 1.23829743e-04 9.99981210e-01 -4.21400898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.40028169299995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:238.52, Y:96.51, Z:-0.42 [[ 3.74074557e-01 -9.27396320e-01 -2.07156506e-03 2.38520965e+02] [ 9.27380567e-01 3.74080279e-01 -5.40634677e-03 9.65054737e+01] [ 5.78875774e-03 1.01247595e-04 9.99983240e-01 -4.21028822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.430281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:238.53, Y:96.53, Z:-0.42 [[ 3.70055173e-01 -9.29008254e-01 -1.68328103e-03 2.38530186e+02] [ 9.28997852e-01 3.70058996e-01 -4.39664810e-03 9.65282276e+01] [ 4.70743566e-03 6.32379157e-05 9.99988918e-01 -4.18866322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.46028169299996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:238.54, Y:96.55, Z:-0.42 [[ 3.68436792e-01 -9.29651386e-01 -1.62168311e-03 2.38539501e+02] [ 9.29641723e-01 3.68440357e-01 -4.23911872e-03 9.65521278e+01] [ 4.53839610e-03 5.42630239e-05 9.99989700e-01 -4.18585746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.490281693 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:238.55, Y:96.57, Z:-0.42 [[ 3.66067672e-01 -9.30586377e-01 -1.85877139e-03 2.38548228e+02] [ 9.30573672e-01 3.66072388e-01 -4.86289200e-03 9.65748170e+01] [ 5.20578593e-03 5.04238322e-05 9.99986449e-01 -4.19986827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.52028169299996 meters Centerline goodness : 0.999570 Centerline is valid? [True, True] Translation: X:238.56, Y:96.60, Z:-0.42 [[ 3.65546760e-01 -9.30790986e-01 -1.92514581e-03 2.38557749e+02] [ 9.30777340e-01 3.65551825e-01 -5.04047281e-03 9.65986720e+01] [ 5.39536722e-03 5.06464021e-05 9.99985444e-01 -4.20684792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.550281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:238.57, Y:96.62, Z:-0.42 [[ 3.65304421e-01 -9.30885782e-01 -2.08371178e-03 2.38569483e+02] [ 9.30869771e-01 3.65310360e-01 -5.45991202e-03 9.66215839e+01] [ 5.84375596e-03 5.48656935e-05 9.99982924e-01 -4.21014752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.58028169299996 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:238.58, Y:96.65, Z:-0.42 [[ 3.64800699e-01 -9.31083238e-01 -2.11064386e-03 2.38578945e+02] [ 9.31066788e-01 3.64806801e-01 -5.53479197e-03 9.66450962e+01] [ 5.92332926e-03 5.39455778e-05 9.99982455e-01 -4.20035534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.610281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:238.59, Y:96.67, Z:-0.42 [[ 3.64733905e-01 -9.31109645e-01 -2.00198457e-03 2.38587987e+02] [ 9.31094823e-01 3.64739396e-01 -5.25394119e-03 9.66694026e+01] [ 5.62219796e-03 5.22530236e-05 9.99984194e-01 -4.19111559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.64028169299996 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:238.60, Y:96.69, Z:-0.42 [[ 3.65382261e-01 -9.30856506e-01 -1.40290563e-03 2.38598390e+02] [ 9.30849214e-01 3.65384952e-01 -3.68472114e-03 9.66915361e+01] [ 3.94254725e-03 4.04381404e-05 9.99992227e-01 -4.18878625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.670281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.61, Y:96.71, Z:-0.42 [[ 3.65846032e-01 -9.30674891e-01 -9.63056469e-04 2.38608989e+02] [ 9.30671449e-01 3.65847299e-01 -2.53141508e-03 9.67145154e+01] [ 2.70825606e-03 2.98190028e-05 9.99996332e-01 -4.18211924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.70028169299997 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:238.62, Y:96.74, Z:-0.42 [[ 3.68249856e-01 -9.29726772e-01 -4.16912913e-04 2.38617535e+02] [ 9.29726125e-01 3.68250092e-01 -1.09673758e-03 9.67385655e+01] [ 1.17319451e-03 1.62586283e-05 9.99999312e-01 -4.16678666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.73028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:238.62, Y:96.76, Z:-0.42 [[ 3.69709310e-01 -9.29147422e-01 -3.06524627e-04 2.38624110e+02] [ 9.29147072e-01 3.69709437e-01 -8.07013296e-04 9.67619358e+01] [ 8.63159371e-04 1.35538692e-05 9.99999627e-01 -4.16468316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.76028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:238.63, Y:96.79, Z:-0.42 [[ 3.70661505e-01 -9.28768003e-01 -2.14737682e-04 2.38631035e+02] [ 9.28767830e-01 3.70661567e-01 -5.65811825e-04 9.67863539e+01] [ 6.05102924e-04 1.02832121e-05 9.99999817e-01 -4.15694907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.79028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:238.64, Y:96.81, Z:-0.42 [[ 3.70443430e-01 -9.28855004e-01 -2.14605701e-04 2.38639970e+02] [ 9.28854832e-01 3.70443492e-01 -5.65861898e-04 9.68107696e+01] [ 6.05102941e-04 1.02822800e-05 9.99999817e-01 -4.15695792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.82028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:238.65, Y:96.83, Z:-0.42 [[ 3.72438337e-01 -9.28056929e-01 1.48618138e-04 2.38646827e+02] [ 9.28056846e-01 3.72438367e-01 3.92136506e-04 9.68349184e+01] [-4.19276098e-04 -8.12058795e-06 9.99999912e-01 -4.15092175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.85028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:238.65, Y:96.86, Z:-0.42 [[ 3.73414958e-01 -9.27664415e-01 3.67730836e-05 2.38654290e+02] [ 9.27664410e-01 3.73414960e-01 9.70871085e-05 9.68581601e+01] [-1.03795875e-04 -2.14069771e-06 9.99999995e-01 -4.15056197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.880281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:238.66, Y:96.88, Z:-0.42 [[ 3.75692115e-01 -9.26744269e-01 -7.02638874e-04 2.38657317e+02] [ 9.26742410e-01 3.75692770e-01 -1.85707374e-03 9.68845660e+01] [ 1.98500879e-03 4.65227202e-05 9.99998029e-01 -4.15542106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.91028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:238.66, Y:96.91, Z:-0.42 [[ 3.76722120e-01 -9.26325727e-01 -1.04468784e-03 2.38662431e+02] [ 9.26321609e-01 3.76723561e-01 -2.76335909e-03 9.69092198e+01] [ 2.95332914e-03 7.33015774e-05 9.99995636e-01 -4.15611697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.940281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.67, Y:96.93, Z:-0.41 [[ 3.77394679e-01 -9.26051725e-01 -1.20759501e-03 2.38668080e+02] [ 9.26046213e-01 3.77396601e-01 -3.19638477e-03 9.69333599e+01] [ 3.41575988e-03 8.80098242e-05 9.99994162e-01 -4.14419882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 299.97028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:238.67, Y:96.96, Z:-0.41 [[ 3.77531044e-01 -9.25996720e-01 -6.21723625e-04 2.38671043e+02] [ 9.25995256e-01 3.77531553e-01 -1.64692931e-03 9.69589957e+01] [ 1.75977143e-03 4.60538143e-05 9.99998451e-01 -4.12229762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.000281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:238.67, Y:96.98, Z:-0.41 [[ 3.75997123e-01 -9.26620827e-01 -8.32970631e-05 2.38672530e+02] [ 9.26620800e-01 3.75997132e-01 -2.20851781e-04 9.69846847e+01] [ 2.35965317e-04 5.85484308e-06 9.99999972e-01 -4.13999367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.03028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:238.68, Y:97.01, Z:-0.41 [[ 3.74670428e-01 -9.27158025e-01 -2.60412946e-04 2.38678739e+02] [ 9.27157767e-01 3.74670518e-01 -6.90933948e-04 9.70093234e+01] [ 7.38174008e-04 1.74286319e-05 9.99999727e-01 -4.13888986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.060281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:238.68, Y:97.03, Z:-0.41 [[ 3.73096263e-01 -9.27792508e-01 -4.91520612e-04 2.38684908e+02] [ 9.27791590e-01 3.73096585e-01 -1.30515111e-03 9.70330965e+01] [ 1.39429408e-03 3.09183102e-05 9.99999028e-01 -4.14075026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.09028169299995 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:238.69, Y:97.06, Z:-0.41 [[ 3.71642123e-01 -9.28375804e-01 -7.05985294e-04 2.38691228e+02] [ 9.28373910e-01 3.71642791e-01 -1.87581766e-03 9.70568715e+01] [ 2.00383807e-03 4.17145294e-05 9.99997991e-01 -4.13400878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.120281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:238.69, Y:97.08, Z:-0.41 [[ 3.68534561e-01 -9.29613638e-01 -8.72979417e-04 2.38693855e+02] [ 9.29610740e-01 3.68535592e-01 -2.32131730e-03 9.70832660e+01] [ 2.47965220e-03 4.39546095e-05 9.99996925e-01 -4.12804586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.15028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:238.70, Y:97.11, Z:-0.41 [[ 3.65614307e-01 -9.30765613e-01 -1.24573230e-03 2.38696916e+02] [ 9.30759712e-01 3.65616425e-01 -3.31494724e-03 9.71092751e+01] [ 3.54089909e-03 5.25146955e-05 9.99993730e-01 -4.13231906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.180281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.70, Y:97.13, Z:-0.41 [[ 3.64196554e-01 -9.31320682e-01 -1.63000952e-03 2.38703988e+02] [ 9.31310567e-01 3.64200197e-01 -4.34093227e-03 9.71342225e+01] [ 4.63644980e-03 6.29074818e-05 9.99989250e-01 -4.13859935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.21028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:238.71, Y:97.16, Z:-0.41 [[ 3.62794717e-01 -9.31866855e-01 -2.03891309e-03 2.38710970e+02] [ 9.31851012e-01 3.62800439e-01 -5.43435152e-03 9.71579472e+01] [ 5.80381063e-03 7.15907972e-05 9.99983155e-01 -4.14620416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.240281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:238.72, Y:97.18, Z:-0.42 [[ 3.59767969e-01 -9.33039814e-01 -1.92744447e-03 2.38716433e+02] [ 9.33025650e-01 3.59773128e-01 -5.14124402e-03 9.71833127e+01] [ 5.49042809e-03 5.12997880e-05 9.99984926e-01 -4.15378945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.27028169299996 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:238.72, Y:97.21, Z:-0.41 [[ 3.58667482e-01 -9.33463962e-01 -1.63391217e-03 2.38722966e+02] [ 9.33453772e-01 3.58671202e-01 -4.36170379e-03 9.72076780e+01] [ 4.65753054e-03 3.92198406e-05 9.99989153e-01 -4.13965800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.300281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:238.73, Y:97.23, Z:-0.41 [[ 3.59256629e-01 -9.33237847e-01 -1.33968229e-03 2.38728885e+02] [ 9.33230985e-01 3.59259125e-01 -3.57910594e-03 9.72331924e+01] [ 3.82145021e-03 3.55845063e-05 9.99992698e-01 -4.13434942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.33028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:238.74, Y:97.26, Z:-0.41 [[ 3.59725761e-01 -9.33057315e-01 -1.19356859e-03 2.38735705e+02] [ 9.33051857e-01 3.59727739e-01 -3.19138255e-03 9.72573009e+01] [ 3.40710257e-03 3.43611251e-05 9.99994195e-01 -4.13203188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.360281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:238.74, Y:97.28, Z:-0.41 [[ 3.60567944e-01 -9.32732511e-01 -9.06261603e-04 2.38739747e+02] [ 9.32729359e-01 3.60569081e-01 -2.42511362e-03 9.72828233e+01] [ 2.58875223e-03 2.91214260e-05 9.99996649e-01 -4.12215628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.39028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:238.75, Y:97.31, Z:-0.41 [[ 3.60851873e-01 -9.32622651e-01 -9.57571159e-04 2.38746070e+02] [ 9.32619126e-01 3.60853142e-01 -2.56445527e-03 9.73075459e+01] [ 2.73721164e-03 3.23393125e-05 9.99996253e-01 -4.12561833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.420281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:238.75, Y:97.33, Z:-0.41 [[ 3.60620924e-01 -9.32711869e-01 -1.05718725e-03 2.38753261e+02] [ 9.32707566e-01 3.60622472e-01 -2.83346939e-03 9.73314807e+01] [ 3.02405601e-03 3.57618051e-05 9.99995427e-01 -4.12511516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.45028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:238.76, Y:97.36, Z:-0.41 [[ 3.58036864e-01 -9.33706993e-01 -9.24659512e-04 2.38761398e+02] [ 9.33703699e-01 3.58038057e-01 -2.48018185e-03 9.73556380e+01] [ 2.64682643e-03 2.46385257e-05 9.99996497e-01 -4.12806801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.48028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:238.77, Y:97.38, Z:-0.41 [[ 3.53405385e-01 -9.35469759e-01 -9.81392509e-04 2.38769188e+02] [ 9.35466050e-01 3.53406747e-01 -2.63447968e-03 9.73795956e+01] [ 2.81130681e-03 1.29799324e-05 9.99996048e-01 -4.12887787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.51028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.78, Y:97.40, Z:-0.41 [[ 3.51094340e-01 -9.36339568e-01 -9.89218270e-04 2.38777062e+02] [ 9.36335796e-01 3.51095734e-01 -2.65771553e-03 9.74025204e+01] [ 2.83583452e-03 6.86840444e-06 9.99995979e-01 -4.13213617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.54028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:238.79, Y:97.43, Z:-0.41 [[ 3.49572116e-01 -9.36908875e-01 -1.04673869e-03 2.38785300e+02] [ 9.36904647e-01 3.49573683e-01 -2.81457234e-03 9.74252176e+01] [ 3.00291011e-03 3.20166157e-06 9.99995491e-01 -4.13055905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.57028169299997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:238.79, Y:97.45, Z:-0.41 [[ 3.48075641e-01 -9.37465862e-01 -1.05190070e-03 2.38793720e+02] [ 9.37461588e-01 3.48077230e-01 -2.83059705e-03 9.74487436e+01] [ 3.01973078e-03 -8.54619424e-07 9.99995441e-01 -4.12197087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.60028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:238.80, Y:97.47, Z:-0.41 [[ 3.47699207e-01 -9.37605459e-01 -1.12470330e-03 2.38801651e+02] [ 9.37600567e-01 3.47701026e-01 -3.02881393e-03 9.74725437e+01] [ 3.23089297e-03 -1.40625304e-06 9.99994781e-01 -4.12099452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.81, Y:97.50, Z:-0.41 [[ 3.46830399e-01 -9.37926641e-01 -1.51366711e-03 2.38808975e+02] [ 9.37917769e-01 3.46833702e-01 -4.07949707e-03 9.74965655e+01] [ 4.35125975e-03 -4.80168352e-06 9.99990533e-01 -4.12852359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.66028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:238.82, Y:97.52, Z:-0.41 [[ 3.46210956e-01 -9.38154659e-01 -1.95194472e-03 2.38818185e+02] [ 9.38139886e-01 3.46216458e-01 -5.26483438e-03 9.75201410e+01] [ 5.61502429e-03 -8.45385327e-06 9.99984236e-01 -4.13891006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.690281693 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:238.83, Y:97.54, Z:-0.41 [[ 3.45843056e-01 -9.38290335e-01 -1.95671847e-03 2.38828915e+02] [ 9.38275472e-01 3.45848591e-01 -5.28125685e-03 9.75425985e+01] [ 5.63208058e-03 -9.45493568e-06 9.99984140e-01 -4.14069553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.72028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:238.84, Y:97.57, Z:-0.41 [[ 3.46051948e-01 -9.38214190e-01 -1.47787256e-03 2.38837510e+02] [ 9.38205697e-01 3.46055103e-01 -3.99195766e-03 9.75660716e+01] [ 4.25673667e-03 -5.12373261e-06 9.99990940e-01 -4.13367028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.750281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.85, Y:97.59, Z:-0.41 [[ 3.46330464e-01 -9.38111922e-01 -1.11008761e-03 2.38845381e+02] [ 9.38107122e-01 3.46332243e-01 -3.00090370e-03 9.75903065e+01] [ 3.19964266e-03 -2.07672092e-06 9.99994881e-01 -4.12347411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.78028169299995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:238.85, Y:97.61, Z:-0.41 [[ 3.47306352e-01 -9.37751391e-01 -7.90924205e-04 2.38852758e+02] [ 9.37748951e-01 3.47307253e-01 -2.13956123e-03 9.76141782e+01] [ 2.28107023e-03 1.39486118e-06 9.99997398e-01 -4.12860917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.810281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:238.86, Y:97.64, Z:-0.41 [[ 3.47557979e-01 -9.37658155e-01 -7.96861099e-04 2.38861029e+02] [ 9.37655674e-01 3.47558892e-01 -2.15731851e-03 9.76378418e+01] [ 2.29978346e-03 2.61193179e-06 9.99997356e-01 -4.13070185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:238.87, Y:97.66, Z:-0.41 [[ 3.48091965e-01 -9.37460197e-01 -6.03111465e-04 2.38870037e+02] [ 9.37458772e-01 3.48092488e-01 -1.63408867e-03 9.76621928e+01] [ 1.74183166e-03 3.42100437e-06 9.99998483e-01 -4.13178512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:238.88, Y:97.69, Z:-0.41 [[ 3.48383773e-01 -9.37351787e-01 -6.11878378e-04 2.38879351e+02] [ 9.37350319e-01 3.48384310e-01 -1.65916069e-03 9.76854945e+01] [ 1.76838606e-03 4.48026760e-06 9.99998436e-01 -4.12826955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.90028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:238.89, Y:97.71, Z:-0.41 [[ 3.48979416e-01 -9.37130141e-01 -6.82199204e-04 2.38889235e+02] [ 9.37128313e-01 3.48980083e-01 -1.85136973e-03 9.77083718e+01] [ 1.97304831e-03 6.78173861e-06 9.99998054e-01 -4.13359956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.930281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:238.90, Y:97.73, Z:-0.41 [[ 3.50874467e-01 -9.36421598e-01 -1.30389717e-03 2.38899959e+02] [ 9.36414901e-01 3.50876889e-01 -3.54140040e-03 9.77305044e+01] [ 3.77375120e-03 2.15982340e-05 9.99992879e-01 -4.12668574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.96028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:238.91, Y:97.75, Z:-0.41 [[ 3.51380567e-01 -9.36231310e-01 -1.62224052e-03 2.38908181e+02] [ 9.36220926e-01 3.51384310e-01 -4.40949046e-03 9.77547111e+01] [ 4.69833290e-03 3.06337353e-05 9.99988962e-01 -4.12158359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 300.990281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:238.92, Y:97.78, Z:-0.41 [[ 3.50940998e-01 -9.36395797e-01 -1.82429546e-03 2.38916497e+02] [ 9.36382646e-01 3.50945738e-01 -4.96276112e-03 9.77777005e+01] [ 5.28733737e-03 3.33977271e-05 9.99986021e-01 -4.13949793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.02028169299996 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:238.93, Y:97.80, Z:-0.41 [[ 3.49934844e-01 -9.36772537e-01 -1.67889222e-03 2.38926442e+02] [ 9.36761386e-01 3.49938871e-01 -4.57077051e-03 9.78015604e+01] [ 4.86928194e-03 2.67504667e-05 9.99988145e-01 -4.14593186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.050281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:238.94, Y:97.82, Z:-0.41 [[ 3.49450034e-01 -9.36953790e-01 -1.50673664e-03 2.38936533e+02] [ 9.36944796e-01 3.49453281e-01 -4.10527185e-03 9.78246065e+01] [ 4.37298407e-03 2.28583327e-05 9.99990438e-01 -4.14453373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.08028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:238.95, Y:97.85, Z:-0.41 [[ 3.49412923e-01 -9.36968225e-01 -1.07408815e-03 2.38946515e+02] [ 9.36963648e-01 3.49414574e-01 -2.92873858e-03 9.78475567e+01] [ 3.11943705e-03 1.69575545e-05 9.99995134e-01 -4.13579637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:238.96, Y:97.87, Z:-0.41 [[ 3.49043462e-01 -9.37106156e-01 -8.45438541e-04 2.38955342e+02] [ 9.37103316e-01 3.49044486e-01 -2.30706594e-03 9.78719853e+01] [ 2.45706135e-03 1.30030218e-05 9.99996981e-01 -4.12706417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.14028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.96, Y:97.89, Z:-0.41 [[ 3.47956703e-01 -9.37510514e-01 -4.09947997e-04 2.38964940e+02] [ 9.37509846e-01 3.47956945e-01 -1.11959759e-03 9.78940871e+01] [ 1.19227877e-03 5.24120311e-06 9.99999289e-01 -4.11996451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:238.97, Y:97.92, Z:-0.41 [[ 3.46951620e-01 -9.37882831e-01 -6.06746476e-04 2.38973316e+02] [ 9.37881365e-01 3.46952150e-01 -1.65843796e-03 9.79170290e+01] [ 1.76593248e-03 6.34152252e-06 9.99998441e-01 -4.12275824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.20028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:238.98, Y:97.94, Z:-0.41 [[ 3.45367439e-01 -9.38467016e-01 -9.95938183e-04 2.38982312e+02] [ 9.38463061e-01 3.45368875e-01 -2.72446463e-03 9.79409229e+01] [ 2.90078624e-03 6.29017477e-06 9.99995793e-01 -4.13731812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:238.99, Y:97.96, Z:-0.41 [[ 3.44768164e-01 -9.38687182e-01 -1.13503401e-03 2.38991571e+02] [ 9.38682038e-01 3.44770032e-01 -3.10763791e-03 9.79636832e+01] [ 3.30842559e-03 5.97858296e-06 9.99994527e-01 -4.13755790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.26028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:239.00, Y:97.99, Z:-0.41 [[ 3.44265923e-01 -9.38871548e-01 -1.09089045e-03 2.39002991e+02] [ 9.38866789e-01 3.44267652e-01 -2.98926518e-03 9.79861895e+01] [ 3.18209432e-03 4.90132846e-06 9.99994937e-01 -4.12891973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.29028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:239.01, Y:98.01, Z:-0.41 [[ 3.44223348e-01 -9.38887306e-01 -9.56046262e-04 2.39011204e+02] [ 9.38883644e-01 3.44224676e-01 -2.62203432e-03 9.80078788e+01] [ 2.79088945e-03 4.94923491e-06 9.99996105e-01 -4.12795094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.32028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:239.02, Y:98.03, Z:-0.41 [[ 3.44387666e-01 -9.38827235e-01 -7.47314036e-04 2.39019345e+02] [ 9.38824994e-01 3.44388477e-01 -2.05124304e-03 9.80314067e+01] [ 2.18312918e-03 4.82570883e-06 9.99997617e-01 -4.13122346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.35028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:239.03, Y:98.05, Z:-0.41 [[ 3.46134241e-01 -9.38184971e-01 -2.17022404e-04 2.39026171e+02] [ 9.38184782e-01 3.46134309e-01 -5.96212260e-04 9.80544807e+01] [ 6.34476282e-04 2.76236165e-06 9.99999799e-01 -4.12817941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:239.03, Y:98.08, Z:-0.41 [[ 3.47647680e-01 -9.37625223e-01 -1.77670813e-04 2.39034056e+02] [ 9.37625096e-01 3.47647726e-01 -4.88498001e-04 9.80791822e+01] [ 5.19794901e-04 3.23658401e-06 9.99999865e-01 -4.13162470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.41028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:239.04, Y:98.10, Z:-0.41 [[ 3.50967315e-01 -9.36387689e-01 -1.97326163e-04 2.39040700e+02] [ 9.36387532e-01 3.50967371e-01 -5.42904141e-04 9.81024706e+01] [ 5.77623799e-04 5.76785049e-06 9.99999833e-01 -4.13619510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.440281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:239.05, Y:98.13, Z:-0.41 [[ 3.50979803e-01 -9.36383021e-01 1.23282853e-04 2.39048223e+02] [ 9.36382960e-01 3.50979824e-01 3.39420299e-04 9.81263922e+01] [-3.61097199e-04 -3.68970646e-06 9.99999935e-01 -4.13534786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.47028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:239.06, Y:98.15, Z:-0.41 [[ 3.47763797e-01 -9.37582076e-01 4.39089179e-04 2.39057903e+02] [ 9.37581295e-01 3.47764074e-01 1.20978471e-03 9.81486440e+01] [-1.28697190e-03 -9.03752359e-06 9.99999172e-01 -4.13748392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.500281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:239.07, Y:98.17, Z:-0.41 [[ 3.44470612e-01 -9.38797020e-01 3.89576942e-04 2.39068394e+02] [ 9.38796406e-01 3.44470832e-01 1.07420932e-03 9.81724610e+01] [-1.14266240e-03 -4.30011000e-06 9.99999347e-01 -4.14071371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.53028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:239.08, Y:98.19, Z:-0.42 [[ 3.36089463e-01 -9.41830058e-01 -1.24610894e-04 2.39078280e+02] [ 9.41829995e-01 3.36089486e-01 -3.43914073e-04 9.81946090e+01] [ 3.65789023e-04 -1.77638152e-06 9.99999933e-01 -4.15239014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.560281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:239.09, Y:98.22, Z:-0.42 [[ 3.32189423e-01 -9.43212620e-01 -3.76203525e-04 2.39087789e+02] [ 9.43212047e-01 3.32189636e-01 -1.03903834e-03 9.82179523e+01] [ 1.10500499e-03 -9.68214927e-06 9.99999389e-01 -4.15375567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.59028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:239.10, Y:98.24, Z:-0.41 [[ 3.27623060e-01 -9.44808512e-01 7.61030528e-05 2.39100783e+02] [ 9.44808489e-01 3.27623069e-01 2.10340973e-04 9.82387871e+01] [-2.23665057e-04 2.99025714e-06 9.99999975e-01 -4.14517026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.620281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:239.11, Y:98.26, Z:-0.41 [[ 3.26615351e-01 -9.45157287e-01 3.38242410e-04 2.39111525e+02] [ 9.45156824e-01 3.26615526e-01 9.35754374e-04 9.82612512e+01] [-9.94910288e-04 1.40603784e-05 9.99999505e-01 -4.13781726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.65028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:239.12, Y:98.28, Z:-0.41 [[ 3.26641493e-01 -9.45148264e-01 3.06337729e-04 2.39120623e+02] [ 9.45147884e-01 3.26641636e-01 8.48160519e-04 9.82828847e+01] [-9.01700100e-04 1.24900386e-05 9.99999593e-01 -4.13466951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.680281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:239.13, Y:98.31, Z:-0.41 [[ 3.26398805e-01 -9.45232102e-01 3.06120055e-04 2.39128804e+02] [ 9.45231721e-01 3.26398948e-01 8.48239106e-04 9.83066725e+01] [-9.01700097e-04 1.24901564e-05 9.99999593e-01 -4.13467807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.71028169299996 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:239.14, Y:98.33, Z:-0.42 [[ 3.28453099e-01 -9.44520217e-01 -3.49604809e-04 2.39139016e+02] [ 9.44519719e-01 3.28453285e-01 -9.69566158e-04 9.83302446e+01] [ 1.03060369e-03 -1.17516263e-05 9.99999469e-01 -4.15103592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.740281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:239.15, Y:98.35, Z:-0.42 [[ 3.30555170e-01 -9.43786072e-01 -1.06306115e-03 2.39152013e+02] [ 9.43781460e-01 3.30556878e-01 -2.95062268e-03 9.83517623e+01] [ 3.13615876e-03 -2.79538269e-05 9.99995082e-01 -4.16071604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.77028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:239.16, Y:98.37, Z:-0.42 [[ 3.30807280e-01 -9.43697720e-01 -1.07529871e-03 2.39162056e+02] [ 9.43692993e-01 3.30809026e-01 -2.98704549e-03 9.83738518e+01] [ 3.17458653e-03 -2.66154622e-05 9.99994961e-01 -4.15609010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.800281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:239.17, Y:98.40, Z:-0.42 [[ 3.30756945e-01 -9.43715384e-01 -1.05715933e-03 2.39171311e+02] [ 9.43710807e-01 3.30758634e-01 -2.93908792e-03 9.83977339e+01] [ 3.12332706e-03 -2.55289424e-05 9.99995122e-01 -4.15239931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.83028169299996 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:239.18, Y:98.42, Z:-0.42 [[ 3.30737938e-01 -9.43722039e-01 -1.06330086e-03 2.39180974e+02] [ 9.43717401e-01 3.30739646e-01 -2.95869921e-03 9.84209634e+01] [ 3.14386540e-03 -2.49014516e-05 9.99995058e-01 -4.16014275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.860281693 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:239.19, Y:98.44, Z:-0.42 [[ 3.30905382e-01 -9.43663414e-01 -9.95251417e-04 2.39190818e+02] [ 9.43659343e-01 3.30906878e-01 -2.77171970e-03 9.84443446e+01] [ 2.94490601e-03 -2.20013331e-05 9.99995664e-01 -4.15884503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.89028169299996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:239.20, Y:98.47, Z:-0.42 [[ 3.31526368e-01 -9.43445787e-01 -5.61385740e-04 2.39200092e+02] [ 9.43444489e-01 3.31526843e-01 -1.56457327e-03 9.84667572e+01] [ 1.66220450e-03 -1.09389904e-05 9.99998619e-01 -4.15431229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.920281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:239.21, Y:98.49, Z:-0.41 [[ 3.33984313e-01 -9.42578606e-01 2.22815173e-04 2.39207960e+02] [ 9.42578401e-01 3.33984387e-01 6.21451220e-04 9.84905764e+01] [-6.60183414e-04 2.46581101e-06 9.99999782e-01 -4.13983242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.95028169299997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:239.22, Y:98.51, Z:-0.41 [[ 3.35573733e-01 -9.42013871e-01 3.70518771e-04 2.39216089e+02] [ 9.42013303e-01 3.35573938e-01 1.03429821e-03 9.85140525e+01] [-1.09865970e-03 1.95029946e-06 9.99999396e-01 -4.14039593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 301.98028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:239.23, Y:98.54, Z:-0.42 [[ 3.38639730e-01 -9.40916080e-01 2.50925377e-04 2.39225615e+02] [ 9.40915819e-01 3.38639823e-01 7.01019753e-04 9.85380256e+01] [-7.44574083e-04 -1.29348339e-06 9.99999723e-01 -4.15460486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.01028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:239.24, Y:98.56, Z:-0.42 [[ 3.39400562e-01 -9.40641939e-01 3.22544410e-05 2.39235174e+02] [ 9.40641935e-01 3.39400564e-01 9.01616914e-05 9.85618744e+01] [-9.57570436e-05 -2.61048940e-07 9.99999995e-01 -4.15567686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.04028169299994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:239.24, Y:98.58, Z:-0.42 [[ 3.40156740e-01 -9.40368746e-01 -1.17188379e-04 2.39244336e+02] [ 9.40368689e-01 3.40156760e-01 -3.27984147e-04 9.85848315e+01] [ 3.48288460e-04 1.36573546e-06 9.99999939e-01 -4.15164730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.07028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:239.25, Y:98.61, Z:-0.41 [[ 3.41271226e-01 -9.39964844e-01 2.04829557e-04 2.39252774e+02] [ 9.39964669e-01 3.41271287e-01 5.73687974e-04 9.86069384e+01] [-6.09148974e-04 -3.25065115e-06 9.99999814e-01 -4.14329413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.10028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:239.26, Y:98.63, Z:-0.42 [[ 3.41914148e-01 -9.39731115e-01 3.83919257e-04 2.39262636e+02] [ 9.39730499e-01 3.41914363e-01 1.07619077e-03 9.86304916e+01] [-1.14259746e-03 -7.18421393e-06 9.99999347e-01 -4.15288307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.130281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:239.27, Y:98.65, Z:-0.42 [[ 3.42237686e-01 -9.39613378e-01 2.58181018e-04 2.39271370e+02] [ 9.39613099e-01 3.42237783e-01 7.24307516e-04 9.86542297e+01] [-7.68928330e-04 -5.29506220e-06 9.99999704e-01 -4.15829512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.16028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:239.28, Y:98.68, Z:-0.42 [[ 3.42903513e-01 -9.39370626e-01 -9.37017529e-05 2.39279297e+02] [ 9.39370589e-01 3.42903526e-01 -2.63088508e-04 9.86773494e+01] [ 2.79268278e-04 2.19330295e-06 9.99999961e-01 -4.15684714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.190281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:239.29, Y:98.70, Z:-0.42 [[ 3.44367965e-01 -9.38834759e-01 -2.62687289e-05 2.39285778e+02] [ 9.38834756e-01 3.44367966e-01 -7.38352188e-05 9.87019614e+01] [ 7.83651786e-05 7.64488323e-07 9.99999997e-01 -4.15705381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.22028169299995 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:239.29, Y:98.73, Z:-0.42 [[ 3.44732248e-01 -9.38700975e-01 3.95612237e-04 2.39294392e+02] [ 9.38700316e-01 3.44732475e-01 1.11245414e-03 9.87264347e+01] [-1.18064217e-03 -1.21374832e-05 9.99999303e-01 -4.15340317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.250281693 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:239.31, Y:98.75, Z:-0.41 [[ 3.44147596e-01 -9.38915058e-01 9.73147798e-04 2.39305601e+02] [ 9.38911064e-01 3.44148971e-01 2.73872727e-03 9.87499882e+01] [-2.90634008e-03 -2.88271704e-05 9.99995776e-01 -4.14247328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.28028169299995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:239.31, Y:98.77, Z:-0.41 [[ 3.43158432e-01 -9.39277185e-01 8.12215059e-04 2.39314653e+02] [ 9.39274400e-01 3.43159393e-01 2.28739264e-03 9.87730717e+01] [-2.42721495e-03 -2.20452613e-05 9.99997054e-01 -4.14718117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.310281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:239.32, Y:98.80, Z:-0.42 [[ 3.41691774e-01 -9.39811896e-01 5.76900039e-04 2.39323608e+02] [ 9.39810489e-01 3.41692260e-01 1.62597951e-03 9.87964514e+01] [-1.72523716e-03 -1.34071142e-05 9.99998512e-01 -4.15696516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.34028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:239.34, Y:98.82, Z:-0.42 [[ 3.37868294e-01 -9.41193400e-01 1.42501762e-05 2.39336585e+02] [ 9.41193399e-01 3.37868294e-01 4.01708808e-05 9.88184143e+01] [-4.26232506e-05 -1.60295185e-07 9.99999999e-01 -4.17412236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.370281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:239.35, Y:98.84, Z:-0.42 [[ 3.33884651e-01 -9.42613920e-01 -1.93152804e-04 2.39352950e+02] [ 9.42613763e-01 3.33884706e-01 -5.45363812e-04 9.88379421e+01] [ 5.78558289e-04 2.01142173e-08 9.99999833e-01 -4.16626489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.40028169299995 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:239.36, Y:98.86, Z:-0.42 [[ 3.31976006e-01 -9.43287800e-01 -2.40683170e-04 2.39363996e+02] [ 9.43287555e-01 3.31976093e-01 -6.80146140e-04 9.88602980e+01] [ 7.21474615e-04 -1.24123993e-06 9.99999740e-01 -4.16621050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.430281693 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:239.37, Y:98.88, Z:-0.42 [[ 3.31604165e-01 -9.43418528e-01 -3.98348021e-04 2.39374269e+02] [ 9.43417855e-01 3.31604404e-01 -1.12668481e-03 9.88813002e+01] [ 1.19502928e-03 -2.19526169e-06 9.99999286e-01 -4.16524102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.46028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:239.39, Y:98.90, Z:-0.42 [[ 3.34691454e-01 -9.42327750e-01 -2.07646831e-04 2.39389778e+02] [ 9.42327566e-01 3.34691519e-01 -5.87820280e-04 9.89020424e+01] [ 6.23416995e-04 1.06709164e-06 9.99999806e-01 -4.16741693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.490281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:239.40, Y:98.92, Z:-0.42 [[ 3.40536006e-01 -9.40231475e-01 -4.96730517e-05 2.39404319e+02] [ 9.40231464e-01 3.40536010e-01 -1.40761406e-04 9.89232561e+01] [ 1.49263767e-04 1.23016072e-06 9.99999989e-01 -4.16460215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.52028169299996 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:239.41, Y:98.94, Z:-0.42 [[ 3.43925397e-01 -9.38996940e-01 -2.60998257e-04 2.39412723e+02] [ 9.38996648e-01 3.43925496e-01 -7.40153792e-04 9.89449657e+01] [ 7.84766101e-04 9.48119799e-06 9.99999692e-01 -4.15949822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.550281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:239.42, Y:98.97, Z:-0.42 [[ 3.47064699e-01 -9.37840985e-01 -6.17212519e-04 2.39421143e+02] [ 9.37839350e-01 3.47065246e-01 -1.75183471e-03 9.89667119e+01] [ 1.85715540e-03 2.91537964e-05 9.99998275e-01 -4.16594789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.58028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:239.43, Y:98.99, Z:-0.42 [[ 3.50189349e-01 -9.36678321e-01 -1.06901851e-03 2.39431871e+02] [ 9.36673400e-01 3.50190976e-01 -3.03683616e-03 9.89875795e+01] [ 3.21889923e-03 6.21464785e-05 9.99994817e-01 -4.17372308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.610281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:239.44, Y:99.01, Z:-0.42 [[ 3.50995369e-01 -9.36376608e-01 -1.04836970e-03 2.39441882e+02] [ 9.36371866e-01 3.50996929e-01 -2.98075493e-03 9.90094749e+01] [ 3.15908373e-03 6.45672822e-05 9.99995008e-01 -4.17155375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:239.45, Y:99.03, Z:-0.42 [[ 3.52246621e-01 -9.35907215e-01 -5.58214728e-05 2.39452313e+02] [ 9.35907202e-01 3.52246625e-01 -1.58875681e-04 9.90305709e+01] [ 1.68355821e-04 3.71970315e-06 9.99999986e-01 -4.15730597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.670281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:239.46, Y:99.05, Z:-0.42 [[ 3.52577750e-01 -9.35782480e-01 2.83764798e-04 2.39460867e+02] [ 9.35782131e-01 3.52577864e-01 8.08146739e-04 9.90534737e+01] [-8.56298746e-04 -1.93925314e-05 9.99999633e-01 -4.15027725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.70028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:239.47, Y:99.08, Z:-0.42 [[ 3.54173453e-01 -9.35179748e-01 6.19467255e-05 2.39468555e+02] [ 9.35179731e-01 3.54173459e-01 1.76552424e-04 9.90757690e+01] [-1.87048137e-04 -4.59885962e-06 9.99999983e-01 -4.15265109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.73028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:239.48, Y:99.10, Z:-0.42 [[ 3.54807237e-01 -9.34939412e-01 3.46044938e-04 2.39476095e+02] [ 9.34938891e-01 3.54807405e-01 9.87182703e-04 9.91004315e+01] [-1.04573532e-03 -2.67286971e-05 9.99999453e-01 -4.15685652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.76028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:239.48, Y:99.12, Z:-0.41 [[ 3.56906081e-01 -9.34139498e-01 1.20320916e-03 2.39480760e+02] [ 9.34133186e-01 3.56908095e-01 3.43543035e-03 9.91244119e+01] [-3.63860627e-03 -1.02168380e-04 9.99993375e-01 -4.13300369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.79028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:239.49, Y:99.15, Z:-0.41 [[ 3.58746886e-01 -9.33433801e-01 1.41821443e-03 2.39487334e+02] [ 9.33425012e-01 3.58749666e-01 4.05275489e-03 9.91496285e+01] [-4.29176235e-03 -1.30116376e-04 9.99990782e-01 -4.12784042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.82028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:239.49, Y:99.17, Z:-0.41 [[ 3.61009347e-01 -9.32561320e-01 1.27904550e-03 2.39492902e+02] [ 9.32554153e-01 3.61011590e-01 3.65827915e-03 9.91736233e+01] [-3.87331988e-03 -1.27893773e-04 9.99992491e-01 -4.12820128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.85028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:239.49, Y:99.20, Z:-0.41 [[ 3.65326787e-01 -9.30879141e-01 6.03113593e-04 2.39494620e+02] [ 9.30877543e-01 3.65327278e-01 1.72618269e-03 9.91988300e+01] [-1.82720130e-03 -6.91958748e-05 9.99998328e-01 -4.14629190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.880281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:239.49, Y:99.23, Z:-0.42 [[ 3.66567923e-01 -9.30391188e-01 4.41636963e-04 2.39494881e+02] [ 9.30390329e-01 3.66568185e-01 1.26500223e-03 9.92253900e+01] [-1.33883699e-03 -5.28144806e-05 9.99999102e-01 -4.15346754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.91028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:239.50, Y:99.25, Z:-0.41 [[ 3.66027771e-01 -9.30603823e-01 4.43017710e-04 2.39499202e+02] [ 9.30602958e-01 3.66028035e-01 1.26995942e-03 9.92510732e+01] [-1.34398599e-03 -5.25668248e-05 9.99999095e-01 -4.14642768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.940281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:239.50, Y:99.28, Z:-0.41 [[ 3.64845096e-01 -9.31068132e-01 4.36217219e-04 2.39503078e+02] [ 9.31067292e-01 3.64845353e-01 1.25148278e-03 9.92762786e+01] [-1.32436756e-03 -5.04497716e-05 9.99999122e-01 -4.14433369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 302.97028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:239.50, Y:99.30, Z:-0.42 [[ 3.62478791e-01 -9.31992016e-01 8.71870127e-05 2.39504672e+02] [ 9.31991983e-01 3.62478802e-01 2.50321583e-04 9.93030430e+01] [-2.64901161e-04 -9.47866807e-06 9.99999965e-01 -4.15191569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.000281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:239.51, Y:99.33, Z:-0.42 [[ 3.60825203e-01 -9.32633451e-01 -1.36915659e-04 2.39509584e+02] [ 9.32633368e-01 3.60825229e-01 -3.93508499e-04 9.93277531e+01] [ 4.16401814e-04 1.42956716e-05 9.99999913e-01 -4.16435288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.03028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:239.51, Y:99.35, Z:-0.42 [[ 3.57344261e-01 -9.33972644e-01 -4.22322835e-04 2.39511436e+02] [ 9.33971855e-01 3.57344509e-01 -1.21472805e-03 9.93545983e+01] [ 1.28543752e-03 3.96384563e-05 9.99999173e-01 -4.17317310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.060281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:239.52, Y:99.38, Z:-0.42 [[ 3.55217045e-01 -9.34783778e-01 -3.73651067e-04 2.39516491e+02] [ 9.34783159e-01 3.55217240e-01 -1.07562058e-03 9.93796642e+01] [ 1.13819997e-03 3.27960381e-05 9.99999352e-01 -4.17521489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.09028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:239.52, Y:99.40, Z:-0.42 [[ 3.51691846e-01 -9.36115792e-01 -2.65567363e-04 2.39519553e+02] [ 9.36115479e-01 3.51691945e-01 -7.65148344e-04 9.94049733e+01] [ 8.09665351e-04 2.04947137e-05 9.99999672e-01 -4.15409117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.120281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:239.52, Y:99.43, Z:-0.42 [[ 3.50476624e-01 -9.36571392e-01 -4.04949635e-04 2.39524907e+02] [ 9.36570664e-01 3.50476857e-01 -1.16752717e-03 9.94287542e+01] [ 1.23539802e-03 2.99270312e-05 9.99999236e-01 -4.15051419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.15028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:239.53, Y:99.45, Z:-0.42 [[ 3.49317293e-01 -9.37004259e-01 -6.69312833e-04 2.39530473e+02] [ 9.37002270e-01 3.49317931e-01 -1.93128880e-03 9.94541452e+01] [ 2.04342880e-03 4.74849308e-05 9.99997911e-01 -4.15539049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.180281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:239.53, Y:99.48, Z:-0.42 [[ 3.48196486e-01 -9.37421106e-01 -9.37043666e-04 2.39532373e+02] [ 9.37417202e-01 3.48197741e-01 -2.70611367e-03 9.94794659e+01] [ 2.86304455e-03 6.38584180e-05 9.99995899e-01 -4.16700018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.21028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:239.54, Y:99.51, Z:-0.42 [[ 3.45991516e-01 -9.38237537e-01 -4.41309368e-04 2.39535835e+02] [ 9.38236671e-01 3.45991796e-01 -1.27551395e-03 9.95050605e+01] [ 1.34942448e-03 2.72643711e-05 9.99999089e-01 -4.15614209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.240281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:239.54, Y:99.53, Z:-0.42 [[ 3.43828459e-01 -9.39032461e-01 -1.65677622e-04 2.39541667e+02] [ 9.39032339e-01 3.43828499e-01 -4.79262090e-04 9.95295836e+01] [ 5.07007348e-04 9.20730119e-06 9.99999871e-01 -4.15394478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.27028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:239.55, Y:99.55, Z:-0.42 [[ 3.40902198e-01 -9.40098766e-01 -4.46831456e-05 2.39547565e+02] [ 9.40098757e-01 3.40902201e-01 -1.29380997e-04 9.95546154e+01] [ 1.36863498e-04 2.09969669e-06 9.99999991e-01 -4.15430153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.300281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:239.55, Y:99.58, Z:-0.42 [[ 3.35017258e-01 -9.42211961e-01 -2.40678584e-04 2.39551876e+02] [ 9.42211703e-01 3.35017345e-01 -6.97367546e-04 9.95786343e+01] [ 7.37699543e-04 6.85998524e-06 9.99999728e-01 -4.16104648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.33028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:239.56, Y:99.60, Z:-0.41 [[ 3.29974330e-01 -9.43989890e-01 1.73755577e-04 2.39558199e+02] [ 9.43989755e-01 3.29974375e-01 5.03839808e-04 9.96035742e+01] [-5.32954573e-04 -2.23071854e-06 9.99999858e-01 -4.14504190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.360281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:239.57, Y:99.63, Z:-0.41 [[ 3.28238449e-01 -9.44594696e-01 6.16806372e-04 2.39565541e+02] [ 9.44593000e-01 3.28239029e-01 1.78993479e-03 9.96272392e+01] [-1.89322283e-03 -4.89443864e-06 9.99998208e-01 -4.13147533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.39028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:239.57, Y:99.65, Z:-0.41 [[ 3.26710711e-01 -9.45123647e-01 1.18480535e-03 2.39573651e+02] [ 9.45117382e-01 3.26712859e-01 3.44116104e-03 9.96512994e+01] [-3.63941381e-03 -4.48404252e-06 9.99993377e-01 -4.12377706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.420281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:239.58, Y:99.67, Z:-0.41 [[ 3.25077592e-01 -9.45686112e-01 1.52860553e-03 2.39581952e+02] [ 9.45675675e-01 3.25081186e-01 4.44290372e-03 9.96740256e+01] [-4.69851325e-03 1.27661883e-06 9.99988962e-01 -4.12968846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.45028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:239.59, Y:99.70, Z:-0.41 [[ 3.24141551e-01 -9.46007673e-01 1.31795996e-03 2.39590151e+02] [ 9.45999905e-01 3.24144231e-01 3.83382958e-03 9.96977139e+01] [-4.05404132e-03 4.08652487e-06 9.99991782e-01 -4.13431769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.48028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:239.60, Y:99.72, Z:-0.42 [[ 3.22475290e-01 -9.46577678e-01 6.21525863e-04 2.39600324e+02] [ 9.46575949e-01 3.22475889e-01 1.80950347e-03 9.97200072e+01] [-1.91326270e-03 4.80127647e-06 9.99998170e-01 -4.15013991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.51028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:239.61, Y:99.74, Z:-0.42 [[ 3.20678105e-01 -9.47188171e-01 3.47740141e-04 2.39610585e+02] [ 9.47187629e-01 3.20678293e-01 1.01328534e-03 9.97426685e+01] [-1.07128461e-03 4.43673546e-06 9.99999426e-01 -4.15088696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:239.62, Y:99.77, Z:-0.42 [[ 3.18923843e-01 -9.47780285e-01 3.38539319e-04 2.39622109e+02] [ 9.47779770e-01 3.18924022e-01 9.87315965e-04 9.97660699e+01] [-1.04372693e-03 5.98211656e-06 9.99999455e-01 -4.15079650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.57028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:239.64, Y:99.79, Z:-0.41 [[ 3.15955718e-01 -9.48773861e-01 3.80744941e-04 2.39636352e+02] [ 9.48773210e-01 3.15955947e-01 1.11139218e-03 9.97873408e+01] [-1.17475848e-03 1.00898851e-05 9.99999310e-01 -4.14687534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:239.64, Y:99.81, Z:-0.41 [[ 3.15711730e-01 -9.48855078e-01 3.80458651e-04 2.39644140e+02] [ 9.48854427e-01 3.15711959e-01 1.11149022e-03 9.98112624e+01] [-1.17475848e-03 1.00893772e-05 9.99999310e-01 -4.14688390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.630281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:239.66, Y:99.83, Z:-0.42 [[ 3.14108070e-01 -9.49387218e-01 1.77277754e-04 2.39655131e+02] [ 9.49387076e-01 3.14108120e-01 5.18327727e-04 9.98339264e+01] [-5.47778100e-04 5.49428675e-06 9.99999850e-01 -4.15122623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.66028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:239.67, Y:99.85, Z:-0.42 [[ 3.12993246e-01 -9.49755342e-01 -1.36158050e-04 2.39670873e+02] [ 9.49755258e-01 3.12993276e-01 -3.98499565e-04 9.98543685e+01] [ 4.21093644e-04 -4.58915205e-06 9.99999911e-01 -4.16788321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.690281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:239.68, Y:99.87, Z:-0.42 [[ 3.13364133e-01 -9.49632989e-01 -3.27490044e-04 2.39682608e+02] [ 9.49632504e-01 3.13364304e-01 -9.59313479e-04 9.98748893e+01] [ 1.01361942e-03 -1.03807546e-05 9.99999486e-01 -4.16935861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.72028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:239.70, Y:99.90, Z:-0.42 [[ 3.15988598e-01 -9.48762511e-01 -9.50622194e-04 2.39698162e+02] [ 9.48758418e-01 3.15990027e-01 -2.78680509e-03 9.98964040e+01] [ 2.94440332e-03 -2.13121782e-05 9.99995665e-01 -4.16711990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.750281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:239.71, Y:99.92, Z:-0.42 [[ 3.17440035e-01 -9.48277812e-01 -1.00761810e-03 2.39709444e+02] [ 9.48273204e-01 3.17441634e-01 -2.95643202e-03 9.99192442e+01] [ 3.12337882e-03 -1.70073569e-05 9.99995122e-01 -4.16935265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.72, Y:99.94, Z:-0.42 [[ 3.18750848e-01 -9.47838016e-01 -9.96449675e-04 2.39720639e+02] [ 9.47833500e-01 3.18752405e-01 -2.92583969e-03 9.99413254e+01] [ 3.09084281e-03 -1.18545023e-05 9.99995223e-01 -4.17100719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.810281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:239.73, Y:99.96, Z:-0.42 [[ 3.22377351e-01 -9.46611094e-01 -5.30063018e-04 2.39733978e+02] [ 9.46609812e-01 3.22377787e-01 -1.55779623e-03 9.99621567e+01] [ 1.64550774e-03 4.35369317e-07 9.99998646e-01 -4.16588840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:239.75, Y:99.99, Z:-0.42 [[ 3.27658200e-01 -9.44796329e-01 4.11809528e-05 2.39745249e+02] [ 9.44796321e-01 3.27658202e-01 1.21099304e-04 9.99851214e+01] [-1.27907454e-04 -7.71567099e-07 9.99999992e-01 -4.16364907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.870281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:239.75, Y:100.01, Z:-0.42 [[ 3.30756921e-01 -9.43715977e-01 1.20844066e-04 2.39754248e+02] [ 9.43715910e-01 3.30756943e-01 3.55726288e-04 1.00008072e+02] [-3.75674595e-04 -3.61646458e-06 9.99999929e-01 -4.16294738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.77, Y:100.03, Z:-0.42 [[ 3.36543524e-01 -9.41667882e-01 -2.39680000e-04 2.39765461e+02] [ 9.41667617e-01 3.36543609e-01 -7.06210020e-04 1.00031237e+02] [ 7.45678065e-04 1.19715142e-05 9.99999722e-01 -4.16474963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:239.77, Y:100.06, Z:-0.42 [[ 3.38533405e-01 -9.40954236e-01 -5.09158257e-04 2.39773632e+02] [ 9.40953039e-01 3.38533787e-01 -1.50142815e-03 1.00055633e+02] [ 1.58514245e-03 2.91895746e-05 9.99998743e-01 -4.16294566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:239.78, Y:100.08, Z:-0.42 [[ 3.40584975e-01 -9.40213389e-01 -8.11787915e-04 2.39779974e+02] [ 9.40210337e-01 3.40585938e-01 -2.39588123e-03 1.00079126e+02] [ 2.52912316e-03 5.27497578e-05 9.99996800e-01 -4.15736560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 303.990281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:239.78, Y:100.10, Z:-0.42 [[ 3.44035004e-01 -9.38956464e-01 -8.21803391e-04 2.39784594e+02] [ 9.38953328e-01 3.44035980e-01 -2.42743774e-03 1.00104147e+02] [ 2.56198829e-03 6.34885227e-05 9.99996716e-01 -4.15359297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.02028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:239.79, Y:100.13, Z:-0.42 [[ 3.44602377e-01 -9.38748662e-01 -3.88220343e-04 2.39791836e+02] [ 9.38747961e-01 3.44602594e-01 -1.14767921e-03 1.00128702e+02] [ 1.21116406e-03 3.10519271e-05 9.99999266e-01 -4.15011109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.050281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:239.80, Y:100.15, Z:-0.41 [[ 3.42999745e-01 -9.39335363e-01 5.01127053e-04 2.39797288e+02] [ 9.39334193e-01 3.43000109e-01 1.48266566e-03 1.00152958e+02] [-1.56460692e-03 -3.78281677e-05 9.99998775e-01 -4.14430744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.08028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:239.80, Y:100.18, Z:-0.41 [[ 3.39659670e-01 -9.40548087e-01 7.77715612e-04 2.39801342e+02] [ 9.40545269e-01 3.39660556e-01 2.30288158e-03 1.00177047e+02] [-2.43013018e-03 -5.07192561e-05 9.99997046e-01 -4.14933324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.110281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:239.81, Y:100.20, Z:-0.42 [[ 3.38007699e-01 -9.41143183e-01 5.51205679e-04 2.39808791e+02] [ 9.41141766e-01 3.38008147e-01 1.63354487e-03 1.00201690e+02] [-1.72371163e-03 -3.33880576e-05 9.99998514e-01 -4.15030177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.14028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:239.82, Y:100.23, Z:-0.42 [[ 3.36531256e-01 -9.41672252e-01 2.89429208e-04 2.39815851e+02] [ 9.41671861e-01 3.36531380e-01 8.58361374e-04 1.00225383e+02] [-9.05697099e-04 -1.63180902e-05 9.99999590e-01 -4.15703472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.170281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:239.82, Y:100.25, Z:-0.42 [[ 3.35017967e-01 -9.42211711e-01 2.30943141e-04 2.39820910e+02] [ 9.42211462e-01 3.35018047e-01 6.85492749e-04 1.00250169e+02] [-7.23249416e-04 -1.20551135e-05 9.99999738e-01 -4.15583284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:239.83, Y:100.27, Z:-0.42 [[ 3.35424456e-01 -9.42067107e-01 -4.65644932e-06 2.39828135e+02] [ 9.42067107e-01 3.35424456e-01 -1.38635697e-05 1.00273367e+02] [ 1.46223000e-05 2.63492588e-07 1.00000000e+00 -4.16266541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.23028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:239.84, Y:100.30, Z:-0.42 [[ 3.36131523e-01 -9.41815034e-01 -2.03415688e-04 2.39836558e+02] [ 9.41814840e-01 3.36131584e-01 -6.04897242e-04 1.00297083e+02] [ 6.38075754e-04 1.17451174e-05 9.99999796e-01 -4.16202904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:239.84, Y:100.32, Z:-0.42 [[ 3.37251159e-01 -9.41414540e-01 -5.65788102e-04 2.39843940e+02] [ 9.41413035e-01 3.37251631e-01 -1.68392448e-03 1.00320264e+02] [ 1.77608395e-03 3.52651868e-05 9.99998422e-01 -4.16229635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.29028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:239.85, Y:100.34, Z:-0.42 [[ 3.40766007e-01 -9.40147262e-01 -1.28617489e-03 2.39848921e+02] [ 9.40139461e-01 3.40768420e-01 -3.83126851e-03 1.00344504e+02] [ 4.04024438e-03 9.63822981e-05 9.99991834e-01 -4.17656783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.32028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:239.86, Y:100.37, Z:-0.42 [[ 3.42102351e-01 -9.39661795e-01 -1.30052059e-03 2.39855578e+02] [ 9.39653802e-01 3.42104808e-01 -3.87725123e-03 1.00368931e+02] [ 4.08821920e-03 1.04377652e-04 9.99991638e-01 -4.18371278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.35028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:239.86, Y:100.39, Z:-0.42 [[ 3.45174116e-01 -9.38538384e-01 -7.29765403e-04 2.39861363e+02] [ 9.38535860e-01 3.45174880e-01 -2.17748752e-03 1.00393419e+02] [ 2.29555231e-03 6.67013298e-05 9.99997363e-01 -4.17375086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.380281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:239.87, Y:100.42, Z:-0.42 [[ 3.46216967e-01 -9.38154353e-01 -4.71101395e-04 2.39866653e+02] [ 9.38153299e-01 3.46217285e-01 -1.40687752e-03 1.00418970e+02] [ 1.48297171e-03 4.51195399e-05 9.99998899e-01 -4.16403746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.41028169299994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:239.87, Y:100.45, Z:-0.42 [[ 3.46953066e-01 -9.37882480e-01 -1.53046676e-04 2.39869188e+02] [ 9.37882369e-01 3.46953100e-01 -4.57479264e-04 1.00445402e+02] [ 4.82161806e-04 1.51840545e-05 9.99999884e-01 -4.16718377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.440281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:239.88, Y:100.47, Z:-0.42 [[ 3.46145647e-01 -9.38180773e-01 -1.66356953e-04 2.39875480e+02] [ 9.38180641e-01 3.46145687e-01 -4.97725582e-04 1.00469511e+02] [ 5.24540314e-04 1.62126704e-05 9.99999862e-01 -4.17076984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.47028169299995 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:239.88, Y:100.49, Z:-0.42 [[ 3.42649363e-01 -9.39463192e-01 -5.69774311e-04 2.39880784e+02] [ 9.39461644e-01 3.42649833e-01 -1.70610601e-03 1.00493782e+02] [ 1.79805687e-03 4.93150257e-05 9.99998382e-01 -4.17542768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.500281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:239.89, Y:100.52, Z:-0.42 [[ 3.40153396e-01 -9.40369563e-01 -8.67105729e-04 2.39886129e+02] [ 9.40365975e-01 3.40154495e-01 -2.59863767e-03 1.00519349e+02] [ 2.73862968e-03 6.85387045e-05 9.99996248e-01 -4.17393836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.53028169299995 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:239.89, Y:100.54, Z:-0.42 [[ 3.38397011e-01 -9.41002797e-01 -1.09531412e-03 2.39891695e+02] [ 9.40997065e-01 3.38398774e-01 -3.28541125e-03 1.00544421e+02] [ 3.46223413e-03 8.10859775e-05 9.99994003e-01 -4.16824390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.560281693 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:239.90, Y:100.57, Z:-0.42 [[ 3.35989915e-01 -9.41864860e-01 -1.16706848e-03 2.39897980e+02] [ 9.41858347e-01 3.35991933e-01 -3.50369847e-03 1.00569713e+02] [ 3.69213606e-03 7.79941643e-05 9.99993181e-01 -4.17181871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.59028169299995 meters Centerline goodness : 0.999164 Centerline is valid? [True, True] Translation: X:239.91, Y:100.59, Z:-0.42 [[ 3.34726905e-01 -9.42314648e-01 -1.00120444e-03 2.39905599e+02] [ 9.42309848e-01 3.34728397e-01 -3.00849427e-03 1.00592607e+02] [ 3.17007978e-03 6.35791680e-05 9.99994973e-01 -4.17175777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.620281693 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:239.91, Y:100.62, Z:-0.42 [[ 3.32142676e-01 -9.43229134e-01 -2.11373461e-04 2.39911278e+02] [ 9.43228919e-01 3.32142743e-01 -6.35744882e-04 1.00616331e+02] [ 6.69859255e-04 1.17844451e-05 9.99999776e-01 -4.16795129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.65028169299995 meters Centerline goodness : 0.999158 Centerline is valid? [True, True] Translation: X:239.92, Y:100.64, Z:-0.42 [[ 3.31046597e-01 -9.43614389e-01 1.87392385e-04 2.39918288e+02] [ 9.43614221e-01 3.31046650e-01 5.64046543e-04 1.00640387e+02] [-5.94278055e-04 -9.89956961e-06 9.99999823e-01 -4.16401262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.680281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:239.93, Y:100.66, Z:-0.42 [[ 3.29217618e-01 -9.44254022e-01 3.19125996e-04 2.39926682e+02] [ 9.44253533e-01 3.29217772e-01 9.61398229e-04 1.00664700e+02] [-1.01286609e-03 -1.51733864e-05 9.99999487e-01 -4.15493563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.71028169299996 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:239.93, Y:100.69, Z:-0.42 [[ 3.27966338e-01 -9.44689408e-01 5.23483596e-05 2.39934597e+02] [ 9.44689395e-01 3.27966342e-01 1.57819888e-04 1.00689232e+02] [-1.66259276e-04 -2.30667049e-06 9.99999986e-01 -4.15750416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.740281693 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:239.94, Y:100.71, Z:-0.42 [[ 3.26634163e-01 -9.45150817e-01 -2.38874978e-04 2.39941637e+02] [ 9.45150542e-01 3.26634250e-01 -7.20958309e-04 1.00714013e+02] [ 7.59439084e-04 9.71679862e-06 9.99999712e-01 -4.16167604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.77028169299996 meters Centerline goodness : 0.998938 Centerline is valid? [True, True] Translation: X:239.95, Y:100.74, Z:-0.42 [[ 3.25395806e-01 -9.45577781e-01 -4.78998138e-04 2.39945994e+02] [ 9.45576674e-01 3.25396158e-01 -1.44698844e-03 1.00738567e+02] [ 1.52410427e-03 1.79145024e-05 9.99998838e-01 -4.16377408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.800281693 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:239.95, Y:100.76, Z:-0.42 [[ 3.25274421e-01 -9.45619591e-01 -3.73584112e-04 2.39952537e+02] [ 9.45618917e-01 3.25274635e-01 -1.12938212e-03 1.00761992e+02] [ 1.18948329e-03 1.40909109e-05 9.99999292e-01 -4.16055366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.83028169299996 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:239.96, Y:100.79, Z:-0.41 [[ 3.24983458e-01 -9.45719696e-01 8.72687907e-05 2.39957895e+02] [ 9.45719660e-01 3.24983470e-01 2.64016734e-04 1.00786731e+02] [-2.78046739e-04 -3.26926010e-06 9.99999961e-01 -4.14777345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.860281693 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:239.96, Y:100.81, Z:-0.41 [[ 3.24127952e-01 -9.46013212e-01 2.72814469e-04 2.39963621e+02] [ 9.46012851e-01 3.24128066e-01 8.26126534e-04 1.00811858e+02] [-8.69953442e-04 -9.68470759e-06 9.99999622e-01 -4.14627544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.89028169299996 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:239.97, Y:100.84, Z:-0.42 [[ 3.22479490e-01 -9.46576411e-01 2.76027008e-04 2.39969171e+02] [ 9.46576041e-01 3.22479608e-01 8.36580576e-04 1.00837108e+02] [-8.80900521e-04 -8.49952488e-06 9.99999612e-01 -4.15291599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.920281693 meters Centerline goodness : 0.999106 Centerline is valid? [True, True] Translation: X:239.98, Y:100.86, Z:-0.42 [[ 3.16622865e-01 -9.48551444e-01 -3.46419388e-04 2.39976558e+02] [ 9.48550862e-01 3.16623055e-01 -1.05090152e-03 1.00861414e+02] [ 1.10651852e-03 4.14304057e-06 9.99999388e-01 -4.16771895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.95028169299997 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:239.99, Y:100.88, Z:-0.42 [[ 3.12199620e-01 -9.50016225e-01 -7.55296754e-04 2.39985685e+02] [ 9.50013456e-01 3.12200534e-01 -2.29331673e-03 1.00883734e+02] [ 2.41449216e-03 -1.56946698e-06 9.99997085e-01 -4.17864607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 304.98028169299994 meters Centerline goodness : 0.999027 Centerline is valid? [True, True] Translation: X:240.00, Y:100.91, Z:-0.42 [[ 3.03677928e-01 -9.52774377e-01 -8.38162434e-04 2.39997455e+02] [ 9.52770972e-01 3.03679083e-01 -2.54730959e-03 1.00906067e+02] [ 2.68154371e-03 -2.50151382e-05 9.99996404e-01 -4.18497937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.01028169299997 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:240.01, Y:100.93, Z:-0.42 [[ 3.00205264e-01 -9.53874386e-01 -6.74421836e-04 2.40007128e+02] [ 9.53872181e-01 3.00206020e-01 -2.05146907e-03 1.00929976e+02] [ 2.15930930e-03 -2.74504136e-05 9.99997668e-01 -4.17520541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.04028169299994 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:240.02, Y:100.95, Z:-0.42 [[ 2.96895940e-01 -9.54909718e-01 -4.80927834e-04 2.40017875e+02] [ 9.54908596e-01 2.96896329e-01 -1.46422952e-03 1.00951831e+02] [ 1.54099271e-03 -2.45183231e-05 9.99998812e-01 -4.16048329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.07028169299997 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:240.03, Y:100.98, Z:-0.42 [[ 2.96207916e-01 -9.55123384e-01 -4.37062948e-04 2.40027975e+02] [ 9.55122456e-01 2.96208238e-01 -1.33183047e-03 1.00975235e+02] [ 1.40152407e-03 -2.29499087e-05 9.99999018e-01 -4.15558858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.10028169299994 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:240.04, Y:101.00, Z:-0.42 [[ 2.96550644e-01 -9.55017125e-01 7.71501059e-05 2.40041539e+02] [ 9.55017096e-01 2.96550654e-01 2.35267097e-04 1.00997964e+02] [-2.47563021e-04 3.91106101e-06 9.99999969e-01 -4.15775914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.130281693 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:240.05, Y:101.02, Z:-0.42 [[ 2.96933370e-01 -9.54898173e-01 2.30980750e-04 2.40051670e+02] [ 9.54897913e-01 2.96933459e-01 7.04967670e-04 1.01020920e+02] [-7.41758253e-04 1.12346105e-05 9.99999725e-01 -4.16345515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.16028169299994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:240.06, Y:101.04, Z:-0.42 [[ 2.97904755e-01 -9.54595517e-01 3.96351329e-04 2.40064808e+02] [ 9.54594749e-01 2.97905018e-01 1.21075880e-03 1.01043634e+02] [-1.27385997e-03 1.76640946e-05 9.99999189e-01 -4.17541119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.190281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:240.07, Y:101.07, Z:-0.42 [[ 2.98242768e-01 -9.54489990e-01 3.33135123e-04 2.40074812e+02] [ 9.54489446e-01 2.98242954e-01 1.01841797e-03 1.01065684e+02] [-1.07142497e-03 1.42381633e-05 9.99999426e-01 -4.17595618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.22028169299995 meters Centerline goodness : 0.999239 Centerline is valid? [True, True] Translation: X:240.08, Y:101.09, Z:-0.42 [[ 2.98656403e-01 -9.54360704e-01 3.95046206e-06 2.40084206e+02] [ 9.54360704e-01 2.98656403e-01 1.20593789e-05 1.01089858e+02] [-1.26888281e-05 1.68555031e-07 1.00000000e+00 -4.17421406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.250281693 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:240.09, Y:101.11, Z:-0.42 [[ 3.00479958e-01 -9.53787835e-01 -7.49053772e-04 2.40092492e+02] [ 9.53785076e-01 3.00480891e-01 -2.29400533e-03 1.01114206e+02] [ 2.41307072e-03 -2.51336843e-05 9.99997088e-01 -4.16804312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.28028169299995 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:240.10, Y:101.14, Z:-0.42 [[ 3.01186365e-01 -9.53564705e-01 -1.06199668e-03 2.40099068e+02] [ 9.53559148e-01 3.01188235e-01 -3.25535512e-03 1.01137381e+02] [ 3.42405265e-03 -3.22080734e-05 9.99994137e-01 -4.17266348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.310281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:240.11, Y:101.16, Z:-0.42 [[ 3.03024607e-01 -9.52982181e-01 -1.02512118e-03 2.40105843e+02] [ 9.52976991e-01 3.03026340e-01 -3.14526241e-03 1.01160867e+02] [ 3.30801775e-03 -2.38249957e-05 9.99994528e-01 -4.18224885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.34028169299995 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:240.11, Y:101.18, Z:-0.42 [[ 3.03853957e-01 -9.52718327e-01 -7.49731980e-04 2.40112175e+02] [ 9.52715545e-01 3.03854882e-01 -2.30256413e-03 1.01184136e+02] [ 2.42150477e-03 -1.46380875e-05 9.99997068e-01 -4.18147125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.370281693 meters Centerline goodness : 0.999264 Centerline is valid? [True, True] Translation: X:240.12, Y:101.21, Z:-0.42 [[ 3.06268278e-01 -9.51945122e-01 -4.75754239e-04 2.40115566e+02] [ 9.51943999e-01 3.06268647e-01 -1.46249778e-03 1.01208485e+02] [ 1.53792623e-03 -4.97471741e-06 9.99998817e-01 -4.16989370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.40028169299995 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:240.12, Y:101.23, Z:-0.42 [[ 3.07358710e-01 -9.51593593e-01 -5.07272481e-04 2.40121096e+02] [ 9.51592313e-01 3.07359128e-01 -1.56075626e-03 1.01233503e+02] [ 1.64112049e-03 -3.00456305e-06 9.99998653e-01 -4.16810669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.430281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:240.13, Y:101.26, Z:-0.42 [[ 3.08131470e-01 -9.51343689e-01 -4.27753911e-04 2.40127615e+02] [ 9.51342777e-01 3.08131767e-01 -1.31710268e-03 1.01257593e+02] [ 1.38482189e-03 -1.09981020e-06 9.99999041e-01 -4.16821897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.46028169299996 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:240.13, Y:101.28, Z:-0.42 [[ 3.09007246e-01 -9.51059606e-01 -3.85083513e-04 2.40132635e+02] [ 9.51058865e-01 3.09007486e-01 -1.18676949e-03 1.01283215e+02] [ 1.24768221e-03 4.83281358e-07 9.99999222e-01 -4.17078089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.490281693 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:240.14, Y:101.31, Z:-0.42 [[ 3.08772098e-01 -9.51135975e-01 -3.84790479e-04 2.40140343e+02] [ 9.51135235e-01 3.08772338e-01 -1.18686453e-03 1.01308042e+02] [ 1.24768221e-03 4.82869606e-07 9.99999222e-01 -4.17078974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.52028169299996 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:240.14, Y:101.33, Z:-0.42 [[ 3.09296902e-01 -9.50965501e-01 -2.04019767e-04 2.40143260e+02] [ 9.50965293e-01 3.09296970e-01 -6.29881059e-04 1.01333043e+02] [ 6.62097853e-04 8.04542569e-07 9.99999781e-01 -4.17129049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.550281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:240.15, Y:101.36, Z:-0.42 [[ 3.09275049e-01 -9.50972619e-01 -1.44711761e-04 2.40149417e+02] [ 9.50972514e-01 3.09275083e-01 -4.47176214e-04 1.01357612e+02] [ 4.70008077e-04 6.83538781e-07 9.99999890e-01 -4.16801133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.58028169299996 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:240.15, Y:101.38, Z:-0.42 [[ 3.09725448e-01 -9.50826030e-01 8.47455061e-05 2.40154928e+02] [ 9.50825994e-01 3.09725460e-01 2.62066819e-04 1.01381369e+02] [-2.75427794e-04 -5.90533024e-07 9.99999962e-01 -4.16367563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.610281693 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:240.16, Y:101.40, Z:-0.42 [[ 3.09844462e-01 -9.50787257e-01 3.42172288e-05 2.40160439e+02] [ 9.50787251e-01 3.09844463e-01 1.05897725e-04 1.01404248e+02] [-1.11288227e-04 -2.78518795e-07 9.99999994e-01 -4.16512726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.64028169299996 meters Centerline goodness : 0.999126 Centerline is valid? [True, True] Translation: X:240.16, Y:101.43, Z:-0.42 [[ 3.10448101e-01 -9.50590237e-01 -4.21442722e-04 2.40164534e+02] [ 9.50589340e-01 3.10448387e-01 -1.30595878e-03 1.01428639e+02] [ 1.37226788e-03 4.81346412e-06 9.99999058e-01 -4.17701052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.670281693 meters Centerline goodness : 0.999213 Centerline is valid? [True, True] Translation: X:240.17, Y:101.45, Z:-0.42 [[ 3.10324232e-01 -9.50630579e-01 -6.11347284e-04 2.40170483e+02] [ 9.50628688e-01 3.10324834e-01 -1.89626650e-03 1.01451117e+02] [ 1.99236517e-03 7.29317883e-06 9.99998015e-01 -4.18456874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.70028169299997 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:240.18, Y:101.47, Z:-0.42 [[ 3.10253908e-01 -9.50653532e-01 -6.11381519e-04 2.40176909e+02] [ 9.50651637e-01 3.10254510e-01 -1.89815536e-03 1.01474655e+02] [ 1.99417197e-03 7.69927686e-06 9.99998012e-01 -4.18463975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.73028169299994 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:240.18, Y:101.50, Z:-0.41 [[ 3.10693067e-01 -9.50510193e-01 -4.38356107e-04 2.40180630e+02] [ 9.50509216e-01 3.10693376e-01 -1.36229690e-03 1.01498587e+02] [ 1.43107142e-03 6.59468154e-06 9.99998976e-01 -4.12661464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.76028169299997 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:240.19, Y:101.52, Z:-0.42 [[ 3.11411491e-01 -9.50275156e-01 -1.07550328e-04 2.40185835e+02] [ 9.50275097e-01 3.11411509e-01 -3.34570237e-04 1.01523322e+02] [ 3.51426194e-04 1.98661734e-06 9.99999938e-01 -4.17574116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.79028169299994 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:240.19, Y:101.55, Z:-0.42 [[ 3.13349599e-01 -9.49637835e-01 1.05156090e-04 2.40190799e+02] [ 9.49637778e-01 3.13349617e-01 3.27364932e-04 1.01547215e+02] [-3.43828745e-04 -2.71947469e-06 9.99999941e-01 -4.18254082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.82028169299997 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:240.20, Y:101.57, Z:-0.42 [[ 3.14264446e-01 -9.49335482e-01 -1.42082066e-05 2.40196833e+02] [ 9.49335481e-01 3.14264446e-01 -4.43084252e-05 1.01570980e+02] [ 4.65286944e-05 4.36208035e-07 9.99999999e-01 -4.18148647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.85028169299994 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:240.20, Y:101.59, Z:-0.42 [[ 3.15570126e-01 -9.48902223e-01 -2.60365082e-04 2.40202099e+02] [ 9.48901875e-01 3.15570233e-01 -8.12211771e-04 1.01594342e+02] [ 8.52873024e-04 9.24885598e-06 9.99999636e-01 -4.17885661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.880281693 meters Centerline goodness : 0.999042 Centerline is valid? [True, True] Translation: X:240.20, Y:101.62, Z:-0.42 [[ 3.18242451e-01 -9.48008910e-01 -9.21828167e-04 2.40204484e+02] [ 9.48004542e-01 3.18243784e-01 -2.87805180e-03 1.01618006e+02] [ 3.02178484e-03 4.20209717e-05 9.99995434e-01 -4.17668330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.91028169299994 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:240.21, Y:101.64, Z:-0.42 [[ 3.19455652e-01 -9.47600535e-01 -1.14567327e-03 2.40210838e+02] [ 9.47593774e-01 3.19457701e-01 -3.58014693e-03 1.01642089e+02] [ 3.75854329e-03 5.80653139e-05 9.99992935e-01 -4.17584846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.940281693 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:240.22, Y:101.67, Z:-0.42 [[ 3.21419156e-01 -9.46936422e-01 -1.06751980e-03 2.40216050e+02] [ 9.46930537e-01 3.21420922e-01 -3.33904020e-03 1.01665829e+02] [ 3.50498198e-03 6.23643871e-05 9.99993856e-01 -4.18106701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 305.97028169299995 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:240.22, Y:101.69, Z:-0.42 [[ 3.22530400e-01 -9.46558616e-01 -9.63554806e-04 2.40221115e+02] [ 9.46553810e-01 3.22531833e-01 -3.01677282e-03 1.01689358e+02] [ 3.16632940e-03 6.09444716e-05 9.99994985e-01 -4.18221736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.000281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:240.22, Y:101.71, Z:-0.42 [[ 3.25751171e-01 -9.45455032e-01 -9.78159355e-04 2.40224492e+02] [ 9.45450066e-01 3.25752631e-01 -3.06532993e-03 1.01714095e+02] [ 3.21676959e-03 7.37339867e-05 9.99994823e-01 -4.18442611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.03028169299995 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:240.23, Y:101.74, Z:-0.42 [[ 3.27189572e-01 -9.44958144e-01 -1.04395048e-03 2.40230039e+02] [ 9.44952474e-01 3.27191226e-01 -3.27454070e-03 1.01737902e+02] [ 3.43587534e-03 8.49119795e-05 9.99994094e-01 -4.18217195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.060281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:240.23, Y:101.76, Z:-0.42 [[ 3.28089036e-01 -9.44646338e-01 -9.38709048e-04 2.40234993e+02] [ 9.44641743e-01 3.28090369e-01 -2.94725499e-03 1.01761466e+02] [ 3.09209503e-03 8.02182982e-05 9.99995216e-01 -4.18269428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.09028169299995 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:240.24, Y:101.79, Z:-0.42 [[ 3.28985265e-01 -9.44334862e-01 -6.03941301e-04 2.40237563e+02] [ 9.44332956e-01 3.28985815e-01 -1.89789919e-03 1.01786959e+02] [ 1.99094049e-03 5.40591924e-05 9.99998017e-01 -4.18315188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.120281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:240.24, Y:101.81, Z:-0.42 [[ 3.29278305e-01 -9.44232833e-01 -3.94827185e-04 2.40242700e+02] [ 9.44232017e-01 3.29278539e-01 -1.24187070e-03 1.01811602e+02] [ 1.30262320e-03 3.61126084e-05 9.99999151e-01 -4.18262536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.15028169299995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:240.24, Y:101.84, Z:-0.42 [[ 3.30084051e-01 -9.43951525e-01 -1.95042956e-04 2.40244715e+02] [ 9.43951325e-01 3.30084109e-01 -6.14063793e-04 1.01837041e+02] [ 6.44027034e-04 1.85816081e-05 9.99999792e-01 -4.17374066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.180281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:240.25, Y:101.86, Z:-0.42 [[ 3.29916157e-01 -9.44010230e-01 -1.23319836e-04 2.40248936e+02] [ 9.44010150e-01 3.29916179e-01 -3.88598271e-04 1.01862783e+02] [ 4.07525952e-04 1.17896713e-05 9.99999917e-01 -4.17471884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.21028169299996 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:240.25, Y:101.89, Z:-0.42 [[ 3.28679329e-01 -9.44441561e-01 1.92608339e-04 2.40249711e+02] [ 9.44441365e-01 3.28679385e-01 6.07374072e-04 1.01888911e+02] [-6.36935707e-04 -1.77240201e-05 9.99999797e-01 -4.17654450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.240281693 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:240.25, Y:101.91, Z:-0.42 [[ 3.27807214e-01 -9.44744634e-01 8.30757239e-05 2.40253985e+02] [ 9.44744598e-01 3.27807225e-01 2.62186080e-04 1.01914798e+02] [-2.74931715e-04 -7.46114717e-06 9.99999962e-01 -4.17334825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.27028169299996 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:240.26, Y:101.94, Z:-0.42 [[ 3.25232545e-01 -9.45633774e-01 -7.46637027e-04 2.40256222e+02] [ 9.45630834e-01 3.25233397e-01 -2.35872482e-03 1.01940976e+02] [ 2.47332114e-03 6.10910807e-05 9.99996939e-01 -4.19142592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.300281693 meters Centerline goodness : 0.999112 Centerline is valid? [True, True] Translation: X:240.26, Y:101.97, Z:-0.42 [[ 3.22790500e-01 -9.46470079e-01 -8.26693362e-04 2.40261816e+02] [ 9.46466471e-01 3.22791553e-01 -2.61401431e-03 1.01965257e+02] [ 2.74093597e-03 6.13414382e-05 9.99996242e-01 -4.19469233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.33028169299996 meters Centerline goodness : 0.999117 Centerline is valid? [True, True] Translation: X:240.27, Y:101.99, Z:-0.42 [[ 3.19512749e-01 -9.47581841e-01 -5.07957013e-04 2.40267833e+02] [ 9.47580478e-01 3.19513152e-01 -1.60757255e-03 1.01990514e+02] [ 1.68560550e-03 3.23097759e-05 9.99998579e-01 -4.18840822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.360281693 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:240.27, Y:102.01, Z:-0.42 [[ 3.13042392e-01 -9.49739154e-01 -1.17920873e-05 2.40272604e+02] [ 9.49739153e-01 3.13042392e-01 -3.73821157e-05 1.02014893e+02] [ 3.91946822e-05 5.02779937e-07 9.99999999e-01 -4.16922225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.39028169299996 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:240.28, Y:102.04, Z:-0.42 [[ 3.10296549e-01 -9.50639745e-01 -3.55744402e-04 2.40278510e+02] [ 9.50639076e-01 3.10296753e-01 -1.12800031e-03 1.02037340e+02] [ 1.18270826e-03 1.18300753e-05 9.99999301e-01 -4.17087584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.420281693 meters Centerline goodness : 0.998907 Centerline is valid? [True, True] Translation: X:240.29, Y:102.06, Z:-0.42 [[ 3.06481063e-01 -9.51876107e-01 -1.11165873e-03 2.40285833e+02] [ 9.51869568e-01 3.06483078e-01 -3.52811571e-03 1.02061325e+02] [ 3.69903364e-03 2.31465425e-05 9.99993158e-01 -4.15250001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.45028169299997 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:240.29, Y:102.09, Z:-0.42 [[ 3.04639236e-01 -9.52467424e-01 -8.61578863e-04 2.40293109e+02] [ 9.52463491e-01 3.04640454e-01 -2.73699820e-03 1.02085264e+02] [ 2.86937340e-03 1.31746290e-05 9.99995883e-01 -4.18311700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.48028169299994 meters Centerline goodness : 0.999102 Centerline is valid? [True, True] Translation: X:240.30, Y:102.11, Z:-0.42 [[ 2.99626729e-01 -9.54056508e-01 -5.90889394e-05 2.40301100e+02] [ 9.54056489e-01 2.99626734e-01 -1.87911920e-04 1.02108521e+02] [ 1.96983216e-04 -7.07522294e-08 9.99999981e-01 -4.18080863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.51028169299997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:240.31, Y:102.13, Z:-0.42 [[ 2.96146327e-01 -9.55142580e-01 6.61565503e-05 2.40310021e+02] [ 9.55142557e-01 2.96146335e-01 2.10518973e-04 1.02131854e+02] [-2.20667655e-04 8.44516045e-07 9.99999976e-01 -4.18017516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.54028169299994 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:240.32, Y:102.15, Z:-0.42 [[ 2.87786021e-01 -9.57694702e-01 -2.53468806e-04 2.40322084e+02] [ 9.57694362e-01 2.87786132e-01 -8.07491649e-04 1.02152977e+02] [ 8.46275281e-04 -1.03608382e-05 9.99999642e-01 -4.18678138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.57028169299997 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:240.33, Y:102.17, Z:-0.42 [[ 2.83463089e-01 -9.58983040e-01 -4.54054754e-04 2.40331643e+02] [ 9.58981947e-01 2.83463451e-01 -1.44785926e-03 1.02174268e+02] [ 1.51718041e-03 -2.50156524e-05 9.99998849e-01 -4.19479250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.60028169299994 meters Centerline goodness : 0.999215 Centerline is valid? [True, True] Translation: X:240.34, Y:102.20, Z:-0.42 [[ 2.77577739e-01 -9.60703092e-01 -4.10175659e-04 2.40344168e+02] [ 9.60702200e-01 2.77578041e-01 -1.30906263e-03 1.02195606e+02] [ 1.37147627e-03 -3.06900141e-05 9.99999059e-01 -4.18646822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.630281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:240.35, Y:102.22, Z:-0.42 [[ 2.76271284e-01 -9.61079595e-01 -4.35310959e-04 2.40353824e+02] [ 9.61078590e-01 2.76271625e-01 -1.39053232e-03 1.02218345e+02] [ 1.45667631e-03 -3.42038921e-05 9.99998938e-01 -4.18409168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.66028169299994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:240.36, Y:102.24, Z:-0.42 [[ 2.77783588e-01 -9.60643572e-01 -4.54026557e-04 2.40364148e+02] [ 9.60642476e-01 2.77783957e-01 -1.45167252e-03 1.02240248e+02] [ 1.52066117e-03 -3.29063960e-05 9.99998843e-01 -4.17921350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.690281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:240.37, Y:102.26, Z:-0.42 [[ 2.80005144e-01 -9.59998427e-01 -3.72770722e-04 2.40373059e+02] [ 9.59997687e-01 2.80005391e-01 -1.19294035e-03 1.02263462e+02] [ 1.24959867e-03 -2.38295975e-05 9.99999219e-01 -4.18048184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.72028169299995 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:240.38, Y:102.29, Z:-0.42 [[ 2.82133478e-01 -9.59375106e-01 -3.27290587e-04 2.40381989e+02] [ 9.59374533e-01 2.82133668e-01 -1.04833479e-03 1.02286529e+02] [ 1.09808600e-03 -1.82239121e-05 9.99999397e-01 -4.18179438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.750281693 meters Centerline goodness : 0.999086 Centerline is valid? [True, True] Translation: X:240.39, Y:102.31, Z:-0.41 [[ 2.85689038e-01 -9.58322192e-01 -5.90860221e-04 2.40392613e+02] [ 9.58320321e-01 2.85689648e-01 -1.89424025e-03 1.02309148e+02] [ 1.98409511e-03 -2.50696828e-05 9.99998031e-01 -4.14968758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.78028169299995 meters Centerline goodness : 0.999125 Centerline is valid? [True, True] Translation: X:240.40, Y:102.33, Z:-0.42 [[ 2.88402366e-01 -9.57509074e-01 -6.69908483e-04 2.40401382e+02] [ 9.57506661e-01 2.88403143e-01 -2.14966156e-03 1.02331440e+02] [ 2.25152416e-03 -2.14743542e-05 9.99997465e-01 -4.19144546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.810281693 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:240.41, Y:102.35, Z:-0.42 [[ 2.89231061e-01 -9.57259057e-01 -7.01385403e-04 2.40409671e+02] [ 9.57256406e-01 2.89231910e-01 -2.25274005e-03 1.02354037e+02] [ 2.35931885e-03 -1.98432762e-05 9.99997217e-01 -4.18932649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.84028169299995 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:240.42, Y:102.38, Z:-0.42 [[ 2.89909479e-01 -9.57053710e-01 -8.30464796e-04 2.40418178e+02] [ 9.57049987e-01 2.89910668e-01 -2.66967729e-03 1.02376741e+02] [ 2.79578516e-03 -2.08315716e-05 9.99996092e-01 -4.18504017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.870281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:240.43, Y:102.40, Z:-0.42 [[ 2.92572968e-01 -9.56242620e-01 -1.05414341e-03 2.40427371e+02] [ 9.56236605e-01 2.92574866e-01 -3.39171318e-03 1.02399496e+02] [ 3.55171656e-03 -1.56869301e-05 9.99993693e-01 -4.18418559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.90028169299995 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:240.44, Y:102.42, Z:-0.42 [[ 2.94370361e-01 -9.55690950e-01 -9.47653708e-04 2.40435114e+02] [ 9.55686078e-01 2.94371886e-01 -3.05177657e-03 1.02422863e+02] [ 3.19551786e-03 -7.30688537e-06 9.99994894e-01 -4.18467471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.930281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:240.44, Y:102.45, Z:-0.42 [[ 2.99429220e-01 -9.54118330e-01 -5.94628928e-04 2.40442139e+02] [ 9.54116405e-01 2.99429811e-01 -1.91661707e-03 1.02446946e+02] [ 2.00672911e-03 6.54594058e-06 9.99997987e-01 -4.18758159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.96028169299996 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:240.45, Y:102.47, Z:-0.42 [[ 3.02611413e-01 -9.53113845e-01 -5.75962647e-04 2.40448798e+02] [ 9.53112034e-01 3.02611960e-01 -1.85809692e-03 1.02470751e+02] [ 1.94527108e-03 1.33244026e-05 9.99998108e-01 -4.18492265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 306.990281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:240.45, Y:102.49, Z:-0.42 [[ 3.08910152e-01 -9.51090768e-01 -9.32526981e-04 2.40454401e+02] [ 9.51086002e-01 3.08911557e-01 -3.01104982e-03 1.02494904e+02] [ 3.15185004e-03 4.32304987e-05 9.99995032e-01 -4.18364722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.02028169299996 meters Centerline goodness : 0.999142 Centerline is valid? [True, True] Translation: X:240.46, Y:102.52, Z:-0.42 [[ 3.11083228e-01 -9.50381988e-01 -1.14089136e-03 2.40460437e+02] [ 9.50374837e-01 3.11085314e-01 -3.68741273e-03 1.02518831e+02] [ 3.85936518e-03 6.28178152e-05 9.99992551e-01 -4.19198199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.050281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:240.47, Y:102.54, Z:-0.42 [[ 3.12932642e-01 -9.49774396e-01 -1.32556994e-03 2.40466251e+02] [ 9.49764718e-01 3.12935439e-01 -4.28844435e-03 1.02543270e+02] [ 4.48787246e-03 8.30146588e-05 9.99989926e-01 -4.19435474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.08028169299996 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:240.47, Y:102.57, Z:-0.42 [[ 3.17139851e-01 -9.48377677e-01 -1.44778657e-03 2.40469649e+02] [ 9.48366095e-01 3.17143136e-01 -4.68853782e-03 1.02566732e+02] [ 4.90566018e-03 1.13890490e-04 9.99987961e-01 -4.18847919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.110281693 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:240.47, Y:102.59, Z:-0.42 [[ 3.18458804e-01 -9.47935876e-01 -1.25140719e-03 2.40473820e+02] [ 9.47927202e-01 3.18461245e-01 -4.05648121e-03 1.02590723e+02] [ 4.24380876e-03 1.05579233e-04 9.99990989e-01 -4.18530651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.14028169299996 meters Centerline goodness : 0.999300 Centerline is valid? [True, True] Translation: X:240.47, Y:102.62, Z:-0.42 [[ 3.20533415e-01 -9.47237060e-01 -5.31752940e-04 2.40474644e+02] [ 9.47235490e-01 3.20533852e-01 -1.72536414e-03 1.02615871e+02] [ 1.80477368e-03 4.93416037e-05 9.99998370e-01 -4.17534831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.170281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:240.48, Y:102.64, Z:-0.42 [[ 3.21387899e-01 -9.46947557e-01 -3.78002128e-04 2.40478332e+02] [ 9.46946762e-01 3.21388119e-01 -1.22767376e-03 1.02640554e+02] [ 1.28402806e-03 3.66115980e-05 9.99999175e-01 -4.17303868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.20028169299997 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:240.48, Y:102.67, Z:-0.42 [[ 3.22938674e-01 -9.46419844e-01 -3.03177272e-04 2.40479231e+02] [ 9.46419331e-01 3.22938815e-01 -9.85557673e-04 1.02667022e+02] [ 1.03065905e-03 3.13418566e-05 9.99999468e-01 -4.18256810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.23028169299994 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:240.48, Y:102.69, Z:-0.42 [[ 3.23084685e-01 -9.46370049e-01 -1.25138160e-04 2.40483109e+02] [ 9.46369962e-01 3.23084709e-01 -4.07197836e-04 1.02691481e+02] [ 4.25790062e-04 1.31323888e-05 9.99999909e-01 -4.18384598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.26028169299997 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:240.49, Y:102.72, Z:-0.42 [[ 3.22409723e-01 -9.46600215e-01 6.14816028e-05 2.40486834e+02] [ 9.46600194e-01 3.22409729e-01 2.00200554e-04 1.02716337e+02] [-2.09332154e-04 -6.34810795e-06 9.99999978e-01 -4.17411171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.29028169299994 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:240.49, Y:102.74, Z:-0.42 [[ 3.19083093e-01 -9.47726736e-01 1.14030196e-04 2.40488835e+02] [ 9.47726663e-01 3.19083114e-01 3.71683402e-04 1.02741838e+02] [-3.88639408e-04 -1.05284324e-05 9.99999924e-01 -4.17127420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.32028169299997 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:240.49, Y:102.77, Z:-0.42 [[ 3.15362961e-01 -9.48971129e-01 -3.37622312e-06 2.40494496e+02] [ 9.48971129e-01 3.15362961e-01 -1.10452808e-05 1.02766369e+02] [ 1.15463884e-05 2.79334201e-07 1.00000000e+00 -4.17430432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.35028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:240.50, Y:102.79, Z:-0.42 [[ 3.05022932e-01 -9.52344965e-01 2.81631560e-04 2.40501380e+02] [ 9.52344521e-01 3.05023062e-01 9.19588999e-04 1.02789961e+02] [-9.61670074e-04 -1.22854594e-05 9.99999538e-01 -4.18385993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.380281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:240.51, Y:102.81, Z:-0.42 [[ 2.98811010e-01 -9.54312253e-01 3.21625101e-04 2.40509168e+02] [ 9.54311675e-01 2.98811183e-01 1.05114784e-03 1.02814334e+02] [-1.09922844e-03 -7.16395788e-06 9.99999396e-01 -4.18670563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.41028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:240.52, Y:102.84, Z:-0.42 [[ 2.98575738e-01 -9.54385889e-01 3.21365552e-04 2.40516457e+02] [ 9.54385310e-01 2.98575911e-01 1.05122722e-03 1.02839267e+02] [-1.09922843e-03 -7.16437972e-06 9.99999396e-01 -4.18671448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.440281693 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:240.53, Y:102.86, Z:-0.42 [[ 2.86974875e-01 -9.57938096e-01 -1.61404244e-04 2.40526988e+02] [ 9.57937950e-01 2.86974921e-01 -5.28527107e-04 1.02861953e+02] [ 5.52615221e-04 -2.94125010e-06 9.99999847e-01 -4.19707495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.47028169299995 meters Centerline goodness : 0.999149 Centerline is valid? [True, True] Translation: X:240.54, Y:102.89, Z:-0.42 [[ 2.81855836e-01 -9.59456679e-01 -4.11889830e-04 2.40536429e+02] [ 9.59455729e-01 2.81856137e-01 -1.34994227e-03 1.02885541e+02] [ 1.41130480e-03 -1.47009493e-05 9.99999004e-01 -4.20129481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.500281693 meters Centerline goodness : 0.999191 Centerline is valid? [True, True] Translation: X:240.55, Y:102.91, Z:-0.42 [[ 2.75329040e-01 -9.61349711e-01 -8.08084790e-04 2.40548075e+02] [ 9.61346057e-01 2.75330222e-01 -2.65084148e-03 1.02908737e+02] [ 2.77087585e-03 -4.69954862e-05 9.99996160e-01 -4.19628643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.53028169299995 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:240.56, Y:102.93, Z:-0.42 [[ 2.74080090e-01 -9.61706377e-01 -9.73751895e-04 2.40557166e+02] [ 9.61701065e-01 2.74081813e-01 -3.19719959e-03 1.02932725e+02] [ 3.34165492e-03 -6.01694812e-05 9.99994415e-01 -4.19282207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.560281693 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:240.57, Y:102.96, Z:-0.42 [[ 2.74437453e-01 -9.61604383e-01 -1.04607686e-03 2.40565640e+02] [ 9.61598240e-01 2.74439440e-01 -3.43793139e-03 1.02955876e+02] [ 3.59301464e-03 -6.24085262e-05 9.99993543e-01 -4.19011545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.59028169299995 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:240.58, Y:102.98, Z:-0.42 [[ 2.78837759e-01 -9.60337533e-01 -1.15210803e-03 2.40575926e+02] [ 9.60330056e-01 2.78840135e-01 -3.78991718e-03 1.02979182e+02] [ 3.96085367e-03 -4.96319540e-05 9.99992155e-01 -4.19751427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.620281693 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:240.59, Y:103.00, Z:-0.42 [[ 2.85169054e-01 -9.58475788e-01 -1.66549950e-03 2.40585524e+02] [ 9.58460101e-01 2.85173916e-01 -5.48379422e-03 1.03001417e+02] [ 5.73104100e-03 -3.25064079e-05 9.99983577e-01 -4.20481797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.65028169299995 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:240.59, Y:103.03, Z:-0.42 [[ 2.88175431e-01 -9.57575931e-01 -1.80494375e-03 2.40592854e+02] [ 9.57557453e-01 2.88181083e-01 -5.94876273e-03 1.03025423e+02] [ 6.21654266e-03 -1.40500750e-05 9.99980677e-01 -4.20824858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.680281693 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:240.60, Y:103.05, Z:-0.42 [[ 2.94035866e-01 -9.55792772e-01 -1.75656041e-03 2.40599782e+02] [ 9.55775205e-01 2.94041112e-01 -5.79496699e-03 1.03047640e+02] [ 6.05528854e-03 2.50512485e-05 9.99981666e-01 -4.18840924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.71028169299996 meters Centerline goodness : 0.999260 Centerline is valid? [True, True] Translation: X:240.61, Y:103.07, Z:-0.42 [[ 2.96862892e-01 -9.54918682e-01 -1.65338975e-03 2.40606857e+02] [ 9.54903072e-01 2.96867494e-01 -5.46016447e-03 1.03070487e+02] [ 5.70485073e-03 4.20932669e-05 9.99983726e-01 -4.18252150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.740281693 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:240.61, Y:103.09, Z:-0.42 [[ 3.00054629e-01 -9.53920707e-01 -1.58248314e-03 2.40613639e+02] [ 9.53906366e-01 3.00058796e-01 -5.23104781e-03 1.03094331e+02] [ 5.46484281e-03 6.00593699e-05 9.99985066e-01 -4.17684468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.77028169299996 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:240.62, Y:103.12, Z:-0.42 [[ 3.07304552e-01 -9.51610296e-01 -1.32534394e-03 2.40618590e+02] [ 9.51600196e-01 3.07307398e-01 -4.38530852e-03 1.03119020e+02] [ 4.58039274e-03 8.64277159e-05 9.99989506e-01 -4.18072957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.800281693 meters Centerline goodness : 0.999304 Centerline is valid? [True, True] Translation: X:240.62, Y:103.14, Z:-0.42 [[ 3.15094213e-01 -9.49059762e-01 -1.09758053e-03 2.40620764e+02] [ 9.49052806e-01 3.15096107e-01 -3.63532424e-03 1.03143561e+02] [ 3.79598331e-03 1.03807746e-04 9.99992790e-01 -4.16962108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.83028169299996 meters Centerline goodness : 0.999277 Centerline is valid? [True, True] Translation: X:240.62, Y:103.17, Z:-0.42 [[ 3.18915293e-01 -9.47782691e-01 -1.00353702e-03 2.40624846e+02] [ 9.47776858e-01 3.18916853e-01 -3.32694196e-03 1.03169315e+02] [ 3.47326287e-03 1.09883503e-04 9.99993962e-01 -4.16074944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.860281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:240.62, Y:103.20, Z:-0.42 [[ 3.26599015e-01 -9.45162806e-01 -5.94890718e-04 2.40624871e+02] [ 9.45160748e-01 3.26599546e-01 -1.97404539e-03 1.03195487e+02] [ 2.06008532e-03 8.24539241e-05 9.99997875e-01 -4.16226708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.89028169299996 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:240.63, Y:103.22, Z:-0.42 [[ 3.29746790e-01 -9.44069350e-01 -3.42663189e-04 2.40627570e+02] [ 9.44068665e-01 3.29746964e-01 -1.13798357e-03 1.03220154e+02] [ 1.18732755e-03 5.17488500e-05 9.99999294e-01 -4.16199750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.920281693 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:240.63, Y:103.25, Z:-0.42 [[ 3.31798651e-01 -9.43350190e-01 -2.72800769e-04 2.40629338e+02] [ 9.43349755e-01 3.31798760e-01 -9.06824728e-04 1.03245616e+02] [ 9.45968237e-04 4.35366825e-05 9.99999552e-01 -4.16753463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.95028169299997 meters Centerline goodness : 0.999468 Centerline is valid? [True, True] Translation: X:240.63, Y:103.27, Z:-0.42 [[ 3.33436177e-01 -9.42772383e-01 -7.41739743e-04 2.40626847e+02] [ 9.42769161e-01 3.33436979e-01 -2.46775809e-03 1.03273230e+02] [ 2.57385763e-03 1.23550467e-04 9.99996680e-01 -4.17417691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 307.98028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:240.63, Y:103.30, Z:-0.42 [[ 3.32581555e-01 -9.43074068e-01 -9.01178090e-04 2.40629518e+02] [ 9.43069305e-01 3.32582743e-01 -3.00101314e-03 1.03298612e+02] [ 3.12989395e-03 1.48208220e-04 9.99995091e-01 -4.17799385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.01028169299997 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:240.63, Y:103.32, Z:-0.42 [[ 3.28595739e-01 -9.44470266e-01 -8.69866969e-04 2.40627816e+02] [ 9.44465825e-01 3.28596864e-01 -2.89944809e-03 1.03324324e+02] [ 3.02427807e-03 1.31186663e-04 9.99995418e-01 -4.17641129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.04028169299994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:240.63, Y:103.35, Z:-0.42 [[ 3.25884292e-01 -9.45409434e-01 -6.56533615e-04 2.40630361e+02] [ 9.45406901e-01 3.25884940e-01 -2.19037440e-03 1.03350322e+02] [ 2.28475504e-03 9.31172010e-05 9.99997386e-01 -4.17562338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.07028169299997 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:240.63, Y:103.38, Z:-0.42 [[ 3.23077989e-01 -9.46372199e-01 -5.23299420e-04 2.40633072e+02] [ 9.46370588e-01 3.23078405e-01 -1.74752840e-03 1.03376077e+02] [ 1.82287903e-03 6.93527804e-05 9.99998336e-01 -4.17474630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.10028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:240.63, Y:103.40, Z:-0.42 [[ 3.18097247e-01 -9.48057915e-01 -5.74952984e-04 2.40630993e+02] [ 9.48055970e-01 3.18097760e-01 -1.92183609e-03 1.03401767e+02] [ 2.00490317e-03 6.62431610e-05 9.99997988e-01 -4.18285883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.130281693 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:240.63, Y:103.43, Z:-0.42 [[ 3.15169335e-01 -9.49034922e-01 -1.00411727e-03 2.40628316e+02] [ 9.49028981e-01 3.15170916e-01 -3.35951445e-03 1.03429424e+02] [ 3.50476509e-03 1.05879546e-04 9.99993853e-01 -4.18373084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.16028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:240.63, Y:103.46, Z:-0.42 [[ 3.14632738e-01 -9.49212807e-01 -1.13483652e-03 2.40630754e+02] [ 9.49205206e-01 3.14634762e-01 -3.80044296e-03 1.03455032e+02] [ 3.96448815e-03 1.18551043e-04 9.99992134e-01 -4.18107709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.190281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:240.63, Y:103.48, Z:-0.42 [[ 3.13900315e-01 -9.49455273e-01 -1.12990027e-03 2.40633039e+02] [ 9.49447725e-01 3.13902327e-01 -3.78763253e-03 1.03479614e+02] [ 3.95086600e-03 1.16157807e-04 9.99992189e-01 -4.17922607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.22028169299995 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:240.63, Y:103.51, Z:-0.42 [[ 3.11521555e-01 -9.50238871e-01 -6.38953454e-04 2.40632372e+02] [ 9.50236455e-01 3.11522205e-01 -2.14390364e-03 1.03505990e+02] [ 2.23626876e-03 6.07153308e-05 9.99997498e-01 -4.17745605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.250281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:240.64, Y:103.53, Z:-0.42 [[ 3.09494029e-01 -9.50901281e-01 -4.46421026e-04 2.40635282e+02] [ 9.50900100e-01 3.09494349e-01 -1.49936657e-03 1.03530187e+02] [ 1.56391438e-03 3.95432027e-05 9.99998776e-01 -4.17552500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.28028169299995 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:240.64, Y:103.56, Z:-0.42 [[ 3.05984064e-01 -9.52036485e-01 -5.32715798e-04 2.40635471e+02] [ 9.52034802e-01 3.05984525e-01 -1.79085950e-03 1.03557095e+02] [ 1.86796637e-03 4.08104867e-05 9.99998255e-01 -4.18819556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.310281693 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:240.64, Y:103.58, Z:-0.42 [[ 3.04434168e-01 -9.52533130e-01 -6.88375995e-04 2.40638730e+02] [ 9.52530315e-01 3.04434943e-01 -2.31628668e-03 1.03582433e+02] [ 2.41590551e-03 4.94578052e-05 9.99997080e-01 -4.19165438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.34028169299995 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:240.64, Y:103.61, Z:-0.42 [[ 3.02633907e-01 -9.53106478e-01 -8.71942122e-04 2.40641880e+02] [ 9.53101955e-01 3.02635157e-01 -2.93667583e-03 1.03607664e+02] [ 3.06284510e-03 5.76879363e-05 9.99995308e-01 -4.19127856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.370281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:240.64, Y:103.63, Z:-0.42 [[ 2.98873850e-01 -9.54292511e-01 -4.74917929e-04 2.40641461e+02] [ 9.54291168e-01 2.98874227e-01 -1.60100292e-03 1.03634446e+02] [ 1.66976582e-03 2.52879205e-05 9.99998606e-01 -4.18739712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.40028169299995 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:240.65, Y:103.66, Z:-0.42 [[ 2.97196643e-01 -9.54816274e-01 -1.93647094e-04 2.40645153e+02] [ 9.54816051e-01 2.97196706e-01 -6.53452437e-04 1.03658496e+02] [ 6.81478300e-04 9.30651678e-06 9.99999768e-01 -4.18054022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.430281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:240.65, Y:103.68, Z:-0.42 [[ 2.93871619e-01 -9.55844894e-01 -1.01255660e-04 2.40648496e+02] [ 9.55844833e-01 2.93871636e-01 -3.42019979e-04 1.03684199e+02] [ 3.56674217e-04 3.72526578e-06 9.99999936e-01 -4.17741489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.46028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:240.65, Y:103.71, Z:-0.42 [[ 2.91097459e-01 -9.56693391e-01 -1.55014904e-04 2.40654009e+02] [ 9.56693248e-01 2.91097501e-01 -5.24110135e-04 1.03708078e+02] [ 5.46537154e-04 4.26541646e-06 9.99999851e-01 -4.17690146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.490281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:240.66, Y:103.73, Z:-0.42 [[ 2.83512334e-01 -9.58968580e-01 1.39442619e-04 2.40659931e+02] [ 9.58968464e-01 2.83512368e-01 4.71840774e-04 1.03733283e+02] [-4.92014184e-04 -5.16052575e-08 9.99999879e-01 -4.18297855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.52028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:240.67, Y:103.76, Z:-0.42 [[ 2.78930580e-01 -9.60311236e-01 2.47753637e-04 2.40667147e+02] [ 9.60310869e-01 2.78930690e-01 8.39146278e-04 1.03757415e+02] [-8.74947692e-04 3.85695256e-06 9.99999617e-01 -4.18435477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.550281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:240.68, Y:103.78, Z:-0.42 [[ 2.74019353e-01 -9.61724156e-01 2.05882719e-04 2.40675191e+02] [ 9.61723902e-01 2.74019431e-01 6.97882212e-04 1.03780501e+02] [-7.27586046e-04 6.76909934e-06 9.99999735e-01 -4.18778708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.58028169299996 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:240.69, Y:103.80, Z:-0.42 [[ 2.63991772e-01 -9.64524878e-01 -3.21323186e-04 2.40686140e+02] [ 9.64524262e-01 2.63991967e-01 -1.09026155e-03 1.03803615e+02] [ 1.13641113e-03 -2.21039309e-05 9.99999354e-01 -4.19294455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.610281693 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:240.70, Y:103.83, Z:-0.42 [[ 2.56100811e-01 -9.66649678e-01 -8.80235480e-04 2.40698783e+02] [ 9.66645059e-01 2.56102309e-01 -2.98938928e-03 1.03826670e+02] [ 3.11512252e-03 -8.52902612e-05 9.99995144e-01 -4.18259754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.64028169299996 meters Centerline goodness : 0.999633 Centerline is valid? [True, True] Translation: X:240.71, Y:103.85, Z:-0.42 [[ 2.53286763e-01 -9.67390896e-01 -8.18617042e-04 2.40709441e+02] [ 9.67386897e-01 2.53288071e-01 -2.78278241e-03 1.03850072e+02] [ 2.89938430e-03 -8.70774520e-05 9.99995793e-01 -4.18254139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.670281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:240.72, Y:103.87, Z:-0.42 [[ 2.51250399e-01 -9.67921846e-01 -7.32516460e-04 2.40720975e+02] [ 9.67918640e-01 2.51251453e-01 -2.49257189e-03 1.03872391e+02] [ 2.59666061e-03 -8.27566562e-05 9.99996625e-01 -4.18158025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.70028169299997 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:240.74, Y:103.89, Z:-0.42 [[ 2.48694481e-01 -9.68581864e-01 -4.77126523e-04 2.40738183e+02] [ 9.68580502e-01 2.48694932e-01 -1.62510357e-03 1.03893858e+02] [ 1.69270479e-03 -5.79811579e-05 9.99998566e-01 -4.18591936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.73028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:240.75, Y:103.92, Z:-0.42 [[ 2.47738111e-01 -9.68826862e-01 -5.83003268e-04 2.40749965e+02] [ 9.68824826e-01 2.47738787e-01 -1.98768008e-03 1.03916055e+02] [ 2.07015038e-03 -7.24039300e-05 9.99997855e-01 -4.18794975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.76028169299997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:240.77, Y:103.94, Z:-0.42 [[ 2.45877295e-01 -9.69300582e-01 -8.58330858e-04 2.40766279e+02] [ 9.69296163e-01 2.45878768e-01 -2.92920709e-03 1.03937217e+02] [ 3.05032747e-03 -1.11751290e-04 9.99995342e-01 -4.18413545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.79028169299994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:240.78, Y:103.96, Z:-0.42 [[ 2.45225651e-01 -9.69465581e-01 -9.31118776e-04 2.40778097e+02] [ 9.69460372e-01 2.45227388e-01 -3.18057403e-03 1.03960149e+02] [ 3.31179287e-03 -1.22724418e-04 9.99994508e-01 -4.18714253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.82028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:240.80, Y:103.98, Z:-0.42 [[ 2.44442661e-01 -9.69663241e-01 -9.92219262e-04 2.40795868e+02] [ 9.69657315e-01 2.44444638e-01 -3.39258688e-03 1.03980626e+02] [ 3.53220947e-03 -1.32819701e-04 9.99993753e-01 -4.19383071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.85028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:240.81, Y:104.00, Z:-0.42 [[ 2.43975638e-01 -9.69780993e-01 -8.45022143e-04 2.40807747e+02] [ 9.69776687e-01 2.43977075e-01 -2.89201870e-03 1.04004000e+02] [ 3.01079080e-03 -1.13900668e-04 9.99995461e-01 -4.18706548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.880281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:240.82, Y:104.03, Z:-0.42 [[ 2.44134645e-01 -9.69741200e-01 -5.29537842e-04 2.40823103e+02] [ 9.69739506e-01 2.44135209e-01 -1.81409058e-03 1.04025275e+02] [ 1.88847721e-03 -7.06314044e-05 9.99998214e-01 -4.18039428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.91028169299994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:240.83, Y:104.05, Z:-0.42 [[ 2.44965233e-01 -9.69531779e-01 -4.05510902e-04 2.40834329e+02] [ 9.69530783e-01 2.44965563e-01 -1.39057434e-03 1.04048487e+02] [ 1.44754222e-03 -5.25129356e-05 9.99998951e-01 -4.17439654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.940281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:240.85, Y:104.07, Z:-0.42 [[ 2.48007168e-01 -9.68758185e-01 -1.54824794e-04 2.40850954e+02] [ 9.68758039e-01 2.48007216e-01 -5.31489241e-04 1.04069052e+02] [ 5.53282218e-04 -1.81746219e-05 9.99999847e-01 -4.16297804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 308.97028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:240.86, Y:104.09, Z:-0.42 [[ 2.49885045e-01 -9.68275509e-01 6.01785754e-05 2.40861941e+02] [ 9.68275487e-01 2.49885052e-01 2.06736317e-04 1.04092486e+02] [-2.15215439e-04 6.60912557e-06 9.99999977e-01 -4.15419887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.000281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:240.87, Y:104.11, Z:-0.42 [[ 2.52051846e-01 -9.67713726e-01 1.09247959e-04 2.40871336e+02] [ 9.67713653e-01 2.52051870e-01 3.75705772e-04 1.04114825e+02] [-3.91111785e-04 1.10234082e-05 9.99999923e-01 -4.15045931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:240.88, Y:104.14, Z:-0.42 [[ 2.56719764e-01 -9.66485857e-01 -2.25011546e-04 2.40882690e+02] [ 9.66485547e-01 2.56719862e-01 -7.74656413e-04 1.04138437e+02] [ 8.06459401e-04 -1.86007957e-05 9.99999675e-01 -4.15346300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.060281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:240.89, Y:104.16, Z:-0.42 [[ 2.60923367e-01 -9.65359223e-01 -7.53016252e-04 2.40893470e+02] [ 9.65355737e-01 2.60924449e-01 -2.59494602e-03 1.04160445e+02] [ 2.70153542e-03 -4.98465071e-05 9.99996350e-01 -4.16296698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.09028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:240.90, Y:104.18, Z:-0.42 [[ 2.62221634e-01 -9.65007268e-01 -8.87408398e-04 2.40902013e+02] [ 9.65002415e-01 2.62223130e-01 -3.06101614e-03 1.04184557e+02] [ 3.18660183e-03 -5.36865918e-05 9.99994921e-01 -4.15906187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.120281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:240.91, Y:104.21, Z:-0.42 [[ 2.63238200e-01 -9.64730514e-01 -8.28049011e-04 2.40909349e+02] [ 9.64726278e-01 2.63239498e-01 -2.85913804e-03 1.04207653e+02] [ 2.97627292e-03 -4.62062878e-05 9.99995570e-01 -4.15648355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:240.92, Y:104.23, Z:-0.41 [[ 2.64982755e-01 -9.64253088e-01 -3.49750185e-04 2.40915712e+02] [ 9.64252330e-01 2.64982986e-01 -1.20881114e-03 1.04231905e+02] [ 1.25827772e-03 -1.69333251e-05 9.99999208e-01 -4.14148744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.180281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:240.92, Y:104.26, Z:-0.41 [[ 2.66506555e-01 -9.63833102e-01 -8.96124521e-05 2.40922139e+02] [ 9.63833052e-01 2.66506570e-01 -3.10045705e-04 1.04256495e+02] [ 3.22714621e-04 -3.74223039e-06 9.99999948e-01 -4.13999766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.21028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:240.93, Y:104.28, Z:-0.41 [[ 2.70970025e-01 -9.62587768e-01 1.85058777e-04 2.40928374e+02] [ 9.62587555e-01 2.70970089e-01 6.40798894e-04 1.04281127e+02] [-6.66970571e-04 4.49798351e-06 9.99999778e-01 -4.14358990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.240281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:240.93, Y:104.31, Z:-0.41 [[ 2.73090327e-01 -9.61988396e-01 1.84087973e-05 2.40934577e+02] [ 9.61988393e-01 2.73090328e-01 6.37757274e-05 1.04306326e+02] [-6.63787741e-05 2.92515093e-07 9.99999998e-01 -4.14995123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:240.94, Y:104.33, Z:-0.42 [[ 2.76257863e-01 -9.61083112e-01 -9.19190300e-04 2.40940799e+02] [ 9.61077820e-01 2.76259393e-01 -3.18925717e-03 1.04329498e+02] [ 3.31907616e-03 -2.35603859e-06 9.99994492e-01 -4.16169696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.300281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:240.95, Y:104.35, Z:-0.42 [[ 2.76005490e-01 -9.61155620e-01 -9.18353104e-04 2.40947397e+02] [ 9.61150328e-01 2.76007018e-01 -3.18949834e-03 1.04353761e+02] [ 3.31907616e-03 -2.35633274e-06 9.99994492e-01 -4.16170552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.33028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:240.95, Y:104.38, Z:-0.42 [[ 2.76853775e-01 -9.60911237e-01 -1.25777014e-03 2.40954104e+02] [ 9.60901287e-01 2.76856632e-01 -4.37297604e-03 1.04376081e+02] [ 4.55026382e-03 2.08197914e-06 9.99989648e-01 -4.16819127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.360281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:240.96, Y:104.40, Z:-0.42 [[ 2.77775213e-01 -9.60645109e-01 -1.38023699e-03 2.40960726e+02] [ 9.60633099e-01 2.77778642e-01 -4.80358457e-03 1.04399466e+02] [ 4.99794038e-03 8.41538569e-06 9.99987510e-01 -4.16632144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:240.97, Y:104.42, Z:-0.41 [[ 2.79952077e-01 -9.60013607e-01 -8.42502879e-04 2.40966458e+02] [ 9.60009120e-01 2.79953344e-01 -2.93516335e-03 1.04423840e+02] [ 3.05365825e-03 1.28946270e-05 9.99995338e-01 -4.14878243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.420281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:240.97, Y:104.45, Z:-0.41 [[ 2.80647750e-01 -9.59810782e-01 -3.21065016e-04 2.40972688e+02] [ 9.59810129e-01 2.80647934e-01 -1.11964487e-03 1.04448976e+02] [ 1.16475345e-03 6.06435829e-06 9.99999322e-01 -4.13553770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:240.98, Y:104.47, Z:-0.41 [[ 2.79766788e-01 -9.60067925e-01 3.50460943e-04 2.40977730e+02] [ 9.60067146e-01 2.79767008e-01 1.22332270e-03 1.04472658e+02] [-1.27252030e-03 -5.77902669e-06 9.99999190e-01 -4.13082301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.98, Y:104.50, Z:-0.41 [[ 2.78406580e-01 -9.60463279e-01 2.56064701e-04 2.40983777e+02] [ 9.60462862e-01 2.78406698e-01 8.94742533e-04 1.04496495e+02] [-9.30657475e-04 -3.16157323e-06 9.99999567e-01 -4.14160727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:240.99, Y:104.52, Z:-0.42 [[ 2.77038562e-01 -9.60858790e-01 -1.44128758e-04 2.40990146e+02] [ 9.60858658e-01 2.77038600e-01 -5.04194322e-04 1.04520734e+02] [ 5.24388775e-04 1.19390553e-06 9.99999863e-01 -4.15313283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.00, Y:104.54, Z:-0.42 [[ 2.74839934e-01 -9.61489481e-01 -9.94288602e-04 2.40997506e+02] [ 9.61483177e-01 2.74841733e-01 -3.48163917e-03 1.04544598e+02] [ 3.62083144e-03 9.01716688e-07 9.99993445e-01 -4.16678300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.57028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:241.00, Y:104.57, Z:-0.41 [[ 2.73990822e-01 -9.61731944e-01 -8.35015167e-04 2.41003232e+02] [ 9.61727490e-01 2.73992095e-01 -2.92707855e-03 1.04567289e+02] [ 3.04385250e-03 -1.06438040e-06 9.99995367e-01 -4.14976869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.60028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:241.01, Y:104.59, Z:-0.41 [[ 2.73836378e-01 -9.61776106e-01 -6.00048957e-04 2.41008039e+02] [ 9.61773801e-01 2.73837036e-01 -2.10567870e-03 1.04590056e+02] [ 2.18950709e-03 -4.99937088e-07 9.99997603e-01 -4.14898445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:241.01, Y:104.61, Z:-0.41 [[ 2.74145758e-01 -9.61688036e-01 -4.74782897e-04 2.41013481e+02] [ 9.61686589e-01 2.74146169e-01 -1.66780951e-03 1.04614349e+02] [ 1.73407236e-03 6.30557983e-07 9.99998497e-01 -4.14685447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.66028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:241.02, Y:104.64, Z:-0.41 [[ 2.73513264e-01 -9.61868123e-01 -4.56229070e-04 2.41019791e+02] [ 9.61866785e-01 2.73513644e-01 -1.60427074e-03 1.04637900e+02] [ 1.66788176e-03 -4.22623611e-08 9.99998609e-01 -4.14947170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:241.03, Y:104.66, Z:-0.42 [[ 2.72344479e-01 -9.62199702e-01 -4.66881763e-04 2.41027039e+02] [ 9.62198299e-01 2.72344879e-01 -1.64347357e-03 1.04660633e+02] [ 1.70850264e-03 -1.64188524e-06 9.99998541e-01 -4.15051483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.04, Y:104.68, Z:-0.42 [[ 2.68555107e-01 -9.63264259e-01 -3.49795276e-04 2.41036765e+02] [ 9.63263470e-01 2.68555335e-01 -1.23258431e-03 1.04683075e+02] [ 1.28124380e-03 -5.92819821e-06 9.99999179e-01 -4.15358617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.750281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.05, Y:104.71, Z:-0.42 [[ 2.66054654e-01 -9.63957908e-01 -2.70484074e-04 2.41045069e+02] [ 9.63957436e-01 2.66054791e-01 -9.54039155e-04 1.04705802e+02] [ 9.91617172e-04 -6.90857726e-06 9.99999508e-01 -4.16140226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.78028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:241.05, Y:104.73, Z:-0.42 [[ 2.64059108e-01 -9.64506436e-01 -3.50385172e-04 2.41052966e+02] [ 9.64505643e-01 2.64059340e-01 -1.23702188e-03 1.04728360e+02] [ 1.28563804e-03 -1.13015815e-05 9.99999174e-01 -4.16234943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.810281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:241.06, Y:104.75, Z:-0.42 [[ 2.63859225e-01 -9.64560708e-01 -9.74863263e-04 2.41061782e+02] [ 9.64554555e-01 2.63861024e-01 -3.44521834e-03 1.04750709e+02] [ 3.58035066e-03 -3.12561611e-05 9.99993590e-01 -4.15573129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.84028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:241.07, Y:104.77, Z:-0.42 [[ 2.64946734e-01 -9.64262194e-01 -1.28445237e-03 2.41069574e+02] [ 9.64251489e-01 2.64949845e-01 -4.54379613e-03 1.04774595e+02] [ 4.72172628e-03 -3.46711648e-05 9.99988852e-01 -4.15465365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.870281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.08, Y:104.80, Z:-0.42 [[ 2.68635075e-01 -9.63240960e-01 -1.43153829e-03 2.41078165e+02] [ 9.63227621e-01 2.68638889e-01 -5.06931798e-03 1.04796476e+02] [ 5.26754157e-03 -1.71006027e-05 9.99986126e-01 -4.15299718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.90028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:241.09, Y:104.82, Z:-0.42 [[ 2.70625259e-01 -9.62683762e-01 -1.39426491e-03 2.41086177e+02] [ 9.62671075e-01 2.70628851e-01 -4.94240759e-03 1.04820111e+02] [ 5.13530384e-03 -4.67816209e-06 9.99986814e-01 -4.15379461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.10, Y:104.84, Z:-0.42 [[ 2.73591752e-01 -9.61845100e-01 -1.24814072e-03 2.41096427e+02] [ 9.61834904e-01 2.73594599e-01 -4.42872772e-03 1.04841349e+02] [ 4.60123461e-03 1.11580647e-05 9.99989414e-01 -4.15323704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.10, Y:104.86, Z:-0.42 [[ 2.74182218e-01 -9.61677210e-01 -1.02729844e-03 2.41104437e+02] [ 9.61670288e-01 2.74184142e-01 -3.64887337e-03 1.04864758e+02] [ 3.79070730e-03 1.25338074e-05 9.99992815e-01 -4.15545454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 309.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:241.11, Y:104.89, Z:-0.42 [[ 2.74289967e-01 -9.61646727e-01 -7.65382810e-04 2.41112313e+02] [ 9.61642877e-01 2.74291034e-01 -2.72136913e-03 1.04888000e+02] [ 2.82693336e-03 1.04193204e-05 9.99996004e-01 -4.15028695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.12, Y:104.91, Z:-0.41 [[ 2.74310675e-01 -9.61640924e-01 -6.21586673e-04 2.41121759e+02] [ 9.61638379e-01 2.74311379e-01 -2.21236355e-03 1.04911463e+02] [ 2.29800763e-03 9.13333856e-06 9.99997360e-01 -4.14629097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.13, Y:104.93, Z:-0.42 [[ 2.74976225e-01 -9.61450353e-01 -1.13818897e-03 2.41131402e+02] [ 9.61441801e-01 2.74978579e-01 -4.05519209e-03 1.04934473e+02] [ 4.21184345e-03 2.07789526e-05 9.99991130e-01 -4.15342096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.14, Y:104.96, Z:-0.42 [[ 2.74861770e-01 -9.61482842e-01 -1.32340342e-03 2.41139431e+02] [ 9.61471258e-01 2.74864955e-01 -4.71990232e-03 1.04957312e+02] [ 4.90186232e-03 2.49063490e-05 9.99987986e-01 -4.15394179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.15, Y:104.98, Z:-0.41 [[ 2.74225166e-01 -9.61664678e-01 -1.26747828e-03 2.41147776e+02] [ 9.61654032e-01 2.74228094e-01 -4.52499600e-03 1.04981949e+02] [ 4.69910697e-03 2.19921779e-05 9.99988959e-01 -4.14930235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.16, Y:105.01, Z:-0.41 [[ 2.73872523e-01 -9.61765623e-01 -8.53121201e-04 2.41157997e+02] [ 9.61760791e-01 2.73873851e-01 -3.04879097e-03 1.05005403e+02] [ 3.16586993e-03 1.44815511e-05 9.99994989e-01 -4.13209001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.170281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.17, Y:105.03, Z:-0.41 [[ 2.74131539e-01 -9.61692078e-01 -4.96008767e-04 2.41165526e+02] [ 9.61690441e-01 2.74131988e-01 -1.77445535e-03 1.05028557e+02] [ 1.84245152e-03 9.42728568e-06 9.99998303e-01 -4.13056676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.17, Y:105.05, Z:-0.41 [[ 2.75457942e-01 -9.61313074e-01 -3.09526565e-04 2.41172037e+02] [ 9.61312435e-01 2.75458116e-01 -1.10846506e-03 1.05051250e+02] [ 1.15084356e-03 7.78376769e-06 9.99999338e-01 -4.13328813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.18, Y:105.07, Z:-0.41 [[ 2.76558556e-01 -9.60996855e-01 -6.39631583e-04 2.41177132e+02] [ 9.60994120e-01 2.76559295e-01 -2.29276547e-03 1.05073995e+02] [ 2.38023647e-03 1.94017173e-05 9.99997167e-01 -4.14083275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.18, Y:105.10, Z:-0.41 [[ 2.79371975e-01 -9.60182164e-01 -1.22961486e-03 2.41182398e+02] [ 9.60172029e-01 2.79374676e-01 -4.41200534e-03 1.05099297e+02] [ 4.57985209e-03 5.19488575e-05 9.99989511e-01 -4.14822851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.29028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.19, Y:105.12, Z:-0.41 [[ 2.80703661e-01 -9.59793681e-01 -1.24309451e-03 2.41187584e+02] [ 9.59783296e-01 2.80706407e-01 -4.46506696e-03 1.05123477e+02] [ 4.63448765e-03 6.02592992e-05 9.99989259e-01 -4.13566880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.19, Y:105.15, Z:-0.41 [[ 2.83502498e-01 -9.58970876e-01 -1.09210358e-03 2.41189212e+02] [ 9.58962839e-01 2.83504594e-01 -3.92664870e-03 1.05149767e+02] [ 4.07515812e-03 6.59279656e-05 9.99991694e-01 -4.11896262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.19, Y:105.18, Z:-0.41 [[ 2.84483499e-01 -9.58680229e-01 -1.16496678e-03 2.41192688e+02] [ 9.58671063e-01 2.84485874e-01 -4.19280624e-03 1.05175399e+02] [ 4.35097704e-03 7.59642510e-05 9.99990532e-01 -4.11901188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.19, Y:105.20, Z:-0.41 [[ 2.84720958e-01 -9.58609482e-01 -1.35554885e-03 2.41194637e+02] [ 9.58597045e-01 2.84724170e-01 -4.88378933e-03 1.05200690e+02] [ 5.06760428e-03 9.10920519e-05 9.99987155e-01 -4.13063565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.20, Y:105.23, Z:-0.41 [[ 2.84009611e-01 -9.58820616e-01 -1.25181810e-03 2.41199267e+02] [ 9.58809991e-01 2.84012358e-01 -4.51453878e-03 1.05225947e+02] [ 4.68416466e-03 8.19167048e-05 9.99989026e-01 -4.12726599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.20, Y:105.25, Z:-0.41 [[ 2.82474525e-01 -9.59274629e-01 -5.72651475e-04 2.41200475e+02] [ 9.59272402e-01 2.82475104e-01 -2.06754438e-03 1.05249900e+02] [ 2.14510265e-03 3.46998611e-05 9.99997699e-01 -4.12438002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.20, Y:105.27, Z:-0.41 [[ 2.81853250e-01 -9.59457353e-01 -5.77406694e-04 2.41204700e+02] [ 9.59455084e-01 2.81853840e-01 -2.08693544e-03 1.05274311e+02] [ 2.16506985e-03 3.42137506e-05 9.99997656e-01 -4.12930389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:105.30, Z:-0.41 [[ 2.82021129e-01 -9.59407547e-01 -1.11467100e-03 2.41206315e+02] [ 9.59399071e-01 2.82023324e-01 -4.03322986e-03 1.05298740e+02] [ 4.18387438e-03 6.80417198e-05 9.99991245e-01 -4.13796216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:105.32, Z:-0.41 [[ 2.82198127e-01 -9.59355499e-01 -1.11545388e-03 2.41210109e+02] [ 9.59346993e-01 2.82200323e-01 -4.04036225e-03 1.05323085e+02] [ 4.19092519e-03 7.00753354e-05 9.99991216e-01 -4.13632096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.21, Y:105.35, Z:-0.41 [[ 2.81997366e-01 -9.59415040e-01 -5.15201143e-04 2.41213114e+02] [ 9.59413222e-01 2.81997835e-01 -1.86804371e-03 1.05348452e+02] [ 1.93751484e-03 3.24926183e-05 9.99998123e-01 -4.12999834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:105.37, Z:-0.41 [[ 2.80449729e-01 -9.59868704e-01 -1.43898150e-04 2.41218513e+02] [ 9.59868562e-01 2.80449766e-01 -5.22304671e-04 1.05373026e+02] [ 5.41700110e-04 8.35689289e-06 9.99999853e-01 -4.12204930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.22, Y:105.40, Z:-0.41 [[ 2.78244045e-01 -9.60510409e-01 7.75429630e-05 2.41224244e+02] [ 9.60510367e-01 2.78244056e-01 2.81688873e-04 1.05398258e+02] [-2.92140963e-04 -3.89743168e-06 9.99999957e-01 -4.11951091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.23, Y:105.42, Z:-0.41 [[ 2.73879562e-01 -9.61763958e-01 -2.72391998e-04 2.41228822e+02] [ 9.61763448e-01 2.73879697e-01 -9.90703754e-04 1.05422177e+02] [ 1.02742580e-03 9.35684245e-06 9.99999472e-01 -4.12928165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.23, Y:105.45, Z:-0.41 [[ 2.71585641e-01 -9.62414160e-01 -4.73976317e-04 2.41234534e+02] [ 9.62412613e-01 2.71586054e-01 -1.72573245e-03 1.05446401e+02] [ 1.78959471e-03 1.25233695e-05 9.99998399e-01 -4.13704540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.24, Y:105.47, Z:-0.41 [[ 2.68083065e-01 -9.63395626e-01 -5.81812511e-04 2.41239877e+02] [ 9.63393292e-01 2.68083697e-01 -2.12064574e-03 1.05470552e+02] [ 2.19899528e-03 7.99493998e-06 9.99997582e-01 -4.13307719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:105.49, Z:-0.41 [[ 2.66385182e-01 -9.63866402e-01 -7.02977914e-04 2.41245228e+02] [ 9.63862989e-01 2.66386110e-01 -2.56503375e-03 1.05494212e+02] [ 2.65961340e-03 5.71258976e-06 9.99996463e-01 -4.13235596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.25, Y:105.52, Z:-0.41 [[ 2.65600656e-01 -9.64082667e-01 -9.49584775e-04 2.41250856e+02] [ 9.64076427e-01 2.65602354e-01 -3.46872383e-03 1.05516897e+02] [ 3.59634847e-03 5.82302760e-06 9.99993533e-01 -4.13519861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.26, Y:105.54, Z:-0.41 [[ 2.64905990e-01 -9.64273290e-01 -1.35600578e-03 2.41255961e+02] [ 9.64260541e-01 2.64909460e-01 -4.95861457e-03 1.05541450e+02] [ 5.14067834e-03 6.02383849e-06 9.99986787e-01 -4.12986846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.26, Y:105.56, Z:-0.41 [[ 2.65698468e-01 -9.64055156e-01 -1.40707121e-03 2.41260167e+02] [ 9.64041398e-01 2.65702194e-01 -5.15051269e-03 1.05564625e+02] [ 5.33924022e-03 1.20084357e-05 9.99985746e-01 -4.13430678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:105.59, Z:-0.41 [[ 2.66271119e-01 -9.63897425e-01 -1.20223024e-03 2.41266102e+02] [ 9.63887359e-01 2.66273833e-01 -4.40520410e-03 1.05589907e+02] [ 4.56628734e-03 1.41640946e-05 9.99989574e-01 -4.13499792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:105.61, Z:-0.41 [[ 2.67062709e-01 -9.63678793e-01 -8.32682826e-04 2.41271280e+02] [ 9.63673955e-01 2.67064007e-01 -3.05381464e-03 1.05613398e+02] [ 3.16527602e-03 1.31252581e-05 9.99994990e-01 -4.12864790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.920281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.27, Y:105.64, Z:-0.41 [[ 2.68474874e-01 -9.63286528e-01 -5.54163448e-04 2.41274164e+02] [ 9.63284380e-01 2.68475445e-01 -2.03452122e-03 1.05638353e+02] [ 2.10860616e-03 1.24008352e-05 9.99997777e-01 -4.12039578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:105.66, Z:-0.41 [[ 2.68828049e-01 -9.63187956e-01 -6.65098699e-04 2.41278264e+02] [ 9.63184854e-01 2.68828871e-01 -2.44436263e-03 1.05663877e+02] [ 2.53317838e-03 1.65002428e-05 9.99996791e-01 -4.12524903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 310.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.28, Y:105.69, Z:-0.41 [[ 2.71112877e-01 -9.62546713e-01 -1.27806195e-03 2.41281184e+02] [ 9.62535228e-01 2.71115886e-01 -4.70223695e-03 1.05688595e+02] [ 4.87262562e-03 4.46573353e-05 9.99988128e-01 -4.12912507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:105.71, Z:-0.41 [[ 2.72822310e-01 -9.62063179e-01 -1.55756691e-03 2.41286442e+02] [ 9.62046078e-01 2.72826748e-01 -5.73666423e-03 1.05713175e+02] [ 5.94397934e-03 6.66388519e-05 9.99982332e-01 -4.13593550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:105.74, Z:-0.41 [[ 2.76515610e-01 -9.61008056e-01 -1.62303036e-03 2.41289817e+02] [ 9.60989427e-01 2.76520357e-01 -5.98439591e-03 1.05737178e+02] [ 6.19985361e-03 9.50638711e-05 9.99980776e-01 -4.13239870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.29, Y:105.76, Z:-0.41 [[ 2.78514720e-01 -9.60431129e-01 -1.26360876e-03 2.41294100e+02] [ 9.60419808e-01 2.78517574e-01 -4.66401891e-03 1.05762734e+02] [ 4.83140619e-03 8.54030402e-05 9.99988325e-01 -4.12239353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:105.79, Z:-0.41 [[ 2.81135359e-01 -9.59667736e-01 -8.64243294e-04 2.41298089e+02] [ 9.59662427e-01 2.81136679e-01 -3.19280158e-03 1.05787214e+02] [ 3.30699915e-03 6.82276025e-05 9.99994530e-01 -4.11173956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.130281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:241.30, Y:105.81, Z:-0.41 [[ 2.86002995e-01 -9.58228620e-01 -4.45113926e-04 2.41300425e+02] [ 9.58227207e-01 2.86003338e-01 -1.64615151e-03 1.05812795e+02] [ 1.70469356e-03 4.42839872e-05 9.99998546e-01 -4.10491370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:105.84, Z:-0.41 [[ 2.89001659e-01 -9.57328474e-01 -4.84191651e-04 2.41300385e+02] [ 9.57326797e-01 2.89002060e-01 -1.79262626e-03 1.05838630e+02] [ 1.85606455e-03 5.45423226e-05 9.99998276e-01 -4.11728936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.30, Y:105.86, Z:-0.41 [[ 2.89230857e-01 -9.57259272e-01 -4.45531768e-04 2.41303337e+02] [ 9.57257849e-01 2.89231196e-01 -1.65127315e-03 1.05863601e+02] [ 1.70955822e-03 5.11103674e-05 9.99998537e-01 -4.12536870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.31, Y:105.89, Z:-0.41 [[ 2.88996838e-01 -9.57329948e-01 -4.45128949e-04 2.41309787e+02] [ 9.57328525e-01 2.88997176e-01 -1.65138179e-03 1.05888754e+02] [ 1.70955825e-03 5.11094748e-05 9.99998537e-01 -4.12537755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.31, Y:105.91, Z:-0.41 [[ 2.88689099e-01 -9.57422808e-01 -4.13984260e-04 2.41313977e+02] [ 9.57421574e-01 2.88689392e-01 -1.53740727e-03 1.05913981e+02] [ 1.59146164e-03 4.74752572e-05 9.99998733e-01 -4.13200015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:105.94, Z:-0.41 [[ 2.86425648e-01 -9.58102207e-01 -7.13392548e-04 2.41316664e+02] [ 9.58098541e-01 2.86426527e-01 -2.65171705e-03 1.05939774e+02] [ 2.74495050e-03 7.60194143e-05 9.99996230e-01 -4.13630254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:105.97, Z:-0.41 [[ 2.85084118e-01 -9.58502064e-01 -9.16551201e-04 2.41320966e+02] [ 9.58496001e-01 2.85085575e-01 -3.41037217e-03 1.05965249e+02] [ 3.53014429e-03 9.37322786e-05 9.99993765e-01 -4.13396851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.32, Y:105.99, Z:-0.41 [[ 2.83309582e-01 -9.59028145e-01 -8.35588929e-04 2.41322975e+02] [ 9.59023098e-01 2.83310802e-01 -3.11245096e-03 1.05990316e+02] [ 3.22165944e-03 8.04380948e-05 9.99994807e-01 -4.13163300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:106.02, Z:-0.41 [[ 2.82471204e-01 -9.59275521e-01 -7.03062870e-04 2.41327627e+02] [ 9.59271941e-01 2.82472071e-01 -2.62148574e-03 1.06015373e+02] [ 2.71332273e-03 6.60657490e-05 9.99996317e-01 -4.12689506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:106.04, Z:-0.41 [[ 2.80270156e-01 -9.59921140e-01 -2.11884381e-04 2.41330037e+02] [ 9.59920814e-01 2.80270235e-01 -7.90910538e-04 1.06040544e+02] [ 8.18596630e-04 1.82763921e-05 9.99999665e-01 -4.11778618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.33, Y:106.06, Z:-0.41 [[ 2.79136990e-01 -9.60251290e-01 -3.08155013e-05 2.41334310e+02] [ 9.60251283e-01 2.79136992e-01 -1.15170422e-04 1.06064918e+02] [ 1.19194293e-04 2.55770038e-06 9.99999993e-01 -4.11933887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:106.09, Z:-0.41 [[ 2.78092634e-01 -9.60554260e-01 -3.80616495e-05 2.41337679e+02] [ 9.60554249e-01 2.78092637e-01 -1.42403968e-04 1.06089310e+02] [ 1.47371402e-04 3.04121536e-06 9.99999989e-01 -4.12253109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.34, Y:106.11, Z:-0.41 [[ 2.77505578e-01 -9.60724016e-01 -1.35148204e-04 2.41342749e+02] [ 9.60723883e-01 2.77505611e-01 -5.06108920e-04 1.06113240e+02] [ 5.23735379e-04 1.06079410e-05 9.99999863e-01 -4.12602897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.35, Y:106.14, Z:-0.41 [[ 2.76260750e-01 -9.61082661e-01 -3.41847629e-04 2.41347753e+02] [ 9.61081807e-01 2.76260960e-01 -1.28157655e-03 1.06136031e+02] [ 1.32614016e-03 2.55057636e-05 9.99999120e-01 -4.12922872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.35, Y:106.16, Z:-0.41 [[ 2.75520619e-01 -9.61294897e-01 -7.13195912e-04 2.41353373e+02] [ 9.61291172e-01 2.75521537e-01 -2.67662744e-03 1.06159631e+02] [ 2.76952913e-03 5.18771155e-05 9.99996164e-01 -4.12780029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.36, Y:106.18, Z:-0.41 [[ 2.74587352e-01 -9.61560766e-01 -1.63694770e-03 2.41356697e+02] [ 9.61541103e-01 2.74592207e-01 -6.15040628e-03 1.06182680e+02] [ 6.36348245e-03 1.14831275e-04 9.99979746e-01 -4.12520037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.36, Y:106.21, Z:-0.41 [[ 2.74150379e-01 -9.61685417e-01 -1.65160544e-03 2.41360684e+02] [ 9.61665359e-01 2.74155330e-01 -6.21223192e-03 1.06207504e+02] [ 6.42700928e-03 1.14793999e-04 9.99979340e-01 -4.13065733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.36, Y:106.23, Z:-0.41 [[ 2.72843906e-01 -9.62057902e-01 -8.91923993e-04 2.41362204e+02] [ 9.62052042e-01 2.72845357e-01 -3.35861530e-03 1.06231970e+02] [ 3.47453971e-03 5.83004179e-05 9.99993962e-01 -4.12916025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.670281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:106.26, Z:-0.41 [[ 2.71805658e-01 -9.62352035e-01 -4.94434230e-04 2.41366791e+02] [ 9.62350231e-01 2.71806106e-01 -1.86386709e-03 1.06256129e+02] [ 1.92808653e-03 3.07907264e-05 9.99998141e-01 -4.12854957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:106.28, Z:-0.41 [[ 2.69285226e-01 -9.63060355e-01 -4.68871075e-04 2.41369721e+02] [ 9.63058730e-01 2.69285633e-01 -1.76949359e-03 1.06280151e+02] [ 1.83038937e-03 2.49480988e-05 9.99998325e-01 -4.13289462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.37, Y:106.31, Z:-0.41 [[ 2.67328070e-01 -9.63605393e-01 -5.91417757e-04 2.41373920e+02] [ 9.63602803e-01 2.67328722e-01 -2.23431409e-03 1.06305694e+02] [ 2.31110006e-03 2.74030628e-05 9.99997329e-01 -4.13642726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:106.33, Z:-0.41 [[ 2.63662913e-01 -9.64614726e-01 -5.47074651e-04 2.41376554e+02] [ 9.64612507e-01 2.63663480e-01 -2.06897063e-03 1.06331475e+02] [ 2.14000314e-03 1.77957717e-05 9.99997710e-01 -4.13796789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.38, Y:106.36, Z:-0.41 [[ 2.62051997e-01 -9.65053574e-01 -5.91552121e-04 2.41381245e+02] [ 9.65050975e-01 2.62052664e-01 -2.23962068e-03 1.06355952e+02] [ 2.31637175e-03 1.60191214e-05 9.99997317e-01 -4.13479587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.39, Y:106.38, Z:-0.41 [[ 2.60963256e-01 -9.65348328e-01 -8.86033247e-04 2.41386041e+02] [ 9.65342489e-01 2.60964759e-01 -3.35749603e-03 1.06380297e+02] [ 3.47237663e-03 2.08575547e-05 9.99993971e-01 -4.13834911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.39, Y:106.41, Z:-0.41 [[ 2.60651863e-01 -9.65431845e-01 -1.39958744e-03 2.41391356e+02] [ 9.65417248e-01 2.60655619e-01 -5.30900806e-03 1.06405154e+02] [ 5.49029577e-03 3.26169918e-05 9.99984928e-01 -4.14634806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.40, Y:106.43, Z:-0.42 [[ 2.60820717e-01 -9.65386385e-01 -1.29655504e-03 2.41398217e+02] [ 9.65373835e-01 2.60823937e-01 -4.92260341e-03 1.06428846e+02] [ 5.09038690e-03 3.22566429e-05 9.99987043e-01 -4.15010511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:106.45, Z:-0.41 [[ 2.61107461e-01 -9.65309504e-01 -6.74385747e-04 2.41406627e+02] [ 9.65306102e-01 2.61108332e-01 -2.56301366e-03 1.06452597e+02] [ 2.65018918e-03 1.82333124e-05 9.99996488e-01 -4.14522421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.41, Y:106.48, Z:-0.41 [[ 2.61019209e-01 -9.65333542e-01 -3.53074217e-04 2.41412972e+02] [ 9.65332608e-01 2.61019447e-01 -1.34335978e-03 1.06476618e+02] [ 1.38894949e-03 9.80865108e-06 9.99999035e-01 -4.13729241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 311.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:106.50, Z:-0.41 [[ 2.61400145e-01 -9.65230456e-01 -3.62360334e-04 2.41418319e+02] [ 9.65229469e-01 2.61400396e-01 -1.38013457e-03 1.06501521e+02] [ 1.42686905e-03 1.10065028e-05 9.99998982e-01 -4.12694714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.42, Y:106.53, Z:-0.41 [[ 2.61593975e-01 -9.65177829e-01 -5.91904613e-04 2.41424057e+02] [ 9.65175191e-01 2.61594644e-01 -2.25685986e-03 1.06525756e+02] [ 2.33311018e-03 1.90892940e-05 9.99997278e-01 -4.13664088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.43, Y:106.55, Z:-0.41 [[ 2.62460193e-01 -9.64942392e-01 -9.10101346e-04 2.41429648e+02] [ 9.64936140e-01 2.62461769e-01 -3.47364939e-03 1.06550716e+02] [ 3.59073836e-03 3.35050084e-05 9.99993553e-01 -4.14046631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:106.58, Z:-0.41 [[ 2.62935289e-01 -9.64813070e-01 -8.79941961e-04 2.41435053e+02] [ 9.64807212e-01 2.62936759e-01 -3.36204693e-03 1.06575518e+02] [ 3.47511590e-03 3.50264307e-05 9.99993961e-01 -4.14191462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.44, Y:106.60, Z:-0.41 [[ 2.64120888e-01 -9.64489486e-01 -4.34025883e-04 2.41439932e+02] [ 9.64488057e-01 2.64121244e-01 -1.66013377e-03 1.06599278e+02] [ 1.71581702e-03 1.98632239e-05 9.99998528e-01 -4.13635834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:106.62, Z:-0.41 [[ 2.63509188e-01 -9.64656875e-01 -1.44557917e-04 2.41445596e+02] [ 9.64656716e-01 2.63509228e-01 -5.53533702e-04 1.06623804e+02] [ 5.72062436e-04 6.41245076e-06 9.99999836e-01 -4.13537291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.45, Y:106.65, Z:-0.41 [[ 2.62164976e-01 -9.65023062e-01 -1.20139590e-04 2.41451026e+02] [ 9.65022953e-01 2.62165003e-01 -4.60446707e-04 1.06647717e+02] [ 4.75838088e-04 4.77553839e-06 9.99999887e-01 -4.13919294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:106.67, Z:-0.42 [[ 2.58861365e-01 -9.65914336e-01 -5.37272854e-04 2.41455224e+02] [ 9.65912137e-01 2.58861923e-01 -2.06128534e-03 1.06671576e+02] [ 2.13010454e-03 1.46287660e-05 9.99997731e-01 -4.15266362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.46, Y:106.70, Z:-0.42 [[ 2.57734145e-01 -9.66215626e-01 -6.88636783e-04 2.41460313e+02] [ 9.66212007e-01 2.57735064e-01 -2.64483493e-03 1.06695997e+02] [ 2.73296669e-03 1.62951407e-05 9.99996265e-01 -4.16011309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.46, Y:106.72, Z:-0.42 [[ 2.56829917e-01 -9.66456362e-01 -7.02786264e-04 2.41463411e+02] [ 9.66452585e-01 2.56830879e-01 -2.70205409e-03 1.06721247e+02] [ 2.79191458e-03 1.47587272e-05 9.99996103e-01 -4.15949986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.47, Y:106.75, Z:-0.42 [[ 2.56362523e-01 -9.66580457e-01 -6.90835980e-04 2.41467558e+02] [ 9.66576799e-01 2.56363453e-01 -2.65904880e-03 1.06745038e+02] [ 2.74728970e-03 1.39344294e-05 9.99996226e-01 -4.16003369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:241.47, Y:106.77, Z:-0.42 [[ 2.54194012e-01 -9.67153110e-01 -5.15958315e-04 2.41472270e+02] [ 9.67151067e-01 2.54194535e-01 -1.98810149e-03 1.06768768e+02] [ 2.05395232e-03 6.35385847e-06 9.99997891e-01 -4.16316549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.48, Y:106.79, Z:-0.42 [[ 2.51891852e-01 -9.67755322e-01 -3.64424726e-04 2.41477970e+02] [ 9.67754300e-01 2.51892115e-01 -1.40579624e-03 1.06792613e+02] [ 1.45226251e-03 1.43502331e-06 9.99998945e-01 -4.16104622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.48, Y:106.82, Z:-0.42 [[ 2.46954528e-01 -9.69027059e-01 -1.44779064e-04 2.41482143e+02] [ 9.69026897e-01 2.46954570e-01 -5.59166554e-04 1.06816002e+02] [ 5.77601373e-04 -2.20609466e-06 9.99999833e-01 -4.15509523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:106.84, Z:-0.42 [[ 2.45014657e-01 -9.69519359e-01 -1.76003126e-04 2.41488022e+02] [ 9.69519120e-01 2.45014720e-01 -6.80442271e-04 1.06840582e+02] [ 7.02825311e-04 -3.92006629e-06 9.99999753e-01 -4.15494975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.420281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.49, Y:106.86, Z:-0.42 [[ 2.41761260e-01 -9.70335666e-01 -4.33571450e-04 2.41492696e+02] [ 9.70334215e-01 2.41761648e-01 -1.67812088e-03 1.06863466e+02] [ 1.73316149e-03 -1.50045933e-05 9.99998498e-01 -4.15375815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:106.89, Z:-0.42 [[ 2.40141943e-01 -9.70737682e-01 -4.47934647e-04 2.41497415e+02] [ 9.70736130e-01 2.40142360e-01 -1.73563991e-03 1.06887867e+02] [ 1.79241914e-03 -1.80264061e-05 9.99998393e-01 -4.15345254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.50, Y:106.91, Z:-0.42 [[ 2.36064544e-01 -9.71737242e-01 -5.13508360e-04 2.41502990e+02] [ 9.71735201e-01 2.36065100e-01 -1.99201823e-03 1.06910658e+02] [ 2.05693970e-03 -2.87492743e-05 9.99997884e-01 -4.15624850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:241.51, Y:106.93, Z:-0.42 [[ 2.33316244e-01 -9.72400792e-01 -4.79946217e-04 2.41510971e+02] [ 9.72399006e-01 2.33316735e-01 -1.86384620e-03 1.06934212e+02] [ 1.92438500e-03 -3.18336309e-05 9.99998148e-01 -4.15900544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.52, Y:106.96, Z:-0.42 [[ 2.27261194e-01 -9.73833808e-01 -2.53131248e-04 2.41520170e+02] [ 9.73833311e-01 2.27261334e-01 -9.84149203e-04 1.06955766e+02] [ 1.01592471e-03 -2.28487182e-05 9.99999484e-01 -4.16045724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.53, Y:106.98, Z:-0.42 [[ 2.24409185e-01 -9.74494978e-01 -2.34967693e-04 2.41527244e+02] [ 9.74494549e-01 2.24409307e-01 -9.14479040e-04 1.06980260e+02] [ 9.43884169e-04 -2.37572402e-05 9.99999554e-01 -4.16211239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:241.54, Y:107.00, Z:-0.42 [[ 2.20478540e-01 -9.75391639e-01 -6.04119907e-04 2.41536200e+02] [ 9.75388801e-01 2.20479356e-01 -2.35368774e-03 1.07003540e+02] [ 2.42896331e-03 -7.03141566e-05 9.99997048e-01 -4.16045616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:241.54, Y:107.03, Z:-0.42 [[ 2.19136918e-01 -9.75693815e-01 -7.68266420e-04 2.41544591e+02] [ 9.75689218e-01 2.19138245e-01 -2.99666613e-03 1.07026130e+02] [ 3.09218517e-03 -9.29090836e-05 9.99995215e-01 -4.15970899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.66028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.56, Y:107.05, Z:-0.42 [[ 2.18038337e-01 -9.75939934e-01 -7.27109221e-04 2.41555927e+02] [ 9.75935808e-01 2.18039530e-01 -2.83926008e-03 1.07047226e+02] [ 2.92948585e-03 -9.05443798e-05 9.99995705e-01 -4.16191711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.690281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:241.57, Y:107.07, Z:-0.42 [[ 2.17813958e-01 -9.75990158e-01 -5.40186144e-04 2.41565617e+02] [ 9.75987876e-01 2.17814617e-01 -2.11158266e-03 1.07070646e+02] [ 2.17854434e-03 -6.72829500e-05 9.99997625e-01 -4.15842843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.72028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.58, Y:107.09, Z:-0.42 [[ 2.17518557e-01 -9.76056089e-01 -4.34583456e-04 2.41580609e+02] [ 9.76054609e-01 2.17518984e-01 -1.70066789e-03 1.07092291e+02] [ 1.75447740e-03 -5.42503606e-05 9.99998459e-01 -4.15570133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.750281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:241.59, Y:107.11, Z:-0.42 [[ 2.17066870e-01 -9.76156566e-01 -5.76410068e-04 2.41590188e+02] [ 9.76153957e-01 2.17067623e-01 -2.25801584e-03 1.07114114e+02] [ 2.32929696e-03 -7.25245371e-05 9.99997285e-01 -4.15817031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.78028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:241.60, Y:107.14, Z:-0.42 [[ 2.16831840e-01 -9.76208730e-01 -6.84644832e-04 2.41603442e+02] [ 9.76205041e-01 2.16832904e-01 -2.68492892e-03 1.07135452e+02] [ 2.76950458e-03 -8.61756579e-05 9.99996161e-01 -4.16043357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.810281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.61, Y:107.16, Z:-0.42 [[ 2.16533225e-01 -9.76275031e-01 -6.53318097e-04 2.41613260e+02] [ 9.76271665e-01 2.16534195e-01 -2.56475778e-03 1.07158652e+02] [ 2.64537469e-03 -8.24606719e-05 9.99996498e-01 -4.15885211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.84028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.62, Y:107.18, Z:-0.42 [[ 2.16451655e-01 -9.76293047e-01 -7.53073616e-04 2.41623015e+02] [ 9.76288566e-01 2.16452944e-01 -2.95964939e-03 1.07181636e+02] [ 3.05249012e-03 -9.45961522e-05 9.99995337e-01 -4.15436163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.870281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:241.64, Y:107.20, Z:-0.42 [[ 2.17019554e-01 -9.76166881e-01 -8.56491534e-04 2.41636796e+02] [ 9.76161070e-01 2.17021219e-01 -3.36995292e-03 1.07202028e+02] [ 3.47551327e-03 -1.04728013e-04 9.99993955e-01 -4.15633199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:241.65, Y:107.23, Z:-0.42 [[ 2.17144487e-01 -9.76139188e-01 -7.46856266e-04 2.41646844e+02] [ 9.76134760e-01 2.17145753e-01 -2.94161009e-03 1.07225035e+02] [ 3.03359755e-03 -9.02779464e-05 9.99995395e-01 -4.15824108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.930281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:241.66, Y:107.25, Z:-0.42 [[ 2.17863006e-01 -9.75979057e-01 -7.69084834e-04 2.41660855e+02] [ 9.75974350e-01 2.17864345e-01 -3.03242203e-03 1.07247011e+02] [ 3.12713656e-03 -8.99544932e-05 9.99995106e-01 -4.15672659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.96028169299996 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:241.67, Y:107.27, Z:-0.42 [[ 2.18418655e-01 -9.75854779e-01 -8.60575427e-04 2.41669753e+02] [ 9.75848872e-01 2.18420329e-01 -3.39681347e-03 1.07270150e+02] [ 3.50276383e-03 -9.78641293e-05 9.99993861e-01 -4.15820937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 312.990281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:241.68, Y:107.29, Z:-0.42 [[ 2.21088099e-01 -9.75253356e-01 -9.71580950e-04 2.41680691e+02] [ 9.75245805e-01 2.21090212e-01 -3.83909340e-03 1.07292708e+02] [ 3.95889576e-03 -9.87523825e-05 9.99992159e-01 -4.16138519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.02028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:241.69, Y:107.31, Z:-0.42 [[ 2.22340980e-01 -9.74968469e-01 -9.86476426e-04 2.41688069e+02] [ 9.74960664e-01 2.22343148e-01 -3.90232203e-03 1.07314750e+02] [ 4.02397721e-03 -9.41296078e-05 9.99991899e-01 -4.16242115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.050281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:241.70, Y:107.34, Z:-0.42 [[ 2.26031472e-01 -9.74119603e-01 -8.78734883e-04 2.41697279e+02] [ 9.74113390e-01 2.26033169e-01 -3.47986497e-03 1.07337446e+02] [ 3.58842792e-03 -6.94284160e-05 9.99993559e-01 -4.15556755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.08028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.70, Y:107.36, Z:-0.42 [[ 2.27489784e-01 -9.73780247e-01 -6.55281950e-04 2.41704303e+02] [ 9.73776782e-01 2.27490723e-01 -2.59789048e-03 1.07359612e+02] [ 2.67884500e-03 -4.71048023e-05 9.99996411e-01 -4.15002966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:241.71, Y:107.38, Z:-0.42 [[ 2.27252627e-01 -9.73835620e-01 -6.54649979e-04 2.41710067e+02] [ 9.73832156e-01 2.27253565e-01 -2.59804981e-03 1.07384084e+02] [ 2.67884499e-03 -4.71055576e-05 9.99996411e-01 -4.15003823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.14028169299996 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:241.72, Y:107.41, Z:-0.42 [[ 2.30350526e-01 -9.73107701e-01 -1.93538587e-04 2.41718476e+02] [ 9.73107397e-01 2.30350607e-01 -7.68944543e-04 1.07407732e+02] [ 7.92847588e-04 -1.12070502e-05 9.99999686e-01 -4.15111587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.170281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:241.72, Y:107.43, Z:-0.41 [[ 2.31218869e-01 -9.72901701e-01 -3.38763924e-04 2.41724533e+02] [ 9.72900768e-01 2.31219116e-01 -1.34748300e-03 1.07431202e+02] [ 1.38929720e-03 -1.80201863e-05 9.99999035e-01 -4.14976596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.20028169299997 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:241.73, Y:107.45, Z:-0.42 [[ 2.31830280e-01 -9.72756044e-01 -6.32200575e-04 2.41729545e+02] [ 9.72752787e-01 2.31831140e-01 -2.51768208e-03 1.07454259e+02] [ 2.59565424e-03 -3.12999279e-05 9.99996631e-01 -4.15887516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.23028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:241.73, Y:107.48, Z:-0.42 [[ 2.30809068e-01 -9.72998585e-01 -9.63648297e-04 2.41733445e+02] [ 9.72991001e-01 2.30811074e-01 -3.84185564e-03 1.07477550e+02] [ 3.96054080e-03 -5.08860029e-05 9.99992156e-01 -4.16508139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.26028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:241.74, Y:107.50, Z:-0.42 [[ 2.29059142e-01 -9.73412151e-01 -8.32427485e-04 2.41739814e+02] [ 9.73406482e-01 2.29060649e-01 -3.32263191e-03 1.07501366e+02] [ 3.42496665e-03 -4.92110962e-05 9.99994134e-01 -4.16380567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.29028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:241.75, Y:107.52, Z:-0.42 [[ 2.23546309e-01 -9.74692965e-01 -8.19647800e-04 2.41749714e+02] [ 9.74687463e-01 2.23547802e-01 -3.27562783e-03 1.07523147e+02] [ 3.37596187e-03 -6.66459212e-05 9.99994299e-01 -4.17709756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.32028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:241.76, Y:107.55, Z:-0.42 [[ 2.19787240e-01 -9.75547438e-01 -8.74680809e-04 2.41758299e+02] [ 9.75541165e-01 2.19788964e-01 -3.49951884e-03 1.07546847e+02] [ 3.60619183e-03 -8.41375482e-05 9.99993494e-01 -4.17935095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.35028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:241.77, Y:107.57, Z:-0.42 [[ 2.16186660e-01 -9.76351708e-01 -8.19124932e-04 2.41765917e+02] [ 9.76346200e-01 2.16188193e-01 -3.28074814e-03 1.07568957e+02] [ 3.38024919e-03 -9.04955334e-05 9.99994283e-01 -4.17852948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:241.78, Y:107.59, Z:-0.42 [[ 2.09547446e-01 -9.77798299e-01 -5.95973966e-04 2.41775882e+02] [ 9.77795382e-01 2.09548277e-01 -2.38965956e-03 1.07592355e+02] [ 2.46149037e-03 -8.19935344e-05 9.99996967e-01 -4.17421538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.41028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:241.79, Y:107.62, Z:-0.42 [[ 2.06205805e-01 -9.78508571e-01 -3.77707055e-04 2.41786832e+02] [ 9.78507398e-01 2.06206143e-01 -1.51624953e-03 1.07615112e+02] [ 1.56154868e-03 -5.69296920e-05 9.99998779e-01 -4.16814308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.440281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:241.80, Y:107.64, Z:-0.42 [[ 2.05530846e-01 -9.78650608e-01 -2.41835066e-04 2.41795366e+02] [ 9.78650126e-01 2.05530985e-01 -9.71937918e-04 1.07638680e+02] [ 1.00089223e-03 -3.69086952e-05 9.99999498e-01 -4.16220532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.47028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:241.80, Y:107.66, Z:-0.42 [[ 2.05158475e-01 -9.78728762e-01 -9.91459909e-05 2.41804171e+02] [ 9.78728681e-01 2.05158498e-01 -3.98961932e-04 1.07662311e+02] [ 4.10816161e-04 -1.51866033e-05 9.99999916e-01 -4.15631092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.500281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:241.82, Y:107.69, Z:-0.42 [[ 2.06690902e-01 -9.78406264e-01 2.33456896e-04 2.41816045e+02] [ 9.78405812e-01 2.06691031e-01 9.40409634e-04 1.07685147e+02] [-9.68356123e-04 3.40414689e-05 9.99999531e-01 -4.15068271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.53028169299995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:241.83, Y:107.71, Z:-0.42 [[ 2.11253990e-01 -9.77431198e-01 6.73204807e-05 2.41826331e+02] [ 9.77431161e-01 2.11254001e-01 2.71454065e-04 1.07708421e+02] [-2.79549393e-04 8.45538113e-06 9.99999961e-01 -4.15858586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:241.83, Y:107.73, Z:-0.42 [[ 2.12703545e-01 -9.77116758e-01 -2.06155475e-04 2.41833402e+02] [ 9.77116404e-01 2.12703643e-01 -8.32470027e-04 1.07730807e+02] [ 8.57270435e-04 -2.43685713e-05 9.99999632e-01 -4.16541146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.59028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:241.84, Y:107.75, Z:-0.42 [[ 2.13367353e-01 -9.76971815e-01 -6.67146777e-04 2.41842678e+02] [ 9.76968095e-01 2.13368383e-01 -2.69723269e-03 1.07752688e+02] [ 2.77746834e-03 -7.62797154e-05 9.99996140e-01 -4.17770148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.620281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:241.85, Y:107.78, Z:-0.42 [[ 2.13041801e-01 -9.77042730e-01 -8.32960302e-04 2.41851549e+02] [ 9.77036918e-01 2.13043408e-01 -3.37164197e-03 1.07776145e+02] [ 3.47169498e-03 -9.55322884e-05 9.99993969e-01 -4.18107723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.65028169299995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:241.86, Y:107.80, Z:-0.42 [[ 2.12468635e-01 -9.77167538e-01 -8.25385547e-04 2.41860649e+02] [ 9.77161817e-01 2.12470217e-01 -3.34506695e-03 1.07799500e+02] [ 3.44406068e-03 -9.58134310e-05 9.99994065e-01 -4.18074585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.680281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:241.87, Y:107.82, Z:-0.42 [[ 2.12302476e-01 -9.77203794e-01 -6.35730221e-04 2.41869551e+02] [ 9.77200392e-01 2.12303415e-01 -2.57971150e-03 1.07821589e+02] [ 2.65587156e-03 -7.35566823e-05 9.99996470e-01 -4.17754299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:241.88, Y:107.84, Z:-0.42 [[ 2.12455098e-01 -9.77170829e-01 -3.83204163e-05 2.41881486e+02] [ 9.77170817e-01 2.12455101e-01 -1.55722043e-04 1.07844151e+02] [ 1.60308406e-04 -4.36165070e-06 9.99999987e-01 -4.16889151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.740281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:241.89, Y:107.87, Z:-0.42 [[ 2.13131616e-01 -9.77023497e-01 3.45608903e-05 2.41894664e+02] [ 9.77023487e-01 2.13131619e-01 1.40529651e-04 1.07867096e+02] [-1.44666790e-04 3.81548983e-06 9.99999990e-01 -4.17819084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.77028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:241.90, Y:107.89, Z:-0.42 [[ 2.13330205e-01 -9.76980139e-01 -1.79583492e-04 2.41903362e+02] [ 9.76979865e-01 2.13330280e-01 -7.31383453e-04 1.07889037e+02] [ 7.52857704e-04 -1.94232742e-05 9.99999716e-01 -4.17866548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.800281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:241.91, Y:107.91, Z:-0.42 [[ 2.13816441e-01 -9.76873733e-01 -4.89576147e-04 2.41911503e+02] [ 9.76871695e-01 2.13816996e-01 -1.99620771e-03 1.07912010e+02] [ 2.05472257e-03 -5.14310524e-05 9.99997888e-01 -4.18232657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.83028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:241.92, Y:107.93, Z:-0.42 [[ 2.16861003e-01 -9.76201916e-01 -1.06076057e-03 2.41922701e+02] [ 9.76192316e-01 2.16863576e-01 -4.33037836e-03 1.07934654e+02] [ 4.45736398e-03 -9.64161235e-05 9.99990061e-01 -4.18110767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.860281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:241.93, Y:107.96, Z:-0.42 [[ 2.18326086e-01 -9.75875148e-01 -1.19000836e-03 2.41931601e+02] [ 9.75863030e-01 2.18329306e-01 -4.86416393e-03 1.07956324e+02] [ 5.00663040e-03 -9.93112901e-05 9.99987462e-01 -4.18606911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.89028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:241.94, Y:107.98, Z:-0.42 [[ 2.20039519e-01 -9.75490494e-01 -9.52253286e-04 2.41944143e+02] [ 9.75482712e-01 2.20041568e-01 -3.89706912e-03 1.07978414e+02] [ 4.01108919e-03 -7.13974012e-05 9.99991953e-01 -4.19024326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.920281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:241.95, Y:108.00, Z:-0.42 [[ 2.20429455e-01 -9.75402670e-01 -6.97578053e-04 2.41951779e+02] [ 9.75398484e-01 2.20430553e-01 -2.85823177e-03 1.08001482e+02] [ 2.94169442e-03 -5.03781056e-05 9.99995672e-01 -4.18443622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.95028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:241.96, Y:108.02, Z:-0.42 [[ 2.21380155e-01 -9.75187561e-01 -2.18153910e-04 2.41961218e+02] [ 9.75187151e-01 2.21380262e-01 -8.94984761e-04 1.08024618e+02] [ 9.21072976e-04 -1.46090251e-05 9.99999576e-01 -4.17783354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 313.98028169299994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:241.97, Y:108.05, Z:-0.42 [[ 2.21172041e-01 -9.75234807e-01 -7.63114013e-06 2.41969580e+02] [ 9.75234806e-01 2.21172042e-01 -3.13876571e-05 1.08046664e+02] [ 3.22981306e-05 -5.00081278e-07 1.00000000e+00 -4.17900614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.01028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:241.98, Y:108.07, Z:-0.42 [[ 2.19681932e-01 -9.75571398e-01 5.44533452e-04 2.41982463e+02] [ 9.75568828e-01 2.19682604e-01 2.23946573e-03 1.08067388e+02] [-2.30438324e-03 3.92597022e-05 9.99997344e-01 -4.18441751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.04028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:241.99, Y:108.09, Z:-0.42 [[ 2.18924936e-01 -9.75741512e-01 6.11258975e-04 2.41992107e+02] [ 9.75738267e-01 2.18925784e-01 2.51692877e-03 1.08090551e+02] [-2.58969224e-03 4.54103026e-05 9.99996646e-01 -4.18021106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.07028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.00, Y:108.11, Z:-0.42 [[ 2.18716603e-01 -9.75788257e-01 5.70372259e-04 2.42001731e+02] [ 9.75785425e-01 2.18717342e-01 2.35142258e-03 1.08113305e+02] [-2.41924085e-03 4.22657775e-05 9.99997073e-01 -4.18123439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.10028169299994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:242.01, Y:108.14, Z:-0.42 [[ 2.20586213e-01 -9.75367471e-01 -1.39162496e-04 2.42013352e+02] [ 9.75367302e-01 2.20586257e-01 -5.74459625e-04 1.08136308e+02] [ 5.91006566e-04 -9.01667494e-06 9.99999825e-01 -4.18696834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.130281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:242.02, Y:108.16, Z:-0.42 [[ 2.22372644e-01 -9.74961621e-01 -4.95533430e-04 2.42020972e+02] [ 9.74959470e-01 2.22373195e-01 -2.04780164e-03 1.08158867e+02] [ 2.10672136e-03 -2.77499452e-05 9.99997781e-01 -4.18939714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.16028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:242.03, Y:108.18, Z:-0.42 [[ 2.26637313e-01 -9.73979058e-01 -5.68519003e-04 2.42030431e+02] [ 9.73976217e-01 2.26638025e-01 -2.35234453e-03 1.08180712e+02] [ 2.41998233e-03 -2.05949459e-05 9.99997072e-01 -4.18746507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.190281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:242.04, Y:108.20, Z:-0.42 [[ 2.29229986e-01 -9.73372207e-01 -4.00546203e-04 2.42038182e+02] [ 9.73370793e-01 2.29230335e-01 -1.65931274e-03 1.08203817e+02] [ 1.70694624e-03 -9.51574052e-06 9.99998543e-01 -4.18271119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.22028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:242.05, Y:108.23, Z:-0.42 [[ 2.34130590e-01 -9.72205155e-01 -5.54150785e-05 2.42047828e+02] [ 9.72205128e-01 2.34130597e-01 -2.29887097e-04 1.08227085e+02] [ 2.36471786e-04 -5.12218306e-08 9.99999972e-01 -4.17982670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.250281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:242.05, Y:108.25, Z:-0.42 [[ 2.36580763e-01 -9.71611827e-01 1.23182033e-05 2.42054073e+02] [ 9.71611826e-01 2.36580764e-01 5.11147935e-05 1.08250787e+02] [-5.25779878e-05 -1.24264910e-07 9.99999999e-01 -4.18558464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.28028169299995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:242.06, Y:108.28, Z:-0.42 [[ 2.39371479e-01 -9.70928057e-01 -6.02352102e-05 2.42058931e+02] [ 9.70928024e-01 2.39371487e-01 -2.50504680e-04 1.08275237e+02] [ 2.57640614e-04 1.47962205e-06 9.99999967e-01 -4.18884072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.310281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:242.06, Y:108.30, Z:-0.42 [[ 2.45771556e-01 -9.69327677e-01 -4.44056938e-04 2.42060768e+02] [ 9.69325914e-01 2.45771956e-01 -1.84886432e-03 1.08299154e+02] [ 1.90129210e-03 2.39623624e-05 9.99998192e-01 -4.18722851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.34028169299995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:242.06, Y:108.32, Z:-0.42 [[ 2.49682900e-01 -9.68327528e-01 -4.98787887e-04 2.42064307e+02] [ 9.68325296e-01 2.49683396e-01 -2.07929461e-03 1.08324061e+02] [ 2.13797726e-03 3.61753811e-05 9.99997714e-01 -4.17694306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.370281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:242.06, Y:108.35, Z:-0.42 [[ 2.57426610e-01 -9.66297846e-01 -1.18032764e-04 2.42064606e+02] [ 9.66297720e-01 2.57426637e-01 -4.92675304e-04 1.08349259e+02] [ 5.06455863e-04 1.27729425e-05 9.99999872e-01 -4.16988884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.40028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:242.07, Y:108.38, Z:-0.42 [[ 2.59719338e-01 -9.65684139e-01 9.35503661e-05 2.42066502e+02] [ 9.65684060e-01 2.59719355e-01 3.90867400e-04 1.08375457e+02] [-4.01751289e-04 -1.11757251e-05 9.99999919e-01 -4.16769456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.430281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:242.07, Y:108.40, Z:-0.42 [[ 2.61172816e-01 -9.65292037e-01 2.08670825e-04 2.42068175e+02] [ 9.65291643e-01 2.61172898e-01 8.72951940e-04 1.08399974e+02] [-8.97152720e-04 -2.65631134e-05 9.99999597e-01 -4.17039742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.46028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:242.07, Y:108.43, Z:-0.42 [[ 2.61500996e-01 -9.65203200e-01 1.06094261e-04 2.42067414e+02] [ 9.65203098e-01 2.61501017e-01 4.44323479e-04 1.08426640e+02] [-4.56606201e-04 -1.37885228e-05 9.99999896e-01 -4.17862151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.490281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:242.07, Y:108.45, Z:-0.42 [[ 2.61429260e-01 -9.65222638e-01 -1.87518918e-05 2.42069530e+02] [ 9.65222635e-01 2.61429261e-01 -7.86506288e-05 1.08451362e+02] [ 8.08176608e-05 2.46182525e-06 9.99999997e-01 -4.18424494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.52028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:242.07, Y:108.48, Z:-0.42 [[ 2.62395638e-01 -9.64960377e-01 -1.44370752e-05 2.42067719e+02] [ 9.64960375e-01 2.62395638e-01 -6.06403613e-05 1.08477455e+02] [ 6.23037715e-05 1.98056081e-06 9.99999998e-01 -4.18426379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.550281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:242.07, Y:108.50, Z:-0.42 [[ 2.62795051e-01 -9.64851670e-01 1.23774525e-04 2.42069240e+02] [ 9.64851530e-01 2.62795080e-01 5.20153617e-04 1.08502873e+02] [-5.34398422e-04 -1.72697568e-05 9.99999857e-01 -4.17873422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.58028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:242.07, Y:108.53, Z:-0.42 [[ 2.64022429e-01 -9.64516541e-01 -1.27707704e-05 2.42065776e+02] [ 9.64516539e-01 2.64022429e-01 -5.37836131e-05 1.08527562e+02] [ 5.52469543e-05 1.88246095e-06 9.99999998e-01 -4.16816839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.610281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:242.07, Y:108.55, Z:-0.42 [[ 2.64538669e-01 -9.64375078e-01 -3.78083688e-05 2.42066162e+02] [ 9.64375065e-01 2.64538672e-01 -1.59339132e-04 1.08552794e+02] [ 1.63664464e-04 5.68991384e-06 9.99999987e-01 -4.17224010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.64028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.06, Y:108.58, Z:-0.42 [[ 2.65629180e-01 -9.64075243e-01 2.55018206e-04 2.42062622e+02] [ 9.64074644e-01 2.65629299e-01 1.07574966e-03 1.08579064e+02] [-1.10484392e-03 -3.98939125e-05 9.99999389e-01 -4.17165010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.670281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:242.06, Y:108.60, Z:-0.42 [[ 2.65639729e-01 -9.64072313e-01 3.30491687e-04 2.42063479e+02] [ 9.64071304e-01 2.65639929e-01 1.39574328e-03 1.08603532e+02] [-1.43338924e-03 -5.21473133e-05 9.99998971e-01 -4.16341027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.06, Y:108.63, Z:-0.42 [[ 2.62848296e-01 -9.64837173e-01 6.00788404e-05 2.42059861e+02] [ 9.64837139e-01 2.62848303e-01 2.54004172e-04 1.08629894e+02] [-2.60864288e-04 -8.79826746e-06 9.99999966e-01 -4.16813046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.73028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:242.06, Y:108.66, Z:-0.42 [[ 2.60148086e-01 -9.65568722e-01 -1.27815874e-04 2.42061230e+02] [ 9.65568570e-01 2.60148117e-01 -5.41138679e-04 1.08655405e+02] [ 5.55757642e-04 1.73612009e-05 9.99999845e-01 -4.17094584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.76028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.06, Y:108.68, Z:-0.42 [[ 2.54047432e-01 -9.67191746e-01 -1.72772623e-04 2.42059108e+02] [ 9.67191469e-01 2.54047490e-01 -7.32183949e-04 1.08681018e+02] [ 7.52054723e-04 1.89052448e-05 9.99999717e-01 -4.18688202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.79028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:242.06, Y:108.71, Z:-0.42 [[ 2.51104262e-01 -9.67960043e-01 -7.22847243e-05 2.42060940e+02] [ 9.67959994e-01 2.51104273e-01 -3.06753566e-04 1.08705052e+02] [ 3.15076198e-04 7.05840667e-06 9.99999950e-01 -4.18142408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.82028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:242.06, Y:108.73, Z:-0.42 [[ 2.48204031e-01 -9.68707763e-01 1.72365430e-04 2.42060232e+02] [ 9.68707486e-01 2.48204090e-01 7.32242356e-04 1.08731004e+02] [-7.52110659e-04 -1.47738219e-05 9.99999717e-01 -4.16369901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.85028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.06, Y:108.76, Z:-0.42 [[ 2.48362254e-01 -9.68667188e-01 2.63248981e-04 2.42061721e+02] [ 9.68666541e-01 2.48362393e-01 1.11977335e-03 1.08755464e+02] [-1.15006885e-03 -2.31089532e-05 9.99999338e-01 -4.15339008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.06, Y:108.78, Z:-0.42 [[ 2.50910156e-01 -9.68010346e-01 2.53193491e-04 2.42057749e+02] [ 9.68009745e-01 2.50910282e-01 1.07836174e-03 1.08781919e+02] [-1.10739417e-03 -2.54781464e-05 9.99999387e-01 -4.15465625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.91028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:242.06, Y:108.81, Z:-0.42 [[ 2.52542795e-01 -9.67585715e-01 1.41849602e-04 2.42058037e+02] [ 9.67585526e-01 2.52542834e-01 6.04912089e-04 1.08805825e+02] [-6.21127397e-04 -1.55145678e-05 9.99999807e-01 -4.16051854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.940281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:242.06, Y:108.83, Z:-0.42 [[ 2.54081999e-01 -9.67182676e-01 9.34526462e-05 2.42058772e+02] [ 9.67182594e-01 2.54082016e-01 3.98978785e-04 1.08830881e+02] [-4.09630005e-04 -1.09875545e-05 9.99999916e-01 -4.16286578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 314.97028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.05, Y:108.86, Z:-0.42 [[ 2.55945279e-01 -9.66691267e-01 9.01794115e-05 2.42053359e+02] [ 9.66691190e-01 2.55945294e-01 3.85471994e-04 1.08857754e+02] [-3.95713406e-04 -1.14840942e-05 9.99999922e-01 -4.15781278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.000281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.05, Y:108.88, Z:-0.42 [[ 2.55226084e-01 -9.66881391e-01 1.50378789e-04 2.42052194e+02] [ 9.66881176e-01 2.55226128e-01 6.43606029e-04 1.08882859e+02] [-6.60671288e-04 -1.88666266e-05 9.99999782e-01 -4.16025806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.03028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.06, Y:108.91, Z:-0.42 [[ 2.54971602e-01 -9.66948530e-01 1.50209155e-04 2.42057543e+02] [ 9.66948316e-01 2.54971645e-01 6.43645639e-04 1.08907426e+02] [-6.60671280e-04 -1.88668706e-05 9.99999782e-01 -4.16026663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.060281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.05, Y:108.93, Z:-0.42 [[ 2.51311279e-01 -9.67906290e-01 2.35825070e-04 2.42053071e+02] [ 9.67905761e-01 2.51311388e-01 1.01178640e-03 1.08934094e+02] [-1.03857994e-03 -2.60168897e-05 9.99999460e-01 -4.16929610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.05, Y:108.96, Z:-0.42 [[ 2.48093580e-01 -9.68736050e-01 2.02267963e-04 2.42054790e+02] [ 9.68735661e-01 2.48093662e-01 8.68888111e-04 1.08958538e+02] [-8.91904636e-04 -1.96213730e-05 9.99999602e-01 -4.17271813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.120281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.05, Y:108.98, Z:-0.42 [[ 2.40540782e-01 -9.70638952e-01 3.95753587e-04 2.42052983e+02] [ 9.70637460e-01 2.40541106e-01 1.70229455e-03 1.08983175e+02] [-1.74750840e-03 -2.53380053e-05 9.99998473e-01 -4.17600411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.05, Y:109.01, Z:-0.42 [[ 2.36132362e-01 -9.71720799e-01 4.43260845e-04 2.42054626e+02] [ 9.71718924e-01 2.36132777e-01 1.90911419e-03 1.09007410e+02] [-1.95979438e-03 -2.00786915e-05 9.99998079e-01 -4.18194710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.180281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.06, Y:109.03, Z:-0.42 [[ 2.28625900e-01 -9.73514343e-01 1.49317955e-04 2.42058441e+02] [ 9.73514130e-01 2.28625949e-01 6.43878548e-04 1.09032273e+02] [-6.60962961e-04 -1.84417312e-06 9.99999782e-01 -4.18659570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.21028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:242.06, Y:109.06, Z:-0.42 [[ 2.25262554e-01 -9.74298090e-01 1.18032825e-04 2.42064425e+02] [ 9.74297957e-01 2.25262585e-01 5.09590049e-04 1.09056052e+02] [-5.23080990e-04 2.07584705e-07 9.99999863e-01 -4.18861120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.07, Y:109.08, Z:-0.42 [[ 2.20112196e-01 -9.75474509e-01 3.21862952e-04 2.42069062e+02] [ 9.75473517e-01 2.20112431e-01 1.39143338e-03 1.09079465e+02] [-1.42815383e-03 7.69732891e-06 9.99998980e-01 -4.17725540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.27028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.07, Y:109.10, Z:-0.42 [[ 2.18197020e-01 -9.75904657e-01 4.01141162e-04 2.42074126e+02] [ 9.75903113e-01 2.18197388e-01 1.73627454e-03 1.09103451e+02] [-1.78196636e-03 1.26249797e-05 9.99998412e-01 -4.17680853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.08, Y:109.13, Z:-0.42 [[ 2.17022847e-01 -9.76166488e-01 2.67294829e-04 2.42080593e+02] [ 9.76165801e-01 2.17023011e-01 1.15825339e-03 1.09125954e+02] [-1.18865727e-03 9.55662430e-06 9.99999294e-01 -4.18056468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.33028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.09, Y:109.15, Z:-0.42 [[ 2.15233056e-01 -9.76562661e-01 -3.17627370e-04 2.42091178e+02] [ 9.76561689e-01 2.15233290e-01 -1.37800220e-03 1.09148271e+02] [ 1.41406948e-03 -1.35910956e-05 9.99999000e-01 -4.19378749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.360281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.10, Y:109.17, Z:-0.42 [[ 2.13643170e-01 -9.76911650e-01 -4.73979232e-04 2.42097815e+02] [ 9.76909481e-01 2.13643695e-01 -2.05879113e-03 1.09172206e+02] [ 2.11251972e-03 -2.31881414e-05 9.99997768e-01 -4.19191966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.39028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:242.10, Y:109.19, Z:-0.42 [[ 2.13665844e-01 -9.76906730e-01 -3.84646179e-04 2.42103347e+02] [ 9.76905298e-01 2.13666190e-01 -1.67266948e-03 1.09194901e+02] [ 1.71622795e-03 -1.83705544e-05 9.99998527e-01 -4.19019938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.420281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.11, Y:109.22, Z:-0.42 [[ 2.14031551e-01 -9.76826692e-01 -3.29079689e-04 2.42110652e+02] [ 9.76825642e-01 2.14031804e-01 -1.43274568e-03 1.09218273e+02] [ 1.46997774e-03 -1.48006990e-05 9.99998919e-01 -4.19182518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:242.12, Y:109.24, Z:-0.42 [[ 2.15728091e-01 -9.76453307e-01 -5.74994569e-04 2.42118861e+02] [ 9.76450090e-01 2.15728857e-01 -2.50647776e-03 1.09241031e+02] [ 2.57150142e-03 -2.07358356e-05 9.99996693e-01 -4.19031519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.48028169299994 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:242.12, Y:109.27, Z:-0.42 [[ 2.16846662e-01 -9.76205484e-01 -6.15696948e-04 2.42122679e+02] [ 9.76201786e-01 2.16847535e-01 -2.68706487e-03 1.09265424e+02] [ 2.75663982e-03 -1.83634143e-05 9.99996200e-01 -4.18751469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.51028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.13, Y:109.29, Z:-0.42 [[ 2.19117146e-01 -9.75698533e-01 -2.22239342e-04 2.42125126e+02] [ 9.75698050e-01 2.19117258e-01 -9.71102954e-04 1.09290860e+02] [ 9.96200202e-04 -4.05318517e-06 9.99999504e-01 -4.17715645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.54028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.13, Y:109.31, Z:-0.42 [[ 2.19389901e-01 -9.75637257e-01 -1.20646863e-04 2.42130167e+02] [ 9.75637114e-01 2.19389935e-01 -5.27863582e-04 1.09314597e+02] [ 5.41472084e-04 -1.89961835e-06 9.99999853e-01 -4.17407479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.57028169299997 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:242.14, Y:109.34, Z:-0.42 [[ 2.18777796e-01 -9.75774697e-01 -1.27722604e-04 2.42135856e+02] [ 9.75774537e-01 2.18777833e-01 -5.59486500e-04 1.09338947e+02] [ 5.73875644e-04 -2.22524172e-06 9.99999835e-01 -4.17811216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.60028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:242.14, Y:109.36, Z:-0.42 [[ 2.14278637e-01 -9.76772564e-01 -1.52353019e-04 2.42143484e+02] [ 9.76772336e-01 2.14278691e-01 -6.68282318e-04 1.09361950e+02] [ 6.85405839e-04 -5.61558961e-06 9.99999765e-01 -4.18731628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.630281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:242.15, Y:109.39, Z:-0.42 [[ 2.10643228e-01 -9.77563000e-01 -1.05076443e-04 2.42151303e+02] [ 9.77562891e-01 2.10643254e-01 -4.61518487e-04 1.09385670e+02] [ 4.73297040e-04 -5.50308740e-06 9.99999888e-01 -4.19163473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.66028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.16, Y:109.41, Z:-0.42 [[ 2.02751602e-01 -9.79230202e-01 -2.49539842e-06 2.42162702e+02] [ 9.79230202e-01 2.02751602e-01 -1.10186828e-05 1.09407397e+02] [ 1.12957730e-05 -2.09513917e-07 1.00000000e+00 -4.18556780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.690281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.17, Y:109.43, Z:-0.42 [[ 1.99532799e-01 -9.79891148e-01 9.85459494e-08 2.42170671e+02] [ 9.79891148e-01 1.99532799e-01 3.91455108e-07 1.09430443e+02] [-4.03246495e-07 1.84561726e-08 1.00000000e+00 -4.17714883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.72028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.18, Y:109.45, Z:-0.42 [[ 1.96897216e-01 -9.80424132e-01 -8.85188161e-05 2.42183343e+02] [ 9.80424054e-01 1.96897236e-01 -3.90319842e-04 1.09452579e+02] [ 4.00108102e-04 -9.93308623e-06 9.99999920e-01 -4.17371896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.750281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:242.19, Y:109.48, Z:-0.42 [[ 1.96838034e-01 -9.80435990e-01 -2.40829549e-04 2.42192680e+02] [ 9.80435414e-01 1.96838180e-01 -1.06326861e-03 1.09475006e+02] [ 1.08987126e-03 -2.68261149e-05 9.99999406e-01 -4.17676948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.78028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:242.20, Y:109.50, Z:-0.42 [[ 1.97919314e-01 -9.80218248e-01 -3.62467394e-04 2.42202151e+02] [ 9.80216939e-01 1.97919643e-01 -1.60229949e-03 1.09497688e+02] [ 1.64234261e-03 -3.81706635e-05 9.99998651e-01 -4.18148245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.810281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:242.22, Y:109.52, Z:-0.42 [[ 2.00853893e-01 -9.79621132e-01 -3.88670346e-04 2.42215231e+02] [ 9.79619622e-01 2.00854266e-01 -1.72028214e-03 1.09519823e+02] [ 1.76329084e-03 -3.52237324e-05 9.99998445e-01 -4.17861006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.84028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.22, Y:109.54, Z:-0.42 [[ 2.01496911e-01 -9.79489127e-01 -2.10770438e-04 2.42224010e+02] [ 9.79488682e-01 2.01497020e-01 -9.34124625e-04 1.09542454e+02] [ 9.57434529e-04 -1.82240322e-05 9.99999542e-01 -4.17560057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.870281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.24, Y:109.56, Z:-0.42 [[ 2.03123202e-01 -9.79153176e-01 1.50292344e-04 2.42237496e+02] [ 9.79152949e-01 2.03123257e-01 6.66846342e-04 1.09564402e+02] [-6.83472584e-04 1.17072281e-05 9.99999766e-01 -4.16997994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.25, Y:109.59, Z:-0.42 [[ 2.04058941e-01 -9.78958569e-01 2.62056298e-04 2.42247141e+02] [ 9.78957877e-01 2.04059109e-01 1.16422781e-03 1.09587970e+02] [-1.19320577e-03 1.89709829e-05 9.99999288e-01 -4.16706058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.26, Y:109.61, Z:-0.42 [[ 2.06697617e-01 -9.78404872e-01 -3.88021257e-05 2.42260403e+02] [ 9.78404857e-01 2.06697620e-01 -1.72633970e-04 1.09609532e+02] [ 1.76926224e-04 -2.28115816e-06 9.99999984e-01 -4.17336772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.96028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.27, Y:109.63, Z:-0.42 [[ 2.07884127e-01 -9.78153377e-01 -4.00594622e-04 2.42267874e+02] [ 9.78151750e-01 2.07884512e-01 -1.78423465e-03 1.09633091e+02] [ 1.82853257e-03 -2.09282683e-05 9.99998328e-01 -4.18003297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 315.990281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.27, Y:109.66, Z:-0.42 [[ 2.11188256e-01 -9.77445125e-01 -7.40860915e-04 2.42274919e+02] [ 9.77439540e-01 2.11189554e-01 -3.30418133e-03 1.09655838e+02] [ 3.38611802e-03 -2.63424579e-05 9.99994267e-01 -4.18571971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.02028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.28, Y:109.68, Z:-0.42 [[ 2.12638103e-01 -9.77130863e-01 -5.59714253e-04 2.42281610e+02] [ 9.77127667e-01 2.12638839e-01 -2.49945112e-03 1.09679143e+02] [ 2.56130782e-03 -1.54337387e-05 9.99996720e-01 -4.18919102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.050281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:242.29, Y:109.70, Z:-0.42 [[ 2.13423417e-01 -9.76959736e-01 -3.44903356e-04 2.42289584e+02] [ 9.76958519e-01 2.13423695e-01 -1.54224184e-03 1.09701752e+02] [ 1.58031873e-03 -7.80574909e-06 9.99998751e-01 -4.18241075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.08028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.30, Y:109.72, Z:-0.42 [[ 2.12673626e-01 -9.77123272e-01 -1.99745772e-04 2.42301545e+02] [ 9.77122863e-01 2.12673720e-01 -8.94319712e-04 1.09724051e+02] [ 9.16341279e-04 -4.97794479e-06 9.99999580e-01 -4.17754945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.110281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:242.31, Y:109.75, Z:-0.42 [[ 2.10308121e-01 -9.77635071e-01 -4.02162496e-04 2.42309660e+02] [ 9.77633409e-01 2.10308505e-01 -1.80294436e-03 1.09746434e+02] [ 1.84719983e-03 -1.39936521e-05 9.99998294e-01 -4.18266358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.32, Y:109.77, Z:-0.42 [[ 2.09073692e-01 -9.77899807e-01 -3.99052816e-04 2.42316360e+02] [ 9.77898166e-01 2.09074073e-01 -1.79130049e-03 1.09769887e+02] [ 1.83514400e-03 -1.57192090e-05 9.99998316e-01 -4.18846190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:242.32, Y:109.79, Z:-0.42 [[ 2.08126953e-01 -9.78101768e-01 -3.21607588e-04 2.42323907e+02] [ 9.78100700e-01 2.08127201e-01 -1.44551319e-03 1.09793928e+02] [ 1.48079429e-03 -1.37143532e-05 9.99998904e-01 -4.18780537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.20028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.33, Y:109.82, Z:-0.42 [[ 2.08582417e-01 -9.78004788e-01 -1.03746383e-04 2.42333772e+02] [ 9.78004676e-01 2.08582442e-01 -4.66951879e-04 1.09816560e+02] [ 4.78320848e-04 -4.06649595e-06 9.99999886e-01 -4.17806387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.23028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:242.34, Y:109.84, Z:-0.42 [[ 2.09411373e-01 -9.77827621e-01 -1.45959378e-04 2.42340073e+02] [ 9.77827399e-01 2.09411424e-01 -6.57798560e-04 1.09839947e+02] [ 6.73779162e-04 -4.97257903e-06 9.99999773e-01 -4.17889653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.35, Y:109.86, Z:-0.42 [[ 2.10421541e-01 -9.77610635e-01 -4.71262222e-04 2.42347985e+02] [ 9.77608322e-01 2.10422068e-01 -2.12666661e-03 1.09862494e+02] [ 2.17821587e-03 -1.32134034e-05 9.99997628e-01 -4.18436492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.35, Y:109.89, Z:-0.42 [[ 2.10200458e-01 -9.77658108e-01 -6.26340394e-04 2.42354811e+02] [ 9.77654011e-01 2.10201390e-01 -2.83008995e-03 1.09886375e+02] [ 2.89851801e-03 -1.74579945e-05 9.99995799e-01 -4.18787635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.32028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.36, Y:109.91, Z:-0.42 [[ 2.10355128e-01 -9.77624807e-01 -6.75979147e-04 2.42362958e+02] [ 9.77620023e-01 2.10356214e-01 -3.05843426e-03 1.09908712e+02] [ 3.13219762e-03 -1.74934167e-05 9.99995095e-01 -4.17866472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.37, Y:109.93, Z:-0.42 [[ 2.10932689e-01 -9.77500448e-01 -5.23950396e-04 2.42369070e+02] [ 9.77497566e-01 2.10933339e-01 -2.37368773e-03 1.09932529e+02] [ 2.43079943e-03 -1.14719010e-05 9.99997046e-01 -4.18273524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.38, Y:109.96, Z:-0.42 [[ 2.12037316e-01 -9.77261462e-01 -4.59512490e-04 2.42375143e+02] [ 9.77259239e-01 2.12037814e-01 -2.08447898e-03 1.09956248e+02] [ 2.13451500e-03 -7.07549796e-06 9.99997722e-01 -4.18536300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.38, Y:109.98, Z:-0.42 [[ 2.14916963e-01 -9.76632213e-01 -4.69454944e-04 2.42381266e+02] [ 9.76629885e-01 2.14917476e-01 -2.13219390e-03 1.09979069e+02] [ 2.18326331e-03 -2.39090739e-07 9.99997617e-01 -4.17488533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.38, Y:110.00, Z:-0.42 [[ 2.16446373e-01 -9.76294406e-01 -4.47453600e-04 2.42384259e+02] [ 9.76292285e-01 2.16446836e-01 -2.03499978e-03 1.10002462e+02] [ 2.08360882e-03 3.62282352e-06 9.99997829e-01 -4.17041210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.47028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.38, Y:110.03, Z:-0.42 [[ 2.19695365e-01 -9.75568505e-01 -1.96069156e-04 2.42383990e+02] [ 9.75568097e-01 2.19695452e-01 -8.92879325e-04 1.10027310e+02] [ 9.14140451e-04 4.88263528e-06 9.99999582e-01 -4.16222099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.39, Y:110.05, Z:-0.42 [[ 2.20594578e-01 -9.75365588e-01 -4.40158980e-05 2.42386547e+02] [ 9.75365567e-01 2.20594583e-01 -2.00732737e-04 1.10051621e+02] [ 2.05497473e-04 1.34896224e-06 9.99999979e-01 -4.16424546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.39, Y:110.08, Z:-0.42 [[ 2.20974684e-01 -9.75279541e-01 -7.34574581e-05 2.42388364e+02] [ 9.75279484e-01 2.20974697e-01 -3.35424285e-04 1.10076258e+02] [ 3.43364683e-04 2.47872379e-06 9.99999941e-01 -4.17262797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.560281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.39, Y:110.10, Z:-0.42 [[ 2.20113092e-01 -9.75474301e-01 -3.37489478e-04 2.42390573e+02] [ 9.75473081e-01 2.20113351e-01 -1.54283861e-03 1.10099982e+02] [ 1.57928535e-03 1.03870752e-05 9.99998753e-01 -4.17206317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.59028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.39, Y:110.13, Z:-0.42 [[ 2.19073566e-01 -9.75706018e-01 2.13071094e-03 2.42391143e+02] [ 9.75700792e-01 2.19062756e-01 -4.41286812e-03 1.10125326e+02] [ 3.83890257e-03 3.04567911e-03 9.99987993e-01 -4.16947089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.39, Y:110.15, Z:-0.42 [[ 2.17210151e-01 -9.76117628e-01 -3.75863265e-03 2.42393261e+02] [ 9.76117017e-01 2.17222235e-01 -3.17332315e-03 1.10150289e+02] [ 3.91399525e-03 -2.97958729e-03 9.99987901e-01 -4.17054709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.39, Y:110.18, Z:-0.42 [[ 2.16365775e-01 -9.76312295e-01 -3.91865501e-04 2.42390844e+02] [ 9.76310638e-01 2.16366130e-01 -1.79861687e-03 1.10176296e+02] [ 1.84079819e-03 6.57667674e-06 9.99998306e-01 -4.16176439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.680281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.39, Y:110.20, Z:-0.42 [[ 2.16090744e-01 -9.76373271e-01 -1.62758279e-04 2.42392173e+02] [ 9.76372984e-01 2.16090806e-01 -7.48009981e-04 1.10201374e+02] [ 7.65507520e-04 2.72524685e-06 9.99999707e-01 -4.15824170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.71028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.39, Y:110.23, Z:-0.42 [[ 2.15776754e-01 -9.76442718e-01 -1.07179006e-04 2.42394040e+02] [ 9.76442593e-01 2.15776781e-01 -4.93211671e-04 1.10225919e+02] [ 5.04719685e-04 1.76946710e-06 9.99999873e-01 -4.16144933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.39, Y:110.25, Z:-0.42 [[ 2.15855995e-01 -9.76425121e-01 -4.14851212e-04 2.42394910e+02] [ 9.76423251e-01 2.15856393e-01 -1.91129185e-03 1.10250906e+02] [ 1.95578166e-03 7.49343385e-06 9.99998087e-01 -4.17347276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.77028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.40, Y:110.27, Z:-0.42 [[ 2.16179507e-01 -9.76353502e-01 -5.10178960e-04 2.42396614e+02] [ 9.76350665e-01 2.16180108e-01 -2.35353922e-03 1.10274621e+02] [ 2.40817680e-03 1.06733813e-05 9.99997100e-01 -4.16863977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.800281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.39, Y:110.30, Z:-0.42 [[ 2.18660838e-01 -9.75800820e-01 -4.43972742e-04 2.42394273e+02] [ 9.75798665e-01 2.18661288e-01 -2.05078315e-03 1.10299432e+02] [ 2.09823553e-03 1.51979520e-05 9.99997799e-01 -4.16095736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.83028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:242.40, Y:110.32, Z:-0.42 [[ 2.19648546e-01 -9.75578947e-01 -4.83816286e-04 2.42395751e+02] [ 9.75576381e-01 2.19649078e-01 -2.23781906e-03 1.10323986e+02] [ 2.28943896e-03 1.95339600e-05 9.99997379e-01 -4.15827769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.860281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:242.40, Y:110.35, Z:-0.42 [[ 2.20132191e-01 -9.75469956e-01 -4.29583080e-04 2.42397604e+02] [ 9.75467926e-01 2.20132609e-01 -1.98972960e-03 1.10347392e+02] [ 2.03548669e-03 1.89590194e-05 9.99997928e-01 -4.15987071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.40, Y:110.37, Z:-0.42 [[ 2.20046360e-01 -9.75489364e-01 -3.16378017e-04 2.42397749e+02] [ 9.75488260e-01 2.20046587e-01 -1.46742779e-03 1.10370888e+02] [ 1.50107811e-03 1.42791028e-05 9.99998873e-01 -4.16181113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.920281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.40, Y:110.39, Z:-0.42 [[ 2.19790723e-01 -9.75546994e-01 -3.15994358e-04 2.42402417e+02] [ 9.75545891e-01 2.19790949e-01 -1.46751046e-03 1.10394754e+02] [ 1.50107812e-03 1.42781867e-05 9.99998873e-01 -4.16182106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.40, Y:110.42, Z:-0.42 [[ 2.19400707e-01 -9.75634789e-01 -2.95726562e-04 2.42404169e+02] [ 9.75633820e-01 2.19400906e-01 -1.37521111e-03 1.10418484e+02] [ 1.40658648e-03 1.32014544e-05 9.99999011e-01 -4.16608440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 316.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.40, Y:110.44, Z:-0.42 [[ 2.18956242e-01 -9.75734601e-01 -3.89974395e-04 2.42402931e+02] [ 9.75732912e-01 2.18956588e-01 -1.81587011e-03 1.10442773e+02] [ 1.85719476e-03 1.70852423e-05 9.99998275e-01 -4.16729117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.41, Y:110.47, Z:-0.42 [[ 2.17753681e-01 -9.76003628e-01 -5.02845416e-04 2.42405160e+02] [ 9.76000812e-01 2.17754260e-01 -2.34452783e-03 1.10467043e+02] [ 2.39776440e-03 1.97520316e-05 9.99997125e-01 -4.17659447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.04028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.41, Y:110.49, Z:-0.42 [[ 2.15891030e-01 -9.76417296e-01 -5.71478768e-04 2.42407864e+02] [ 9.76413651e-01 2.15891786e-01 -2.66806174e-03 1.10490957e+02] [ 2.72851920e-03 1.80109273e-05 9.99996277e-01 -4.18173893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.07028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:242.41, Y:110.51, Z:-0.42 [[ 2.11453038e-01 -9.77388050e-01 -4.61892246e-04 2.42410521e+02] [ 9.77385664e-01 2.11453542e-01 -2.15931122e-03 1.10514970e+02] [ 2.20815373e-03 5.14605749e-06 9.99997562e-01 -4.18456216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.10028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.42, Y:110.54, Z:-0.42 [[ 2.09171953e-01 -9.77878800e-01 -3.82535897e-04 2.42415321e+02] [ 9.77877161e-01 2.09172303e-01 -1.79070705e-03 1.10537843e+02] [ 1.83111038e-03 4.92575714e-07 9.99998324e-01 -4.17766650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.42, Y:110.56, Z:-0.42 [[ 2.04704267e-01 -9.78823844e-01 -2.14791326e-04 2.42422532e+02] [ 9.78823326e-01 2.04704380e-01 -1.00683174e-03 1.10560665e+02] [ 1.02947963e-03 -4.14000725e-06 9.99999470e-01 -4.16655726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.16028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.43, Y:110.58, Z:-0.42 [[ 2.02727598e-01 -9.79235159e-01 -1.54657671e-04 2.42428541e+02] [ 9.79234890e-01 2.02727657e-01 -7.25986680e-04 1.10584156e+02] [ 7.42265069e-04 -4.26865222e-06 9.99999725e-01 -4.16055173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.43, Y:110.61, Z:-0.42 [[ 2.01205957e-01 -9.79548950e-01 -1.32480360e-04 2.42434383e+02] [ 9.79548752e-01 2.01206001e-01 -6.22792698e-04 1.10607460e+02] [ 6.36711777e-04 -4.46137030e-06 9.99999797e-01 -4.16381935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.44, Y:110.63, Z:-0.42 [[ 2.00443531e-01 -9.79705249e-01 -1.25914423e-04 2.42442387e+02] [ 9.79705070e-01 2.00443570e-01 -5.92710520e-04 1.10629888e+02] [ 6.05920344e-04 -4.55400891e-06 9.99999816e-01 -4.17350931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:242.45, Y:110.65, Z:-0.42 [[ 2.00768997e-01 -9.79638551e-01 -3.44306493e-04 2.42453080e+02] [ 9.79637207e-01 2.00769291e-01 -1.62286812e-03 1.10653007e+02] [ 1.65895034e-03 -1.14738475e-05 9.99998624e-01 -4.17493638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.46, Y:110.68, Z:-0.42 [[ 2.00281892e-01 -9.79738205e-01 -4.62918109e-04 2.42460963e+02] [ 9.79735768e-01 2.00282426e-01 -2.18491296e-03 1.10676435e+02] [ 2.23335707e-03 -1.59389283e-05 9.99997506e-01 -4.17482165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.47, Y:110.70, Z:-0.42 [[ 1.99072134e-01 -9.79984640e-01 -6.26018145e-04 2.42468665e+02] [ 9.79980174e-01 1.99073116e-01 -2.95853660e-03 1.10698968e+02] [ 3.02394381e-03 -2.45231773e-05 9.99995428e-01 -4.17500795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.34028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.48, Y:110.72, Z:-0.42 [[ 1.96016460e-01 -9.80600457e-01 -5.39884941e-04 2.42480528e+02] [ 9.80597129e-01 1.96017201e-01 -2.55500042e-03 1.10721585e+02] [ 2.61126132e-03 -2.85874852e-05 9.99996590e-01 -4.18227195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.370281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.49, Y:110.74, Z:-0.42 [[ 1.94528911e-01 -9.80896693e-01 -4.25196161e-04 2.42488821e+02] [ 9.80894623e-01 1.94529374e-01 -2.01511855e-03 1.10743808e+02] [ 2.05933627e-03 -2.50738103e-05 9.99997879e-01 -4.18089538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.40028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.50, Y:110.77, Z:-0.42 [[ 1.93408605e-01 -9.81118285e-01 -1.50721364e-04 2.42500197e+02] [ 9.81118024e-01 1.93408664e-01 -7.15283551e-04 1.10766112e+02] [ 7.30928589e-04 -9.53345237e-06 9.99999733e-01 -4.17161642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.430281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:242.51, Y:110.79, Z:-0.42 [[ 1.93654543e-01 -9.81069759e-01 -2.13179950e-04 2.42506974e+02] [ 9.81069236e-01 1.93654660e-01 -1.01304741e-03 1.10789443e+02] [ 1.03515347e-03 -1.29630573e-05 9.99999464e-01 -4.17044136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.46028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.51, Y:110.81, Z:-0.42 [[ 1.94652576e-01 -9.80872141e-01 -4.67124850e-04 2.42513768e+02] [ 9.80869623e-01 1.94653135e-01 -2.22273945e-03 1.10813008e+02] [ 2.27115052e-03 -2.55266157e-05 9.99997421e-01 -4.17149769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.490281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.52, Y:110.84, Z:-0.42 [[ 1.98680570e-01 -9.80063950e-01 -8.27344374e-04 2.42520253e+02] [ 9.80056021e-01 1.98682291e-01 -3.94248300e-03 1.10836410e+02] [ 4.02826414e-03 -2.75490656e-05 9.99991886e-01 -4.17366949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.52028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.52, Y:110.86, Z:-0.42 [[ 2.01254401e-01 -9.79538650e-01 -8.36217516e-04 2.42524405e+02] [ 9.79530521e-01 2.01256137e-01 -3.99077372e-03 1.10860098e+02] [ 4.07741101e-03 -1.59398053e-05 9.99991687e-01 -4.16847690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.550281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:242.53, Y:110.88, Z:-0.42 [[ 2.05962221e-01 -9.78559725e-01 -6.54449445e-04 2.42526854e+02] [ 9.78554727e-01 2.05963261e-01 -3.12767743e-03 1.10883545e+02] [ 3.19541171e-03 3.76879200e-06 9.99994895e-01 -4.16629442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.53, Y:110.91, Z:-0.42 [[ 2.06865488e-01 -9.78369292e-01 -4.44924121e-04 2.42530444e+02] [ 9.78366975e-01 2.06865966e-01 -2.12922142e-03 1.10907829e+02] [ 2.17520451e-03 5.16335963e-06 9.99997634e-01 -4.16575354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.610281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.53, Y:110.93, Z:-0.42 [[ 2.06741307e-01 -9.78395609e-01 -2.53045379e-04 2.42533121e+02] [ 9.78394858e-01 2.06741462e-01 -1.21253523e-03 1.10931725e+02] [ 1.23865412e-03 3.10282065e-06 9.99999233e-01 -4.16583588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.64028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.54, Y:110.96, Z:-0.42 [[ 2.05768099e-01 -9.78600701e-01 -3.97576237e-04 2.42537207e+02] [ 9.78598841e-01 2.05768483e-01 -1.90761845e-03 1.10956896e+02] [ 1.94860542e-03 3.45937677e-06 9.99998101e-01 -4.16718214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.670281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.54, Y:110.98, Z:-0.42 [[ 2.04858806e-01 -9.78791322e-01 -6.46289270e-04 2.42541011e+02] [ 9.78786396e-01 2.04859825e-01 -3.10520121e-03 1.10980559e+02] [ 3.17174271e-03 3.54866567e-06 9.99994970e-01 -4.17076212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.70028169299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:242.54, Y:111.01, Z:-0.42 [[ 2.02401121e-01 -9.79302536e-01 -5.73149544e-04 2.42544176e+02] [ 9.79298653e-01 2.02401932e-01 -2.75783449e-03 1.11005579e+02] [ 2.81676089e-03 -3.09578520e-06 9.99996033e-01 -4.17320330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.73028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:242.55, Y:111.03, Z:-0.42 [[ 2.00546746e-01 -9.79684054e-01 -3.97437398e-04 2.42548838e+02] [ 9.79682182e-01 2.00547139e-01 -1.91499821e-03 1.11029134e+02] [ 1.95579814e-03 -5.31567888e-06 9.99998087e-01 -4.17057076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.76028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:242.56, Y:111.05, Z:-0.42 [[ 1.96411595e-01 -9.80521523e-01 -1.68038950e-04 2.42555867e+02] [ 9.80521188e-01 1.96411667e-01 -8.10737650e-04 1.11051498e+02] [ 8.27950526e-04 -5.52747525e-06 9.99999657e-01 -4.17308618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.79028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:242.56, Y:111.07, Z:-0.42 [[ 1.93767588e-01 -9.81047409e-01 -3.22179798e-04 2.42562105e+02] [ 9.81046174e-01 1.93767856e-01 -1.55657167e-03 1.11074897e+02] [ 1.58949869e-03 -1.44601198e-05 9.99998737e-01 -4.17323078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.57, Y:111.10, Z:-0.42 [[ 1.88241504e-01 -9.82122579e-01 -6.13172048e-04 2.42571318e+02] [ 9.82118100e-01 1.88242498e-01 -2.96635525e-03 1.11097554e+02] [ 3.02874951e-03 -4.38161920e-05 9.99995412e-01 -4.18347049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:242.58, Y:111.12, Z:-0.42 [[ 1.85060715e-01 -9.82726890e-01 -6.25192837e-04 2.42578906e+02] [ 9.82722224e-01 1.85061763e-01 -3.02877197e-03 1.11121049e+02] [ 3.09215495e-03 -5.38841900e-05 9.99995218e-01 -4.18303550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.59, Y:111.14, Z:-0.42 [[ 1.82220821e-01 -9.83257477e-01 -5.53829935e-04 2.42587376e+02] [ 9.83253807e-01 1.82221654e-01 -2.68686385e-03 1.11144796e+02] [ 2.74279878e-03 -5.49528556e-05 9.99996237e-01 -4.18291004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.60, Y:111.17, Z:-0.42 [[ 1.78305583e-01 -9.83975016e-01 -5.36025111e-04 2.42600169e+02] [ 9.83971571e-01 1.78306378e-01 -2.60431472e-03 1.11166407e+02] [ 2.65815732e-03 -6.30696148e-05 9.99996465e-01 -4.18284150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.61, Y:111.19, Z:-0.42 [[ 1.77083723e-01 -9.84195648e-01 -5.29735085e-04 2.42609201e+02] [ 9.84192276e-01 1.77084503e-01 -2.57742799e-03 1.11189381e+02] [ 2.63050128e-03 -6.49406351e-05 9.99996538e-01 -4.18841519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 317.97028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.62, Y:111.21, Z:-0.42 [[ 1.77199708e-01 -9.84174770e-01 -5.33952013e-04 2.42623429e+02] [ 9.84171333e-01 1.77200500e-01 -2.60179642e-03 1.11210836e+02] [ 2.65523896e-03 -6.44626995e-05 9.99996473e-01 -4.18725281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.000281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:242.63, Y:111.23, Z:-0.42 [[ 1.77557018e-01 -9.84110364e-01 -5.45587717e-04 2.42632848e+02] [ 9.84106765e-01 1.77557845e-01 -2.66224603e-03 1.11234541e+02] [ 2.71681729e-03 -6.42160950e-05 9.99996307e-01 -4.18264830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.64, Y:111.26, Z:-0.42 [[ 1.77913465e-01 -9.84045934e-01 -6.31538333e-04 2.42641834e+02] [ 9.84041097e-01 1.77914571e-01 -3.08614883e-03 1.11256738e+02] [ 3.14927208e-03 -7.23922428e-05 9.99995038e-01 -4.18809862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.65, Y:111.28, Z:-0.42 [[ 1.78079727e-01 -9.84015784e-01 -7.40781364e-04 2.42650533e+02] [ 9.84009109e-01 1.78081248e-01 -3.62514427e-03 1.11279050e+02] [ 3.69911844e-03 -8.33709099e-05 9.99993155e-01 -4.19522229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.09028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.66, Y:111.30, Z:-0.42 [[ 1.79811073e-01 -9.83701018e-01 -5.33225319e-04 2.42664815e+02] [ 9.83697549e-01 1.79811856e-01 -2.61302482e-03 1.11301215e+02] [ 2.66631541e-03 -5.46816412e-05 9.99996444e-01 -4.19382743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.68, Y:111.32, Z:-0.42 [[ 1.83980639e-01 -9.82929828e-01 -2.77006953e-04 2.42677659e+02] [ 9.82928889e-01 1.83980846e-01 -1.35941750e-03 1.11322405e+02] [ 1.38717599e-03 -2.21716348e-05 9.99999038e-01 -4.18175417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.15028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:242.69, Y:111.35, Z:-0.42 [[ 1.86659043e-01 -9.82424698e-01 -3.37419549e-04 2.42685449e+02] [ 9.82423299e-01 1.86659347e-01 -1.65818463e-03 1.11346035e+02] [ 1.69202405e-03 -2.19736692e-05 9.99998568e-01 -4.18114537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.180281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.69, Y:111.37, Z:-0.42 [[ 1.89055596e-01 -9.81966258e-01 -5.00179339e-04 2.42692624e+02] [ 9.81963173e-01 1.89056256e-01 -2.46148745e-03 1.11369834e+02] [ 2.51165965e-03 -2.57997148e-05 9.99996845e-01 -4.18756850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.21028169299996 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:242.70, Y:111.39, Z:-0.42 [[ 1.91589365e-01 -9.81474920e-01 -7.04116145e-04 2.42699658e+02] [ 9.81468786e-01 1.91590657e-01 -3.47018867e-03 1.11392110e+02] [ 3.54080522e-03 -2.62167745e-05 9.99993731e-01 -4.20163204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.240281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:242.71, Y:111.42, Z:-0.42 [[ 1.96448824e-01 -9.80513205e-01 -1.30938892e-03 2.42710036e+02] [ 9.80491909e-01 1.96453187e-01 -6.46236757e-03 1.11415366e+02] [ 6.59367036e-03 -1.43207308e-05 9.99978261e-01 -4.21194126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.72, Y:111.44, Z:-0.42 [[ 2.03949009e-01 -9.78980610e-01 -1.32899313e-03 2.42718130e+02] [ 9.78958573e-01 2.03953335e-01 -6.56883422e-03 1.11437902e+02] [ 6.70181391e-03 3.86780048e-05 9.99977542e-01 -4.19094871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.72, Y:111.46, Z:-0.42 [[ 2.08347537e-01 -9.78054304e-01 -1.04008168e-03 2.42723640e+02] [ 9.78040756e-01 2.08350126e-01 -5.14821918e-03 1.11461674e+02] [ 5.25193908e-03 5.53765164e-05 9.99986207e-01 -4.18835900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.33028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.73, Y:111.48, Z:-0.42 [[ 2.12415547e-01 -9.77179132e-01 -7.61560083e-04 2.42728897e+02] [ 9.77171841e-01 2.12416904e-01 -3.77520873e-03 1.11484603e+02] [ 3.85082342e-03 5.77379592e-05 9.99992584e-01 -4.18174981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.73, Y:111.51, Z:-0.42 [[ 2.18092988e-01 -9.75925639e-01 -2.14382221e-03 2.42734522e+02] [ 9.75924832e-01 2.18097347e-01 -2.06611401e-03 1.11506956e+02] [ 2.48393557e-03 -1.64160435e-03 9.99995568e-01 -4.17922697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.74, Y:111.53, Z:-0.42 [[ 2.18124869e-01 -9.75920309e-01 1.04502314e-03 2.42737658e+02] [ 9.75915470e-01 2.18119976e-01 -3.55962460e-03 1.11533109e+02] [ 3.24596952e-03 1.79629690e-03 9.99993119e-01 -4.19222631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.420281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:242.75, Y:111.56, Z:-0.42 [[ 2.17622712e-01 -9.76032609e-01 -8.37580361e-04 2.42745117e+02] [ 9.76023700e-01 2.17624305e-01 -4.17121039e-03 1.11556601e+02] [ 4.25351520e-03 9.02518338e-05 9.99990950e-01 -4.20413037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.45028169299997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:242.75, Y:111.58, Z:-0.42 [[ 2.17502066e-01 -9.76059581e-01 -7.39231799e-04 2.42750697e+02] [ 9.76052620e-01 2.17503308e-01 -3.68700877e-03 1.11579274e+02] [ 3.75952559e-03 8.04028910e-05 9.99992930e-01 -4.20007419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.48028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.76, Y:111.60, Z:-0.42 [[ 2.17601408e-01 -9.76037564e-01 -5.49531379e-04 2.42756268e+02] [ 9.76033706e-01 2.17602093e-01 -2.74468024e-03 1.11601841e+02] [ 2.79849019e-03 6.08851348e-05 9.99996082e-01 -4.19200241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.76, Y:111.63, Z:-0.42 [[ 2.18402738e-01 -9.75858534e-01 -6.04688917e-04 2.42761505e+02] [ 9.75853850e-01 2.18403564e-01 -3.02443451e-03 1.11625596e+02] [ 3.08348645e-03 7.04567718e-05 9.99995244e-01 -4.19091651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.54028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:242.77, Y:111.65, Z:-0.42 [[ 2.18089752e-01 -9.75928162e-01 -1.04078875e-03 2.42765929e+02] [ 9.75914245e-01 2.18092202e-01 -5.21329805e-03 1.11649049e+02] [ 5.31479229e-03 1.21246318e-04 9.99985869e-01 -4.20585195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.57028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.77, Y:111.67, Z:-0.42 [[ 2.16759461e-01 -9.76224416e-01 -1.10722525e-03 2.42771554e+02] [ 9.76208625e-01 2.16762254e-01 -5.55383038e-03 1.11673483e+02] [ 5.66178946e-03 1.22962448e-04 9.99983964e-01 -4.20304526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.60028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.78, Y:111.70, Z:-0.42 [[ 2.15469587e-01 -9.76510072e-01 -9.67208577e-04 2.42777547e+02] [ 9.76497992e-01 2.15471734e-01 -4.85841376e-03 1.11697722e+02] [ 4.95269608e-03 1.02363174e-04 9.99987730e-01 -4.19830746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.630281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.78, Y:111.72, Z:-0.42 [[ 2.14853536e-01 -9.76646218e-01 -3.50718972e-04 2.42782380e+02] [ 9.76644625e-01 2.14853819e-01 -1.76408088e-03 1.11720733e+02] [ 1.79823623e-03 3.64912171e-05 9.99998383e-01 -4.17589028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.79, Y:111.75, Z:-0.42 [[ 2.14963190e-01 -9.76622137e-01 -1.68659315e-04 2.42786011e+02] [ 9.76621768e-01 2.14963256e-01 -8.49533585e-04 1.11745651e+02] [ 8.65928861e-04 1.79020915e-05 9.99999625e-01 -4.17425560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.690281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.79, Y:111.77, Z:-0.42 [[ 2.17100764e-01 -9.76149184e-01 -1.69164325e-04 2.42787231e+02] [ 9.76148811e-01 2.17100829e-01 -8.53326069e-04 1.11769664e+02] [ 8.69699261e-04 2.01281867e-05 9.99999622e-01 -4.16518063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.79, Y:111.79, Z:-0.42 [[ 2.18643138e-01 -9.75804826e-01 -3.47732850e-04 2.42789479e+02] [ 9.75803245e-01 2.18643410e-01 -1.75660441e-03 1.11794675e+02] [ 1.79013256e-03 4.47506566e-05 9.99998397e-01 -4.16268012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.750281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.79, Y:111.82, Z:-0.42 [[ 2.22928452e-01 -9.74834605e-01 -6.30375111e-04 2.42788183e+02] [ 9.74829394e-01 2.22929323e-01 -3.18912549e-03 1.11820586e+02] [ 3.24939898e-03 9.64386231e-05 9.99994716e-01 -4.16003162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.78028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.79, Y:111.84, Z:-0.42 [[ 2.25189980e-01 -9.74314671e-01 -6.28119331e-04 2.42789501e+02] [ 9.74309479e-01 2.25190831e-01 -3.18258562e-03 1.11844295e+02] [ 3.24228658e-03 1.04703772e-04 9.99994738e-01 -4.15246043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.79, Y:111.87, Z:-0.41 [[ 2.27071344e-01 -9.73877997e-01 -5.02039974e-04 2.42791081e+02] [ 9.73874669e-01 2.27071882e-01 -2.54759661e-03 1.11869330e+02] [ 2.59504745e-03 8.95621738e-05 9.99996629e-01 -4.14882409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:111.89, Z:-0.41 [[ 2.26801046e-01 -9.73940981e-01 -5.01332867e-04 2.42795609e+02] [ 9.73937653e-01 2.26801582e-01 -2.54773586e-03 1.11894100e+02] [ 2.59504745e-03 8.95622015e-05 9.99996629e-01 -4.14882328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:111.92, Z:-0.41 [[ 2.28339949e-01 -9.73581408e-01 -3.30484974e-04 2.42795944e+02] [ 9.73579958e-01 2.28340179e-01 -1.68187804e-03 1.11918349e+02] [ 1.71290819e-03 6.22863975e-05 9.99998531e-01 -4.14348688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.80, Y:111.94, Z:-0.41 [[ 2.27407527e-01 -9.73799647e-01 -2.51844249e-04 2.42798171e+02] [ 9.73798802e-01 2.27407662e-01 -1.28357718e-03 1.11942788e+02] [ 1.30721831e-03 4.66494835e-05 9.99999145e-01 -4.14103952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.80, Y:111.97, Z:-0.41 [[ 2.26910857e-01 -9.73915480e-01 -3.18415133e-04 2.42797602e+02] [ 9.73914125e-01 2.26911073e-01 -1.62528164e-03 1.11968372e+02] [ 1.65513887e-03 5.86850543e-05 9.99998629e-01 -4.13708891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.80, Y:111.99, Z:-0.41 [[ 2.27465268e-01 -9.73786082e-01 -4.68113136e-04 2.42799113e+02] [ 9.73783145e-01 2.27465733e-01 -2.39307096e-03 1.11991710e+02] [ 2.43681889e-03 8.84998456e-05 9.99997027e-01 -4.13838497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 318.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.80, Y:112.02, Z:-0.41 [[ 2.27363025e-01 -9.73804643e-01 -3.25141459e-03 2.42801749e+02] [ 9.73806258e-01 2.27370211e-01 -2.03937182e-03 1.12017663e+02] [ 2.72522457e-03 -2.70257013e-03 9.99992635e-01 -4.14753668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.80, Y:112.04, Z:-0.42 [[ 2.27438984e-01 -9.73790287e-01 1.99622796e-03 2.42797778e+02] [ 9.73787959e-01 2.27431340e-01 -3.46374550e-03 1.12042746e+02] [ 2.91895692e-03 2.73169351e-03 9.99992009e-01 -4.15010061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.050281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:242.80, Y:112.07, Z:-0.42 [[ 2.26241465e-01 -9.74071166e-01 -4.03931788e-04 2.42800790e+02] [ 9.74068957e-01 2.26241813e-01 -2.07569569e-03 1.12066965e+02] [ 2.11326158e-03 7.61510180e-05 9.99997764e-01 -4.15037594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.08028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.80, Y:112.09, Z:-0.41 [[ 2.23889390e-01 -9.74614492e-01 -3.64518691e-04 2.42802243e+02] [ 9.74612689e-01 2.23889678e-01 -1.87608820e-03 1.12091041e+02] [ 1.91007472e-03 6.47717000e-05 9.99998174e-01 -4.14897052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.81, Y:112.11, Z:-0.42 [[ 2.22282746e-01 -9.74982131e-01 -4.73928575e-04 2.42805294e+02] [ 9.74979074e-01 2.22283236e-01 -2.44282454e-03 1.12114483e+02] [ 2.48705666e-03 8.09273035e-05 9.99996904e-01 -4.15599967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.81, Y:112.14, Z:-0.42 [[ 2.20661445e-01 -9.75350211e-01 -7.01473817e-04 2.42808333e+02] [ 9.75343497e-01 2.20662530e-01 -3.62091215e-03 1.12139118e+02] [ 3.68644642e-03 1.14817781e-04 9.99993198e-01 -4.16341313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.170281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.81, Y:112.16, Z:-0.42 [[ 2.17021951e-01 -9.76166168e-01 -1.04152186e-03 2.42809412e+02] [ 9.76151333e-01 2.17024397e-01 -5.38387099e-03 1.12163583e+02] [ 5.48158837e-03 1.51735238e-04 9.99984964e-01 -4.16972104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.20028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.81, Y:112.19, Z:-0.42 [[ 2.15436538e-01 -9.76517294e-01 -1.03549537e-03 2.42811642e+02] [ 9.76502593e-01 2.15438979e-01 -5.36024814e-03 1.12187560e+02] [ 5.45746107e-03 1.43629387e-04 9.99985098e-01 -4.17010662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.81, Y:112.21, Z:-0.42 [[ 2.13655853e-01 -9.76908690e-01 -7.66806884e-04 2.42813248e+02] [ 9.76900607e-01 2.13657205e-01 -3.97522322e-03 1.12212404e+02] [ 4.04726393e-03 1.00235596e-04 9.99991805e-01 -4.16144972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.82, Y:112.24, Z:-0.42 [[ 2.13080439e-01 -9.77034435e-01 -6.63518115e-04 2.42816940e+02] [ 9.77028366e-01 2.13081455e-01 -3.44453155e-03 1.12235711e+02] [ 3.50680934e-03 8.56862755e-05 9.99993847e-01 -4.15897823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.29028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.82, Y:112.26, Z:-0.42 [[ 2.12870977e-01 -9.77080051e-01 -7.22387145e-04 2.42821347e+02] [ 9.77072837e-01 2.12872182e-01 -3.75555497e-03 1.12260097e+02] [ 3.82325397e-03 9.36237999e-05 9.99992687e-01 -4.15661993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.83, Y:112.28, Z:-0.42 [[ 2.12441941e-01 -9.77173283e-01 -8.92277716e-04 2.42825869e+02] [ 9.77162247e-01 2.12443784e-01 -4.64555808e-03 1.12284141e+02] [ 4.72907410e-03 1.15011278e-04 9.99988811e-01 -4.15586674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.83, Y:112.31, Z:-0.42 [[ 2.12170503e-01 -9.77232198e-01 -9.53438035e-04 2.42828944e+02] [ 9.77219560e-01 2.12172609e-01 -4.97144293e-03 1.12308866e+02] [ 5.06054753e-03 1.23075248e-04 9.99987188e-01 -4.15187132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.83, Y:112.33, Z:-0.41 [[ 2.13611134e-01 -9.76918500e-01 -7.25899810e-04 2.42828494e+02] [ 9.76911152e-01 2.13612344e-01 -3.79041926e-03 1.12333209e+02] [ 3.85799186e-03 1.00536137e-04 9.99992553e-01 -4.14795506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.83, Y:112.36, Z:-0.41 [[ 2.14600879e-01 -9.76701690e-01 -5.20750846e-04 2.42830573e+02] [ 9.76697897e-01 2.14601497e-01 -2.72322100e-03 1.12358354e+02] [ 2.77152847e-03 7.57893639e-05 9.99996156e-01 -4.14400438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.83, Y:112.38, Z:-0.41 [[ 2.15494944e-01 -9.76504926e-01 -2.42185334e-04 2.42831574e+02] [ 9.76504103e-01 2.15495077e-01 -1.26851345e-03 1.12382519e+02] [ 1.29089938e-03 3.68632618e-05 9.99999166e-01 -4.13449203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.47028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.83, Y:112.41, Z:-0.41 [[ 2.14389903e-01 -9.76748113e-01 -3.06682607e-04 2.42834459e+02] [ 9.76746789e-01 2.14390117e-01 -1.60873677e-03 1.12406616e+02] [ 1.63708032e-03 4.53456675e-05 9.99998659e-01 -4.13603976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:112.43, Z:-0.41 [[ 2.12360592e-01 -9.77191269e-01 -4.51135284e-04 2.42837463e+02] [ 9.77188396e-01 2.12361062e-01 -2.37015577e-03 1.12430126e+02] [ 2.41189909e-03 6.24835168e-05 9.99997089e-01 -4.13799364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:112.45, Z:-0.41 [[ 2.07377885e-01 -9.78260799e-01 -4.71768962e-04 2.42840470e+02] [ 9.78257651e-01 2.07378415e-01 -2.48230394e-03 1.12454507e+02] [ 2.52617533e-03 5.32633437e-05 9.99996808e-01 -4.14734606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.84, Y:112.48, Z:-0.41 [[ 2.04483860e-01 -9.78869882e-01 -3.23258785e-04 2.42844102e+02] [ 9.78868401e-01 2.04484113e-01 -1.70341584e-03 1.12479469e+02] [ 1.73352375e-03 3.18932360e-05 9.99998497e-01 -4.14291030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.85, Y:112.50, Z:-0.41 [[ 1.99645751e-01 -9.79868116e-01 -2.21362650e-04 2.42845437e+02] [ 9.79867420e-01 1.99645873e-01 -1.16848921e-03 1.12503564e+02] [ 1.18915946e-03 1.63778560e-05 9.99999293e-01 -4.13503545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.85, Y:112.53, Z:-0.41 [[ 1.97580927e-01 -9.80286493e-01 -4.10206834e-04 2.42848077e+02] [ 9.80284095e-01 1.97581351e-01 -2.16838853e-03 1.12527693e+02] [ 2.20669121e-03 2.63129810e-05 9.99997565e-01 -4.14117452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.65028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.85, Y:112.55, Z:-0.41 [[ 1.94715393e-01 -9.80859242e-01 -1.03136536e-03 2.42850591e+02] [ 9.80844045e-01 1.94718118e-01 -5.46015108e-03 1.12551580e+02] [ 5.55646517e-03 5.15668955e-05 9.99984561e-01 -4.14828590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.85, Y:112.58, Z:-0.42 [[ 1.93104113e-01 -9.81177549e-01 -1.19135762e-03 2.42854287e+02] [ 9.81157215e-01 1.93107782e-01 -6.31699515e-03 1.12575196e+02] [ 6.42815424e-03 5.09286204e-05 9.99979338e-01 -4.15106508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:242.86, Y:112.60, Z:-0.41 [[ 1.91390772e-01 -9.81513255e-01 -1.14143352e-03 2.42857853e+02] [ 9.81494539e-01 1.91394172e-01 -6.06137344e-03 1.12599269e+02] [ 6.16778210e-03 3.97801752e-05 9.99980978e-01 -4.14738263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.86, Y:112.62, Z:-0.41 [[ 1.88925064e-01 -9.81991239e-01 -7.25881884e-04 2.42860299e+02] [ 9.81983650e-01 1.88926458e-01 -3.86076958e-03 1.12623174e+02] [ 3.92838020e-03 1.65920000e-05 9.99992284e-01 -4.14403505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.86, Y:112.65, Z:-0.41 [[ 1.87838357e-01 -9.82199713e-01 -6.89298668e-04 2.42863165e+02] [ 9.82192850e-01 1.87839621e-01 -3.67174400e-03 1.12647409e+02] [ 3.73586350e-03 1.26701368e-05 9.99993022e-01 -4.13927675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.86, Y:112.67, Z:-0.41 [[ 1.86761095e-01 -9.82404950e-01 -8.98171412e-04 2.42864142e+02] [ 9.82393264e-01 1.86763255e-01 -4.79180728e-03 1.12671554e+02] [ 4.87524061e-03 1.25656302e-05 9.99988116e-01 -4.14074974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.87, Y:112.70, Z:-0.41 [[ 1.86776712e-01 -9.82401915e-01 -9.67724009e-04 2.42866894e+02] [ 9.82388308e-01 1.86779218e-01 -5.17064518e-03 1.12696044e+02] [ 5.26040246e-03 1.50753519e-05 9.99986164e-01 -4.14109035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.87, Y:112.72, Z:-0.41 [[ 1.86369224e-01 -9.82479449e-01 -8.02672528e-04 2.42868131e+02] [ 9.82470059e-01 1.86370952e-01 -4.29552956e-03 1.12719829e+02] [ 4.36986436e-03 1.19527854e-05 9.99990452e-01 -4.13629602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.87, Y:112.74, Z:-0.41 [[ 1.85437481e-01 -9.82655785e-01 -7.40592741e-04 2.42870908e+02] [ 9.82647770e-01 1.85438959e-01 -3.96890583e-03 1.12743173e+02] [ 4.03740302e-03 8.24209260e-06 9.99991850e-01 -4.13273517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.920281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.87, Y:112.77, Z:-0.41 [[ 1.83975696e-01 -9.82930619e-01 -5.84004830e-04 2.42873912e+02] [ 9.82925622e-01 1.83976622e-01 -3.13444609e-03 1.12768100e+02] [ 3.18838627e-03 2.62858852e-06 9.99994917e-01 -4.13358476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.88, Y:112.79, Z:-0.41 [[ 1.79590599e-01 -9.83741411e-01 -2.29169277e-04 2.42877327e+02] [ 9.83740640e-01 1.79590745e-01 -1.23204612e-03 1.12792867e+02] [ 1.25317147e-03 -4.17923127e-06 9.99999215e-01 -4.12208131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 319.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.88, Y:112.82, Z:-0.41 [[ 1.73514677e-01 -9.84831283e-01 -3.88024657e-05 2.42882584e+02] [ 9.84831261e-01 1.73514681e-01 -2.09129944e-04 1.12815899e+02] [ 2.12690508e-04 -1.92676659e-06 9.99999977e-01 -4.11684770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.89, Y:112.84, Z:-0.41 [[ 1.69789207e-01 -9.85480403e-01 -1.37679926e-05 2.42887451e+02] [ 9.85480400e-01 1.69789207e-01 -7.44353175e-05 1.12840432e+02] [ 7.56922033e-05 -9.29773326e-07 9.99999997e-01 -4.12228525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.04028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.89, Y:112.86, Z:-0.41 [[ 1.65933923e-01 -9.86136864e-01 -1.40354093e-04 2.42892247e+02] [ 9.86136572e-01 1.65933982e-01 -7.58120623e-04 1.12864659e+02] [ 7.70900207e-04 -1.26103747e-05 9.99999703e-01 -4.11990854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.07028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.90, Y:112.89, Z:-0.41 [[ 1.59622359e-01 -9.87178080e-01 -3.74251557e-04 2.42901035e+02] [ 9.87176006e-01 1.59622791e-01 -2.02427447e-03 1.12888165e+02] [ 2.05805847e-03 -4.63326910e-05 9.99997881e-01 -4.12153017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.91, Y:112.91, Z:-0.41 [[ 1.55348350e-01 -9.87859692e-01 -3.43797735e-04 2.42913196e+02] [ 9.87857938e-01 1.55348723e-01 -1.86255199e-03 1.12910029e+02] [ 1.89334857e-03 -5.02789431e-05 9.99998206e-01 -4.10848745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.92, Y:112.93, Z:-0.41 [[ 1.53940142e-01 -9.88080154e-01 -2.06827963e-04 2.42921362e+02] [ 9.88079517e-01 1.53940277e-01 -1.12234064e-03 1.12933555e+02] [ 1.14080167e-03 -3.15891966e-05 9.99999349e-01 -4.10752268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.93, Y:112.96, Z:-0.41 [[ 1.52699432e-01 -9.88272675e-01 -5.26156815e-05 2.42929399e+02] [ 9.88272634e-01 1.52699441e-01 -2.86119438e-04 1.12956811e+02] [ 2.90798407e-04 -8.30836235e-06 9.99999958e-01 -4.11285621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.94, Y:112.98, Z:-0.41 [[ 1.51695151e-01 -9.88427323e-01 9.54814371e-05 2.42937863e+02] [ 9.88427186e-01 1.51695180e-01 5.19452921e-04 1.12979030e+02] [-5.27925533e-04 1.55779591e-05 9.99999861e-01 -4.11727640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.95, Y:113.00, Z:-0.41 [[ 1.52238649e-01 -9.88343744e-01 -1.94512434e-04 2.42951844e+02] [ 9.88343175e-01 1.52238771e-01 -1.06052801e-03 1.13001453e+02] [ 1.07777856e-03 -3.07916849e-05 9.99999419e-01 -4.12453739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.96, Y:113.02, Z:-0.41 [[ 1.53561323e-01 -9.88138924e-01 -6.22289323e-04 2.42959809e+02] [ 9.88133086e-01 1.53562555e-01 -3.39791320e-03 1.13024026e+02] [ 3.45317063e-03 -9.31166231e-05 9.99994033e-01 -4.12621050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.97, Y:113.05, Z:-0.41 [[ 1.58349278e-01 -9.87382061e-01 -1.47365823e-03 2.42970397e+02] [ 9.87349195e-01 1.58356034e-01 -8.05818992e-03 1.13046032e+02] [ 8.18987485e-03 -1.79006708e-04 9.99966446e-01 -4.14172789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.98, Y:113.07, Z:-0.41 [[ 1.61607038e-01 -9.86853783e-01 -1.66596338e-03 2.42977450e+02] [ 9.86811622e-01 1.61615536e-01 -9.12365708e-03 1.13069507e+02] [ 9.27296107e-03 -1.69544828e-04 9.99956991e-01 -4.14182374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.98, Y:113.09, Z:-0.41 [[ 1.65183990e-01 -9.86261561e-01 -1.54355364e-03 2.42984084e+02] [ 9.86225230e-01 1.65191155e-01 -8.46631808e-03 1.13093677e+02] [ 8.60498550e-03 -1.23791342e-04 9.99962969e-01 -4.13598808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.99, Y:113.12, Z:-0.41 [[ 1.72375604e-01 -9.85031028e-01 -7.25327638e-04 2.42990797e+02] [ 9.85022968e-01 1.72377127e-01 -3.98486879e-03 1.13117949e+02] [ 4.05024930e-03 -2.75702192e-05 9.99991797e-01 -4.10913055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:242.99, Y:113.14, Z:-0.41 [[ 1.75624724e-01 -9.84457062e-01 -5.00360174e-04 2.42994482e+02] [ 9.84453211e-01 1.75625436e-01 -2.75356200e-03 1.13141366e+02] [ 2.79863952e-03 -8.98761423e-06 9.99996084e-01 -4.10173506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.430281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.00, Y:113.17, Z:-0.41 [[ 1.81696951e-01 -9.83354338e-01 -6.81462484e-04 2.42996241e+02] [ 9.83347163e-01 1.81698229e-01 -3.75630471e-03 1.13165039e+02] [ 3.81759906e-03 1.23949125e-05 9.99992713e-01 -4.11013470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.00, Y:113.19, Z:-0.41 [[ 1.83741252e-01 -9.82974248e-01 -8.83891103e-04 2.42998343e+02] [ 9.82962136e-01 1.83743375e-01 -4.87969815e-03 1.13189372e+02] [ 4.95902675e-03 2.77703582e-05 9.99987704e-01 -4.11549413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.00, Y:113.21, Z:-0.41 [[ 1.88350910e-01 -9.82101325e-01 -9.60453970e-04 2.42996286e+02] [ 9.82086966e-01 1.88353350e-01 -5.31100652e-03 1.13213949e+02] [ 5.39685126e-03 5.70835870e-05 9.99985435e-01 -4.12370089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.00, Y:113.24, Z:-0.41 [[ 1.90324422e-01 -9.81720824e-01 -9.15263583e-04 2.42996354e+02] [ 9.81707740e-01 1.90326611e-01 -5.06901724e-03 1.13239457e+02] [ 5.15055880e-03 6.62364321e-05 9.99986734e-01 -4.12138183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.550281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.99, Y:113.26, Z:-0.41 [[ 1.93067897e-01 -9.81184975e-01 -9.12409794e-04 2.42991841e+02] [ 9.81171924e-01 1.93070035e-01 -5.06140260e-03 1.13264737e+02] [ 5.14233117e-03 8.19634820e-05 9.99986775e-01 -4.10858026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.99, Y:113.29, Z:-0.41 [[ 1.93470733e-01 -9.81105483e-01 -1.05224439e-03 2.42991174e+02] [ 9.81088070e-01 1.93473569e-01 -5.84609999e-03 1.13290124e+02] [ 5.93922223e-03 9.87048311e-05 9.99982358e-01 -4.10958828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.610281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.99, Y:113.31, Z:-0.41 [[ 1.93650500e-01 -9.81069910e-01 -1.14730381e-03 2.42990295e+02] [ 9.81049148e-01 1.93653867e-01 -6.38351011e-03 1.13314421e+02] [ 6.48484951e-03 1.10608502e-04 9.99978967e-01 -4.11117195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:242.99, Y:113.34, Z:-0.41 [[ 1.93478819e-01 -9.81103911e-01 -1.03100295e-03 2.42985941e+02] [ 9.81087094e-01 1.93481540e-01 -5.74528130e-03 1.13340216e+02] [ 5.83619799e-03 1.00086554e-04 9.99982964e-01 -4.10443523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.670281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:242.99, Y:113.36, Z:-0.41 [[ 1.92263820e-01 -9.81342965e-01 -7.80427035e-04 2.42986074e+02] [ 9.81333300e-01 1.92265390e-01 -4.35597027e-03 1.13364332e+02] [ 4.42474988e-03 7.16364431e-05 9.99990208e-01 -4.10448816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.98, Y:113.39, Z:-0.41 [[ 1.89582369e-01 -9.81864693e-01 -5.00793332e-04 2.42982609e+02] [ 9.81860703e-01 1.89583026e-01 -2.79928199e-03 1.13388735e+02] [ 2.84345807e-03 3.89852171e-05 9.99995957e-01 -4.09628061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:242.99, Y:113.41, Z:-0.41 [[ 1.89333699e-01 -9.81912674e-01 -5.00083983e-04 2.42986654e+02] [ 9.81908685e-01 1.89334356e-01 -2.79940880e-03 1.13413569e+02] [ 2.84345806e-03 3.89856184e-05 9.99995957e-01 -4.09631541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.99, Y:113.44, Z:-0.41 [[ 1.87990069e-01 -9.82170793e-01 -5.17937470e-04 2.42987683e+02] [ 9.82166500e-01 1.87990778e-01 -2.90395443e-03 1.13437344e+02] [ 2.94954669e-03 3.72137595e-05 9.99995649e-01 -4.09772245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.79028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:242.99, Y:113.46, Z:-0.41 [[ 1.86605805e-01 -9.82434659e-01 -6.43439878e-04 2.42989583e+02] [ 9.82428016e-01 1.86606909e-01 -3.61306314e-03 1.13461763e+02] [ 3.66966879e-03 4.20851930e-05 9.99993266e-01 -4.10582690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:242.99, Y:113.49, Z:-0.41 [[ 1.84092924e-01 -9.82908471e-01 -8.56638993e-04 2.42990885e+02] [ 9.82896664e-01 1.84094912e-01 -4.81777416e-03 1.13485570e+02] [ 4.89313391e-03 4.49305250e-05 9.99988028e-01 -4.12761957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.85028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:242.99, Y:113.51, Z:-0.41 [[ 1.81982738e-01 -9.83301474e-01 -7.03496602e-04 2.42993915e+02] [ 9.83293490e-01 1.81984095e-01 -3.96260999e-03 1.13509894e+02] [ 4.02446543e-03 2.93829856e-05 9.99991901e-01 -4.12614607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.880281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.00, Y:113.53, Z:-0.41 [[ 1.80383899e-01 -9.83596043e-01 -6.88008887e-04 2.42997903e+02] [ 9.83588386e-01 1.80385209e-01 -3.88115709e-03 1.13533485e+02] [ 3.94159738e-03 2.33806960e-05 9.99992232e-01 -4.11946064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.00, Y:113.56, Z:-0.41 [[ 1.78272294e-01 -9.83980936e-01 -7.11366201e-04 2.43002838e+02] [ 9.83972727e-01 1.78273712e-01 -4.01945870e-03 1.13556607e+02] [ 4.08188863e-03 1.65931817e-05 9.99991669e-01 -4.12163254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.01, Y:113.58, Z:-0.41 [[ 1.75649077e-01 -9.84452435e-01 -8.97197996e-04 2.43009340e+02] [ 9.84439338e-01 1.75651368e-01 -5.07795610e-03 1.13579033e+02] [ 5.15660030e-03 8.70130140e-06 9.99986705e-01 -4.13383047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 320.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.01, Y:113.60, Z:-0.41 [[ 1.74700880e-01 -9.84621061e-01 -9.84308886e-04 2.43013894e+02] [ 9.84605250e-01 1.74703653e-01 -5.57995634e-03 1.13602493e+02] [ 5.66610488e-03 5.66758718e-06 9.99983948e-01 -4.14270647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.000281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.02, Y:113.63, Z:-0.41 [[ 1.73954017e-01 -9.84753226e-01 -1.04115843e-03 2.43019044e+02] [ 9.84735479e-01 1.73957133e-01 -5.91205121e-03 1.13625656e+02] [ 6.00302843e-03 3.15941502e-06 9.99981982e-01 -4.14503482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.03028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.02, Y:113.65, Z:-0.41 [[ 1.73573321e-01 -9.84820483e-01 -9.58447013e-04 2.43023341e+02] [ 9.84805393e-01 1.73575967e-01 -5.45182676e-03 1.13648464e+02] [ 5.53543403e-03 2.40788926e-06 9.99984679e-01 -4.13977507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.03, Y:113.67, Z:-0.41 [[ 1.73113294e-01 -9.84901484e-01 -9.24280789e-04 2.43028218e+02] [ 9.84887405e-01 1.73115762e-01 -5.26622404e-03 1.13672262e+02] [ 5.34671944e-03 1.34088401e-06 9.99985706e-01 -4.13503649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.03, Y:113.70, Z:-0.41 [[ 1.71535057e-01 -9.85177625e-01 -8.78046088e-04 2.43033420e+02] [ 9.85164881e-01 1.71537304e-01 -5.01109565e-03 1.13695843e+02] [ 5.08743697e-03 -5.44159183e-06 9.99987059e-01 -4.12809572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.120281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.04, Y:113.72, Z:-0.41 [[ 1.69369288e-01 -9.85552100e-01 -1.05023694e-03 2.43040990e+02] [ 9.85533816e-01 1.69372544e-01 -6.00319425e-03 1.13719459e+02] [ 6.09434200e-03 -1.82872839e-05 9.99981429e-01 -4.13774540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.05, Y:113.74, Z:-0.41 [[ 1.68411783e-01 -9.85716060e-01 -1.14930287e-03 2.43047639e+02] [ 9.85694094e-01 1.68415702e-01 -6.58056483e-03 1.13743811e+02] [ 6.68012909e-03 -2.46163966e-05 9.99977687e-01 -4.14045365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.180281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.05, Y:113.77, Z:-0.41 [[ 1.68156412e-01 -9.85759705e-01 -1.10715164e-03 2.43053829e+02] [ 9.85739250e-01 1.68160055e-01 -6.35038496e-03 1.13767040e+02] [ 6.44613228e-03 -2.35048751e-05 9.99979223e-01 -4.13537624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.06, Y:113.79, Z:-0.41 [[ 1.71655177e-01 -9.85156908e-01 -6.06029214e-04 2.43061413e+02] [ 9.85150754e-01 1.71656246e-01 -3.48197878e-03 1.13790724e+02] [ 3.53432415e-03 6.69544648e-07 9.99993754e-01 -4.10736024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.240281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.07, Y:113.81, Z:-0.41 [[ 1.74898279e-01 -9.84586389e-01 -4.84697184e-04 2.43065306e+02] [ 9.84582437e-01 1.74898951e-01 -2.78975227e-03 1.13813785e+02] [ 2.83152515e-03 1.06985387e-05 9.99995991e-01 -4.09911460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.27028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.07, Y:113.84, Z:-0.41 [[ 1.84120969e-01 -9.82903144e-01 -9.37077525e-04 2.43067795e+02] [ 9.82888301e-01 1.84123339e-01 -5.40225018e-03 1.13838624e+02] [ 5.48242653e-03 7.36250047e-05 9.99984969e-01 -4.10736571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.300281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.07, Y:113.86, Z:-0.41 [[ 1.88848867e-01 -9.82005525e-01 -1.12014495e-03 2.43070550e+02] [ 9.81984227e-01 1.88852150e-01 -6.46871006e-03 1.13862277e+02] [ 6.56385080e-03 1.21643888e-04 9.99978450e-01 -4.11118643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.07, Y:113.89, Z:-0.41 [[ 1.97214571e-01 -9.80359962e-01 -8.70596783e-04 2.43071232e+02] [ 9.80347036e-01 1.97216443e-01 -5.03618991e-03 1.13886400e+02] [ 5.10897494e-03 1.39723055e-04 9.99986939e-01 -4.09961449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.07, Y:113.91, Z:-0.41 [[ 2.00495690e-01 -9.79694419e-01 -5.69249461e-04 2.43072242e+02] [ 9.79688872e-01 2.00496471e-01 -3.29833149e-03 1.13911045e+02] [ 3.34548946e-03 1.03613885e-04 9.99994398e-01 -4.09452951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.07, Y:113.94, Z:-0.41 [[ 2.03273623e-01 -9.79121896e-01 -3.84041401e-04 2.43072531e+02] [ 9.79119362e-01 2.03273971e-01 -2.22888271e-03 1.13936024e+02] [ 2.26041348e-03 7.70506916e-05 9.99997442e-01 -4.09088206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.420281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.07, Y:113.96, Z:-0.41 [[ 2.06337047e-01 -9.78480736e-01 -6.87965218e-04 2.43068697e+02] [ 9.78472574e-01 2.06338137e-01 -3.99930086e-03 1.13960879e+02] [ 4.05519231e-03 1.52048830e-04 9.99991766e-01 -4.09736694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.07, Y:113.99, Z:-0.41 [[ 2.06339146e-01 -9.78480121e-01 -8.99340395e-04 2.43069581e+02] [ 9.78466130e-01 2.06341008e-01 -5.23641039e-03 1.13985407e+02] [ 5.30929428e-03 2.00502331e-04 9.99985886e-01 -4.11211696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.48028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.07, Y:114.01, Z:-0.41 [[ 2.04400201e-01 -9.78887029e-01 -8.61187705e-04 2.43068208e+02] [ 9.78874161e-01 2.04401933e-01 -5.02266561e-03 1.14009444e+02] [ 5.09265065e-03 1.83639467e-04 9.99987016e-01 -4.11316820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.07, Y:114.03, Z:-0.41 [[ 2.02061977e-01 -9.79372547e-01 -6.10153705e-04 2.43069639e+02] [ 9.79366068e-01 2.02062861e-01 -3.56456738e-03 1.14033332e+02] [ 3.61432883e-03 1.22699695e-04 9.99993461e-01 -4.10816534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.07, Y:114.06, Z:-0.41 [[ 1.99479789e-01 -9.79901866e-01 -3.83075316e-04 2.43071520e+02] [ 9.79899305e-01 1.99480144e-01 -2.24159991e-03 1.14057982e+02] [ 2.27296385e-03 7.17786409e-05 9.99997414e-01 -4.09922775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.57028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.07, Y:114.08, Z:-0.41 [[ 1.95547027e-01 -9.80694296e-01 -2.39155279e-04 2.43072433e+02] [ 9.80693295e-01 1.95547169e-01 -1.40180291e-03 1.14082829e+02] [ 1.42150626e-03 3.95804128e-05 9.99998989e-01 -4.10501910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.07, Y:114.11, Z:-0.41 [[ 1.93879078e-01 -9.81025396e-01 -2.73958736e-04 2.43074791e+02] [ 9.81024078e-01 1.93879267e-01 -1.60849652e-03 1.14105927e+02] [ 1.63109085e-03 4.30937059e-05 9.99998669e-01 -4.11280235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.08, Y:114.13, Z:-0.41 [[ 1.90832796e-01 -9.81622504e-01 -3.21552680e-04 2.43075016e+02] [ 9.81620684e-01 1.90833062e-01 -1.89080310e-03 1.14130557e+02] [ 1.91741776e-03 4.51844813e-05 9.99998161e-01 -4.11429879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.66028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.08, Y:114.15, Z:-0.41 [[ 1.89286181e-01 -9.81921878e-01 -4.08154127e-04 2.43077265e+02] [ 9.81918937e-01 1.89286613e-01 -2.40390221e-03 1.14154834e+02] [ 2.43770228e-03 5.42512021e-05 9.99997027e-01 -4.11749196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.08, Y:114.18, Z:-0.41 [[ 1.87731293e-01 -9.82220269e-01 -5.52427962e-04 2.43079811e+02] [ 9.82214865e-01 1.87732093e-01 -3.25899782e-03 1.14179430e+02] [ 3.30476218e-03 6.92129187e-05 9.99994537e-01 -4.12481478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.72028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:243.08, Y:114.20, Z:-0.41 [[ 1.85474093e-01 -9.82648831e-01 -7.97896825e-04 2.43081676e+02] [ 9.82637522e-01 1.85475787e-01 -4.71523635e-03 1.14202763e+02] [ 4.78141203e-03 9.05108273e-05 9.99988565e-01 -4.12954447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.750281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.08, Y:114.23, Z:-0.41 [[ 1.83632671e-01 -9.82994398e-01 -1.02757982e-03 2.43082799e+02] [ 9.82975583e-01 1.83635515e-01 -6.08289217e-03 1.14227855e+02] [ 6.16814907e-03 1.06931864e-04 9.99980971e-01 -4.12649567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.78028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.09, Y:114.25, Z:-0.41 [[ 1.83094075e-01 -9.83094705e-01 -1.16628033e-03 2.43085018e+02] [ 9.83070386e-01 1.83097750e-01 -6.91597469e-03 1.14252589e+02] [ 7.01260140e-03 1.19738334e-04 9.99975404e-01 -4.12970585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.09, Y:114.28, Z:-0.41 [[ 1.82744211e-01 -9.83159776e-01 -1.18681410e-03 2.43087228e+02] [ 9.83134511e-01 1.82748024e-01 -7.04926614e-03 1.14275724e+02] [ 7.14744285e-03 1.21414674e-04 9.99974449e-01 -4.13108144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.84028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.09, Y:114.30, Z:-0.41 [[ 1.83478510e-01 -9.83023355e-01 -8.48238665e-04 2.43088345e+02] [ 9.83010404e-01 1.83480448e-01 -5.04696661e-03 1.14300179e+02] [ 5.11692126e-03 9.21824818e-05 9.99986904e-01 -4.11993604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.08, Y:114.33, Z:-0.41 [[ 1.83727792e-01 -9.82824689e-01 1.73126997e-02 2.43081141e+02] [ 9.82941069e-01 1.83541623e-01 -1.18036856e-02 1.14326125e+02] [ 8.42335259e-03 1.91860287e-02 9.99780448e-01 -4.08811170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.90028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.10, Y:114.35, Z:-0.41 [[ 1.85526388e-01 -9.82452393e-01 -1.91639011e-02 2.43098286e+02] [ 9.82626675e-01 1.85587513e-01 -1.44640949e-03 1.14348185e+02] [ 4.97760921e-03 -1.85626133e-02 9.99815309e-01 -4.11421964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.930281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.09, Y:114.37, Z:-0.41 [[ 1.86104210e-01 -9.82529630e-01 -8.65943225e-04 2.43091142e+02] [ 9.82515989e-01 1.86106191e-01 -5.17847045e-03 1.14373499e+02] [ 5.24915805e-03 1.12932090e-04 9.99986217e-01 -4.11661023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.09, Y:114.40, Z:-0.41 [[ 1.86986726e-01 -9.82362082e-01 -8.39629198e-04 2.43093237e+02] [ 9.82349212e-01 1.86988576e-01 -5.02974200e-03 1.14398360e+02] [ 5.09802889e-03 1.15685908e-04 9.99986998e-01 -4.11703233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 321.990281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.09, Y:114.42, Z:-0.41 [[ 1.88973702e-01 -9.81981922e-01 -6.66262423e-04 2.43090993e+02] [ 9.81973788e-01 1.88974850e-01 -3.99822766e-03 1.14422433e+02] [ 4.05209412e-03 1.01307648e-04 9.99991785e-01 -4.10998161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.09, Y:114.45, Z:-0.41 [[ 1.89867380e-01 -9.81809566e-01 -5.95383648e-04 2.43090962e+02] [ 9.81803047e-01 1.89868290e-01 -3.57896559e-03 1.14447324e+02] [ 3.62690713e-03 9.49793413e-05 9.99993418e-01 -4.10639122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.050281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.09, Y:114.47, Z:-0.41 [[ 1.91667332e-01 -9.81459753e-01 -6.21929917e-04 2.43087189e+02] [ 9.81452613e-01 1.91668311e-01 -3.74517023e-03 1.14473025e+02] [ 3.79493810e-03 1.07432044e-04 9.99992793e-01 -4.10702801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.08028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.09, Y:114.50, Z:-0.41 [[ 1.92252152e-01 -9.81345373e-01 -6.07121856e-04 2.43087301e+02] [ 9.81338544e-01 1.92253080e-01 -3.66268671e-03 1.14496505e+02] [ 3.71108170e-03 1.08367324e-04 9.99993108e-01 -4.11279173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.110281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.08, Y:114.52, Z:-0.41 [[ 1.94283027e-01 -9.80945460e-01 -3.31372208e-04 2.43083627e+02] [ 9.80943418e-01 1.94283299e-01 -2.00246695e-03 1.14522459e+02] [ 2.02869095e-03 6.39879540e-05 9.99997940e-01 -4.10938743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.08, Y:114.55, Z:-0.41 [[ 1.94738335e-01 -9.80855192e-01 -2.70974262e-04 2.43083020e+02] [ 9.80853822e-01 1.94738516e-01 -1.64038243e-03 1.14546581e+02] [ 1.66174675e-03 5.36592022e-05 9.99998618e-01 -4.10665021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.170281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.08, Y:114.57, Z:-0.41 [[ 1.94716725e-01 -9.80859481e-01 -2.73744198e-04 2.43083345e+02] [ 9.80858078e-01 1.94716910e-01 -1.65996206e-03 1.14571572e+02] [ 1.68149215e-03 5.47181672e-05 9.99998585e-01 -4.10902129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.20028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.08, Y:114.60, Z:-0.41 [[ 1.91249569e-01 -9.81541409e-01 -2.54879189e-04 2.43081411e+02] [ 9.81540189e-01 1.91249734e-01 -1.54827776e-03 1.14596971e+02] [ 1.56844431e-03 4.59332864e-05 9.99998769e-01 -4.11149249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.08, Y:114.62, Z:-0.41 [[ 1.85465351e-01 -9.82650798e-01 -1.16474109e-04 2.43079762e+02] [ 9.82650542e-01 1.85465387e-01 -7.08602129e-04 1.14620958e+02] [ 7.17910363e-04 1.69677967e-05 9.99999742e-01 -4.11518626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.08, Y:114.65, Z:-0.41 [[ 1.81837899e-01 -9.83328517e-01 7.69031802e-05 2.43081022e+02] [ 9.83328405e-01 1.81837915e-01 4.69287973e-04 1.14645026e+02] [-4.75448160e-04 -9.71325738e-06 9.99999887e-01 -4.11661030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.08, Y:114.67, Z:-0.41 [[ 1.77930351e-01 -9.84043071e-01 1.56563333e-04 2.43083096e+02] [ 9.84042606e-01 1.77930419e-01 9.56738941e-04 1.14670110e+02] [-9.69329705e-04 -1.61679055e-05 9.99999530e-01 -4.12005361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.09, Y:114.70, Z:-0.41 [[ 1.71543854e-01 -9.85176415e-01 -3.70488729e-04 2.43085358e+02] [ 9.85173808e-01 1.71544253e-01 -2.26670612e-03 1.14695039e+02] [ 2.29666062e-03 2.38437134e-05 9.99997362e-01 -4.13354816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.35028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.09, Y:114.72, Z:-0.41 [[ 1.69165213e-01 -9.85587394e-01 -7.87402090e-04 2.43087917e+02] [ 9.85575585e-01 1.69167040e-01 -4.82488940e-03 1.14719594e+02] [ 4.88855265e-03 4.01591657e-05 9.99988050e-01 -4.13975212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.09, Y:114.74, Z:-0.41 [[ 1.66407556e-01 -9.86056570e-01 -9.83025992e-04 2.43088657e+02] [ 9.86038104e-01 1.66410455e-01 -6.03463944e-03 1.14743777e+02] [ 6.11408167e-03 3.49085131e-05 9.99981308e-01 -4.14115815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.09, Y:114.77, Z:-0.41 [[ 1.65083749e-01 -9.86279203e-01 -8.30882790e-04 2.43091623e+02] [ 9.86265968e-01 1.65085838e-01 -5.10936310e-03 1.14768359e+02] [ 5.17642555e-03 2.40013945e-05 9.99986602e-01 -4.14098148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.10, Y:114.79, Z:-0.41 [[ 1.62001388e-01 -9.86790364e-01 -5.72187978e-04 2.43095779e+02] [ 9.86784069e-01 1.62002398e-01 -3.52470141e-03 1.14792659e+02] [ 3.57083721e-03 6.38053797e-06 9.99993625e-01 -4.14542677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.10, Y:114.82, Z:-0.41 [[ 1.59540094e-01 -9.87191308e-01 -5.28498499e-04 2.43099447e+02] [ 9.87185922e-01 1.59540969e-01 -3.26101467e-03 1.14815948e+02] [ 3.30356250e-03 -1.46369333e-06 9.99994543e-01 -4.14633992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.500281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.10, Y:114.84, Z:-0.41 [[ 1.56685578e-01 -9.87648367e-01 -5.76562750e-04 2.43102806e+02] [ 9.87641937e-01 1.56686639e-01 -3.56391361e-03 1.14840213e+02] [ 3.61023314e-03 -1.10236847e-05 9.99993483e-01 -4.14756488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.11, Y:114.86, Z:-0.41 [[ 1.50633263e-01 -9.88589424e-01 -7.55229248e-04 2.43108548e+02] [ 9.88578363e-01 1.50635150e-01 -4.67667777e-03 1.14863930e+02] [ 4.73707825e-03 -4.21400628e-05 9.99988779e-01 -4.14860738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.11, Y:114.89, Z:-0.41 [[ 1.47428012e-01 -9.89072561e-01 -6.71540652e-04 2.43114844e+02] [ 9.89063788e-01 1.47429533e-01 -4.16601541e-03 1.14887231e+02] [ 4.21949645e-03 -5.00091733e-05 9.99991097e-01 -4.14807446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.59028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.12, Y:114.91, Z:-0.41 [[ 1.41526671e-01 -9.89934374e-01 -3.69480592e-04 2.43124762e+02] [ 9.89931712e-01 1.41527148e-01 -2.29610159e-03 1.14910805e+02] [ 2.32528143e-03 -4.08009392e-05 9.99997296e-01 -4.14703239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.13, Y:114.94, Z:-0.42 [[ 1.39047363e-01 -9.90285685e-01 -3.06570086e-04 2.43131159e+02] [ 9.90283846e-01 1.39047695e-01 -1.90850485e-03 1.14935060e+02] [ 1.93259290e-03 -3.82188373e-05 9.99998132e-01 -4.15039255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.13, Y:114.96, Z:-0.42 [[ 1.38782106e-01 -9.90322893e-01 -3.06056519e-04 2.43134794e+02] [ 9.90321055e-01 1.38782439e-01 -1.90858727e-03 1.14959934e+02] [ 1.93259294e-03 -3.82164527e-05 9.99998132e-01 -4.15034437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.680281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.14, Y:114.98, Z:-0.41 [[ 1.37400489e-01 -9.90515485e-01 -4.22827625e-04 2.43143771e+02] [ 9.90511965e-01 1.37401128e-01 -2.64160708e-03 1.14983619e+02] [ 2.67464971e-03 -5.58577184e-05 9.99996422e-01 -4.14658660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.15, Y:115.01, Z:-0.41 [[ 1.38281936e-01 -9.90392805e-01 -4.44490525e-04 2.43149192e+02] [ 9.90388899e-01 1.38282640e-01 -2.78199439e-03 1.15007404e+02] [ 2.81673255e-03 -5.55189113e-05 9.99996031e-01 -4.13837689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.15, Y:115.03, Z:-0.41 [[ 1.43461863e-01 -9.89655746e-01 -4.46231142e-04 2.43153973e+02] [ 9.89651791e-01 1.43462551e-01 -2.79813589e-03 1.15030391e+02] [ 2.83320872e-03 -4.01876622e-05 9.99995986e-01 -4.13275671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.77028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.16, Y:115.05, Z:-0.41 [[ 1.46998288e-01 -9.89136609e-01 -5.21749342e-04 2.43158114e+02] [ 9.89131179e-01 1.46999210e-01 -3.27765970e-03 1.15054752e+02] [ 3.31874994e-03 -3.42681761e-05 9.99994492e-01 -4.13491237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.800281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.16, Y:115.08, Z:-0.41 [[ 1.50388082e-01 -9.88626884e-01 -5.56138141e-04 2.43162904e+02] [ 9.88620688e-01 1.50389109e-01 -3.50005131e-03 1.15079416e+02] [ 3.54388194e-03 -2.34436664e-05 9.99993720e-01 -4.14164523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.17, Y:115.10, Z:-0.41 [[ 1.55797860e-01 -9.87788825e-01 -5.13352582e-04 2.43168308e+02] [ 9.87783522e-01 1.55798706e-01 -3.23684571e-03 1.15102313e+02] [ 3.27729969e-03 -2.78758710e-06 9.99994630e-01 -4.14169360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.860281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.17, Y:115.13, Z:-0.41 [[ 1.58069662e-01 -9.87427907e-01 -3.32453574e-04 2.43171711e+02] [ 9.87425674e-01 1.58070011e-01 -2.09996432e-03 1.15126766e+02] [ 2.12611431e-03 3.66745577e-06 9.99997740e-01 -4.14091102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.17, Y:115.15, Z:-0.41 [[ 1.61527628e-01 -9.86868183e-01 -1.17655785e-04 2.43172071e+02] [ 9.86867903e-01 1.61527671e-01 -7.44328927e-04 1.15151976e+02] [ 7.53559201e-04 4.11896812e-06 9.99999716e-01 -4.14063087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.920281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.17, Y:115.18, Z:-0.41 [[ 1.63081813e-01 -9.86612535e-01 -1.64430897e-04 2.43173886e+02] [ 9.86611985e-01 1.63081896e-01 -1.04230914e-03 1.15176350e+02] [ 1.05517096e-03 7.75217030e-06 9.99999443e-01 -4.14613196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.95028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.17, Y:115.20, Z:-0.41 [[ 1.66735033e-01 -9.86001669e-01 -3.71894493e-04 2.43172113e+02] [ 9.85998839e-01 1.66735445e-01 -2.36235212e-03 1.15200425e+02] [ 2.39129113e-03 2.71993202e-05 9.99997141e-01 -4.13226310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 322.98028169299994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.17, Y:115.22, Z:-0.41 [[ 1.67870041e-01 -9.85809081e-01 -3.25931683e-04 2.43171511e+02] [ 9.85806899e-01 1.67870355e-01 -2.07430746e-03 1.15224767e+02] [ 2.09958539e-03 2.69083759e-05 9.99997796e-01 -4.13677327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.17, Y:115.25, Z:-0.41 [[ 1.68627039e-01 -9.85679885e-01 -2.94656175e-04 2.43171355e+02] [ 9.85678095e-01 1.68627295e-01 -1.87870942e-03 1.15249608e+02] [ 1.90149316e-03 2.63650710e-05 9.99998192e-01 -4.14035446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.17, Y:115.27, Z:-0.41 [[ 1.68154896e-01 -9.85760511e-01 -3.82071231e-04 2.43169817e+02] [ 9.85757490e-01 1.68155326e-01 -2.44073198e-03 1.15274900e+02] [ 2.47022451e-03 3.37914532e-05 9.99996948e-01 -4.14799859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.17, Y:115.30, Z:-0.41 [[ 1.66126285e-01 -9.86104359e-01 -4.99912934e-04 2.43170709e+02] [ 9.86099168e-01 1.66127033e-01 -3.19982081e-03 1.15298748e+02] [ 3.23840630e-03 3.86106157e-05 9.99994756e-01 -4.14823896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.10028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.17, Y:115.32, Z:-0.41 [[ 1.60780555e-01 -9.86989968e-01 -6.44306043e-04 2.43167206e+02] [ 9.86981320e-01 1.60781844e-01 -4.13189483e-03 1.15324511e+02] [ 4.18173146e-03 2.84103167e-05 9.99991256e-01 -4.14924065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.130281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.17, Y:115.35, Z:-0.42 [[ 1.57889839e-01 -9.87456559e-01 -5.84942598e-04 2.43167567e+02] [ 9.87449409e-01 1.57890921e-01 -3.75777364e-03 1.15348546e+02] [ 3.80299536e-03 1.57130507e-05 9.99992768e-01 -4.15041449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.16028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.17, Y:115.37, Z:-0.41 [[ 1.51937731e-01 -9.88389984e-01 -4.06596181e-04 2.43168167e+02] [ 9.88386520e-01 1.51938275e-01 -2.61674205e-03 1.15373771e+02] [ 2.64813916e-03 -4.29233515e-06 9.99996494e-01 -4.14456608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.190281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.17, Y:115.40, Z:-0.41 [[ 1.48625135e-01 -9.88893553e-01 -3.30561506e-04 2.43170827e+02] [ 9.88891257e-01 1.48625502e-01 -2.13127393e-03 1.15398443e+02] [ 2.15673292e-03 -1.01285077e-05 9.99997674e-01 -4.14213342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.22028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.17, Y:115.42, Z:-0.41 [[ 1.45477031e-01 -9.89361586e-01 -2.93020065e-04 2.43173425e+02] [ 9.89359775e-01 1.45477326e-01 -1.89279658e-03 1.15422374e+02] [ 1.91528800e-03 -1.45438384e-05 9.99998166e-01 -4.13959690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.18, Y:115.45, Z:-0.41 [[ 1.39391475e-01 -9.90237341e-01 -1.59058695e-04 2.43176635e+02] [ 9.90236806e-01 1.39391565e-01 -1.02924400e-03 1.15446617e+02] [ 1.04136729e-03 -1.40379340e-05 9.99999458e-01 -4.14442787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.18, Y:115.47, Z:-0.41 [[ 1.36225459e-01 -9.90677840e-01 -2.06839441e-04 2.43180698e+02] [ 9.90676932e-01 1.36225614e-01 -1.34114634e-03 1.15469680e+02] [ 1.35682079e-03 -2.22127874e-05 9.99999079e-01 -4.14605424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.19, Y:115.49, Z:-0.41 [[ 1.30818880e-01 -9.91406219e-01 -3.60807036e-04 2.43185758e+02] [ 9.91403449e-01 1.30819368e-01 -2.34389904e-03 1.15492730e+02] [ 2.37095663e-03 -5.10790919e-05 9.99997188e-01 -4.14339094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.19, Y:115.52, Z:-0.41 [[ 1.28659631e-01 -9.91688726e-01 -4.12049506e-04 2.43189997e+02] [ 9.91685102e-01 1.28660275e-01 -2.68179793e-03 1.15517418e+02] [ 2.71252318e-03 -6.35842242e-05 9.99996319e-01 -4.14475335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.370281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.19, Y:115.54, Z:-0.42 [[ 1.25810476e-01 -9.92054181e-01 -4.75921016e-04 2.43194388e+02] [ 9.92049330e-01 1.25811349e-01 -3.10335316e-03 1.15542040e+02] [ 3.13857074e-03 -8.17027886e-05 9.99995071e-01 -4.15111944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.40028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.20, Y:115.57, Z:-0.42 [[ 1.24778061e-01 -9.92184576e-01 -4.48982446e-04 2.43198484e+02] [ 9.92180244e-01 1.24778844e-01 -2.93334009e-03 1.15565169e+02] [ 2.96643831e-03 -7.94550224e-05 9.99995597e-01 -4.15270673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.430281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.20, Y:115.59, Z:-0.42 [[ 1.23618034e-01 -9.92329779e-01 -4.38456744e-04 2.43203394e+02] [ 9.92325631e-01 1.23618785e-01 -2.87008123e-03 1.15588725e+02] [ 2.90226856e-03 -8.02980675e-05 9.99995785e-01 -4.15325010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.46028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.21, Y:115.61, Z:-0.42 [[ 1.19863547e-01 -9.92790239e-01 -5.20379236e-04 2.43211483e+02] [ 9.92784379e-01 1.19864629e-01 -3.41292487e-03 1.15611726e+02] [ 3.45069357e-03 -1.07539095e-04 9.99994041e-01 -4.15671239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.490281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:243.22, Y:115.63, Z:-0.42 [[ 1.16695266e-01 -9.93167587e-01 -5.99669002e-04 2.43217619e+02] [ 9.93159781e-01 1.16696728e-01 -3.93986148e-03 1.15634842e+02] [ 3.98292213e-03 -1.35803950e-04 9.99992059e-01 -4.15698280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.52028169299996 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:243.23, Y:115.66, Z:-0.42 [[ 1.09012886e-01 -9.94040101e-01 -6.84499320e-04 2.43228834e+02] [ 9.94029908e-01 1.09014871e-01 -4.50548085e-03 1.15657801e+02] [ 4.55324925e-03 -1.89257325e-04 9.99989616e-01 -4.16593948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.550281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.24, Y:115.68, Z:-0.42 [[ 1.05212034e-01 -9.94449598e-01 -6.51538004e-04 2.43236894e+02] [ 9.94440335e-01 1.05213869e-01 -4.29664082e-03 1.15680714e+02] [ 4.34134357e-03 -1.95857351e-04 9.99990557e-01 -4.16648227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.58028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.25, Y:115.70, Z:-0.41 [[ 9.95428283e-02 -9.95033164e-01 -4.78055357e-04 2.43249035e+02] [ 9.95028164e-01 9.95438456e-02 -3.15840618e-03 1.15703143e+02] [ 3.19030636e-03 -1.61281860e-04 9.99994898e-01 -4.14849578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.610281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.26, Y:115.73, Z:-0.41 [[ 9.77191765e-02 -9.95213914e-01 -4.76790707e-04 2.43256289e+02] [ 9.95208925e-01 9.77201985e-02 -3.15572178e-03 1.15727460e+02] [ 3.18721031e-03 -1.66131833e-04 9.99994907e-01 -4.14130851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.64028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.26, Y:115.75, Z:-0.41 [[ 9.72055182e-02 -9.95264221e-01 -4.65989355e-04 2.43264066e+02] [ 9.95259438e-01 9.72064977e-02 -3.08992538e-03 1.15751102e+02] [ 3.12058937e-03 -1.63422506e-04 9.99995118e-01 -4.14033672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.670281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:243.28, Y:115.77, Z:-0.41 [[ 9.98083253e-02 -9.95006568e-01 -4.78110801e-04 2.43277522e+02] [ 9.95001510e-01 9.98093443e-02 -3.17631820e-03 1.15773704e+02] [ 3.20817740e-03 -1.58697969e-04 9.99994841e-01 -4.13500251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.70028169299997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:243.28, Y:115.80, Z:-0.41 [[ 1.01679630e-01 -9.94817051e-01 -5.36218734e-04 2.43284756e+02] [ 9.94810662e-01 1.01680900e-01 -3.56944021e-03 1.15796362e+02] [ 3.60546319e-03 -1.70496756e-04 9.99993486e-01 -4.13409491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.73028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.30, Y:115.82, Z:-0.41 [[ 1.05696186e-01 -9.94398237e-01 -6.80698458e-04 2.43295962e+02] [ 9.94387891e-01 1.05698194e-01 -4.54019313e-03 1.15819145e+02] [ 4.58670864e-03 -1.96997206e-04 9.99989462e-01 -4.14062673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.30, Y:115.84, Z:-0.41 [[ 1.06749400e-01 -9.94285746e-01 -6.49026301e-04 2.43303654e+02] [ 9.94276304e-01 1.06751217e-01 -4.33693525e-03 1.15842304e+02] [ 4.38143724e-03 -1.82346237e-04 9.99990385e-01 -4.14066619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.79028169299994 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:243.32, Y:115.87, Z:-0.41 [[ 1.07632150e-01 -9.94190738e-01 -3.09572348e-04 2.43315974e+02] [ 9.94188582e-01 1.07632562e-01 -2.07247077e-03 1.15865092e+02] [ 2.09375131e-03 -8.47088087e-05 9.99997805e-01 -4.12626089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.82028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.32, Y:115.89, Z:-0.41 [[ 1.07633014e-01 -9.94190677e-01 -1.77451393e-04 2.43323582e+02] [ 9.94189966e-01 1.07633149e-01 -1.19021878e-03 1.15887628e+02] [ 1.20240407e-03 -4.83135596e-05 9.99999276e-01 -4.12076341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.85028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:243.34, Y:115.91, Z:-0.41 [[ 1.07761745e-01 -9.94176722e-01 -2.28220755e-04 2.43336748e+02] [ 9.94175540e-01 1.07761969e-01 -1.53389360e-03 1.15909474e+02] [ 1.54955483e-03 -6.15964420e-05 9.99998798e-01 -4.13715930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.880281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.35, Y:115.93, Z:-0.41 [[ 1.08155665e-01 -9.94133923e-01 -3.09637207e-04 2.43345222e+02] [ 9.94131739e-01 1.08156077e-01 -2.08523454e-03 1.15932387e+02] [ 2.10649153e-03 -8.22902469e-05 9.99997778e-01 -4.14475814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.91028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.35, Y:115.96, Z:-0.41 [[ 1.08542339e-01 -9.94091736e-01 -4.26541251e-04 2.43353030e+02] [ 9.94087576e-01 1.08543119e-01 -2.87809939e-03 1.15956548e+02] [ 2.90739293e-03 -1.11623719e-04 9.99995767e-01 -4.14176640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.940281693 meters Centerline goodness : 0.999769 Centerline is valid? [True, True] Translation: X:243.36, Y:115.98, Z:-0.41 [[ 1.11250401e-01 -9.93792140e-01 -7.28219850e-04 2.43364256e+02] [ 9.93779963e-01 1.11252646e-01 -4.92276184e-03 1.15978943e+02] [ 4.97321841e-03 -1.76031065e-04 9.99987618e-01 -4.14233577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 323.97028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.37, Y:116.00, Z:-0.41 [[ 1.13295302e-01 -9.93561035e-01 -8.02701929e-04 2.43372175e+02] [ 9.93546177e-01 1.13298000e-01 -5.43672782e-03 1.16002441e+02] [ 5.49266545e-03 -1.81565712e-04 9.99984899e-01 -4.14668969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.000281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:243.38, Y:116.03, Z:-0.41 [[ 1.18788618e-01 -9.92919349e-01 -6.56937575e-04 2.43384317e+02] [ 9.92909348e-01 1.18790371e-01 -4.45800347e-03 1.16025473e+02] [ 4.50447576e-03 -1.22719391e-04 9.99989847e-01 -4.13669221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.03028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:243.39, Y:116.05, Z:-0.41 [[ 1.21388332e-01 -9.92604958e-01 -5.19656522e-04 2.43389912e+02] [ 9.92598675e-01 1.21389414e-01 -3.53279269e-03 1.16048439e+02] [ 3.56974834e-03 -8.69705615e-05 9.99993625e-01 -4.13241185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.060281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.40, Y:116.07, Z:-0.41 [[ 1.23778185e-01 -9.92309816e-01 -4.35169055e-04 2.43395226e+02] [ 9.92305391e-01 1.23778933e-01 -2.96437702e-03 1.16072507e+02] [ 2.99544518e-03 -6.48953920e-05 9.99995512e-01 -4.13829588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.09028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:243.40, Y:116.09, Z:-0.41 [[ 1.27560207e-01 -9.91830655e-01 -5.87775183e-04 2.43403632e+02] [ 9.91822541e-01 1.27561541e-01 -4.01257351e-03 1.16094919e+02] [ 4.05477092e-03 -7.11239676e-05 9.99991777e-01 -4.14287498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.120281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:243.41, Y:116.12, Z:-0.41 [[ 1.28305371e-01 -9.91734433e-01 -7.38867811e-04 2.43409309e+02] [ 9.91721559e-01 1.28307471e-01 -5.05391127e-03 1.16119131e+02] [ 5.10694008e-03 -8.43071761e-05 9.99986956e-01 -4.14714334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.15028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.42, Y:116.14, Z:-0.41 [[ 1.30376335e-01 -9.91464318e-01 -7.19573990e-04 2.43415141e+02] [ 9.91452054e-01 1.30378302e-01 -4.93178545e-03 1.16142686e+02] [ 4.98350613e-03 -7.04349974e-05 9.99987580e-01 -4.13890404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.180281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:243.42, Y:116.17, Z:-0.41 [[ 1.31666893e-01 -9.91293893e-01 -4.97829674e-04 2.43419022e+02] [ 9.91287999e-01 1.31667827e-01 -3.41847586e-03 1.16167290e+02] [ 3.45426239e-03 -4.33924868e-05 9.99994033e-01 -4.12842920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.21028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.42, Y:116.19, Z:-0.41 [[ 1.34971752e-01 -9.90849425e-01 -2.09435124e-04 2.43424682e+02] [ 9.90848377e-01 1.34971914e-01 -1.44080000e-03 1.16190208e+02] [ 1.45588371e-03 -1.30511515e-05 9.99998940e-01 -4.12858612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.240281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.43, Y:116.21, Z:-0.41 [[ 1.36113085e-01 -9.90693276e-01 -2.48175553e-04 2.43429073e+02] [ 9.90691799e-01 1.36113311e-01 -1.71071709e-03 1.16214476e+02] [ 1.72857591e-03 -1.30145044e-05 9.99998506e-01 -4.12679771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.27028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.43, Y:116.24, Z:-0.41 [[ 1.37807147e-01 -9.90459047e-01 -2.59177372e-04 2.43434052e+02] [ 9.90457429e-01 1.37807391e-01 -1.79007374e-03 1.16238329e+02] [ 1.80871129e-03 -1.00191975e-05 9.99998364e-01 -4.13440528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.300281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:243.44, Y:116.26, Z:-0.41 [[ 1.38392092e-01 -9.90377485e-01 -2.55484344e-04 2.43438332e+02] [ 9.90375908e-01 1.38392328e-01 -1.76785092e-03 1.16261692e+02] [ 1.78619682e-03 -8.36895079e-06 9.99998405e-01 -4.13664667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.33028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.44, Y:116.29, Z:-0.41 [[ 1.38726973e-01 -9.90330626e-01 -2.79373907e-04 2.43442606e+02] [ 9.90328731e-01 1.38727254e-01 -1.93715260e-03 1.16285195e+02] [ 1.95717832e-03 -7.93669062e-06 9.99998085e-01 -4.13507200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.360281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.45, Y:116.31, Z:-0.41 [[ 1.39817696e-01 -9.90177200e-01 -3.52233507e-04 2.43446679e+02] [ 9.90174176e-01 1.39818140e-01 -2.44731954e-03 1.16309649e+02] [ 2.47252864e-03 -6.59394194e-06 9.99996943e-01 -4.13542101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.39028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.45, Y:116.33, Z:-0.41 [[ 1.40596123e-01 -9.90066954e-01 -3.95326906e-04 2.43449527e+02] [ 9.90063128e-01 1.40596678e-01 -2.75241880e-03 1.16332935e+02] [ 2.78066055e-03 -4.41918246e-06 9.99996134e-01 -4.13833961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.420281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:243.45, Y:116.36, Z:-0.41 [[ 1.42860697e-01 -9.89742628e-01 -5.92969938e-04 2.43452562e+02] [ 9.89733981e-01 1.42861928e-01 -4.13720524e-03 1.16357690e+02] [ 4.17948121e-03 4.16152752e-06 9.99991266e-01 -4.13574841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.45028169299997 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:243.46, Y:116.38, Z:-0.41 [[ 1.43266150e-01 -9.89683943e-01 -7.09760691e-04 2.43455515e+02] [ 9.89671500e-01 1.43267908e-01 -4.96273756e-03 1.16381089e+02] [ 5.01322760e-03 8.56237738e-06 9.99987434e-01 -4.14449068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.48028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.46, Y:116.41, Z:-0.41 [[ 1.43592757e-01 -9.89636514e-01 -8.30403549e-04 2.43458780e+02] [ 9.89619413e-01 1.43595158e-01 -5.81797024e-03 1.16405990e+02] [ 5.87691771e-03 1.36349146e-05 9.99982731e-01 -4.14666647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.51028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.46, Y:116.43, Z:-0.41 [[ 1.44895903e-01 -9.89446609e-01 -7.65420355e-04 2.43461030e+02] [ 9.89432017e-01 1.44897923e-01 -5.37362579e-03 1.16430403e+02] [ 5.42782364e-03 2.12849537e-05 9.99985269e-01 -4.13924618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.54028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.46, Y:116.46, Z:-0.41 [[ 1.44625828e-01 -9.89486122e-01 -7.63951137e-04 2.43464214e+02] [ 9.89471530e-01 1.44627844e-01 -5.37383486e-03 1.16455373e+02] [ 5.42782362e-03 2.12874144e-05 9.99985269e-01 -4.13919801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.57028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.47, Y:116.48, Z:-0.41 [[ 1.45559097e-01 -9.89349386e-01 -5.84021397e-04 2.43466225e+02] [ 9.89340821e-01 1.45560267e-01 -4.11676333e-03 1.16478948e+02] [ 4.15792758e-03 2.14361454e-05 9.99991356e-01 -4.13430662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.60028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.46, Y:116.50, Z:-0.41 [[ 1.48692435e-01 -9.88883407e-01 -4.09484655e-04 2.43464734e+02] [ 9.88879177e-01 1.48692996e-01 -2.89239915e-03 1.16502616e+02] [ 2.92113302e-03 2.51470227e-05 9.99995733e-01 -4.12227592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.47, Y:116.53, Z:-0.41 [[ 1.50157911e-01 -9.88661949e-01 -3.90372489e-04 2.43465199e+02] [ 9.88658088e-01 1.50158415e-01 -2.76303944e-03 1.16527509e+02] [ 2.79032967e-03 2.89473108e-05 9.99996107e-01 -4.11785573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.47, Y:116.55, Z:-0.41 [[ 1.51127913e-01 -9.88514144e-01 -3.75835373e-04 2.43465148e+02] [ 9.88510550e-01 1.51128377e-01 -2.66578130e-03 1.16551591e+02] [ 2.69196191e-03 3.13567350e-05 9.99996376e-01 -4.12031801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.690281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.46, Y:116.58, Z:-0.41 [[ 1.52362647e-01 -9.88324619e-01 -2.68791163e-04 2.43462769e+02] [ 9.88322773e-01 1.52362882e-01 -1.91033094e-03 1.16576464e+02] [ 1.92898089e-03 2.54106504e-05 9.99998139e-01 -4.12252460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.72028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.46, Y:116.60, Z:-0.41 [[ 1.52552431e-01 -9.88295361e-01 -1.87109219e-04 2.43463247e+02] [ 9.88294463e-01 1.52552545e-01 -1.33240959e-03 1.16601804e+02] [ 1.34535820e-03 1.83433167e-05 9.99999095e-01 -4.11515559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.750281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.46, Y:116.63, Z:-0.41 [[ 1.52500051e-01 -9.88303443e-01 -1.97587703e-04 2.43461016e+02] [ 9.88302437e-01 1.52500177e-01 -1.41002228e-03 1.16626121e+02] [ 1.42366204e-03 1.97520604e-05 9.99998986e-01 -4.11537938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.78028169299995 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:243.46, Y:116.65, Z:-0.41 [[ 1.51492512e-01 -9.88458344e-01 -3.48573195e-04 2.43461368e+02] [ 9.88455200e-01 1.51492909e-01 -2.49305518e-03 1.16649781e+02] [ 2.51708757e-03 3.31302048e-05 9.99996832e-01 -4.12105005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.810281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.46, Y:116.68, Z:-0.41 [[ 1.50040782e-01 -9.88679667e-01 -5.29378941e-04 2.43461915e+02] [ 9.88672388e-01 1.50041709e-01 -3.79407128e-03 1.16675007e+02] [ 3.83055005e-03 4.58830814e-05 9.99992662e-01 -4.12323467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.84028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.46, Y:116.70, Z:-0.41 [[ 1.47820312e-01 -9.89014016e-01 -6.56827292e-04 2.43459824e+02] [ 9.89002767e-01 1.47821764e-01 -4.71741120e-03 1.16699993e+02] [ 4.76267917e-03 4.77251866e-05 9.99988657e-01 -4.12472026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.870281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.46, Y:116.72, Z:-0.41 [[ 1.47787126e-01 -9.89019091e-01 -4.49694943e-04 2.43459100e+02] [ 9.89013796e-01 1.47787807e-01 -3.23663820e-03 1.16723478e+02] [ 3.26755640e-03 3.35789564e-05 9.99994661e-01 -4.11615811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.90028169299995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:243.46, Y:116.75, Z:-0.41 [[ 1.48087205e-01 -9.88974263e-01 -2.92981841e-04 2.43459885e+02] [ 9.88972006e-01 1.48087493e-01 -2.11307231e-03 1.16747193e+02] [ 2.13316108e-03 2.31681341e-05 9.99997725e-01 -4.11073314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.46, Y:116.77, Z:-0.41 [[ 1.48909699e-01 -9.88850771e-01 -2.30971113e-04 2.43460302e+02] [ 9.88849363e-01 1.48909877e-01 -1.66924613e-03 1.16771773e+02] [ 1.68502920e-03 2.01713011e-05 9.99998580e-01 -4.10950275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.46, Y:116.80, Z:-0.41 [[ 1.50462002e-01 -9.88615680e-01 -4.73676732e-04 2.43458064e+02] [ 9.88609727e-01 1.50462739e-01 -3.43096117e-03 1.16797002e+02] [ 3.46317271e-03 4.79478605e-05 9.99994002e-01 -4.11403903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 324.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:243.46, Y:116.82, Z:-0.41 [[ 1.50797874e-01 -9.88564448e-01 -5.77764301e-04 2.43458437e+02] [ 9.88555556e-01 1.50798968e-01 -4.19339936e-03 1.16820428e+02] [ 4.23257178e-03 6.12035988e-05 9.99991041e-01 -4.12370021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.02028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.46, Y:116.84, Z:-0.41 [[ 1.50512520e-01 -9.88607988e-01 -4.76676411e-04 2.43457027e+02] [ 9.88601910e-01 1.50513267e-01 -3.46710511e-03 1.16844337e+02] [ 3.49935393e-03 5.05995190e-05 9.99993876e-01 -4.12033966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.050281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:243.46, Y:116.87, Z:-0.41 [[ 1.49251066e-01 -9.88799273e-01 -3.43125104e-04 2.43458826e+02] [ 9.88796111e-01 1.49251456e-01 -2.50089447e-03 1.16868984e+02] [ 2.52409455e-03 3.39803960e-05 9.99996814e-01 -4.11554300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.08028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.46, Y:116.89, Z:-0.41 [[ 1.47415610e-01 -9.89074620e-01 -1.84723877e-04 2.43461971e+02] [ 9.89073700e-01 1.47415725e-01 -1.34909978e-03 1.16893331e+02] [ 1.36159156e-03 1.61728378e-05 9.99999073e-01 -4.11458772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.47, Y:116.92, Z:-0.41 [[ 1.42251973e-01 -9.89830475e-01 -8.49733999e-05 2.43466623e+02] [ 9.89830280e-01 1.42251999e-01 -6.21751113e-04 1.16916980e+02] [ 6.27515836e-04 4.33607862e-06 9.99999803e-01 -4.12051439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.14028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.47, Y:116.94, Z:-0.41 [[ 1.38300617e-01 -9.90390275e-01 -2.04792642e-04 2.43470058e+02] [ 9.90389136e-01 1.38300769e-01 -1.50232481e-03 1.16941346e+02] [ 1.51621086e-03 4.94804015e-06 9.99998851e-01 -4.13328610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.170281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.47, Y:116.96, Z:-0.41 [[ 1.37782428e-01 -9.90462455e-01 -3.56497513e-04 2.43472759e+02] [ 9.90458987e-01 1.37782889e-01 -2.62134198e-03 1.16964600e+02] [ 2.64546007e-03 8.07869667e-06 9.99996501e-01 -4.13504657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.20028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:243.48, Y:116.99, Z:-0.41 [[ 1.38031209e-01 -9.90427735e-01 -5.35824644e-04 2.43475607e+02] [ 9.90419864e-01 1.38032248e-01 -3.94858566e-03 1.16989091e+02] [ 3.98474983e-03 1.43366799e-05 9.99992061e-01 -4.13195063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.23028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.48, Y:117.01, Z:-0.41 [[ 1.39296306e-01 -9.90250498e-01 -7.00716852e-04 2.43478770e+02] [ 9.90236977e-01 1.39298065e-01 -5.17481667e-03 1.17014025e+02] [ 5.22197329e-03 2.69571074e-05 9.99986365e-01 -4.12626349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.26028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.48, Y:117.04, Z:-0.41 [[ 1.44511055e-01 -9.89502924e-01 -7.20112786e-04 2.43481381e+02] [ 9.89488574e-01 1.44512837e-01 -5.32938587e-03 1.17038659e+02] [ 5.37750844e-03 5.76117995e-05 9.99985539e-01 -4.11824873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.29028169299994 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:243.48, Y:117.06, Z:-0.41 [[ 1.50885586e-01 -9.88551118e-01 -4.76966532e-04 2.43481875e+02] [ 9.88544790e-01 1.50886328e-01 -3.53753813e-03 1.17062807e+02] [ 3.56900500e-03 6.22607354e-05 9.99993629e-01 -4.11458431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.32028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:243.48, Y:117.09, Z:-0.41 [[ 1.53144211e-01 -9.88203761e-01 -4.21432028e-04 2.43483124e+02] [ 9.88198799e-01 1.53144778e-01 -3.13225650e-03 1.17087452e+02] [ 3.15984777e-03 6.32283268e-05 9.99995006e-01 -4.12097546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.35028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.48, Y:117.11, Z:-0.41 [[ 1.54575066e-01 -9.87980957e-01 -4.21111478e-04 2.43484857e+02] [ 9.87975981e-01 1.54575625e-01 -3.13652050e-03 1.17111806e+02] [ 3.16391610e-03 6.87798395e-05 9.99994992e-01 -4.12657459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.49, Y:117.14, Z:-0.41 [[ 1.55583317e-01 -9.87822694e-01 -3.96963563e-04 2.43485748e+02] [ 9.87818253e-01 1.55583808e-01 -2.96260345e-03 1.17135508e+02] [ 2.98828802e-03 6.88038182e-05 9.99995533e-01 -4.12369477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.41028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.49, Y:117.16, Z:-0.41 [[ 1.55500109e-01 -9.87835796e-01 -3.96288124e-04 2.43486967e+02] [ 9.87831352e-01 1.55500598e-01 -2.96385188e-03 1.17159660e+02] [ 2.98942202e-03 6.94134561e-05 9.99995529e-01 -4.11784222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.49, Y:117.18, Z:-0.41 [[ 1.56357465e-01 -9.87700412e-01 -4.89984877e-04 2.43486860e+02] [ 9.87693589e-01 1.56358207e-01 -3.67234098e-03 1.17184331e+02] [ 3.70378585e-03 9.02430040e-05 9.99993137e-01 -4.12007624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.47028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.49, Y:117.21, Z:-0.41 [[ 1.57020458e-01 -9.87595239e-01 -4.68246488e-04 2.43489782e+02] [ 9.87588981e-01 1.57021130e-01 -3.51693175e-03 1.17209270e+02] [ 3.54682964e-03 8.97951600e-05 9.99993706e-01 -4.11961005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.500281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.49, Y:117.23, Z:-0.41 [[ 1.57437495e-01 -9.87528912e-01 -2.89101194e-04 2.43492639e+02] [ 9.87526516e-01 1.57437750e-01 -2.17606683e-03 1.17232581e+02] [ 2.19444435e-03 5.70994157e-05 9.99997591e-01 -4.12156262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.53028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.49, Y:117.26, Z:-0.41 [[ 1.58231140e-01 -9.87402097e-01 7.17648464e-05 2.43493673e+02] [ 9.87401948e-01 1.58231155e-01 5.41857479e-04 1.17256808e+02] [-5.46386646e-04 -1.48779775e-05 9.99999851e-01 -4.10335943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.560281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.49, Y:117.28, Z:-0.41 [[ 1.58607533e-01 -9.87341702e-01 1.17419623e-04 2.43494351e+02] [ 9.87341303e-01 1.58607574e-01 8.88092964e-04 1.17280545e+02] [-8.95474861e-04 -2.49249903e-05 9.99999599e-01 -4.10423417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.59028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.49, Y:117.30, Z:-0.41 [[ 1.58766862e-01 -9.87316101e-01 -3.02891020e-05 2.43494533e+02] [ 9.87316074e-01 1.58766865e-01 -2.29074288e-04 1.17304729e+02] [ 2.30977639e-04 6.46448867e-06 9.99999973e-01 -4.11707244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.620281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.50, Y:117.33, Z:-0.41 [[ 1.57943904e-01 -9.87448080e-01 -1.07277214e-04 2.43496456e+02] [ 9.87447745e-01 1.57943939e-01 -8.14148739e-04 1.17329253e+02] [ 8.20873395e-04 2.26591873e-05 9.99999663e-01 -4.12130362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.65028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.50, Y:117.35, Z:-0.41 [[ 1.56642588e-01 -9.87655330e-01 -2.22952671e-04 2.43497282e+02] [ 9.87653874e-01 1.56642740e-01 -1.69613565e-03 1.17353589e+02] [ 1.71012133e-03 4.54870084e-05 9.99998537e-01 -4.11973382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.49, Y:117.38, Z:-0.41 [[ 1.54336805e-01 -9.88018218e-01 -3.90049344e-04 2.43494899e+02] [ 9.88013743e-01 1.54337281e-01 -2.97430571e-03 1.17378016e+02] [ 2.99886738e-03 7.36707288e-05 9.99995501e-01 -4.11993960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.71028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.50, Y:117.40, Z:-0.41 [[ 1.53182928e-01 -9.88197777e-01 -3.80963207e-04 2.43496458e+02] [ 9.88193491e-01 1.53183386e-01 -2.91115765e-03 1.17402717e+02] [ 2.93515675e-03 6.94742908e-05 9.99995690e-01 -4.12040506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.740281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.50, Y:117.43, Z:-0.41 [[ 1.51723535e-01 -9.88422936e-01 -2.60375676e-04 2.43498854e+02] [ 9.88420926e-01 1.51723752e-01 -1.99384659e-03 1.17427116e+02] [ 2.01026887e-03 4.51526865e-05 9.99997978e-01 -4.11607709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.77028169299996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:243.50, Y:117.45, Z:-0.41 [[ 1.51465804e-01 -9.88462469e-01 -2.40151590e-04 2.43499966e+02] [ 9.88460752e-01 1.51465989e-01 -1.84305437e-03 1.17450684e+02] [ 1.85816488e-03 4.17792913e-05 9.99998273e-01 -4.10760015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.50, Y:117.48, Z:-0.41 [[ 1.51579463e-01 -9.88445036e-01 -2.77251984e-04 2.43500313e+02] [ 9.88442737e-01 1.51579709e-01 -2.13252212e-03 1.17475973e+02] [ 2.14990668e-03 4.91988479e-05 9.99997688e-01 -4.10617439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.83028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.50, Y:117.50, Z:-0.41 [[ 1.53410351e-01 -9.88162534e-01 -2.65840231e-04 2.43498529e+02] [ 9.88160410e-01 1.53410573e-01 -2.04922954e-03 1.17500988e+02] [ 2.06575456e-03 5.16802328e-05 9.99997865e-01 -4.11414065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.860281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.50, Y:117.52, Z:-0.41 [[ 1.54091300e-01 -9.88056605e-01 -1.29917293e-04 2.43498158e+02] [ 9.88056096e-01 1.54091352e-01 -1.00352610e-03 1.17524852e+02] [ 1.01155972e-03 2.62690675e-05 9.99999488e-01 -4.11419138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.50, Y:117.55, Z:-0.41 [[ 1.53136595e-01 -9.88205019e-01 -1.55054156e-04 2.43498770e+02] [ 9.88204290e-01 1.53136670e-01 -1.20044429e-03 1.17550105e+02] [ 1.21002955e-03 3.06067678e-05 9.99999267e-01 -4.10518751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.920281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.50, Y:117.57, Z:-0.41 [[ 1.51425791e-01 -9.88468617e-01 -1.51213456e-04 2.43499663e+02] [ 9.88467921e-01 1.51425864e-01 -1.17337606e-03 1.17574119e+02] [ 1.18274304e-03 2.82097477e-05 9.99999300e-01 -4.10341300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.50, Y:117.60, Z:-0.41 [[ 1.48969192e-01 -9.88841832e-01 -1.09225650e-04 2.43501676e+02] [ 9.88841467e-01 1.48969231e-01 -8.49323507e-04 1.17599177e+02] [ 8.56117873e-04 1.85161848e-05 9.99999633e-01 -4.10589277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 325.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.51, Y:117.62, Z:-0.41 [[ 1.44211607e-01 -9.89546872e-01 1.23792569e-05 2.43505333e+02] [ 9.89546867e-01 1.44211608e-01 9.69620674e-05 1.17622830e+02] [-9.77337430e-05 -1.73320068e-06 9.99999995e-01 -4.10738840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.01028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.51, Y:117.65, Z:-0.41 [[ 1.41070183e-01 -9.89999597e-01 -4.58060717e-05 2.43505804e+02] [ 9.89999532e-01 1.41070190e-01 -3.57533581e-04 1.17647692e+02] [ 3.60419972e-04 5.08933812e-06 9.99999935e-01 -4.11326232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.51, Y:117.67, Z:-0.41 [[ 1.40842239e-01 -9.90032038e-01 -1.65930662e-04 2.43507155e+02] [ 9.90031186e-01 1.40842336e-01 -1.29906354e-03 1.17672319e+02] [ 1.30948458e-03 1.86864875e-05 9.99999142e-01 -4.11088954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.07028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.51, Y:117.70, Z:-0.41 [[ 1.41213233e-01 -9.89979154e-01 -3.11749268e-04 2.43509295e+02] [ 9.89976132e-01 1.41213572e-01 -2.44639172e-03 1.17696873e+02] [ 2.46590003e-03 3.68385487e-05 9.99996959e-01 -4.11002577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.10028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.51, Y:117.72, Z:-0.41 [[ 1.41727812e-01 -9.89905570e-01 -4.36396823e-04 2.43510844e+02] [ 9.89899620e-01 1.41728474e-01 -3.43243672e-03 1.17721773e+02] [ 3.45963809e-03 5.44826981e-05 9.99994014e-01 -4.11266459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.51, Y:117.75, Z:-0.41 [[ 1.41363318e-01 -9.89957761e-01 -2.10126591e-04 2.43512307e+02] [ 9.89956376e-01 1.41363472e-01 -1.65607029e-03 1.17745198e+02] [ 1.66914386e-03 2.60914326e-05 9.99998607e-01 -4.11430225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.16028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.52, Y:117.77, Z:-0.41 [[ 1.40546849e-01 -9.90074025e-01 -8.99089459e-05 2.43515380e+02] [ 9.90073771e-01 1.40546877e-01 -7.09967845e-04 1.17769279e+02] [ 7.15557144e-04 1.07672542e-05 9.99999744e-01 -4.11945772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.52, Y:117.79, Z:-0.41 [[ 1.39532680e-01 -9.90217462e-01 -9.22656335e-05 2.43518984e+02] [ 9.90217193e-01 1.39532710e-01 -7.30318274e-04 1.17792154e+02] [ 7.36047982e-04 1.05402492e-05 9.99999729e-01 -4.11704955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.22028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.52, Y:117.82, Z:-0.41 [[ 1.37861583e-01 -9.90451435e-01 -3.73722952e-04 2.43522255e+02] [ 9.90446993e-01 1.37862084e-01 -2.96636984e-03 1.17816271e+02] [ 2.98956749e-03 3.87956669e-05 9.99995531e-01 -4.12452925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.53, Y:117.84, Z:-0.41 [[ 1.36865446e-01 -9.90589496e-01 -5.47960937e-04 2.43525439e+02] [ 9.90579903e-01 1.36866533e-01 -4.35992640e-03 1.17840186e+02] [ 4.39389481e-03 5.39241817e-05 9.99990345e-01 -4.12456516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.53, Y:117.86, Z:-0.41 [[ 1.35441795e-01 -9.90785013e-01 -7.60651730e-04 2.43530683e+02] [ 9.90766445e-01 1.35443914e-01 -6.06616349e-03 1.17864727e+02] [ 6.11328952e-03 6.79838626e-05 9.99981311e-01 -4.13428852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.54, Y:117.89, Z:-0.41 [[ 1.34597712e-01 -9.90900010e-01 -7.91505763e-04 2.43535102e+02] [ 9.90879812e-01 1.34600023e-01 -6.32715846e-03 1.17888040e+02] [ 6.37611808e-03 6.73339727e-05 9.99979670e-01 -4.13216259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.54, Y:117.91, Z:-0.41 [[ 1.33041781e-01 -9.91110295e-01 -5.18012071e-04 2.43541648e+02] [ 9.91101604e-01 1.33042784e-01 -4.15060004e-03 1.17912121e+02] [ 4.18262019e-03 3.88006258e-05 9.99991252e-01 -4.12612262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.370281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.55, Y:117.94, Z:-0.41 [[ 1.31846220e-01 -9.91270124e-01 -3.41032356e-04 2.43546689e+02] [ 9.91266339e-01 1.31846659e-01 -2.73911342e-03 1.17935771e+02] [ 2.76016527e-03 2.30878557e-05 9.99996190e-01 -4.12207527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.55, Y:117.96, Z:-0.41 [[ 1.30211529e-01 -9.91486214e-01 -2.12789778e-04 2.43552271e+02] [ 9.91484734e-01 1.30211703e-01 -1.71289379e-03 1.17959585e+02] [ 1.72601830e-03 1.20607043e-05 9.99998510e-01 -4.12243365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.56, Y:117.98, Z:-0.41 [[ 1.27672970e-01 -9.91816288e-01 -2.51243480e-04 2.43559875e+02] [ 9.91814216e-01 1.27673217e-01 -2.02724144e-03 1.17983034e+02] [ 2.04272815e-03 9.63708087e-06 9.99997914e-01 -4.11795740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.46028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.56, Y:118.01, Z:-0.41 [[ 1.27401206e-01 -9.91851234e-01 -2.50685812e-04 2.43562594e+02] [ 9.91849162e-01 1.27401452e-01 -2.02731047e-03 1.18008036e+02] [ 2.04272813e-03 9.63928584e-06 9.99997914e-01 -4.11790922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.490281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:243.57, Y:118.03, Z:-0.41 [[ 1.26800781e-01 -9.91928168e-01 -2.67882922e-04 2.43567275e+02] [ 9.91925791e-01 1.26801064e-01 -2.17166270e-03 1.18031757e+02] [ 2.18810124e-03 9.64854760e-06 9.99997606e-01 -4.11752732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.57, Y:118.06, Z:-0.41 [[ 1.27083351e-01 -9.91892010e-01 -2.50900749e-04 2.43573532e+02] [ 9.91889915e-01 1.27083598e-01 -2.03876858e-03 1.18056018e+02] [ 2.05412363e-03 1.02276198e-05 9.99997890e-01 -4.11679475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.550281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.58, Y:118.08, Z:-0.41 [[ 1.27544713e-01 -9.91832792e-01 -2.41147698e-04 2.43578295e+02] [ 9.91830848e-01 1.27544940e-01 -1.96389538e-03 1.18079381e+02] [ 1.97861301e-03 1.13067454e-05 9.99998043e-01 -4.11674540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.58028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.58, Y:118.10, Z:-0.41 [[ 1.28097794e-01 -9.91761523e-01 -1.91254492e-04 2.43582892e+02] [ 9.91760294e-01 1.28097937e-01 -1.56124365e-03 1.18103125e+02] [ 1.57288069e-03 1.03132571e-05 9.99998763e-01 -4.11842568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.59, Y:118.13, Z:-0.41 [[ 1.29474341e-01 -9.91582766e-01 -1.17384685e-04 2.43588375e+02] [ 9.91582301e-01 1.29474394e-01 -9.60231678e-04 1.18127718e+02] [ 9.67347494e-04 7.92878761e-06 9.99999532e-01 -4.11037254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.64028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.59, Y:118.15, Z:-0.41 [[ 1.30166295e-01 -9.91492163e-01 -1.61492216e-04 2.43591807e+02] [ 9.91491279e-01 1.30166395e-01 -1.32415075e-03 1.18152339e+02] [ 1.33390595e-03 1.22416743e-05 9.99999110e-01 -4.10647402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.670281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.59, Y:118.18, Z:-0.41 [[ 1.31445599e-01 -9.91323321e-01 -3.58724232e-04 2.43594568e+02] [ 9.91318936e-01 1.31446084e-01 -2.94868509e-03 1.18177057e+02] [ 2.97025319e-03 3.19815528e-05 9.99995588e-01 -4.10657591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.70028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.60, Y:118.20, Z:-0.41 [[ 1.32231328e-01 -9.91218820e-01 -3.56662549e-04 2.43597307e+02] [ 9.91214464e-01 1.32231804e-01 -2.93881481e-03 1.18201810e+02] [ 2.96017068e-03 3.50743086e-05 9.99995618e-01 -4.10510288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:118.23, Z:-0.41 [[ 1.33406162e-01 -9.91061406e-01 -2.93340633e-04 2.43599526e+02] [ 9.91058444e-01 1.33406481e-01 -2.42302085e-03 1.18225401e+02] [ 2.44049599e-03 3.25282015e-05 9.99997021e-01 -4.10784384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.60, Y:118.25, Z:-0.41 [[ 1.37121845e-01 -9.90554178e-01 -1.44175666e-04 2.43600893e+02] [ 9.90553459e-01 1.37121919e-01 -1.19354833e-03 1.18250215e+02] [ 1.20204393e-03 2.08478444e-05 9.99999277e-01 -4.09530903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.60, Y:118.27, Z:-0.41 [[ 1.39230121e-01 -9.90260040e-01 -1.64130916e-04 2.43601835e+02] [ 9.90259103e-01 1.39230215e-01 -1.36218511e-03 1.18273765e+02] [ 1.37176946e-03 2.71250632e-05 9.99999059e-01 -4.09703478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.60, Y:118.30, Z:-0.41 [[ 1.42682054e-01 -9.89768448e-01 -5.01374090e-04 2.43600003e+02] [ 9.89759660e-01 1.42682900e-01 -4.17198072e-03 1.18299098e+02] [ 4.20083240e-03 9.90269295e-05 9.99991172e-01 -4.10244656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.85028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.60, Y:118.32, Z:-0.41 [[ 1.43443935e-01 -9.89658294e-01 -5.47112529e-04 2.43600465e+02] [ 9.89647779e-01 1.43444934e-01 -4.56346644e-03 1.18323855e+02] [ 4.59475293e-03 1.13152885e-04 9.99989438e-01 -4.10952699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.880281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.60, Y:118.35, Z:-0.41 [[ 1.43633863e-01 -9.89630775e-01 -4.92065432e-04 2.43600588e+02] [ 9.89622229e-01 1.43634668e-01 -4.11401967e-03 1.18348656e+02] [ 4.14203813e-03 1.03953646e-04 9.99991416e-01 -4.11463757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.60, Y:118.37, Z:-0.41 [[ 1.43011712e-01 -9.89720912e-01 -4.09228209e-04 2.43597691e+02] [ 9.89714974e-01 1.43012272e-01 -3.42949127e-03 1.18373687e+02] [ 3.45276388e-03 8.54381298e-05 9.99994036e-01 -4.11545319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.60, Y:118.40, Z:-0.41 [[ 1.41732240e-01 -9.89904939e-01 -4.29176728e-04 2.43597167e+02] [ 9.89898377e-01 1.41732863e-01 -3.60530197e-03 1.18398558e+02] [ 3.62973468e-03 8.61461761e-05 9.99993409e-01 -4.11678933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 326.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.59, Y:118.42, Z:-0.41 [[ 1.38105045e-01 -9.90417427e-01 -5.63503577e-04 2.43592733e+02] [ 9.90406065e-01 1.38106160e-01 -4.74496208e-03 1.18423409e+02] [ 4.77731645e-03 9.72058411e-05 9.99988584e-01 -4.11685485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.59, Y:118.45, Z:-0.41 [[ 1.34913497e-01 -9.90857243e-01 -5.22701077e-04 2.43592307e+02] [ 9.90847422e-01 1.34914487e-01 -4.41211505e-03 1.18447926e+02] [ 4.44229610e-03 7.73368556e-05 9.99990130e-01 -4.11825782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:118.47, Z:-0.41 [[ 1.27513241e-01 -9.91836815e-01 -3.24553168e-04 2.43590742e+02] [ 9.91833013e-01 1.27513651e-01 -2.74632791e-03 1.18472070e+02] [ 2.76529408e-03 2.82906251e-05 9.99996176e-01 -4.11766150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.59, Y:118.50, Z:-0.41 [[ 1.22993803e-01 -9.92407395e-01 -2.93168782e-04 2.43591775e+02] [ 9.92404279e-01 1.22994151e-01 -2.48698403e-03 1.18495838e+02] [ 2.50415939e-03 1.49416699e-05 9.99996865e-01 -4.11726487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.59, Y:118.52, Z:-0.41 [[ 1.13858235e-01 -9.93496946e-01 -3.46101934e-04 2.43592854e+02] [ 9.93492586e-01 1.13858761e-01 -2.94336089e-03 1.18520232e+02] [ 2.96362680e-03 -8.72382936e-06 9.99995608e-01 -4.11836484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.60, Y:118.54, Z:-0.41 [[ 1.09805470e-01 -9.93953038e-01 -3.42792091e-04 2.43595427e+02] [ 9.93948741e-01 1.09806003e-01 -2.92264679e-03 1.18544094e+02] [ 2.94261429e-03 -1.97951638e-05 9.99995670e-01 -4.11658077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.60, Y:118.57, Z:-0.41 [[ 1.06115488e-01 -9.94353757e-01 -3.29479182e-04 2.43598524e+02] [ 9.94349770e-01 1.06115996e-01 -2.81609513e-03 1.18568423e+02] [ 2.83515778e-03 -2.87862402e-05 9.99995981e-01 -4.11362237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.60, Y:118.59, Z:-0.41 [[ 1.00722615e-01 -9.94914444e-01 -4.51148955e-04 2.43603705e+02] [ 9.94906938e-01 1.00723608e-01 -3.86519884e-03 1.18591368e+02] [ 3.89098351e-03 -5.95382901e-05 9.99992428e-01 -4.11259965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.61, Y:118.62, Z:-0.41 [[ 9.87670234e-02 -9.95110412e-01 -5.85195760e-04 2.43608033e+02] [ 9.95097724e-01 9.87687196e-02 -5.02594338e-03 1.18615853e+02] [ 5.05916762e-03 -8.59295020e-05 9.99987199e-01 -4.11087357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.61, Y:118.64, Z:-0.41 [[ 9.75963817e-02 -9.95225827e-01 -7.06636036e-04 2.43611967e+02] [ 9.95207237e-01 9.75988784e-02 -6.08396868e-03 1.18640379e+02] [ 6.12388965e-03 -1.09475967e-04 9.99981243e-01 -4.10988381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.62, Y:118.66, Z:-0.41 [[ 9.88288881e-02 -9.95104166e-01 -7.41238639e-04 2.43617835e+02] [ 9.95083602e-01 9.88316118e-02 -6.39828608e-03 1.18663967e+02] [ 6.44021894e-03 -1.05258915e-04 9.99979256e-01 -4.10730517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.62, Y:118.69, Z:-0.41 [[ 1.02000720e-01 -9.94784182e-01 -5.34209964e-04 2.43623904e+02] [ 9.94773444e-01 1.02002101e-01 -4.62242765e-03 1.18687792e+02] [ 4.65280844e-03 -5.99269386e-05 9.99989174e-01 -4.10164771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.63, Y:118.71, Z:-0.41 [[ 1.03472777e-01 -9.94632174e-01 -4.71605494e-04 2.43627196e+02] [ 9.94623762e-01 1.03473842e-01 -4.09104330e-03 1.18711299e+02] [ 4.11788212e-03 -4.57584180e-05 9.99991520e-01 -4.09454673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.360281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.63, Y:118.73, Z:-0.41 [[ 1.04943395e-01 -9.94478102e-01 -4.33570294e-04 2.43630338e+02] [ 9.94470955e-01 1.04944285e-01 -3.77050007e-03 1.18734458e+02] [ 3.79518048e-03 -3.54839851e-05 9.99992798e-01 -4.09907339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.63, Y:118.76, Z:-0.41 [[ 1.06720762e-01 -9.94288902e-01 -5.08112284e-04 2.43634115e+02] [ 9.94279035e-01 1.06721966e-01 -4.42982080e-03 1.18758521e+02] [ 4.45874840e-03 -3.24515419e-05 9.99990059e-01 -4.10850819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.420281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.64, Y:118.78, Z:-0.41 [[ 1.06610633e-01 -9.94300621e-01 -6.69080719e-04 2.43638484e+02] [ 9.94283424e-01 1.06612724e-01 -5.84799935e-03 1.18782808e+02] [ 5.88600190e-03 -4.17969592e-05 9.99982676e-01 -4.11317777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.64, Y:118.81, Z:-0.41 [[ 1.06116318e-01 -9.94353470e-01 -7.09217306e-04 2.43640989e+02] [ 9.94334048e-01 1.06118678e-01 -6.21502880e-03 1.18806765e+02] [ 6.25519665e-03 -4.56829415e-05 9.99980435e-01 -4.11152058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.48028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.64, Y:118.83, Z:-0.41 [[ 1.06126746e-01 -9.94352366e-01 -6.97681413e-04 2.43643591e+02] [ 9.94333480e-01 1.06129030e-01 -6.12852713e-03 1.18831394e+02] [ 6.16795970e-03 -4.33273453e-05 9.99980977e-01 -4.10394201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.65, Y:118.86, Z:-0.41 [[ 1.07229797e-01 -9.94234118e-01 -5.38602977e-04 2.43645681e+02] [ 9.94222808e-01 1.07231147e-01 -4.74237938e-03 1.18856384e+02] [ 4.77279039e-03 -2.69669837e-05 9.99988610e-01 -4.09425992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.65, Y:118.88, Z:-0.41 [[ 1.07524480e-01 -9.94202295e-01 -5.32253541e-04 2.43647763e+02] [ 9.94191194e-01 1.07525794e-01 -4.69820739e-03 1.18880691e+02] [ 4.72819956e-03 -2.39894771e-05 9.99988822e-01 -4.09727407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.57028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.65, Y:118.90, Z:-0.41 [[ 1.07019741e-01 -9.94256746e-01 -5.45615206e-04 2.43649053e+02] [ 9.94245021e-01 1.07021129e-01 -4.82873021e-03 1.18904144e+02] [ 4.85938994e-03 -2.57057445e-05 9.99988193e-01 -4.10183755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.65, Y:118.93, Z:-0.41 [[ 1.06279301e-01 -9.94336222e-01 -4.33729822e-04 2.43651476e+02] [ 9.94328776e-01 1.06280184e-01 -3.84809463e-03 1.18928578e+02] [ 3.87239676e-03 -2.22972340e-05 9.99992502e-01 -4.09897175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.66, Y:118.95, Z:-0.41 [[ 1.04437698e-01 -9.94531399e-01 -2.53053008e-04 2.43655045e+02] [ 9.94528853e-01 1.04438004e-01 -2.25024175e-03 1.18951818e+02] [ 2.26436442e-03 -1.66584487e-05 9.99997436e-01 -4.10101179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.66028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.66, Y:118.98, Z:-0.41 [[ 1.02893209e-01 -9.94692365e-01 -2.95230129e-04 2.43659049e+02] [ 9.94688883e-01 1.02893630e-01 -2.63203581e-03 1.18976481e+02] [ 2.64844322e-03 -2.28435166e-05 9.99996493e-01 -4.10385572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.66, Y:119.00, Z:-0.41 [[ 1.00889162e-01 -9.94897590e-01 -4.02457881e-04 2.43662897e+02] [ 9.94891087e-01 1.00889958e-01 -3.59740046e-03 1.19000974e+02] [ 3.61964901e-03 -3.74630414e-05 9.99993448e-01 -4.10441954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.72028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.67, Y:119.02, Z:-0.41 [[ 9.71123080e-02 -9.95273246e-01 -6.04817093e-04 2.43669162e+02] [ 9.95258486e-01 9.71141620e-02 -5.42080968e-03 1.19023934e+02] [ 5.45392315e-03 -7.55220053e-05 9.99985124e-01 -4.10664438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.67, Y:119.05, Z:-0.41 [[ 9.55484780e-02 -9.95424591e-01 -6.10038773e-04 2.43674155e+02] [ 9.95409498e-01 9.55503889e-02 -5.48219980e-03 1.19047809e+02] [ 5.51540594e-03 -8.34225417e-05 9.99984787e-01 -4.09998454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.68, Y:119.07, Z:-0.41 [[ 9.35109197e-02 -9.95618186e-01 -3.69465400e-04 2.43681947e+02] [ 9.95612621e-01 9.35116325e-02 -3.32926423e-03 1.19070398e+02] [ 3.34922533e-03 -5.65218550e-05 9.99994390e-01 -4.09020230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.810281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.69, Y:119.09, Z:-0.41 [[ 9.24328968e-02 -9.95718880e-01 -2.65865708e-04 2.43687759e+02] [ 9.95715985e-01 9.24332693e-02 -2.40180826e-03 1.19094729e+02] [ 2.41610067e-03 -4.27206399e-05 9.99997080e-01 -4.08761199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.84028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:243.69, Y:119.12, Z:-0.41 [[ 9.16214822e-02 -9.95793869e-01 -2.74154035e-04 2.43693822e+02] [ 9.95790773e-01 9.16218811e-02 -2.48324714e-03 1.19118518e+02] [ 2.49792079e-03 -4.54812747e-05 9.99996879e-01 -4.08674843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.870281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.70, Y:119.14, Z:-0.41 [[ 8.98336245e-02 -9.95956711e-01 -3.88161308e-04 2.43703422e+02] [ 9.95950473e-01 8.98344359e-02 -3.52550984e-03 1.19142323e+02] [ 3.54612544e-03 -6.98801106e-05 9.99993710e-01 -4.09609059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.90028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:243.71, Y:119.17, Z:-0.41 [[ 8.88523030e-02 -9.96044716e-01 -4.38968487e-04 2.43709161e+02] [ 9.96036695e-01 8.88533495e-02 -3.99811085e-03 1.19165184e+02] [ 4.02130100e-03 -8.19873644e-05 9.99991911e-01 -4.09457668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.930281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:243.72, Y:119.19, Z:-0.41 [[ 8.89288675e-02 -9.96037746e-01 -6.82021592e-04 2.43719755e+02] [ 9.96018285e-01 8.89313942e-02 -6.22765782e-03 1.19189111e+02] [ 6.26363539e-03 -1.25487419e-04 9.99980375e-01 -4.09553574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.96028169299996 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:243.73, Y:119.21, Z:-0.41 [[ 9.02501474e-02 -9.95918795e-01 -8.15890868e-04 2.43725870e+02] [ 9.95890790e-01 9.02537292e-02 -7.46986388e-03 1.19213000e+02] [ 7.51301502e-03 -1.38381885e-04 9.99971767e-01 -4.09888366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 327.990281693 meters Centerline goodness : 0.999270 Centerline is valid? [True, True] Translation: X:243.73, Y:119.24, Z:-0.41 [[ 9.26219662e-02 -9.95700996e-01 -8.34928525e-04 2.43731184e+02] [ 9.95671499e-01 9.26256498e-02 -7.66513289e-03 1.19236536e+02] [ 7.70951626e-03 -1.21354857e-04 9.99970274e-01 -4.09798550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.02028169299996 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:243.74, Y:119.26, Z:-0.41 [[ 1.00210639e-01 -9.94965998e-01 -7.00386879e-04 2.43738473e+02] [ 9.94945117e-01 1.00213074e-01 -6.44619438e-03 1.19260278e+02] [ 6.48393215e-03 -5.08692461e-05 9.99978978e-01 -4.08302437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.050281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:243.74, Y:119.29, Z:-0.41 [[ 1.04257092e-01 -9.94550169e-01 -6.48129276e-04 2.43743127e+02] [ 9.94532185e-01 1.04259105e-01 -5.98098829e-03 1.19285051e+02] [ 6.01596629e-03 -2.10249772e-05 9.99981904e-01 -4.07587027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.08028169299996 meters Centerline goodness : 0.999163 Centerline is valid? [True, True] Translation: X:243.75, Y:119.31, Z:-0.41 [[ 1.12324686e-01 -9.93671326e-01 -6.79492418e-04 2.43747711e+02] [ 9.93651432e-01 1.12326737e-01 -6.28768437e-03 1.19308139e+02] [ 6.32421683e-03 3.10835556e-05 9.99980001e-01 -4.07863973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.110281693 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:243.75, Y:119.33, Z:-0.41 [[ 1.16317811e-01 -9.93211795e-01 -7.05355436e-04 2.43750451e+02] [ 9.93190233e-01 1.16319933e-01 -6.54478356e-03 1.19331313e+02] [ 6.58240312e-03 6.07227654e-05 9.99978334e-01 -4.08762088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.14028169299996 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:243.75, Y:119.36, Z:-0.41 [[ 1.20002494e-01 -9.92773369e-01 -6.63080406e-04 2.43752786e+02] [ 9.92754209e-01 1.20004298e-01 -6.16839565e-03 1.19355483e+02] [ 6.20339143e-03 8.19470010e-05 9.99980755e-01 -4.08814283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.170281693 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:243.75, Y:119.38, Z:-0.41 [[ 1.26739438e-01 -9.91935909e-01 -5.16223651e-04 2.43754137e+02] [ 9.91924229e-01 1.26740451e-01 -4.81468589e-03 1.19379825e+02] [ 4.84128625e-03 9.81558369e-05 9.99988276e-01 -4.07307381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.20028169299997 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:243.75, Y:119.40, Z:-0.41 [[ 1.30658502e-01 -9.91427341e-01 -4.28479514e-04 2.43754999e+02] [ 9.91419252e-01 1.30659168e-01 -4.00606757e-03 1.19403775e+02] [ 4.02770970e-03 9.86239495e-05 9.99991884e-01 -4.06822532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.23028169299994 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:243.76, Y:119.43, Z:-0.41 [[ 1.31311731e-01 -9.91341035e-01 -4.26766774e-04 2.43757020e+02] [ 9.91332967e-01 1.31312384e-01 -4.00069977e-03 1.19427154e+02] [ 4.02209761e-03 1.02270838e-04 9.99991906e-01 -4.07422916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.26028169299997 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:243.76, Y:119.45, Z:-0.41 [[ 1.31596404e-01 -9.91303289e-01 -4.19526552e-04 2.43759092e+02] [ 9.91295452e-01 1.31597033e-01 -3.94295995e-03 1.19451455e+02] [ 3.96387762e-03 1.03004588e-04 9.99992139e-01 -4.07392347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.29028169299994 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:243.76, Y:119.48, Z:-0.41 [[ 1.31938377e-01 -9.91257877e-01 -2.93890156e-04 2.43760751e+02] [ 9.91254011e-01 1.31938683e-01 -2.76939238e-03 1.19475494e+02] [ 2.78395749e-03 7.40693405e-05 9.99996122e-01 -4.07080571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.32028169299997 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:243.76, Y:119.50, Z:-0.41 [[ 1.31669717e-01 -9.91293617e-01 -2.23579078e-04 2.43762805e+02] [ 9.91291369e-01 1.31669895e-01 -2.11212475e-03 1.19500325e+02] [ 2.12317442e-03 5.64708582e-05 9.99997744e-01 -4.07205349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.35028169299994 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:243.77, Y:119.53, Z:-0.41 [[ 1.31415332e-01 -9.91327373e-01 -2.23034974e-04 2.43765077e+02] [ 9.91325125e-01 1.31415509e-01 -2.11218227e-03 1.19525385e+02] [ 2.12317436e-03 5.64729605e-05 9.99997744e-01 -4.07200531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.380281693 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:243.77, Y:119.55, Z:-0.41 [[ 1.31773624e-01 -9.91279786e-01 -3.11752657e-04 2.43766574e+02] [ 9.91275369e-01 1.31773968e-01 -2.96037280e-03 1.19548719e+02] [ 2.97563860e-03 8.10663218e-05 9.99995570e-01 -4.06909111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.41028169299994 meters Centerline goodness : 0.998972 Centerline is valid? [True, True] Translation: X:243.77, Y:119.57, Z:-0.41 [[ 1.32662709e-01 -9.91161183e-01 -3.39880818e-04 2.43768273e+02] [ 9.91155904e-01 1.32663113e-01 -3.23620130e-03 1.19572902e+02] [ 3.25268676e-03 9.24483534e-05 9.99994706e-01 -4.06904753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.440281693 meters Centerline goodness : 0.999204 Centerline is valid? [True, True] Translation: X:243.77, Y:119.60, Z:-0.41 [[ 1.34279211e-01 -9.90943462e-01 -3.86323997e-04 2.43769467e+02] [ 9.90936604e-01 1.34279720e-01 -3.68840424e-03 1.19597392e+02] [ 3.70687554e-03 1.12453423e-04 9.99993123e-01 -4.06171827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.47028169299995 meters Centerline goodness : 0.999123 Centerline is valid? [True, True] Translation: X:243.77, Y:119.62, Z:-0.41 [[ 1.39049435e-01 -9.90285373e-01 -3.66847456e-04 2.43767455e+02] [ 9.90279156e-01 1.39049863e-01 -3.51134287e-03 1.19621753e+02] [ 3.52824157e-03 1.24968854e-04 9.99993768e-01 -4.06011867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.500281693 meters Centerline goodness : 0.998966 Centerline is valid? [True, True] Translation: X:243.77, Y:119.65, Z:-0.41 [[ 1.40943622e-01 -9.90017575e-01 -3.11456212e-04 2.43767082e+02] [ 9.90013068e-01 1.40943921e-01 -2.98923624e-03 1.19645992e+02] [ 3.00329427e-03 1.12968063e-04 9.99995484e-01 -4.06114806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.53028169299995 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:243.77, Y:119.67, Z:-0.41 [[ 1.43286994e-01 -9.89681122e-01 -3.38773298e-04 2.43765771e+02] [ 9.89675761e-01 1.43287334e-01 -3.26011243e-03 1.19671410e+02] [ 3.27501365e-03 1.31855989e-04 9.99994628e-01 -4.06732888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.560281693 meters Centerline goodness : 0.999221 Centerline is valid? [True, True] Translation: X:243.77, Y:119.70, Z:-0.41 [[ 1.43288612e-01 -9.89680870e-01 -3.87114104e-04 2.43766217e+02] [ 9.89673831e-01 1.43289054e-01 -3.73563125e-03 1.19695210e+02] [ 3.75255200e-03 1.52156717e-04 9.99992948e-01 -4.07295736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.59028169299995 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:243.77, Y:119.72, Z:-0.41 [[ 1.42684628e-01 -9.89768100e-01 -4.52918471e-04 2.43765981e+02] [ 9.89758412e-01 1.42685237e-01 -4.38271823e-03 1.19719172e+02] [ 4.40249948e-03 1.77066654e-04 9.99990293e-01 -4.07012279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.620281693 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:243.76, Y:119.74, Z:-0.41 [[ 1.39454205e-01 -9.90228432e-01 -4.20837429e-04 2.43762859e+02] [ 9.90220024e-01 1.39454757e-01 -4.08349054e-03 1.19744329e+02] [ 4.10227622e-03 1.52738279e-04 9.99991574e-01 -4.06977849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.65028169299995 meters Centerline goodness : 0.999218 Centerline is valid? [True, True] Translation: X:243.76, Y:119.77, Z:-0.41 [[ 1.35944804e-01 -9.90716372e-01 -2.84355999e-04 2.43760658e+02] [ 9.90712513e-01 1.35945069e-01 -2.76691828e-03 1.19768474e+02] [ 2.77988804e-03 9.44331165e-05 9.99996132e-01 -4.06032321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.680281693 meters Centerline goodness : 0.999085 Centerline is valid? [True, True] Translation: X:243.76, Y:119.79, Z:-0.41 [[ 1.34505910e-01 -9.90912769e-01 -2.09006144e-04 2.43760730e+02] [ 9.90910673e-01 1.34506056e-01 -2.03937006e-03 1.19792591e+02] [ 2.04895043e-03 6.72009076e-05 9.99997899e-01 -4.05428338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.71028169299996 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:243.76, Y:119.82, Z:-0.41 [[ 1.33159336e-01 -9.91094631e-01 -1.56118688e-04 2.43760608e+02] [ 9.91093455e-01 1.33159418e-01 -1.52737764e-03 1.19817526e+02] [ 1.53456445e-03 4.86563825e-05 9.99998821e-01 -4.05382221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.740281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:243.76, Y:119.84, Z:-0.41 [[ 1.31136952e-01 -9.91364220e-01 -2.88308136e-04 2.43757423e+02] [ 9.91360187e-01 1.31137241e-01 -2.82897154e-03 1.19842165e+02] [ 2.84234909e-03 8.51654972e-05 9.99995957e-01 -4.05558641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.77028169299996 meters Centerline goodness : 0.999004 Centerline is valid? [True, True] Translation: X:243.76, Y:119.87, Z:-0.41 [[ 1.30370381e-01 -9.91465289e-01 -3.79443045e-04 2.43757061e+02] [ 9.91458267e-01 1.30370886e-01 -3.73328267e-03 1.19865790e+02] [ 3.75088851e-03 1.10507539e-04 9.99992959e-01 -4.06449524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.800281693 meters Centerline goodness : 0.999148 Centerline is valid? [True, True] Translation: X:243.76, Y:119.89, Z:-0.41 [[ 1.29057949e-01 -9.91636980e-01 -3.80921736e-04 2.43755544e+02] [ 9.91629865e-01 1.29058467e-01 -3.75813983e-03 1.19890426e+02] [ 3.77587160e-03 1.07284450e-04 9.99992866e-01 -4.06333686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.83028169299996 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:243.76, Y:119.91, Z:-0.41 [[ 1.28573880e-01 -9.91699877e-01 -3.34012798e-04 2.43756477e+02] [ 9.91694378e-01 1.28574279e-01 -3.30387721e-03 1.19914588e+02] [ 3.31940007e-03 9.35536959e-05 9.99994486e-01 -4.06405535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.860281693 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:243.76, Y:119.94, Z:-0.41 [[ 1.27700233e-01 -9.91812764e-01 -3.03253009e-04 2.43757520e+02] [ 9.91808207e-01 1.27700566e-01 -3.00772325e-03 1.19939713e+02] [ 3.02182389e-03 8.33181369e-05 9.99995431e-01 -4.06172036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.89028169299996 meters Centerline goodness : 0.999043 Centerline is valid? [True, True] Translation: X:243.76, Y:119.96, Z:-0.41 [[ 1.25523828e-01 -9.92090560e-01 -2.99778715e-04 2.43757861e+02] [ 9.92086082e-01 1.25524162e-01 -2.98160700e-03 1.19964198e+02] [ 2.99565363e-03 7.68564323e-05 9.99995510e-01 -4.06437782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.920281693 meters Centerline goodness : 0.999192 Centerline is valid? [True, True] Translation: X:243.76, Y:119.99, Z:-0.41 [[ 1.23827669e-01 -9.92303674e-01 -3.55368279e-04 2.43757636e+02] [ 9.92297348e-01 1.23828149e-01 -3.54452174e-03 1.19987763e+02] [ 3.56124654e-03 8.62788628e-05 9.99993655e-01 -4.06640578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.95028169299997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:243.76, Y:120.01, Z:-0.41 [[ 1.23497592e-01 -9.92344800e-01 -3.78762425e-04 2.43758939e+02] [ 9.92337572e-01 1.23498139e-01 -3.78865061e-03 1.20012596e+02] [ 3.80642418e-03 9.20290436e-05 9.99992751e-01 -4.06494683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 328.98028169299994 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:243.76, Y:120.04, Z:-0.41 [[ 1.23456170e-01 -9.92349942e-01 -4.08632375e-04 2.43759438e+02] [ 9.92341479e-01 1.23456805e-01 -4.09955891e-03 1.20036368e+02] [ 4.11864549e-03 1.00612985e-04 9.99991513e-01 -4.05803429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.01028169299997 meters Centerline goodness : 0.999320 Centerline is valid? [True, True] Translation: X:243.76, Y:120.06, Z:-0.41 [[ 1.23587941e-01 -9.92333546e-01 -3.91937290e-04 2.43759352e+02] [ 9.92325717e-01 1.23588524e-01 -3.94318237e-03 1.20061420e+02] [ 3.96139110e-03 9.84003400e-05 9.99992149e-01 -4.05260235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.04028169299994 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:243.76, Y:120.09, Z:-0.40 [[ 1.24655483e-01 -9.92200033e-01 -3.25415963e-04 2.43755322e+02] [ 9.92194604e-01 1.24655878e-01 -3.28341762e-03 1.20086063e+02] [ 3.29837208e-03 8.64200478e-05 9.99994557e-01 -4.04948734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.07028169299997 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:243.75, Y:120.11, Z:-0.41 [[ 1.26623628e-01 -9.91950801e-01 -2.57483019e-04 2.43753153e+02] [ 9.91947383e-01 1.26623868e-01 -2.60482002e-03 1.20110895e+02] [ 2.61645680e-03 7.44221538e-05 9.99996574e-01 -4.06144037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.10028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:243.75, Y:120.14, Z:-0.41 [[ 1.26725701e-01 -9.91937765e-01 -2.58938785e-04 2.43753858e+02] [ 9.91934289e-01 1.26725943e-01 -2.62705140e-03 1.20136069e+02] [ 2.63868575e-03 7.60646715e-05 9.99996516e-01 -4.05907716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.130281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:243.75, Y:120.16, Z:-0.41 [[ 1.25933112e-01 -9.92038707e-01 -2.34760455e-04 2.43754097e+02] [ 9.92035833e-01 1.25933313e-01 -2.38880594e-03 1.20160284e+02] [ 2.39935212e-03 6.79389833e-05 9.99997119e-01 -4.05658217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.16028169299994 meters Centerline goodness : 0.999382 Centerline is valid? [True, True] Translation: X:243.75, Y:120.19, Z:-0.41 [[ 1.23469936e-01 -9.92348292e-01 -2.06046588e-04 2.43751937e+02] [ 9.92346066e-01 1.23470096e-01 -2.10256645e-03 1.20185667e+02] [ 2.11191882e-03 5.51342243e-05 9.99997768e-01 -4.05538921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.190281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:243.75, Y:120.21, Z:-0.41 [[ 1.21417441e-01 -9.92601502e-01 -2.51429318e-04 2.43752023e+02] [ 9.92598168e-01 1.21417685e-01 -2.57337206e-03 1.20209663e+02] [ 2.58486094e-03 6.28839691e-05 9.99996657e-01 -4.06359739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.22028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:243.75, Y:120.23, Z:-0.41 [[ 1.17319460e-01 -9.93094180e-01 -3.06688042e-04 2.43750166e+02] [ 9.93089194e-01 1.17319843e-01 -3.14763871e-03 1.20234242e+02] [ 3.16188227e-03 6.47106924e-05 9.99994999e-01 -4.06678472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.250281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:243.75, Y:120.26, Z:-0.41 [[ 1.15883016e-01 -9.93262836e-01 -2.55627852e-04 2.43749674e+02] [ 9.93259352e-01 1.15883287e-01 -2.63122539e-03 1.20258371e+02] [ 2.64312139e-03 5.10095799e-05 9.99996506e-01 -4.05815096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.28028169299995 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:243.75, Y:120.28, Z:-0.40 [[ 1.15193797e-01 -9.93343028e-01 -1.31385993e-04 2.43748557e+02] [ 9.93342103e-01 1.15193869e-01 -1.35606742e-03 1.20282603e+02] [ 1.36217498e-03 2.56993161e-05 9.99999072e-01 -4.04893100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.310281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:243.75, Y:120.31, Z:-0.40 [[ 1.15026507e-01 -9.93362418e-01 9.16746321e-05 2.43745306e+02] [ 9.93361964e-01 1.15026543e-01 9.49764742e-04 1.20307839e+02] [-9.54005617e-04 -1.81820285e-05 9.99999545e-01 -4.03978549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.34028169299995 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:243.74, Y:120.33, Z:-0.40 [[ 1.15054140e-01 -9.93359217e-01 1.05738313e-04 2.43744442e+02] [ 9.93358610e-01 1.15054187e-01 1.09847505e-03 1.20332487e+02] [-1.10334595e-03 -2.13480384e-05 9.99999391e-01 -4.04246170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.370281693 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:243.74, Y:120.36, Z:-0.41 [[ 1.14444324e-01 -9.93429663e-01 2.37484901e-05 2.43738998e+02] [ 9.93429633e-01 1.14444326e-01 2.47895121e-04 1.20357636e+02] [-2.48984247e-04 -4.77773569e-06 9.99999969e-01 -4.05294625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.40028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:243.74, Y:120.38, Z:-0.41 [[ 1.13107039e-01 -9.93582809e-01 -1.45118765e-05 2.43737158e+02] [ 9.93582797e-01 1.13107040e-01 -1.51014358e-04 1.20382413e+02] [ 1.51686665e-04 2.66203599e-06 9.99999989e-01 -4.05830381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.430281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:243.74, Y:120.41, Z:-0.41 [[ 1.10922517e-01 -9.93829057e-01 -1.47014166e-05 2.43736349e+02] [ 9.93829045e-01 1.10922518e-01 -1.53450709e-04 1.20405768e+02] [ 1.54134492e-04 2.41044409e-06 9.99999988e-01 -4.06383461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.46028169299996 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:243.74, Y:120.43, Z:-0.41 [[ 1.04724056e-01 -9.94501316e-01 -7.55288978e-05 2.43735321e+02] [ 9.94500999e-01 1.04724083e-01 -7.93063763e-04 1.20429929e+02] [ 7.96612650e-04 7.93928918e-06 9.99999683e-01 -4.06730865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.490281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:243.74, Y:120.45, Z:-0.41 [[ 1.00845287e-01 -9.94902112e-01 -1.25153962e-04 2.43736219e+02] [ 9.94901238e-01 1.00845365e-01 -1.31838476e-03 1.20454753e+02] [ 1.32428498e-03 8.43705861e-06 9.99999123e-01 -4.06457737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.52028169299996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:243.74, Y:120.48, Z:-0.41 [[ 9.50044353e-02 -9.95476801e-01 -3.09121516e-04 2.43736415e+02] [ 9.95471439e-01 9.50049382e-02 -3.26732257e-03 1.20478217e+02] [ 3.28191189e-03 2.68849546e-06 9.99994615e-01 -4.07222405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.550281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:243.74, Y:120.50, Z:-0.41 [[ 9.30492858e-02 -9.95661434e-01 -3.73397393e-04 2.43737203e+02] [ 9.95653564e-01 9.30500349e-02 -3.95872744e-03 1.20502964e+02] [ 3.97629688e-03 -3.41768421e-06 9.99992095e-01 -4.07471841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.58028169299996 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:243.74, Y:120.53, Z:-0.41 [[ 9.15894286e-02 -9.95796785e-01 -3.74828590e-04 2.43737446e+02] [ 9.95788807e-01 9.15901952e-02 -3.98589778e-03 1.20527890e+02] [ 4.00347482e-03 -8.18401430e-06 9.99991986e-01 -4.07026220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.610281693 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:243.74, Y:120.55, Z:-0.41 [[ 8.95933241e-02 -9.95978408e-01 -2.14894384e-04 2.43735483e+02] [ 9.95975772e-01 8.95935814e-02 -2.29176834e-03 1.20552652e+02] [ 2.30180494e-03 -8.70245672e-06 9.99997351e-01 -4.07108243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.64028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:243.74, Y:120.58, Z:-0.41 [[ 8.83032624e-02 -9.96093627e-01 -1.41993892e-04 2.43737415e+02] [ 9.96092469e-01 8.83033762e-02 -1.51874804e-03 1.20577558e+02] [ 1.52535378e-03 -7.32864035e-06 9.99998837e-01 -4.07390933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.670281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:243.74, Y:120.60, Z:-0.41 [[ 8.45859382e-02 -9.96416164e-01 -2.18586890e-04 2.43741288e+02] [ 9.96413403e-01 8.45862185e-02 -2.34573208e-03 1.20601372e+02] [ 2.35581480e-03 -1.93869583e-05 9.99997225e-01 -4.08182935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.70028169299997 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:243.74, Y:120.63, Z:-0.41 [[ 8.25358928e-02 -9.96588034e-01 -3.43236780e-04 2.43743311e+02] [ 9.96581183e-01 8.25365982e-02 -3.69528529e-03 1.20625544e+02] [ 3.71100669e-03 -3.70696455e-05 9.99993114e-01 -4.08764786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.73028169299994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:243.75, Y:120.65, Z:-0.41 [[ 8.01503372e-02 -9.96782682e-01 -4.56729797e-04 2.43745003e+02] [ 9.96770475e-01 8.01516162e-02 -4.93337557e-03 1.20648709e+02] [ 4.95411096e-03 -5.98430617e-05 9.99987727e-01 -4.09331256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.76028169299997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:243.75, Y:120.67, Z:-0.41 [[ 7.56368221e-02 -9.97135367e-01 -3.61025901e-04 2.43750034e+02] [ 9.97127695e-01 7.56376566e-02 -3.91211907e-03 1.20672415e+02] [ 3.92821944e-03 -6.40886702e-05 9.99992282e-01 -4.09225513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.79028169299994 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:243.75, Y:120.70, Z:-0.41 [[ 7.38010299e-02 -9.97272951e-01 -2.61951519e-04 2.43754277e+02] [ 9.97268888e-01 7.38014771e-02 -2.84711434e-03 1.20696963e+02] [ 2.85868253e-03 -5.11161296e-05 9.99995913e-01 -4.07930216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.82028169299997 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:243.76, Y:120.72, Z:-0.41 [[ 7.18722619e-02 -9.97413825e-01 -2.00597818e-04 2.43759810e+02] [ 9.97411428e-01 7.18725290e-02 -2.18704830e-03 1.20720033e+02] [ 2.19580968e-03 -4.28904478e-05 9.99997588e-01 -4.07198521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.85028169299994 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:243.76, Y:120.74, Z:-0.41 [[ 7.09357408e-02 -9.97480866e-01 -2.08648939e-04 2.43763865e+02] [ 9.97478256e-01 7.09360325e-02 -2.28196090e-03 1.20744778e+02] [ 2.29101306e-03 -4.62501934e-05 9.99997375e-01 -4.07367600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.880281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:243.77, Y:120.77, Z:-0.41 [[ 7.02823272e-02 -9.97527111e-01 -2.38571851e-04 2.43774024e+02] [ 9.97523678e-01 7.02827114e-02 -2.61773576e-03 1.20767509e+02] [ 2.62802987e-03 -5.40005086e-05 9.99996545e-01 -4.07755689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.91028169299994 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:243.78, Y:120.79, Z:-0.41 [[ 7.04920350e-02 -9.97512326e-01 -1.80448062e-04 2.43780458e+02] [ 9.97510350e-01 7.04922546e-02 -1.98602157e-03 1.20791305e+02] [ 1.99380118e-03 -4.00001072e-05 9.99998012e-01 -4.07390365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.940281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:243.79, Y:120.82, Z:-0.41 [[ 7.13850674e-02 -9.97448824e-01 -1.28676226e-04 2.43785828e+02] [ 9.97447812e-01 7.13851783e-02 -1.42045297e-03 1.20815306e+02] [ 1.42601472e-03 -2.69486885e-05 9.99998983e-01 -4.06360703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 329.97028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:243.79, Y:120.84, Z:-0.41 [[ 7.55649332e-02 -9.97140883e-01 -2.18866815e-05 2.43791403e+02] [ 9.97140854e-01 7.55649363e-02 -2.41871761e-04 1.20838610e+02] [ 2.42834087e-04 -3.54708082e-06 9.99999971e-01 -4.05630442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.000281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:243.80, Y:120.86, Z:-0.41 [[ 7.84764847e-02 -9.96915965e-01 -2.91286938e-05 2.43795330e+02] [ 9.96915912e-01 7.84764900e-02 -3.23133714e-04 1.20863171e+02] [ 3.24423076e-04 -3.68046038e-06 9.99999947e-01 -4.05767041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.03028169299995 meters Centerline goodness : 0.999504 Centerline is valid? [True, True] Translation: X:243.80, Y:120.89, Z:-0.41 [[ 8.57550034e-02 -9.96316243e-01 -1.51958777e-04 2.43800899e+02] [ 9.96314804e-01 8.57551379e-02 -1.69366447e-03 1.20886373e+02] [ 1.70045667e-03 -6.15857584e-06 9.99998554e-01 -4.06149536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.060281693 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:243.80, Y:120.91, Z:-0.41 [[ 8.91487455e-02 -9.96018294e-01 -2.43444475e-04 2.43802891e+02] [ 9.96014573e-01 8.91490779e-02 -2.72247355e-03 1.20909429e+02] [ 2.73333631e-03 2.30856548e-07 9.99996264e-01 -4.05309752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.09028169299995 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:243.80, Y:120.93, Z:-0.41 [[ 9.50330505e-02 -9.95474043e-01 -3.86791275e-04 2.43804622e+02] [ 9.95464585e-01 9.50338337e-02 -4.33931234e-03 1.20933297e+02] [ 4.35643105e-03 2.73410721e-05 9.99990510e-01 -4.05937119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.120281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:243.81, Y:120.96, Z:-0.41 [[ 9.69217647e-02 -9.95291898e-01 -4.56512866e-04 2.43807080e+02] [ 9.95278637e-01 9.69228300e-02 -5.13806417e-03 1.20958075e+02] [ 5.15812016e-03 4.36327436e-05 9.99986696e-01 -4.06493800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.15028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:243.81, Y:120.98, Z:-0.41 [[ 9.96871916e-02 -9.95018727e-01 -4.44093146e-04 2.43809582e+02] [ 9.95006090e-01 9.96881639e-02 -5.01498971e-03 1.20982052e+02] [ 5.03427951e-03 5.80548556e-05 9.99987326e-01 -4.07313366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.180281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:243.81, Y:121.01, Z:-0.41 [[ 1.00367463e-01 -9.94950370e-01 -3.66424725e-04 2.43809727e+02] [ 9.94941713e-01 1.00368118e-01 -4.15064134e-03 1.21006546e+02] [ 4.16645950e-03 5.20180974e-05 9.99991319e-01 -4.06791376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.21028169299996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:243.81, Y:121.03, Z:-0.41 [[ 1.00890686e-01 -9.94897473e-01 -2.95547385e-04 2.43809548e+02] [ 9.94891807e-01 1.00891109e-01 -3.35798662e-03 1.21031387e+02] [ 3.37067050e-03 4.47519013e-05 9.99994318e-01 -4.06887833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.240281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:243.81, Y:121.05, Z:-0.41 [[ 1.02102126e-01 -9.94773887e-01 -2.63329975e-04 2.43808966e+02] [ 9.94769358e-01 1.02102456e-01 -3.00217258e-03 1.21054268e+02] [ 3.01336952e-03 4.45756132e-05 9.99995459e-01 -4.06842103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.27028169299996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:243.81, Y:121.08, Z:-0.41 [[ 1.01825200e-01 -9.94802272e-01 -2.62489767e-04 2.43810652e+02] [ 9.94797742e-01 1.01825529e-01 -3.00224615e-03 1.21078518e+02] [ 3.01336945e-03 4.45800869e-05 9.99995459e-01 -4.06837445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.300281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:243.81, Y:121.10, Z:-0.41 [[ 1.02530941e-01 -9.94729760e-01 -3.31544500e-04 2.43811611e+02] [ 9.94722485e-01 1.02531459e-01 -3.80485024e-03 1.21102067e+02] [ 3.81879151e-03 6.03201048e-05 9.99992707e-01 -4.07216265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.33028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:243.81, Y:121.13, Z:-0.41 [[ 1.03770418e-01 -9.94601188e-01 -4.21182286e-04 2.43810678e+02] [ 9.94589371e-01 1.03771239e-01 -4.84910532e-03 1.21126640e+02] [ 4.86663252e-03 8.42902623e-05 9.99988154e-01 -4.07975817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.360281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:243.81, Y:121.15, Z:-0.41 [[ 1.03894948e-01 -9.94588185e-01 -4.25845159e-04 2.43810899e+02] [ 9.94576026e-01 1.03895784e-01 -4.91890259e-03 1.21150008e+02] [ 4.93652592e-03 8.75137424e-05 9.99987811e-01 -4.08506042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.39028169299996 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:243.81, Y:121.17, Z:-0.41 [[ 1.03784223e-01 -9.94599743e-01 -4.32474964e-04 2.43811789e+02] [ 9.94587119e-01 1.03785085e-01 -5.01192666e-03 1.21174379e+02] [ 5.02974542e-03 9.00248843e-05 9.99987347e-01 -4.08594546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.420281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:243.81, Y:121.20, Z:-0.41 [[ 1.01896656e-01 -9.94794916e-01 -3.81623065e-04 2.43811252e+02] [ 9.94785023e-01 1.01897345e-01 -4.43713908e-03 1.21198728e+02] [ 4.45292978e-03 7.24967271e-05 9.99990083e-01 -4.07711802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.45028169299997 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:243.81, Y:121.22, Z:-0.41 [[ 1.00598855e-01 -9.94927019e-01 -3.12857470e-04 2.43811229e+02] [ 9.94920325e-01 1.00599326e-01 -3.64996934e-03 1.21222825e+02] [ 3.66292637e-03 5.59144811e-05 9.99993290e-01 -4.07125680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.48028169299994 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:243.81, Y:121.25, Z:-0.41 [[ 9.84343612e-02 -9.95143540e-01 -1.02044148e-04 2.43808783e+02] [ 9.95142824e-01 9.84344128e-02 -1.19405806e-03 1.21247848e+02] [ 1.19830382e-03 1.59878409e-05 9.99999282e-01 -4.06284525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.51028169299997 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:243.81, Y:121.27, Z:-0.41 [[ 9.69635147e-02 -9.95287935e-01 -5.11248602e-05 2.43808910e+02] [ 9.95287755e-01 9.69635279e-02 -5.99969248e-04 1.21272747e+02] [ 6.02099401e-04 7.29117965e-06 9.99999819e-01 -4.06157467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.54028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:243.81, Y:121.30, Z:-0.41 [[ 9.34353763e-02 -9.95625345e-01 -5.57291965e-05 2.43807978e+02] [ 9.95625129e-01 9.34353927e-02 -6.56400705e-04 1.21296570e+02] [ 6.58736258e-04 5.84565842e-06 9.99999783e-01 -4.07110564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.57028169299997 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:243.81, Y:121.32, Z:-0.41 [[ 9.08958736e-02 -9.95860401e-01 -5.32396382e-05 2.43808667e+02] [ 9.95860202e-01 9.08958891e-02 -6.29228363e-04 1.21320164e+02] [ 6.31462874e-04 4.17502500e-06 9.99999801e-01 -4.07828909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.60028169299994 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:243.81, Y:121.35, Z:-0.41 [[ 8.80771608e-02 -9.96113655e-01 -4.96954014e-06 2.43809693e+02] [ 9.96113653e-01 8.80771609e-02 -5.83671946e-05 1.21345124e+02] [ 5.85780626e-05 1.90590000e-07 9.99999998e-01 -4.08000259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.81, Y:121.37, Z:-0.41 [[ 8.24730817e-02 -9.96593290e-01 7.02145988e-05 2.43808908e+02] [ 9.96592939e-01 8.24731116e-02 8.36759711e-04 1.21370206e+02] [-8.39699930e-04 9.65221354e-07 9.99999647e-01 -4.06884686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.66028169299994 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:243.81, Y:121.39, Z:-0.41 [[ 8.00128734e-02 -9.96793830e-01 2.34133355e-05 2.43809219e+02] [ 9.96793791e-01 8.00128768e-02 2.80412776e-04 1.21394067e+02] [-2.81387094e-04 9.01635471e-07 9.99999960e-01 -4.06745250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.690281693 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:243.81, Y:121.42, Z:-0.41 [[ 7.64000959e-02 -9.97077234e-01 -1.25782460e-04 2.43809771e+02] [ 9.97076094e-01 7.64001988e-02 -1.50717864e-03 1.21418676e+02] [ 1.51238331e-03 -1.02660916e-05 9.99998856e-01 -4.07497325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.72028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:243.81, Y:121.44, Z:-0.41 [[ 7.51223840e-02 -9.97174316e-01 -1.02261843e-04 2.43811126e+02] [ 9.97173558e-01 7.51224530e-02 -1.22936166e-03 1.21443650e+02] [ 1.23357004e-03 -9.62022714e-06 9.99999239e-01 -4.07409251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.750281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.81, Y:121.47, Z:-0.41 [[ 7.41127569e-02 -9.97249868e-01 -2.42832137e-05 2.43811602e+02] [ 9.97249825e-01 7.41127609e-02 -2.92423419e-04 1.21468245e+02] [ 2.93418912e-04 -2.54412477e-06 9.99999957e-01 -4.07328683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.78028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.81, Y:121.49, Z:-0.41 [[ 7.42419491e-02 -9.97240256e-01 -6.44489213e-05 2.43812793e+02] [ 9.97239951e-01 7.42419768e-02 -7.79812868e-04 1.21493071e+02] [ 7.82445600e-04 -6.37621184e-06 9.99999694e-01 -4.07216992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.810281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:243.81, Y:121.52, Z:-0.41 [[ 7.49186272e-02 -9.97189639e-01 -1.53148609e-04 2.43813945e+02] [ 9.97187903e-01 7.49187826e-02 -1.86043136e-03 1.21517898e+02] [ 1.86667659e-03 -1.33369769e-05 9.99998258e-01 -4.07162636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.84028169299995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:243.81, Y:121.54, Z:-0.41 [[ 7.78824055e-02 -9.96962517e-01 -2.64629908e-04 2.43813700e+02] [ 9.96957295e-01 7.78828541e-02 -3.22693231e-03 1.21541838e+02] [ 3.23774069e-03 -1.25034666e-05 9.99994758e-01 -4.06858894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.870281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:243.81, Y:121.57, Z:-0.41 [[ 7.95915035e-02 -9.96827535e-01 -2.40552770e-04 2.43813175e+02] [ 9.96823188e-01 7.95918668e-02 -2.94374990e-03 1.21565786e+02] [ 2.95355700e-03 -5.49109863e-06 9.99995638e-01 -4.07048163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.90028169299995 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:243.81, Y:121.59, Z:-0.41 [[ 8.39214841e-02 -9.96472353e-01 -1.84915963e-04 2.43810506e+02] [ 9.96469767e-01 8.39216876e-02 -2.27014249e-03 1.21589503e+02] [ 2.27765268e-03 6.25055988e-06 9.99997406e-01 -4.06876549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.930281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:243.81, Y:121.61, Z:-0.41 [[ 8.57583873e-02 -9.96315939e-01 -2.19247209e-04 2.43810303e+02] [ 9.96312278e-01 8.57586665e-02 -2.70093769e-03 1.21614469e+02] [ 2.70978962e-03 1.31893732e-05 9.99996328e-01 -4.07127426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.96028169299996 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:243.81, Y:121.64, Z:-0.41 [[ 8.71741852e-02 -9.96193048e-01 -2.69948302e-04 2.43810414e+02] [ 9.96187457e-01 8.71746003e-02 -3.33769193e-03 1.21639668e+02] [ 3.34851814e-03 2.20414626e-05 9.99994393e-01 -4.07301906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 330.990281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:243.81, Y:121.66, Z:-0.41 [[ 8.89376486e-02 -9.96037163e-01 -2.53295501e-04 2.43809422e+02] [ 9.96032206e-01 8.89380051e-02 -3.14250405e-03 1.21663018e+02] [ 3.15257841e-03 2.71964434e-05 9.99995030e-01 -4.07228519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.02028169299996 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:243.81, Y:121.69, Z:-0.41 [[ 8.90184378e-02 -9.96029956e-01 -2.08946611e-04 2.43809375e+02] [ 9.96026559e-01 8.90186800e-02 -2.60168732e-03 1.21686676e+02] [ 2.60995866e-03 2.34817675e-05 9.99996594e-01 -4.07351516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.050281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:243.81, Y:121.71, Z:-0.41 [[ 8.86061731e-02 -9.96066720e-01 -1.88508403e-04 2.43808018e+02] [ 9.96063934e-01 8.86063711e-02 -2.35577782e-03 1.21710260e+02] [ 2.36321494e-03 2.09700362e-05 9.99997207e-01 -4.08170055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.08028169299996 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:243.81, Y:121.74, Z:-0.41 [[ 8.78941030e-02 -9.96129814e-01 -1.43058458e-04 2.43808606e+02] [ 9.96128198e-01 8.78942181e-02 -1.79405063e-03 1.21735037e+02] [ 1.79968133e-03 1.51819068e-05 9.99998380e-01 -4.08068644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.110281693 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:243.81, Y:121.76, Z:-0.41 [[ 8.51776945e-02 -9.96365774e-01 -6.70235296e-05 2.43807772e+02] [ 9.96365417e-01 8.51777208e-02 -8.43263105e-04 1.21758572e+02] [ 8.45907408e-04 5.04728013e-06 9.99999642e-01 -4.06924804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.14028169299996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:243.81, Y:121.78, Z:-0.41 [[ 8.28648648e-02 -9.96560792e-01 -3.35565229e-05 2.43808890e+02] [ 9.96560703e-01 8.28648716e-02 -4.23347848e-04 1.21783384e+02] [ 4.24672524e-04 1.63955010e-06 9.99999910e-01 -4.06887666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.170281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:243.81, Y:121.81, Z:-0.41 [[ 7.67975912e-02 -9.97046704e-01 -2.20662258e-05 2.43812033e+02] [ 9.97046665e-01 7.67975943e-02 -2.79133129e-04 1.21808233e+02] [ 2.80003399e-04 -5.64304858e-07 9.99999961e-01 -4.07244441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.20028169299997 meters Centerline goodness : 0.999664 Centerline is valid? [True, True] Translation: X:243.82, Y:121.83, Z:-0.41 [[ 7.36560978e-02 -9.97283700e-01 -4.31432503e-05 2.43815642e+02] [ 9.97283549e-01 7.36561104e-02 -5.48405606e-04 1.21831186e+02] [ 5.50093736e-04 -2.63263684e-06 9.99999849e-01 -4.07284647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.23028169299994 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:243.82, Y:121.86, Z:-0.41 [[ 6.86231961e-02 -9.97642644e-01 -1.06636715e-04 2.43822168e+02] [ 9.97641716e-01 6.86232778e-02 -1.36127038e-03 1.21855737e+02] [ 1.36537915e-03 -1.29705106e-05 9.99999068e-01 -4.07020229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.26028169299997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:243.83, Y:121.88, Z:-0.41 [[ 6.69975690e-02 -9.97753123e-01 -1.75598766e-04 2.43826039e+02] [ 9.97750587e-01 6.69977946e-02 -2.24998123e-03 1.21879712e+02] [ 2.25669053e-03 -2.44604985e-05 9.99997453e-01 -4.07230535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.29028169299994 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:243.83, Y:121.90, Z:-0.41 [[ 6.64054875e-02 -9.97792693e-01 -2.28757726e-04 2.43829868e+02] [ 9.97788356e-01 6.64058734e-02 -2.94209577e-03 1.21903230e+02] [ 2.95079252e-03 -3.28804917e-05 9.99995646e-01 -4.07632205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.32028169299997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:243.84, Y:121.93, Z:-0.41 [[ 6.89692290e-02 -9.97618753e-01 -2.61714302e-04 2.43835297e+02] [ 9.97613033e-01 6.89697198e-02 -3.37861833e-03 1.21926692e+02] [ 3.38862336e-03 -2.80688979e-05 9.99994258e-01 -4.07429832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.35028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:243.84, Y:121.95, Z:-0.41 [[ 7.36804634e-02 -9.97281875e-01 -2.26815688e-04 2.43839939e+02] [ 9.97277544e-01 7.36808119e-02 -2.93891786e-03 1.21948700e+02] [ 2.94764147e-03 -9.65736238e-06 9.99995656e-01 -4.07256538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.380281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:243.84, Y:121.97, Z:-0.41 [[ 7.55164724e-02 -9.97144523e-01 -2.51901563e-04 2.43842664e+02] [ 9.97139140e-01 7.55168925e-02 -3.27627615e-03 1.21972073e+02] [ 3.28594364e-03 -3.76809063e-06 9.99994601e-01 -4.06751974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.41028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:243.85, Y:122.00, Z:-0.41 [[ 7.72339536e-02 -9.97012961e-01 -2.67452164e-04 2.43845912e+02] [ 9.97006850e-01 7.72344166e-02 -3.49086700e-03 1.21996463e+02] [ 3.50109616e-03 2.96182023e-06 9.99993871e-01 -4.06589466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.440281693 meters Centerline goodness : 0.999612 Centerline is valid? [True, True] Translation: X:243.85, Y:122.02, Z:-0.41 [[ 7.85409893e-02 -9.96910854e-01 -2.48821248e-04 2.43849090e+02] [ 9.96905525e-01 7.85413830e-02 -3.25976452e-03 1.22020618e+02] [ 3.26923739e-03 7.97385321e-06 9.99994656e-01 -4.06341519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.47028169299995 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:243.85, Y:122.04, Z:-0.41 [[ 7.97139410e-02 -9.96817772e-01 -1.33885020e-04 2.43853151e+02] [ 9.96816217e-01 7.97140531e-02 -1.76048899e-03 1.22044150e+02] [ 1.76555923e-03 6.87675697e-06 9.99998441e-01 -4.06681578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.500281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.86, Y:122.07, Z:-0.41 [[ 8.00513904e-02 -9.96790738e-01 -1.40858086e-05 2.43855696e+02] [ 9.96790720e-01 8.00513916e-02 -1.85276355e-04 1.22067343e+02] [ 1.85809343e-04 7.91026517e-07 9.99999983e-01 -4.05867852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.53028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:243.86, Y:122.09, Z:-0.41 [[ 7.97363998e-02 -9.96815984e-01 -3.79092867e-05 2.43857282e+02] [ 9.96815857e-01 7.97364088e-02 -5.01541546e-04 1.22091962e+02] [ 5.02967380e-04 2.20253907e-06 9.99999874e-01 -4.05412938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.560281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:243.86, Y:122.12, Z:-0.41 [[ 7.92869926e-02 -9.96851825e-01 -1.11981931e-04 2.43859195e+02] [ 9.96850713e-01 7.92870714e-02 -1.48841315e-03 1.22115685e+02] [ 1.49260608e-03 6.38253407e-06 9.99998886e-01 -4.05883303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.59028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:243.86, Y:122.14, Z:-0.41 [[ 7.76848244e-02 -9.96977947e-01 -2.00866162e-04 2.43862921e+02] [ 9.96974343e-01 7.76850837e-02 -2.68079261e-03 1.22139613e+02] [ 2.68829541e-03 7.99849277e-06 9.99996387e-01 -4.06486612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.620281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:243.87, Y:122.16, Z:-0.41 [[ 7.65718431e-02 -9.97064050e-01 -1.83826537e-04 2.43865604e+02] [ 9.97061008e-01 7.65720636e-02 -2.46291397e-03 1.22163016e+02] [ 2.46975895e-03 5.30358981e-06 9.99996950e-01 -4.06582264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.65028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.87, Y:122.19, Z:-0.41 [[ 7.51491373e-02 -9.97172300e-01 -1.10138291e-04 2.43868731e+02] [ 9.97171199e-01 7.51492180e-02 -1.48128614e-03 1.22185869e+02] [ 1.48537431e-03 1.49064316e-06 9.99998897e-01 -4.05372007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.680281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.87, Y:122.21, Z:-0.40 [[ 7.54782547e-02 -9.97147446e-01 -6.01282065e-05 2.43870386e+02] [ 9.97147116e-01 7.54782786e-02 -8.11374746e-04 1.22210452e+02] [ 8.13598629e-04 1.28448196e-06 9.99999669e-01 -4.04680607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.71028169299996 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:243.87, Y:122.24, Z:-0.40 [[ 7.62994727e-02 -9.97084945e-01 -6.15018524e-05 2.43871783e+02] [ 9.97084597e-01 7.62994975e-02 -8.33002812e-04 1.22235437e+02] [ 8.35267123e-04 2.23512567e-06 9.99999651e-01 -4.03876984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.740281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:243.87, Y:122.26, Z:-0.40 [[ 7.74620417e-02 -9.96995295e-01 -1.17693225e-04 2.43872570e+02] [ 9.96994010e-01 7.74621309e-02 -1.60064121e-03 1.22259691e+02] [ 1.60494852e-03 6.64949513e-06 9.99998712e-01 -4.04310392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.77028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:243.87, Y:122.28, Z:-0.41 [[ 8.10568157e-02 -9.96709448e-01 -2.62895176e-04 2.43872804e+02] [ 9.96702985e-01 8.10572369e-02 -3.58954031e-03 1.22284167e+02] [ 3.59903830e-03 2.89283010e-05 9.99993523e-01 -4.05474560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.800281693 meters Centerline goodness : 0.999740 Centerline is valid? [True, True] Translation: X:243.87, Y:122.31, Z:-0.41 [[ 8.40946936e-02 -9.96457749e-01 -1.94942005e-04 2.43873028e+02] [ 9.96454166e-01 8.40949141e-02 -2.67222075e-03 1.22309017e+02] [ 2.67914871e-03 3.04688126e-05 9.99996411e-01 -4.05030536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.83028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.87, Y:122.33, Z:-0.40 [[ 8.51387644e-02 -9.96369097e-01 -1.16227249e-04 2.43873366e+02] [ 9.96367814e-01 8.51388413e-02 -1.59902846e-03 1.22332361e+02] [ 1.60311800e-03 2.03342178e-05 9.99998715e-01 -4.04458048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.860281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:243.87, Y:122.36, Z:-0.40 [[ 8.55683775e-02 -9.96332299e-01 -5.45511234e-05 2.43873394e+02] [ 9.96332014e-01 8.55683943e-02 -7.53123492e-04 1.22355697e+02] [ 7.55029112e-04 1.00925247e-05 9.99999715e-01 -4.03622643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.89028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.87, Y:122.38, Z:-0.40 [[ 8.58607879e-02 -9.96307140e-01 -9.44628300e-05 2.43872338e+02] [ 9.96306279e-01 8.58608379e-02 -1.30971804e-03 1.22380685e+02] [ 1.31299209e-03 1.83395118e-05 9.99999138e-01 -4.04090152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.920281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.87, Y:122.41, Z:-0.41 [[ 8.54327862e-02 -9.96343924e-01 -1.57104037e-04 2.43871945e+02] [ 9.96341523e-01 8.54329253e-02 -2.18733368e-03 1.22405111e+02] [ 2.19275847e-03 3.03407348e-05 9.99997595e-01 -4.05365497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.95028169299997 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:243.87, Y:122.43, Z:-0.41 [[ 8.39399092e-02 -9.96470783e-01 -2.63602616e-04 2.43871452e+02] [ 9.96463970e-01 8.39403102e-02 -3.68518099e-03 1.22429555e+02] [ 3.69430207e-03 4.66632488e-05 9.99993175e-01 -4.07037715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 331.98028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:243.87, Y:122.45, Z:-0.41 [[ 8.22720212e-02 -9.96609881e-01 -2.42896143e-04 2.43872431e+02] [ 9.96604050e-01 8.22723708e-02 -3.40936400e-03 1.22454632e+02] [ 3.41778949e-03 3.84239874e-05 9.99994159e-01 -4.07187043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.01028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:243.87, Y:122.48, Z:-0.41 [[ 8.00492572e-02 -9.96790885e-01 -2.21059062e-04 2.43873667e+02] [ 9.96786017e-01 8.00495572e-02 -3.11533379e-03 1.22479487e+02] [ 3.12303201e-03 2.90315738e-05 9.99995123e-01 -4.06540327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.04028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:243.88, Y:122.50, Z:-0.41 [[ 7.59603818e-02 -9.97110826e-01 -1.47756947e-04 2.43876365e+02] [ 9.97108634e-01 7.59605246e-02 -2.09074042e-03 1.22503424e+02] [ 2.09592360e-03 1.14837129e-05 9.99997804e-01 -4.05697610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.07028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:243.88, Y:122.53, Z:-0.41 [[ 7.42548851e-02 -9.97239289e-01 -1.11562847e-04 2.43878791e+02] [ 9.97238029e-01 7.42549686e-02 -1.58499256e-03 1.22527276e+02] [ 1.58890095e-03 6.43872685e-06 9.99998738e-01 -4.05483475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.10028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.88, Y:122.55, Z:-0.40 [[ 7.33288205e-02 -9.97307814e-01 -9.33085033e-05 2.43881857e+02] [ 9.97306926e-01 7.33288797e-02 -1.33095496e-03 1.22551721e+02] [ 1.33421399e-03 4.54014103e-06 9.99999110e-01 -4.04376711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.130281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.88, Y:122.58, Z:-0.40 [[ 7.36616287e-02 -9.97283286e-01 -1.13695081e-04 2.43884176e+02] [ 9.97281955e-01 7.36617161e-02 -1.62879647e-03 1.22575729e+02] [ 1.63274647e-03 6.59374824e-06 9.99998667e-01 -4.04287993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.16028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.89, Y:122.60, Z:-0.40 [[ 7.33915636e-02 -9.97303196e-01 -1.13249258e-04 2.43885554e+02] [ 9.97301866e-01 7.33916507e-02 -1.62882752e-03 1.22600828e+02] [ 1.63274644e-03 6.59850233e-06 9.99998667e-01 -4.04283175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.190281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.89, Y:122.63, Z:-0.40 [[ 7.46050263e-02 -9.97213156e-01 -1.03932461e-04 2.43888581e+02] [ 9.97212027e-01 7.46050983e-02 -1.50088202e-03 1.22625774e+02] [ 1.50445318e-03 8.33064192e-06 9.99998868e-01 -4.04557075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.22028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.89, Y:122.65, Z:-0.40 [[ 7.89156851e-02 -9.96881293e-01 -5.49007710e-05 2.43893492e+02] [ 9.96880975e-01 7.89157037e-02 -7.95771398e-04 1.22650019e+02] [ 7.97622153e-04 8.06931094e-06 9.99999682e-01 -4.04553585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.250281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:243.90, Y:122.67, Z:-0.40 [[ 8.60459713e-02 -9.96291162e-01 -1.09692627e-04 2.43895455e+02] [ 9.96289882e-01 8.60460366e-02 -1.59717384e-03 1.22674002e+02] [ 1.60068879e-03 2.81447199e-05 9.99998719e-01 -4.04164978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.28028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.90, Y:122.70, Z:-0.40 [[ 9.01468688e-02 -9.95928457e-01 -2.26240721e-04 2.43895999e+02] [ 9.95922963e-01 9.01471232e-02 -3.30872424e-03 1.22698738e+02] [ 3.31564757e-03 7.29528008e-05 9.99994501e-01 -4.04710812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.310281693 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:243.90, Y:122.72, Z:-0.41 [[ 9.41052338e-02 -9.95562186e-01 -3.71623342e-04 2.43896073e+02] [ 9.95547234e-01 9.41058579e-02 -5.45824878e-03 1.22723528e+02] [ 5.46899802e-03 1.43681187e-04 9.99985035e-01 -4.05385371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.90, Y:122.75, Z:-0.41 [[ 1.01330440e-01 -9.94852749e-01 -3.87317769e-04 2.43895107e+02] [ 9.94836361e-01 1.01330995e-01 -5.71352166e-03 1.22747054e+02] [ 5.72336003e-03 1.93635862e-04 9.99983603e-01 -4.05951292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.370281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.89, Y:122.77, Z:-0.41 [[ 1.03934522e-01 -9.94584109e-01 -2.54442670e-04 2.43894935e+02] [ 9.94576976e-01 1.03934741e-01 -3.76934809e-03 1.22770940e+02] [ 3.77537915e-03 1.38702571e-04 9.99992864e-01 -4.05824598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.40028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.89, Y:122.80, Z:-0.40 [[ 1.07291838e-01 -9.94227570e-01 -2.33184597e-06 2.43894113e+02] [ 9.94227570e-01 1.07291838e-01 -3.39134115e-05 1.22795880e+02] [ 3.39678368e-05 1.32024671e-06 9.99999999e-01 -4.04277163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.430281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.89, Y:122.82, Z:-0.40 [[ 1.07958892e-01 -9.94155359e-01 1.81677596e-05 2.43894520e+02] [ 9.94155322e-01 1.07958893e-01 2.72073183e-04 1.22819416e+02] [-2.72444384e-04 -1.13111444e-05 9.99999963e-01 -4.03613492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.89, Y:122.84, Z:-0.40 [[ 1.07813511e-01 -9.94171136e-01 -4.94279435e-06 2.43893472e+02] [ 9.94171133e-01 1.07813511e-01 -7.33345221e-05 1.22844630e+02] [ 7.34399652e-05 2.99246887e-06 9.99999997e-01 -4.04175637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.89, Y:122.87, Z:-0.40 [[ 1.06610177e-01 -9.94300895e-01 -1.65435834e-05 2.43893348e+02] [ 9.94300864e-01 1.06610178e-01 -2.48349606e-04 1.22868357e+02] [ 2.48697950e-04 1.00272963e-05 9.99999969e-01 -4.04424551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.52028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.89, Y:122.89, Z:-0.40 [[ 1.05114687e-01 -9.94460106e-01 -1.03156916e-06 2.43893933e+02] [ 9.94460106e-01 1.05114687e-01 -1.48071646e-05 1.22892905e+02] [ 1.48335676e-05 5.30596099e-07 1.00000000e+00 -4.04410910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.550281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.89, Y:122.92, Z:-0.40 [[ 1.02306129e-01 -9.94752962e-01 -3.41270040e-05 2.43893806e+02] [ 9.94752827e-01 1.02306133e-01 -5.17555035e-04 1.22916387e+02] [ 5.18330805e-04 1.90011185e-05 9.99999866e-01 -4.03933453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.89, Y:122.94, Z:-0.40 [[ 1.01389713e-01 -9.94846780e-01 -1.05814399e-04 2.43893987e+02] [ 9.94845473e-01 1.01389752e-01 -1.61335708e-03 1.22939582e+02] [ 1.61577159e-03 5.83088366e-05 9.99998693e-01 -4.04124307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.610281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:243.89, Y:122.96, Z:-0.40 [[ 1.00340310e-01 -9.94953162e-01 -1.67946590e-04 2.43893747e+02] [ 9.94949841e-01 1.00340410e-01 -2.57209366e-03 1.22963717e+02] [ 2.57596455e-03 9.09862423e-05 9.99996678e-01 -4.04068710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.64028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.89, Y:122.99, Z:-0.40 [[ 9.96143207e-02 -9.95026112e-01 -1.51897066e-04 2.43894057e+02] [ 9.95023374e-01 9.96144032e-02 -2.33579093e-03 1.22988585e+02] [ 2.33930410e-03 8.15370957e-05 9.99997261e-01 -4.03988848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.670281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:243.89, Y:123.01, Z:-0.40 [[ 9.77980963e-02 -9.95206261e-01 -1.73896150e-04 2.43893483e+02] [ 9.95202639e-01 9.77982098e-02 -2.68644220e-03 1.23011561e+02] [ 2.69057083e-03 8.96670256e-05 9.99996376e-01 -4.04243057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.70028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:243.89, Y:123.04, Z:-0.41 [[ 9.67232035e-02 -9.95311302e-01 -1.85107216e-04 2.43893858e+02] [ 9.95307161e-01 9.67233353e-02 -2.87252312e-03 1.23035436e+02] [ 2.87695891e-03 9.36011004e-05 9.99995857e-01 -4.05069994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.90, Y:123.06, Z:-0.40 [[ 9.59675293e-02 -9.95384439e-01 -2.26194756e-04 2.43895040e+02] [ 9.95378198e-01 9.59677290e-02 -3.52664092e-03 1.23058262e+02] [ 3.53207090e-03 1.13293687e-04 9.99993756e-01 -4.04989100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.76028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.90, Y:123.08, Z:-0.41 [[ 9.51881193e-02 -9.95459285e-01 -1.81867085e-04 2.43895757e+02] [ 9.95455216e-01 9.51882504e-02 -2.84770026e-03 1.23082739e+02] [ 2.85208127e-03 9.00266939e-05 9.99995929e-01 -4.05585829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.79028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.90, Y:123.11, Z:-0.41 [[ 9.50261032e-02 -9.95474771e-01 -1.40758100e-04 2.43895679e+02] [ 9.95472313e-01 9.50261815e-02 -2.21348260e-03 1.23107605e+02] [ 2.21684179e-03 7.02178345e-05 9.99997540e-01 -4.05491817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.82028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.89, Y:123.13, Z:-0.41 [[ 9.57614397e-02 -9.95404305e-01 -1.27274591e-04 2.43893688e+02] [ 9.95402278e-01 9.57615017e-02 -2.00970361e-03 1.23131022e+02] [ 2.01265563e-03 6.57626932e-05 9.99997972e-01 -4.05071229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.85028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:243.89, Y:123.15, Z:-0.41 [[ 9.61455094e-02 -9.95367278e-01 -1.49587885e-04 2.43893108e+02] [ 9.95364454e-01 9.61455932e-02 -2.37266428e-03 1.23154589e+02] [ 2.37605461e-03 7.92265532e-05 9.99997174e-01 -4.05511983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.880281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.89, Y:123.18, Z:-0.41 [[ 9.64472275e-02 -9.95338088e-01 -1.51050988e-04 2.43892770e+02] [ 9.95335183e-01 9.64473112e-02 -2.40613026e-03 1.23179017e+02] [ 2.40948156e-03 8.17182298e-05 9.99997094e-01 -4.05197984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.91028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.89, Y:123.20, Z:-0.41 [[ 9.63874438e-02 -9.95343885e-01 -1.05323035e-04 2.43891967e+02] [ 9.95342461e-01 9.63874842e-02 -1.68490252e-03 1.23202675e+02] [ 1.68720924e-03 5.75709578e-05 9.99998575e-01 -4.05271331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.940281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:243.89, Y:123.23, Z:-0.41 [[ 9.49025510e-02 -9.95486566e-01 -5.23940967e-05 2.43889461e+02] [ 9.95486211e-01 9.49025614e-02 -8.41555031e-04 1.23227571e+02] [ 8.42729062e-04 2.77081186e-05 9.99999645e-01 -4.05366926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 332.97028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.89, Y:123.25, Z:-0.41 [[ 9.32526734e-02 -9.95642473e-01 -6.93719253e-05 2.43890461e+02] [ 9.95641844e-01 9.32526925e-02 -1.11967733e-03 1.23251763e+02] [ 1.12126743e-03 3.53433131e-05 9.99999371e-01 -4.06032183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.000281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.89, Y:123.28, Z:-0.41 [[ 8.86559254e-02 -9.96062297e-01 -1.68410273e-04 2.43891757e+02] [ 9.96058551e-01 8.86560541e-02 -2.73249259e-03 1.23275464e+02] [ 2.73666343e-03 7.45051671e-05 9.99996253e-01 -4.06721746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.03028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.89, Y:123.30, Z:-0.41 [[ 8.62939717e-02 -9.96269700e-01 -1.85778879e-04 2.43891753e+02] [ 9.96265100e-01 8.62941380e-02 -3.02844038e-03 1.23299714e+02] [ 3.03317502e-03 7.62511345e-05 9.99995397e-01 -4.05911477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.89, Y:123.32, Z:-0.41 [[ 8.42894625e-02 -9.96441298e-01 -1.60596966e-04 2.43890741e+02] [ 9.96437831e-01 8.42895930e-02 -2.62939741e-03 1.23323900e+02] [ 2.63357682e-03 6.16056019e-05 9.99996530e-01 -4.05825608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.89, Y:123.35, Z:-0.41 [[ 8.32345657e-02 -9.96529981e-01 -6.56215462e-05 2.43888233e+02] [ 9.96529397e-01 8.32345880e-02 -1.07887212e-03 1.23348361e+02] [ 1.08059040e-03 2.44056525e-05 9.99999416e-01 -4.05359221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.120281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.89, Y:123.37, Z:-0.41 [[ 8.33297073e-02 -9.96522031e-01 -4.13232728e-05 2.43888570e+02] [ 9.96521798e-01 8.33297161e-02 -6.82120353e-04 1.23372043e+02] [ 6.83191416e-04 1.56613473e-05 9.99999767e-01 -4.05221651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.89, Y:123.40, Z:-0.41 [[ 8.19378005e-02 -9.96637437e-01 -1.23753763e-04 2.43887983e+02] [ 9.96635322e-01 8.19378817e-02 -2.05392815e-03 1.23396947e+02] [ 2.05716181e-03 4.49569835e-05 9.99997883e-01 -4.05756157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.89, Y:123.42, Z:-0.41 [[ 8.00538200e-02 -9.96790526e-01 -1.79631305e-04 2.43888158e+02] [ 9.96786027e-01 8.00539985e-02 -2.99555931e-03 1.23421972e+02] [ 3.00032534e-03 6.07519915e-05 9.99995497e-01 -4.06488106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.89, Y:123.45, Z:-0.41 [[ 7.48611558e-02 -9.97193956e-01 -1.44032496e-04 2.43889183e+02] [ 9.97191037e-01 7.48612853e-02 -2.41319264e-03 1.23446535e+02] [ 2.41720357e-03 3.70264758e-05 9.99997078e-01 -4.06636976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.240281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.89, Y:123.47, Z:-0.41 [[ 7.18920317e-02 -9.97412417e-01 -8.40949649e-05 2.43890767e+02] [ 9.97411412e-01 7.18920787e-02 -1.41556998e-03 1.23470498e+02] [ 1.41795284e-03 1.78909244e-05 9.99998995e-01 -4.05435119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.89, Y:123.50, Z:-0.40 [[ 6.94663030e-02 -9.97584299e-01 -7.88164977e-06 2.43892348e+02] [ 9.97584290e-01 6.94663034e-02 -1.32487599e-04 1.23495188e+02] [ 1.32715058e-04 1.34081371e-06 9.99999991e-01 -4.04687408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.90, Y:123.52, Z:-0.40 [[ 6.63401110e-02 -9.97797066e-01 7.48349909e-05 2.43895656e+02] [ 9.97796253e-01 6.63401525e-02 1.27329556e-03 1.23519216e+02] [-1.27545514e-03 -9.80049555e-06 9.99999187e-01 -4.04090380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.33028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:243.90, Y:123.54, Z:-0.40 [[ 6.54220048e-02 -9.97857683e-01 7.54249761e-05 2.43898688e+02] [ 9.97856850e-01 6.54220477e-02 1.28959755e-03 1.23542802e+02] [-1.29176928e-03 -9.10472820e-06 9.99999166e-01 -4.04954370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.360281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.90, Y:123.57, Z:-0.41 [[ 6.27226668e-02 -9.98030988e-01 1.14950926e-04 2.43904057e+02] [ 9.98029035e-01 6.27227715e-02 1.97458841e-03 1.23566658e+02] [-1.97791047e-03 -9.12708937e-06 9.99998044e-01 -4.05510770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.39028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.91, Y:123.59, Z:-0.41 [[ 6.10158297e-02 -9.98136791e-01 1.18562169e-04 2.43907823e+02] [ 9.98134692e-01 6.10159445e-02 2.04702077e-03 1.23590347e+02] [-2.05044093e-03 -6.55965660e-06 9.99997898e-01 -4.05039775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.420281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.92, Y:123.61, Z:-0.40 [[ 5.88987767e-02 -9.98263959e-01 4.23007757e-05 2.43916639e+02] [ 9.98263689e-01 5.88987919e-02 7.34244392e-04 1.23613569e+02] [-7.35461178e-04 -1.01876810e-06 9.99999730e-01 -4.03955508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.92, Y:123.64, Z:-0.40 [[ 5.82398476e-02 -9.98302620e-01 2.20374017e-06 2.43921862e+02] [ 9.98302619e-01 5.82398476e-02 3.93358775e-05 1.23637542e+02] [-3.93974549e-05 -9.09159244e-08 9.99999999e-01 -4.04452904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.48028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.93, Y:123.66, Z:-0.40 [[ 5.78995669e-02 -9.98322412e-01 -4.46745568e-05 2.43926488e+02] [ 9.98322106e-01 5.78995841e-02 -7.81340080e-04 1.23660743e+02] [ 7.82615951e-04 6.39654606e-07 9.99999694e-01 -4.04583972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.51028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.93, Y:123.68, Z:-0.41 [[ 5.90966808e-02 -9.98252261e-01 -7.48187410e-05 2.43934423e+02] [ 9.98251394e-01 5.90967281e-02 -1.31571663e-03 1.23684815e+02] [ 1.31783864e-03 3.06657308e-06 9.99999132e-01 -4.06047794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.54028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:243.94, Y:123.71, Z:-0.41 [[ 6.00377208e-02 -9.98196105e-01 -9.04693794e-05 2.43939851e+02] [ 9.98194824e-01 6.00377887e-02 -1.59929679e-03 1.23708301e+02] [ 1.60184341e-03 5.71206797e-06 9.99998717e-01 -4.06228537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.57028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:243.95, Y:123.73, Z:-0.41 [[ 6.21920007e-02 -9.98064198e-01 -1.05604353e-04 2.43949742e+02] [ 9.98062434e-01 6.21920894e-02 -1.87660265e-03 1.23731529e+02] [ 1.87953767e-03 1.13099353e-05 9.99998234e-01 -4.06050832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.60028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.95, Y:123.76, Z:-0.41 [[ 6.31678248e-02 -9.98002913e-01 -1.11293063e-04 2.43954708e+02] [ 9.98000934e-01 6.31679212e-02 -1.98753313e-03 1.23755858e+02] [ 1.99059401e-03 1.44775636e-05 9.99998019e-01 -4.05713404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.630281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.96, Y:123.78, Z:-0.41 [[ 6.42428083e-02 -9.97934292e-01 -9.86541863e-05 2.43959033e+02] [ 9.97932722e-01 6.42428823e-02 -1.77072029e-03 1.23778972e+02] [ 1.77340033e-03 1.53058037e-05 9.99998427e-01 -4.05679601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.66028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.96, Y:123.80, Z:-0.41 [[ 6.71971943e-02 -9.97739714e-01 -2.86516229e-05 2.43964423e+02] [ 9.97739580e-01 6.71972001e-02 -5.16139497e-04 1.23803010e+02] [ 5.16898183e-04 6.09626786e-06 9.99999866e-01 -4.05372639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.690281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.97, Y:123.83, Z:-0.40 [[ 6.91856053e-02 -9.97603805e-01 -1.10062394e-05 2.43966611e+02] [ 9.97603785e-01 6.91856061e-02 -1.98671313e-04 1.23826416e+02] [ 1.98956731e-04 2.76532892e-06 9.99999980e-01 -4.04277678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.72028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.97, Y:123.85, Z:-0.40 [[ 7.45092610e-02 -9.97220322e-01 4.41618467e-06 2.43968420e+02] [ 9.97220318e-01 7.45092611e-02 8.15762702e-05 1.23850169e+02] [-8.16785610e-05 -1.67427852e-06 9.99999997e-01 -4.04247868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.750281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.97, Y:123.87, Z:-0.41 [[ 7.75495060e-02 -9.96988502e-01 1.02176430e-05 2.43969563e+02] [ 9.96988485e-01 7.75495065e-02 1.88400059e-04 1.23874141e+02] [-1.88625066e-04 -4.42345907e-06 9.99999982e-01 -4.05088660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.78028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:243.97, Y:123.90, Z:-0.40 [[ 8.10003301e-02 -9.96714075e-01 2.24226709e-06 2.43970253e+02] [ 9.96714074e-01 8.10003301e-02 4.23607298e-05 1.23898176e+02] [-4.24031599e-05 -1.19633393e-06 9.99999999e-01 -4.04964792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.810281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:243.97, Y:123.92, Z:-0.41 [[ 8.71190706e-02 -9.96197905e-01 -2.98452526e-05 2.43969834e+02] [ 9.96197753e-01 8.71190737e-02 -5.52166563e-04 1.23922312e+02] [ 5.52667264e-04 1.83724642e-05 9.99999847e-01 -4.05484926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.84028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.97, Y:123.95, Z:-0.41 [[ 8.88425294e-02 -9.96045681e-01 -7.79576105e-05 2.43969809e+02] [ 9.96044624e-01 8.88425488e-02 -1.45191392e-03 1.23945263e+02] [ 1.45309854e-03 5.13424460e-05 9.99998943e-01 -4.05753672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.97, Y:123.97, Z:-0.41 [[ 9.11580557e-02 -9.95836429e-01 -1.26236116e-04 2.43968364e+02] [ 9.95833628e-01 9.11580989e-02 -2.36374277e-03 1.23969859e+02] [ 2.36540860e-03 8.97640257e-05 9.99997198e-01 -4.06826380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.90028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.97, Y:123.99, Z:-0.41 [[ 9.18435730e-02 -9.95773440e-01 -1.18752454e-04 2.43967259e+02] [ 9.95770936e-01 9.18436086e-02 -2.23479270e-03 1.23994366e+02] [ 2.23625387e-03 8.70011043e-05 9.99997496e-01 -4.06267263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.930281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.96, Y:124.02, Z:-0.41 [[ 9.35495681e-02 -9.95614620e-01 -7.99489610e-05 2.43963661e+02] [ 9.95613474e-01 9.35495818e-02 -1.51213332e-03 1.24018039e+02] [ 1.51298123e-03 6.18611564e-05 9.99998854e-01 -4.06690816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.96028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.96, Y:124.04, Z:-0.41 [[ 9.38891065e-02 -9.95582660e-01 -6.15110805e-05 2.43961941e+02] [ 9.95581974e-01 9.38891141e-02 -1.16909093e-03 1.24042450e+02] [ 1.16970188e-03 4.85255802e-05 9.99999315e-01 -4.07038419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 333.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.96, Y:124.07, Z:-0.41 [[ 9.38866132e-02 -9.95582895e-01 -5.90570078e-05 2.43959535e+02] [ 9.95582256e-01 9.38866200e-02 -1.12835227e-03 1.24066983e+02] [ 1.12891288e-03 4.71410639e-05 9.99999362e-01 -4.06970666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.02028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.95, Y:124.09, Z:-0.41 [[ 9.22114331e-02 -9.95739446e-01 -8.00797140e-05 2.43952387e+02] [ 9.95738259e-01 9.22114469e-02 -1.53885056e-03 1.24091263e+02] [ 1.53967847e-03 6.21611801e-05 9.99998813e-01 -4.07194523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.95, Y:124.12, Z:-0.41 [[ 9.01736872e-02 -9.95926045e-01 -1.36112266e-04 2.43949482e+02] [ 9.95922577e-01 9.01737327e-02 -2.63030126e-03 1.24116046e+02] [ 2.63185929e-03 1.01626685e-04 9.99996532e-01 -4.08213177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.08028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.95, Y:124.14, Z:-0.41 [[ 8.99055886e-02 -9.95950283e-01 -1.35403247e-04 2.43950406e+02] [ 9.95946815e-01 8.99056332e-02 -2.63033785e-03 1.24141164e+02] [ 2.63185924e-03 1.01627640e-04 9.99996532e-01 -4.08208359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.110281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.94, Y:124.17, Z:-0.41 [[ 8.49514940e-02 -9.96385065e-01 -2.15287003e-04 2.43944478e+02] [ 9.96376206e-01 8.49516471e-02 -4.20402743e-03 1.24165006e+02] [ 4.20711913e-03 1.42631564e-04 9.99991140e-01 -4.09291541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.14028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.94, Y:124.19, Z:-0.41 [[ 8.12947942e-02 -9.96690084e-01 -1.79477668e-04 2.43941981e+02] [ 9.96683860e-01 8.12949212e-02 -3.52393491e-03 1.24189693e+02] [ 3.52686160e-03 1.07595068e-04 9.99993775e-01 -4.08486624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.170281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.94, Y:124.21, Z:-0.41 [[ 7.71149236e-02 -9.97022204e-01 -1.17756283e-04 2.43939497e+02] [ 9.97019495e-01 7.71149887e-02 -2.32503346e-03 1.24213939e+02] [ 2.32719076e-03 6.18894685e-05 9.99997290e-01 -4.07899898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.94, Y:124.24, Z:-0.41 [[ 7.27418929e-02 -9.97350798e-01 -6.00213402e-05 2.43937484e+02] [ 9.97350087e-01 7.27419128e-02 -1.19105513e-03 1.24238910e+02] [ 1.19226585e-03 2.67773156e-05 9.99999289e-01 -4.07498036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.94, Y:124.26, Z:-0.41 [[ 6.47112134e-02 -9.97904033e-01 -1.27332670e-05 2.43935749e+02] [ 9.97904001e-01 6.47112146e-02 -2.53241356e-04 1.24263866e+02] [ 2.53534556e-04 3.68097738e-06 9.99999968e-01 -4.07471191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.94, Y:124.29, Z:-0.41 [[ 6.13338957e-02 -9.98117304e-01 1.17186314e-05 2.43936030e+02] [ 9.98117276e-01 6.13338968e-02 2.36519831e-04 1.24287281e+02] [-2.36793285e-04 -2.81011417e-06 9.99999972e-01 -4.07622496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.29028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.94, Y:124.31, Z:-0.41 [[ 5.65033884e-02 -9.98402407e-01 -3.24815816e-06 2.43935849e+02] [ 9.98402405e-01 5.65033885e-02 -6.45666648e-05 1.24310966e+02] [ 6.46470456e-05 4.05266426e-07 9.99999998e-01 -4.07606328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.32028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.94, Y:124.34, Z:-0.41 [[ 5.46804159e-02 -9.98503907e-01 -1.78349498e-05 2.43936427e+02] [ 9.98503841e-01 5.46804188e-02 -3.61208222e-04 1.24335145e+02] [ 3.61643043e-04 1.94274991e-06 9.99999935e-01 -4.07954827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.35028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.94, Y:124.36, Z:-0.41 [[ 5.33349021e-02 -9.98576681e-01 -1.93377720e-05 2.43937514e+02] [ 9.98576603e-01 5.33349056e-02 -3.94000391e-04 1.24359457e+02] [ 3.94470981e-04 1.70372564e-06 9.99999922e-01 -4.08194946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.94, Y:124.38, Z:-0.41 [[ 5.18061485e-02 -9.98657158e-01 -5.44128297e-05 2.43939155e+02] [ 9.98656534e-01 5.18061769e-02 -1.11703626e-03 1.24382802e+02] [ 1.11835518e-03 3.52961853e-06 9.99999375e-01 -4.07952813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.41028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.94, Y:124.41, Z:-0.41 [[ 5.13453016e-02 -9.98680957e-01 -7.62738051e-05 2.43940481e+02] [ 9.98679715e-01 5.13453580e-02 -1.57542922e-03 1.24406382e+02] [ 1.57726747e-03 4.71778639e-06 9.99998756e-01 -4.08384114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.440281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.94, Y:124.43, Z:-0.41 [[ 5.11778863e-02 -9.98689549e-01 -9.85975987e-05 2.43943462e+02] [ 9.98687446e-01 5.11779808e-02 -2.04918938e-03 1.24430014e+02] [ 2.05155004e-03 6.40499709e-06 9.99997896e-01 -4.08868160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.47028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.94, Y:124.45, Z:-0.41 [[ 5.11352896e-02 -9.98691733e-01 -6.21229823e-05 2.43944680e+02] [ 9.98690889e-01 5.11353271e-02 -1.29873469e-03 1.24453098e+02] [ 1.30021228e-03 4.36951792e-06 9.99999155e-01 -4.08720745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.500281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.95, Y:124.48, Z:-0.41 [[ 5.11923368e-02 -9.98688813e-01 -7.15206868e-06 2.43945273e+02] [ 9.98688802e-01 5.11923373e-02 -1.49402884e-04 1.24476971e+02] [ 1.49573120e-04 5.05591857e-07 9.99999989e-01 -4.08860130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.53028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.95, Y:124.50, Z:-0.41 [[ 5.21947124e-02 -9.98636925e-01 -6.76393688e-05 2.43946408e+02] [ 9.98635899e-01 5.21947557e-02 -1.43154595e-03 1.24500527e+02] [ 1.43312507e-03 7.17202740e-06 9.99998973e-01 -4.08454933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.560281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.95, Y:124.52, Z:-0.41 [[ 5.21448759e-02 -9.98639522e-01 -1.27754351e-04 2.43948207e+02] [ 9.98635813e-01 5.21450304e-02 -2.72189521e-03 1.24523029e+02] [ 2.72485388e-03 1.43528178e-05 9.99996288e-01 -4.09485652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.59028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:243.95, Y:124.55, Z:-0.41 [[ 5.25372956e-02 -9.98618946e-01 -1.80772424e-04 2.43950603e+02] [ 9.98611423e-01 5.25376015e-02 -3.87640020e-03 1.24546147e+02] [ 3.88054403e-03 2.31341754e-05 9.99992470e-01 -4.09959072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.620281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.95, Y:124.57, Z:-0.41 [[ 5.30849995e-02 -9.98589983e-01 -1.67440064e-04 2.43951889e+02] [ 9.98583449e-01 5.30852578e-02 -3.61255286e-03 1.24570361e+02] [ 3.61634770e-03 2.45694905e-05 9.99993461e-01 -4.09679212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.95, Y:124.59, Z:-0.41 [[ 5.37469827e-02 -9.98554577e-01 -1.36706295e-04 2.43953054e+02] [ 9.98550168e-01 5.37471517e-02 -2.96739850e-03 1.24593629e+02] [ 2.97045693e-03 2.29806219e-05 9.99995588e-01 -4.09736280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.680281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.95, Y:124.62, Z:-0.41 [[ 5.61588061e-02 -9.98421844e-01 -9.85797873e-05 2.43954613e+02] [ 9.98419523e-01 5.61588881e-02 -2.15316848e-03 1.24616306e+02] [ 2.15530658e-03 2.24953870e-05 9.99997677e-01 -4.08761492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.71028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.95, Y:124.64, Z:-0.41 [[ 5.70083951e-02 -9.98373697e-01 -7.12170580e-05 2.43954151e+02] [ 9.98372470e-01 5.70084367e-02 -1.56485848e-03 1.24640053e+02] [ 1.56637352e-03 1.81089204e-05 9.99998773e-01 -4.08859382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.740281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.95, Y:124.66, Z:-0.41 [[ 5.87960772e-02 -9.98270012e-01 -7.22332071e-05 2.43951238e+02] [ 9.98268734e-01 5.87961175e-02 -1.59703418e-03 1.24663531e+02] [ 1.59851836e-03 2.17911927e-05 9.99998722e-01 -4.09678924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.77028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.95, Y:124.69, Z:-0.41 [[ 5.91019785e-02 -9.98251946e-01 -9.13430492e-05 2.43950479e+02] [ 9.98249878e-01 5.91020420e-02 -2.03237897e-03 1.24687709e+02] [ 2.03422482e-03 2.89344303e-05 9.99997931e-01 -4.09823869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.800281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.95, Y:124.71, Z:-0.41 [[ 5.89736326e-02 -9.98259537e-01 -9.00301358e-05 2.43950053e+02] [ 9.98257502e-01 5.89736942e-02 -2.01564091e-03 1.24711639e+02] [ 2.01744217e-03 2.89964080e-05 9.99997965e-01 -4.09513022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.83028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.95, Y:124.73, Z:-0.41 [[ 5.70760166e-02 -9.98369834e-01 -5.11927980e-05 2.43947763e+02] [ 9.98369168e-01 5.70760377e-02 -1.15300453e-03 1.24734452e+02] [ 1.15404682e-03 1.46995943e-05 9.99999334e-01 -4.08424410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.95, Y:124.76, Z:-0.41 [[ 5.52379945e-02 -9.98473215e-01 -4.78678669e-05 2.43946972e+02] [ 9.98472626e-01 5.52380139e-02 -1.08501324e-03 1.24757632e+02] [ 1.08600078e-03 1.21392004e-05 9.99999410e-01 -4.08072777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.95, Y:124.78, Z:-0.41 [[ 5.14317785e-02 -9.98676510e-01 -8.19603376e-06 2.43945743e+02] [ 9.98676493e-01 5.14317792e-02 -1.85954731e-04 1.24780660e+02] [ 1.86130159e-04 1.37879630e-06 9.99999983e-01 -4.09160270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.920281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.95, Y:124.80, Z:-0.41 [[ 4.96326258e-02 -9.98767542e-01 1.99139407e-05 2.43945506e+02] [ 9.98767436e-01 4.96326297e-02 4.58853482e-04 1.24804914e+02] [-4.59276345e-04 -2.88470770e-06 9.99999895e-01 -4.09098478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.94, Y:124.83, Z:-0.41 [[ 4.73514543e-02 -9.98878290e-01 -3.85908153e-05 2.43944638e+02] [ 9.98877892e-01 4.73514699e-02 -8.91243190e-04 1.24828706e+02] [ 8.92070805e-04 3.65414892e-06 9.99999602e-01 -4.08407117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 334.98028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.94, Y:124.85, Z:-0.41 [[ 4.70437451e-02 -9.98892825e-01 -9.89346203e-05 2.43944712e+02] [ 9.98890175e-01 4.70438482e-02 -2.30114581e-03 1.24852576e+02] [ 2.30325230e-03 9.42969677e-06 9.99997347e-01 -4.08344563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.94, Y:124.88, Z:-0.41 [[ 4.69043646e-02 -9.98899381e-01 -8.65373377e-05 2.43944277e+02] [ 9.98897328e-01 4.69044436e-02 -2.02540951e-03 1.24876454e+02] [ 2.02723929e-03 8.55863069e-06 9.99997945e-01 -4.08469031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.04028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.95, Y:124.90, Z:-0.41 [[ 4.62922061e-02 -9.98927941e-01 -3.07321890e-05 2.43945040e+02] [ 9.98927679e-01 4.62922162e-02 -7.23092927e-04 1.24900469e+02] [ 7.23740389e-04 2.77433253e-06 9.99999738e-01 -4.08370843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.95, Y:124.92, Z:-0.41 [[ 4.52379257e-02 -9.98976241e-01 1.57800007e-05 2.43946679e+02] [ 9.98976170e-01 4.52379285e-02 3.75519072e-04 1.24923780e+02] [-3.75848485e-04 -1.22385922e-06 9.99999929e-01 -4.08813047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.10028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.95, Y:124.95, Z:-0.41 [[ 4.09327393e-02 -9.99161904e-01 -9.48166794e-06 2.43949286e+02] [ 9.99161879e-01 4.09327404e-02 -2.25129347e-04 1.24948113e+02] [ 2.25328778e-04 -2.58560267e-07 9.99999975e-01 -4.10128640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.95, Y:124.97, Z:-0.41 [[ 3.86844320e-02 -9.99251476e-01 -4.99991059e-05 2.43951094e+02] [ 9.99250754e-01 3.86844641e-02 -1.20121943e-03 1.24971380e+02] [ 1.20225447e-03 -3.49315301e-06 9.99999277e-01 -4.10153542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.16028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.95, Y:125.00, Z:-0.41 [[ 3.65477268e-02 -9.99331907e-01 -6.45800597e-05 2.43952976e+02] [ 9.99330685e-01 3.65477832e-02 -1.56264475e-03 1.24995926e+02] [ 1.56396102e-03 -7.42572170e-06 9.99998777e-01 -4.09701218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:243.96, Y:125.02, Z:-0.41 [[ 3.28936145e-02 -9.99458855e-01 -8.12919881e-05 2.43955237e+02] [ 9.99456891e-01 3.28937111e-02 -1.98141691e-03 1.25019785e+02] [ 1.98301867e-03 -1.60718737e-05 9.99998034e-01 -4.10045739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.22028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.96, Y:125.04, Z:-0.41 [[ 3.13758890e-02 -9.99507649e-01 -1.13032110e-04 2.43956613e+02] [ 9.99503798e-01 3.13760819e-02 -2.77467423e-03 1.25044353e+02] [ 2.77685462e-03 -2.59181524e-05 9.99996144e-01 -4.10181224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.96, Y:125.07, Z:-0.41 [[ 2.99932069e-02 -9.99550094e-01 -1.34751573e-04 2.43958990e+02] [ 9.99544548e-01 2.99934894e-02 -3.32981176e-03 1.25067997e+02] [ 3.33235533e-03 -3.48184670e-05 9.99994447e-01 -4.10304670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.28028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.96, Y:125.09, Z:-0.41 [[ 2.94654989e-02 -9.99565792e-01 -1.09904718e-04 2.43959835e+02] [ 9.99562053e-01 2.94656893e-02 -2.73423655e-03 1.25092540e+02] [ 2.73628774e-03 -2.92909413e-05 9.99996256e-01 -4.09594674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.310281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.96, Y:125.12, Z:-0.41 [[ 2.94996375e-02 -9.99564786e-01 -9.74479306e-05 2.43960533e+02] [ 9.99561806e-01 2.94997876e-02 -2.44110823e-03 1.25117215e+02] [ 2.44292052e-03 -2.53934216e-05 9.99997016e-01 -4.09030604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.34028169299995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:243.96, Y:125.14, Z:-0.41 [[ 3.07691030e-02 -9.99526510e-01 -1.37796965e-04 2.43962931e+02] [ 9.99520461e-01 3.07693962e-02 -3.47735240e-03 1.25142154e+02] [ 3.47994584e-03 -3.07358721e-05 9.99993945e-01 -4.08972429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.97, Y:125.17, Z:-0.41 [[ 3.14037648e-02 -9.99506770e-01 -1.45515542e-04 2.43965363e+02] [ 9.99499922e-01 3.14040884e-02 -3.69997352e-03 1.25166122e+02] [ 3.70271836e-03 -2.92496749e-05 9.99993145e-01 -4.09108703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.97, Y:125.19, Z:-0.41 [[ 3.18666521e-02 -9.99492122e-01 -1.21374455e-04 2.43968158e+02] [ 9.99487288e-01 3.18668755e-02 -3.10850683e-03 1.25189732e+02] [ 3.11079591e-03 -2.22545193e-05 9.99995161e-01 -4.08267337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.430281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.97, Y:125.21, Z:-0.41 [[ 3.21630310e-02 -9.99482629e-01 -1.18942044e-04 2.43969925e+02] [ 9.99477920e-01 3.21632446e-02 -3.06824048e-03 1.25214502e+02] [ 3.07047863e-03 -2.01960332e-05 9.99995286e-01 -4.07672718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.97, Y:125.24, Z:-0.41 [[ 3.26796503e-02 -9.99465869e-01 -1.34292475e-04 2.43972130e+02] [ 9.99459774e-01 3.26799200e-02 -3.49055446e-03 1.25238480e+02] [ 3.49307871e-03 -2.01498278e-05 9.99993899e-01 -4.08397483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.490281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:243.98, Y:125.26, Z:-0.41 [[ 3.51484497e-02 -9.99382094e-01 -1.32989114e-04 2.43976595e+02] [ 9.99376027e-01 3.51486998e-02 -3.48226155e-03 1.25262696e+02] [ 3.48478423e-03 -1.05100373e-05 9.99993928e-01 -4.07784543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.98, Y:125.29, Z:-0.41 [[ 3.69236981e-02 -9.99318083e-01 -1.02057673e-04 2.43978402e+02] [ 9.99314456e-01 3.69238391e-02 -2.69213032e-03 1.25287369e+02] [ 2.69406287e-03 -2.58430045e-06 9.99996371e-01 -4.07279373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.550281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.98, Y:125.31, Z:-0.41 [[ 3.88042256e-02 -9.99246829e-01 -7.74377838e-05 2.43980370e+02] [ 9.99244710e-01 3.88043027e-02 -2.05796844e-03 1.25311625e+02] [ 2.05942336e-03 2.47857574e-06 9.99997879e-01 -4.06189404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.98, Y:125.33, Z:-0.41 [[ 4.15329477e-02 -9.99137134e-01 -3.70965808e-05 2.43983688e+02] [ 9.99136641e-01 4.15329641e-02 -9.92914297e-04 1.25334777e+02] [ 9.93598276e-04 4.17410446e-06 9.99999506e-01 -4.06467437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.610281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.99, Y:125.36, Z:-0.41 [[ 4.22828779e-02 -9.99105679e-01 -1.88597932e-05 2.43985490e+02] [ 9.99105550e-01 4.22828820e-02 -5.08112480e-04 1.25357465e+02] [ 5.08455511e-04 2.64153388e-06 9.99999871e-01 -4.06253036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.64028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.99, Y:125.38, Z:-0.41 [[ 4.33346331e-02 -9.99060614e-01 -1.57680339e-07 2.43986859e+02] [ 9.99060614e-01 4.33346331e-02 -2.81391737e-06 1.25381879e+02] [ 2.81810709e-06 -3.55921368e-08 1.00000000e+00 -4.06039319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.670281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.99, Y:125.41, Z:-0.41 [[ 4.37385858e-02 -9.99043010e-01 -8.86018283e-07 2.43987192e+02] [ 9.99043010e-01 4.37385858e-02 -2.28142805e-05 1.25406797e+02] [ 2.28312007e-05 1.12693997e-07 1.00000000e+00 -4.06325855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.70028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.99, Y:125.43, Z:-0.41 [[ 4.34747236e-02 -9.99054527e-01 7.69572534e-06 2.43986989e+02] [ 9.99054504e-01 4.34747242e-02 2.14467251e-04 1.25430957e+02] [-2.14599047e-04 -1.63545538e-06 9.99999977e-01 -4.06555680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.73028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.99, Y:125.45, Z:-0.41 [[ 4.25155332e-02 -9.99095805e-01 3.62666051e-05 2.43986660e+02] [ 9.99095291e-01 4.25155481e-02 1.01350938e-03 1.25454407e+02] [-1.01413487e-03 -6.85609748e-06 9.99999486e-01 -4.06018996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.99, Y:125.48, Z:-0.41 [[ 4.20245891e-02 -9.99116576e-01 2.93555965e-05 2.43986260e+02] [ 9.99116234e-01 4.20245990e-02 8.27204749e-04 1.25479202e+02] [-8.27707634e-04 -5.43328663e-06 9.99999657e-01 -4.05953102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.79028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.98, Y:125.50, Z:-0.41 [[ 4.15202759e-02 -9.99137660e-01 -4.78199835e-05 2.43983981e+02] [ 9.99136742e-01 4.15203026e-02 -1.35468143e-03 1.25502836e+02] [ 1.35549874e-03 8.46804431e-06 9.99999081e-01 -4.05935584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.82028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.98, Y:125.53, Z:-0.41 [[ 4.14224509e-02 -9.99141720e-01 -6.93339800e-05 2.43982979e+02] [ 9.99139756e-01 4.14225070e-02 -1.98065301e-03 1.25527537e+02] [ 1.98182505e-03 1.27691664e-05 9.99998036e-01 -4.06173126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.85028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.98, Y:125.55, Z:-0.41 [[ 4.18323395e-02 -9.99124641e-01 -8.00761820e-05 2.43981711e+02] [ 9.99121980e-01 4.18324129e-02 -2.30622680e-03 1.25551835e+02] [ 2.30755780e-03 1.64689888e-05 9.99997337e-01 -4.06661299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.98, Y:125.58, Z:-0.41 [[ 4.32030655e-02 -9.99066308e-01 -8.26580475e-05 2.43977273e+02] [ 9.99063426e-01 4.32031394e-02 -2.40000459e-03 1.25577016e+02] [ 2.40133481e-03 2.11069235e-05 9.99997117e-01 -4.07239528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.91028169299994 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:243.97, Y:125.60, Z:-0.41 [[ 4.35238401e-02 -9.99052386e-01 -6.86989395e-05 2.43974823e+02] [ 9.99050362e-01 4.35238902e-02 -2.01118116e-03 1.25601562e+02] [ 2.01226539e-03 1.89006271e-05 9.99997975e-01 -4.06608584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.940281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.97, Y:125.63, Z:-0.41 [[ 4.40028069e-02 -9.99031403e-01 -9.68615955e-05 2.43970532e+02] [ 9.99027306e-01 4.40029039e-02 -2.86120861e-03 1.25625574e+02] [ 2.86269945e-03 2.91338313e-05 9.99995902e-01 -4.07358560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 335.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.97, Y:125.65, Z:-0.41 [[ 4.37319376e-02 -9.99043297e-01 -9.60808085e-05 2.43970999e+02] [ 9.99039200e-01 4.37320335e-02 -2.86123493e-03 1.25650701e+02] [ 2.86269939e-03 2.91388536e-05 9.99995902e-01 -4.07353742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.000281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.97, Y:125.68, Z:-0.41 [[ 4.37891949e-02 -9.99040783e-01 -1.41010168e-04 2.43969282e+02] [ 9.99031806e-01 4.37893992e-02 -4.23548791e-03 1.25675571e+02] [ 4.23759991e-03 4.45949625e-05 9.99991020e-01 -4.07218196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.03028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.97, Y:125.70, Z:-0.41 [[ 4.35692817e-02 -9.99050394e-01 -1.68730298e-04 2.43966777e+02] [ 9.99037309e-01 4.35695747e-02 -5.11342965e-03 1.25699548e+02] [ 5.11592541e-03 5.42205935e-05 9.99986912e-01 -4.07446055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.060281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.96, Y:125.72, Z:-0.41 [[ 4.41500319e-02 -9.99024899e-01 -1.57956582e-04 2.43960454e+02] [ 9.99013231e-01 4.41502797e-02 -4.82868885e-03 1.25723869e+02] [ 4.83095422e-03 5.53860510e-05 9.99988329e-01 -4.07324735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.96, Y:125.75, Z:-0.41 [[ 4.38101014e-02 -9.99039866e-01 -1.44656950e-04 2.43957646e+02] [ 9.99029915e-01 4.38103107e-02 -4.45942273e-03 1.25748347e+02] [ 4.46147855e-03 5.08511411e-05 9.99990046e-01 -4.07518428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.120281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.95, Y:125.77, Z:-0.41 [[ 4.32837313e-02 -9.99062810e-01 -1.42814047e-04 2.43952710e+02] [ 9.99052939e-01 4.32839386e-02 -4.44130488e-03 1.25772520e+02] [ 4.44332409e-03 4.95574533e-05 9.99990127e-01 -4.07275199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.15028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.95, Y:125.80, Z:-0.41 [[ 4.28814889e-02 -9.99080156e-01 -1.41891563e-04 2.43950206e+02] [ 9.99070226e-01 4.28816954e-02 -4.45461823e-03 1.25795763e+02] [ 4.45660523e-03 4.92610265e-05 9.99990068e-01 -4.07188020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.180281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.95, Y:125.82, Z:-0.41 [[ 4.26092874e-02 -9.99091805e-01 -1.20093537e-04 2.43948506e+02] [ 9.99084565e-01 4.26094359e-02 -3.80369417e-03 1.25820929e+02] [ 3.80535679e-03 4.20890994e-05 9.99992759e-01 -4.07235617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.95, Y:125.85, Z:-0.41 [[ 4.15916287e-02 -9.99134691e-01 -7.30440444e-05 2.43948531e+02] [ 9.99131966e-01 4.15916859e-02 -2.33368360e-03 1.25845086e+02] [ 2.33470227e-03 2.40810622e-05 9.99997274e-01 -4.07242966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:243.95, Y:125.87, Z:-0.41 [[ 3.99758663e-02 -9.99200644e-01 -5.97848523e-05 2.43949452e+02] [ 9.99198784e-01 3.99759073e-02 -1.92769457e-03 1.25868443e+02] [ 1.92854361e-03 1.73243087e-05 9.99998140e-01 -4.07067782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.27028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.95, Y:125.89, Z:-0.41 [[ 3.66990271e-02 -9.99326362e-01 -6.36796983e-05 2.43951145e+02] [ 9.99324212e-01 3.66990802e-02 -2.07268086e-03 1.25892390e+02] [ 2.07362161e-03 1.24287068e-05 9.99997850e-01 -4.06788140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.300281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.95, Y:125.92, Z:-0.41 [[ 3.51832045e-02 -9.99380878e-01 -5.59115809e-05 2.43952291e+02] [ 9.99379190e-01 3.51832478e-02 -1.83698412e-03 1.25917352e+02] [ 1.83781395e-03 8.75411752e-06 9.99998311e-01 -4.06678059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.33028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.95, Y:125.94, Z:-0.41 [[ 3.44729552e-02 -9.99405630e-01 -3.89443275e-05 2.43954001e+02] [ 9.99404796e-01 3.44729768e-02 -1.29170139e-03 1.25940728e+02] [ 1.29227617e-03 5.60761657e-06 9.99999165e-01 -4.06326712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.96, Y:125.96, Z:-0.41 [[ 3.61713239e-02 -9.99343321e-01 2.13591862e-03 2.43955967e+02] [ 9.99344033e-01 3.61673948e-02 -1.85036035e-03 1.25964384e+02] [ 1.77189465e-03 2.20144752e-03 9.99996007e-01 -4.05316001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.96, Y:125.99, Z:-0.41 [[ 3.73341597e-02 -9.99300361e-01 -2.22470412e-03 2.43958727e+02] [ 9.99300683e-01 3.73386095e-02 -1.99335807e-03 1.25988593e+02] [ 2.07503080e-03 -2.14872800e-03 9.99995539e-01 -4.06428849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.420281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.96, Y:126.01, Z:-0.41 [[ 4.24318788e-02 -9.99099354e-01 -1.28319709e-04 2.43958604e+02] [ 9.99089731e-01 4.24320334e-02 -4.38546324e-03 1.26013244e+02] [ 4.38695836e-03 5.78805412e-05 9.99990376e-01 -4.06642520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.45028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:243.95, Y:126.04, Z:-0.40 [[ 4.58625595e-02 -9.98829517e-01 1.53694823e-02 2.43952139e+02] [ 9.98913461e-01 4.57280611e-02 -8.99125264e-03 1.26035873e+02] [ 8.27791191e-03 1.57651446e-02 9.99841456e-01 -4.03230521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.97, Y:126.06, Z:-0.41 [[ 4.93739758e-02 -9.98646734e-01 -1.63374243e-02 2.43967288e+02] [ 9.98772343e-01 4.94325193e-02 -3.19894575e-03 1.26059950e+02] [ 4.00221676e-03 -1.61594228e-02 9.99861418e-01 -4.08616204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.96, Y:126.08, Z:-0.41 [[ 5.01450679e-02 -9.98741943e-01 -6.12874397e-05 2.43959720e+02] [ 9.98739580e-01 5.01450826e-02 -2.17299382e-03 1.26084353e+02] [ 2.17333333e-03 4.77547308e-05 9.99997637e-01 -4.07289825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.54028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.96, Y:126.11, Z:-0.41 [[ 5.03105369e-02 -9.98733623e-01 -2.05486019e-05 2.43959743e+02] [ 9.98733349e-01 5.03105383e-02 -7.40152286e-04 1.26109191e+02] [ 7.40248785e-04 1.67148849e-05 9.99999726e-01 -4.07570741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.57028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:243.96, Y:126.13, Z:-0.41 [[ 4.90750609e-02 -9.98795093e-01 -9.61418679e-06 2.43958877e+02] [ 9.98795031e-01 4.90750613e-02 -3.53600649e-04 1.26132994e+02] [ 3.53646410e-04 7.75037142e-06 9.99999937e-01 -4.07624711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.60028169299994 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:243.96, Y:126.16, Z:-0.41 [[ 4.75472149e-02 -9.98868991e-01 -4.65919653e-05 2.43958193e+02] [ 9.98867533e-01 4.75472252e-02 -1.70644619e-03 1.26157739e+02] [ 1.70673150e-03 3.45975624e-05 9.99998543e-01 -4.08031883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.630281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.96, Y:126.18, Z:-0.41 [[ 4.50716310e-02 -9.98983753e-01 -1.00821405e-04 2.43957989e+02] [ 9.98976803e-01 4.50716936e-02 -3.72684620e-03 1.26181714e+02] [ 3.72760300e-03 6.72567924e-05 9.99993050e-01 -4.07851568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.66028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.96, Y:126.21, Z:-0.41 [[ 4.39412157e-02 -9.99034113e-01 -1.00744342e-04 2.43958949e+02] [ 9.99027024e-01 4.39412834e-02 -3.76426730e-03 1.26205655e+02] [ 3.76505828e-03 6.47601613e-05 9.99992910e-01 -4.07418368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.690281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.96, Y:126.23, Z:-0.41 [[ 4.15587883e-02 -9.99136057e-01 -8.30481130e-05 2.43960683e+02] [ 9.99131131e-01 4.15588442e-02 -3.13778309e-03 1.26229001e+02] [ 3.13852360e-03 4.74265078e-05 9.99995074e-01 -4.06788170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.72028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.96, Y:126.25, Z:-0.41 [[ 3.96510887e-02 -9.99213584e-01 -6.61238986e-05 2.43961751e+02] [ 9.99210392e-01 3.96511292e-02 -2.52582867e-03 1.26253842e+02] [ 2.52646420e-03 3.40801697e-05 9.99996808e-01 -4.07662866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.96, Y:126.28, Z:-0.41 [[ 3.71388694e-02 -9.99310113e-01 -4.89475616e-05 2.43962965e+02] [ 9.99308323e-01 3.71388955e-02 -1.89177940e-03 1.26278074e+02] [ 1.89229214e-03 2.13448423e-05 9.99998209e-01 -4.08196084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.97, Y:126.30, Z:-0.41 [[ 3.25605450e-02 -9.99469764e-01 -2.98998992e-05 2.43966726e+02] [ 9.99469078e-01 3.25605577e-02 -1.17166620e-03 1.26301127e+02] [ 1.17201849e-03 8.26606522e-06 9.99999313e-01 -4.07086859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.97, Y:126.33, Z:-0.41 [[ 3.06527548e-02 -9.99530094e-01 -2.06047918e-05 2.43969210e+02] [ 9.99529759e-01 3.06527614e-02 -8.17985045e-04 1.26325483e+02] [ 8.18232262e-04 4.47839243e-06 9.99999665e-01 -4.06175552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.84028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.97, Y:126.35, Z:-0.41 [[ 2.88876517e-02 -9.99582665e-01 -1.62934177e-05 2.43971244e+02] [ 9.99582450e-01 2.88876561e-02 -6.55727864e-04 1.26350493e+02] [ 6.55924884e-04 2.65582376e-06 9.99999785e-01 -4.05276983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.870281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:243.97, Y:126.37, Z:-0.41 [[ 2.70859008e-02 -9.99633110e-01 -1.91509184e-05 2.43974458e+02] [ 9.99632806e-01 2.70859075e-02 -7.78825356e-04 1.26374292e+02] [ 7.79058332e-04 1.95130007e-06 9.99999697e-01 -4.05537716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.90028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.98, Y:126.40, Z:-0.41 [[ 2.66445894e-02 -9.99644970e-01 -2.75244391e-05 2.43976191e+02] [ 9.99644332e-01 2.66446034e-02 -1.12883198e-03 1.26398488e+02] [ 1.12916458e-03 2.56261490e-06 9.99999363e-01 -4.06245507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:243.98, Y:126.42, Z:-0.41 [[ 2.85069358e-02 -9.99593594e-01 -4.26526452e-05 2.43977780e+02] [ 9.99592033e-01 2.85069667e-02 -1.76668311e-03 1.26421671e+02] [ 1.76718102e-03 7.72747776e-06 9.99998439e-01 -4.05781066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.96028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:243.98, Y:126.45, Z:-0.41 [[ 2.98063035e-02 -9.99555693e-01 -3.84931431e-05 2.43977282e+02] [ 9.99554389e-01 2.98063268e-02 -1.61448844e-03 1.26445041e+02] [ 1.61491845e-03 9.64594227e-06 9.99998696e-01 -4.05377941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 336.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:243.98, Y:126.47, Z:-0.41 [[ 3.13611085e-02 -9.99508119e-01 -3.48008086e-05 2.43977072e+02] [ 9.99507028e-01 3.13611257e-02 -1.47705493e-03 1.26470026e+02] [ 1.47741978e-03 1.15384270e-05 9.99998909e-01 -4.05682040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.98, Y:126.49, Z:-0.41 [[ 3.26368973e-02 -9.99467274e-01 -4.18237329e-05 2.43977237e+02] [ 9.99465663e-01 3.26369198e-02 -1.79463371e-03 1.26494207e+02] [ 1.79504266e-03 1.67698913e-05 9.99998389e-01 -4.06328829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.050281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:243.98, Y:126.52, Z:-0.41 [[ 3.45046861e-02 -9.99404535e-01 -4.74947617e-05 2.43976123e+02] [ 9.99402409e-01 3.45047107e-02 -2.06128238e-03 1.26518661e+02] [ 2.06169375e-03 2.36575223e-05 9.99997874e-01 -4.07040859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.08028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:243.97, Y:126.54, Z:-0.41 [[ 3.39902990e-02 -9.99422160e-01 -7.35895873e-05 2.43972027e+02] [ 9.99416952e-01 3.39903595e-02 -3.22666608e-03 1.26542356e+02] [ 3.22730292e-03 3.61286639e-05 9.99994792e-01 -4.07460707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.110281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:243.97, Y:126.57, Z:-0.41 [[ 3.28014071e-02 -9.99461883e-01 -1.08911917e-04 2.43970007e+02] [ 9.99450215e-01 3.28015504e-02 -4.82980424e-03 1.26567396e+02] [ 4.83077772e-03 4.95723361e-05 9.99988331e-01 -4.07868073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.14028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:243.97, Y:126.59, Z:-0.41 [[ 3.13105773e-02 -9.99509694e-01 -1.40867403e-04 2.43967994e+02] [ 9.99489708e-01 3.13108420e-02 -6.32095797e-03 1.26592044e+02] [ 6.32226944e-03 5.71173237e-05 9.99980013e-01 -4.08461567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.170281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:243.96, Y:126.62, Z:-0.41 [[ 2.81199556e-02 -9.99604546e-01 -1.43890924e-04 2.43963916e+02] [ 9.99583126e-01 2.81202950e-02 -6.54398076e-03 1.26616371e+02] [ 6.54543917e-03 4.01855091e-05 9.99978578e-01 -4.08412135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.20028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:243.96, Y:126.64, Z:-0.41 [[ 2.56242121e-02 -9.99671640e-01 -1.13723196e-04 2.43962023e+02] [ 9.99657872e-01 2.56244561e-02 -5.24653691e-03 1.26639607e+02] [ 5.24772824e-03 2.07540867e-05 9.99986230e-01 -4.07762965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.23028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:243.96, Y:126.66, Z:-0.41 [[ 2.27163759e-02 -9.99741947e-01 -7.86082398e-05 2.43960939e+02] [ 9.99735188e-01 2.27165114e-02 -3.67617898e-03 1.26664079e+02] [ 3.67701604e-03 4.92204039e-06 9.99993240e-01 -4.06796746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.26028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:243.96, Y:126.69, Z:-0.41 [[ 1.64804946e-02 -9.99864186e-01 -4.55085369e-05 2.43960035e+02] [ 9.99861853e-01 1.64805545e-02 -2.16000337e-03 1.26689207e+02] [ 2.16046002e-03 -9.90432603e-06 9.99997666e-01 -4.05620199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:243.96, Y:126.71, Z:-0.41 [[ 1.34136145e-02 -9.99910032e-01 -4.78312329e-05 2.43959665e+02] [ 9.99907392e-01 1.34136890e-02 -2.29786324e-03 1.26712698e+02] [ 2.29829810e-03 -1.70041517e-05 9.99997359e-01 -4.05422948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.32028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:243.96, Y:126.74, Z:-0.41 [[ 8.42698860e-03 -9.99964489e-01 -7.64149527e-05 2.43958547e+02] [ 9.99957586e-01 8.42721439e-03 -3.71603860e-03 1.26737242e+02] [ 3.71655061e-03 -4.50966966e-05 9.99993093e-01 -4.06515804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.35028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:243.96, Y:126.76, Z:-0.41 [[ 6.31706180e-03 -9.99980044e-01 -8.51573204e-05 2.43958407e+02] [ 9.99971230e-01 6.31736369e-03 -4.19871703e-03 1.26761049e+02] [ 4.19917121e-03 -5.86313155e-05 9.99991182e-01 -4.06746650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.380281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:243.96, Y:126.78, Z:-0.41 [[ 4.45421089e-03 -9.99990077e-01 -7.92182187e-05 2.43959641e+02] [ 9.99982230e-01 4.45448981e-03 -3.96201823e-03 1.26784916e+02] [ 3.96233179e-03 -6.15691462e-05 9.99992148e-01 -4.06678844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.41028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.96, Y:126.81, Z:-0.41 [[ 1.26469392e-03 -9.99999200e-01 -3.25505281e-05 2.43963939e+02] [ 9.99997832e-01 1.26474604e-03 -1.65448729e-03 1.26808266e+02] [ 1.65452714e-03 -3.04580375e-05 9.99998631e-01 -4.05204175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.440281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:243.97, Y:126.83, Z:-0.40 [[-5.91398808e-05 -9.99999998e-01 -2.15188986e-05 2.43966604e+02] [ 9.99999380e-01 -5.91159150e-05 -1.11205741e-03 1.26832978e+02] [ 1.11205613e-03 -2.15846522e-05 9.99999381e-01 -4.04104936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.47028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:243.97, Y:126.86, Z:-0.40 [[-1.26991776e-03 -9.99999193e-01 -3.22026385e-05 2.43971551e+02] [ 9.99997771e-01 -1.26986163e-03 -1.68691334e-03 1.26855447e+02] [ 1.68687108e-03 -3.43448079e-05 9.99998577e-01 -4.04483982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.500281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:243.97, Y:126.88, Z:-0.40 [[-2.28270153e-03 -9.99997394e-01 -4.25925513e-05 2.43974035e+02] [ 9.99994837e-01 -2.28259936e-03 -2.26178789e-03 1.26879010e+02] [ 2.26168477e-03 -4.77553180e-05 9.99997441e-01 -4.04885208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.98, Y:126.90, Z:-0.40 [[-5.17619475e-03 -9.99986603e-01 -3.01889568e-05 2.43981135e+02] [ 9.99985272e-01 -5.17613859e-03 -1.63214783e-03 1.26901175e+02] [ 1.63196970e-03 -3.86368272e-05 9.99998668e-01 -4.04358386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:243.99, Y:126.92, Z:-0.40 [[-7.00887445e-03 -9.99975437e-01 -2.74741724e-05 2.43985275e+02] [ 9.99974299e-01 -7.00882501e-03 -1.50921422e-03 1.26924816e+02] [ 1.50898459e-03 -3.80513593e-05 9.99998861e-01 -4.03757686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:243.99, Y:126.95, Z:-0.40 [[-8.88832036e-03 -9.99960497e-01 -3.86084120e-05 2.43989710e+02] [ 9.99958184e-01 -8.88821672e-03 -2.15186644e-03 1.26947831e+02] [ 2.15143827e-03 -5.77332758e-05 9.99997684e-01 -4.04095610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.00, Y:126.97, Z:-0.40 [[-1.14744529e-02 -9.99934162e-01 -9.13870356e-05 2.44000032e+02] [ 9.99920871e-01 -1.14738290e-02 -5.15776130e-03 1.26972282e+02] [ 5.15637317e-03 -1.50562293e-04 9.99986695e-01 -4.04385339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.65028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.01, Y:127.00, Z:-0.40 [[-1.20850335e-02 -9.99926968e-01 -9.87170758e-05 2.44005333e+02] [ 9.99910952e-01 -1.20842810e-02 -5.66205785e-03 1.26996608e+02] [ 5.66045142e-03 -1.67134444e-04 9.99983966e-01 -4.04297528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.680281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.01, Y:127.02, Z:-0.40 [[-1.20125322e-02 -9.99927843e-01 -8.96326403e-05 2.44010461e+02] [ 9.99914171e-01 -1.20118990e-02 -5.23112855e-03 1.27020086e+02] [ 5.22967443e-03 -1.52464047e-04 9.99986314e-01 -4.03560416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.71028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.02, Y:127.04, Z:-0.40 [[-9.47632962e-03 -9.99955096e-01 -7.17398879e-05 2.44021057e+02] [ 9.99946025e-01 -9.47593799e-03 -4.26062383e-03 1.27043183e+02] [ 4.25975270e-03 -1.12111092e-04 9.99990921e-01 -4.01944072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.03, Y:127.07, Z:-0.40 [[-7.88148399e-03 -9.99968938e-01 -7.19199153e-05 2.44025814e+02] [ 9.99959515e-01 -7.88109740e-03 -4.34242371e-03 1.27067165e+02] [ 4.34172202e-03 -1.06141747e-04 9.99990569e-01 -4.01873922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.77028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.03, Y:127.09, Z:-0.40 [[-2.35439371e-03 -9.99997225e-01 -8.58652308e-05 2.44034888e+02] [ 9.99983341e-01 -2.35390848e-03 -5.27040928e-03 1.27089896e+02] [ 5.27019254e-03 -9.82724189e-05 9.99986108e-01 -4.02016353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.800281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.04, Y:127.11, Z:-0.40 [[ 1.11477523e-03 -9.99999375e-01 -8.73573281e-05 2.44038882e+02] [ 9.99984502e-01 1.11523515e-03 -5.45458974e-03 1.27113745e+02] [ 5.45468375e-03 -8.12753327e-05 9.99985120e-01 -4.02280884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.83028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.04, Y:127.14, Z:-0.40 [[ 4.83986786e-03 -9.99988284e-01 -8.64127085e-05 2.44042959e+02] [ 9.99973214e-01 4.84026936e-03 -5.49031184e-03 1.27137375e+02] [ 5.49066577e-03 -5.98380100e-05 9.99984924e-01 -4.01981400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.860281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.05, Y:127.16, Z:-0.40 [[ 1.26857483e-02 -9.99919530e-01 -6.90412218e-05 2.44049070e+02] [ 9.99909536e-01 1.26859302e-02 -4.47065439e-03 1.27160319e+02] [ 4.47117049e-03 -1.23213795e-05 9.99990004e-01 -4.00717793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.89028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.05, Y:127.18, Z:-0.40 [[ 1.24207959e-02 -9.99922857e-01 -6.78706016e-05 2.44048991e+02] [ 9.99912862e-01 1.24209752e-02 -4.47067233e-03 1.27184634e+02] [ 4.47117047e-03 -1.23353788e-05 9.99990004e-01 -4.00733189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.92028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:127.21, Z:-0.40 [[ 1.52538472e-02 -9.99883652e-01 -5.93682872e-05 2.44050984e+02] [ 9.99875713e-01 1.52539627e-02 -3.98438197e-03 1.27208901e+02] [ 3.98482400e-03 1.41624540e-06 9.99992061e-01 -4.01091110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.95028169299997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.06, Y:127.23, Z:-0.40 [[ 2.00072929e-02 -9.99799833e-01 -4.26507016e-05 2.44055918e+02] [ 9.99795564e-01 2.00073322e-02 -2.92171096e-03 1.27231487e+02] [ 2.92197946e-03 1.58135448e-05 9.99995731e-01 -4.01503542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 337.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.06, Y:127.26, Z:-0.40 [[ 2.16995640e-02 -9.99764536e-01 -4.19790201e-05 2.44057487e+02] [ 9.99760242e-01 2.16995938e-02 -2.93008987e-03 1.27255040e+02] [ 2.93031087e-03 2.16127174e-05 9.99995706e-01 -4.00946410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:127.28, Z:-0.40 [[ 2.32905485e-02 -9.99728737e-01 -4.62537730e-05 2.44058282e+02] [ 9.99723320e-01 2.32905746e-02 -3.29144112e-03 1.27279205e+02] [ 3.29162556e-03 3.04184936e-05 9.99994582e-01 -4.01005878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.04028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.06, Y:127.30, Z:-0.40 [[ 2.47923398e-02 -9.99692621e-01 -5.21399855e-05 2.44058418e+02] [ 9.99685449e-01 2.47923595e-02 -3.78696196e-03 1.27302375e+02] [ 3.78709060e-03 4.17640631e-05 9.99992828e-01 -4.01332424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.07028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.06, Y:127.33, Z:-0.40 [[ 2.76292766e-02 -9.99618237e-01 -5.14051205e-05 2.44059153e+02] [ 9.99610986e-01 2.76292719e-02 -3.80798983e-03 1.27326532e+02] [ 3.80795637e-03 5.38268810e-05 9.99992748e-01 -4.01927830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:127.35, Z:-0.40 [[ 2.84781887e-02 -9.99594413e-01 -4.33124099e-05 2.44059562e+02] [ 9.99589035e-01 2.84781775e-02 -3.27949217e-03 1.27351092e+02] [ 3.27939551e-03 5.00993867e-05 9.99994622e-01 -4.01867290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:127.37, Z:-0.40 [[ 3.01361761e-02 -9.99545801e-01 -4.12406933e-05 2.44059061e+02] [ 9.99540724e-01 3.01361544e-02 -3.18635716e-03 1.27374613e+02] [ 3.18615275e-03 5.48028678e-05 9.99994923e-01 -4.01847396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.16028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.06, Y:127.40, Z:-0.40 [[ 2.99276369e-02 -9.99552067e-01 -4.17572202e-05 2.44058758e+02] [ 9.99546638e-01 2.99276120e-02 -3.29505977e-03 1.27398539e+02] [ 3.29483350e-03 5.68750634e-05 9.99994570e-01 -4.02036352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:127.42, Z:-0.40 [[ 2.90437734e-02 -9.99578140e-01 -4.52739557e-05 2.44059558e+02] [ 9.99571454e-01 2.90437448e-02 -3.65647994e-03 1.27421853e+02] [ 3.65625235e-03 6.09434213e-05 9.99993314e-01 -4.02253337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.22028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.06, Y:127.44, Z:-0.40 [[ 2.61993250e-02 -9.99656738e-01 -4.69707381e-05 2.44062145e+02] [ 9.99649178e-01 2.61993096e-02 -3.88819800e-03 1.27444403e+02] [ 3.88809393e-03 5.49139035e-05 9.99992440e-01 -4.02857708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:127.47, Z:-0.40 [[ 2.46486786e-02 -9.99696174e-01 -4.66210279e-05 2.44063321e+02] [ 9.99688360e-01 2.46486703e-02 -3.95303969e-03 1.27468293e+02] [ 3.95298780e-03 5.08307061e-05 9.99992186e-01 -4.02976933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.28028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.06, Y:127.49, Z:-0.40 [[ 2.39928047e-02 -9.99712130e-01 -5.36576504e-05 2.44064232e+02] [ 9.99701285e-01 2.39927944e-02 -4.65682709e-03 1.27493124e+02] [ 4.65677393e-03 5.80887209e-05 9.99989156e-01 -4.03091676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.06, Y:127.52, Z:-0.40 [[ 2.46067120e-02 -9.99697207e-01 -5.84876316e-05 2.44064466e+02] [ 9.99683653e-01 2.46066829e-02 -5.20629236e-03 1.27516323e+02] [ 5.20615512e-03 6.96406073e-05 9.99986445e-01 -4.02528363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.34028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.06, Y:127.54, Z:-0.40 [[ 2.68371286e-02 -9.99639818e-01 -5.68968860e-05 2.44062588e+02] [ 9.99626288e-01 2.68370614e-02 -5.20153626e-03 1.27539527e+02] [ 5.20118970e-03 8.27186745e-05 9.99986470e-01 -4.01106323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:127.56, Z:-0.40 [[ 2.84394738e-02 -9.99595515e-01 -4.86257294e-05 2.44060534e+02] [ 9.99585106e-01 2.84393996e-02 -4.56247294e-03 1.27564071e+02] [ 4.56201037e-03 8.11487747e-05 9.99989591e-01 -4.01302407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.40028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.06, Y:127.59, Z:-0.40 [[ 3.00167149e-02 -9.99549396e-01 -3.89925648e-05 2.44058590e+02] [ 9.99542312e-01 3.00166490e-02 -3.76384063e-03 1.27587549e+02] [ 3.76331505e-03 7.40034126e-05 9.99992916e-01 -4.01463900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.430281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.06, Y:127.61, Z:-0.40 [[ 3.17105869e-02 -9.99497093e-01 -2.52521633e-05 2.44056113e+02] [ 9.99493943e-01 3.17105504e-02 -2.50983477e-03 1.27612721e+02] [ 2.50937332e-03 5.43489493e-05 9.99996850e-01 -4.01923054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.46028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.05, Y:127.64, Z:-0.40 [[ 3.13197061e-02 -9.99509417e-01 -3.04785318e-05 2.44054227e+02] [ 9.99504577e-01 3.13196493e-02 -3.11116847e-03 1.27637834e+02] [ 3.11059676e-03 6.69774500e-05 9.99995160e-01 -4.01964755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.05, Y:127.66, Z:-0.40 [[ 2.96001444e-02 -9.99561819e-01 -3.91630788e-05 2.44049655e+02] [ 9.99553357e-01 2.96000550e-02 -4.11382526e-03 1.27661097e+02] [ 4.11318189e-03 8.26242347e-05 9.99991537e-01 -4.01278882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.05, Y:127.69, Z:-0.40 [[ 2.79936392e-02 -9.99608101e-01 -3.73478713e-05 2.44047685e+02] [ 9.99599904e-01 2.79935609e-02 -4.04876124e-03 1.27685207e+02] [ 4.04822003e-03 7.60066328e-05 9.99991803e-01 -4.01350953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:127.71, Z:-0.40 [[ 2.62167666e-02 -9.99656281e-01 -3.01120370e-05 2.44046403e+02] [ 9.99650610e-01 2.62167194e-02 -3.36762890e-03 1.27710032e+02] [ 3.36726083e-03 5.81868249e-05 9.99994329e-01 -4.01276661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.04, Y:127.73, Z:-0.40 [[ 2.23782414e-02 -9.99749576e-01 -1.79343256e-05 2.44043241e+02] [ 9.99747396e-01 2.23782301e-02 -2.08790785e-03 1.27732675e+02] [ 2.08778633e-03 2.87939107e-05 9.99997820e-01 -4.01822020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.04, Y:127.76, Z:-0.40 [[ 1.96396477e-02 -9.99807123e-01 -1.62781134e-05 2.44042054e+02] [ 9.99805190e-01 1.96396417e-02 -1.96656345e-03 1.27755415e+02] [ 1.96650384e-03 2.23476710e-05 9.99998066e-01 -4.01743459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:127.78, Z:-0.40 [[ 1.38223227e-02 -9.99904467e-01 -2.05988189e-05 2.44044612e+02] [ 9.99901156e-01 1.38223299e-02 -2.57313078e-03 1.27779169e+02] [ 2.57316969e-03 1.49698611e-05 9.99996689e-01 -4.02239696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.67028169299994 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.05, Y:127.80, Z:-0.40 [[ 1.13102778e-02 -9.99936037e-01 -2.16324953e-05 2.44046631e+02] [ 9.99932091e-01 1.13102939e-02 -2.80885946e-03 1.27801876e+02] [ 2.80892446e-03 1.01379544e-05 9.99996055e-01 -4.02641198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.70028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:127.82, Z:-0.40 [[ 9.38024501e-03 -9.99956004e-01 -2.37066715e-05 2.44047784e+02] [ 9.99950884e-01 9.38027284e-03 -3.20008837e-03 1.27824571e+02] [ 3.20016995e-03 6.31210580e-06 9.99994879e-01 -4.02311474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.05, Y:127.85, Z:-0.40 [[ 8.15680741e-03 -9.99966732e-01 -2.68195120e-05 2.44048604e+02] [ 9.99959636e-01 8.15685056e-03 -3.76718209e-03 1.27848339e+02] [ 3.76727553e-03 3.90974934e-06 9.99992904e-01 -4.01674462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.76028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.05, Y:127.87, Z:-0.40 [[ 9.27890338e-03 -9.99956950e-01 -2.53692618e-05 2.44048872e+02] [ 9.99950015e-01 9.27893351e-03 -3.72422128e-03 1.27871558e+02] [ 3.72429635e-03 9.18869576e-06 9.99993065e-01 -4.01078101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.05, Y:127.90, Z:-0.40 [[ 1.42418868e-02 -9.99898579e-01 -1.58663646e-05 2.44047536e+02] [ 9.99895592e-01 1.42418831e-02 -2.44412661e-03 1.27895574e+02] [ 2.44410470e-03 1.89442666e-05 9.99997013e-01 -3.99435606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:127.92, Z:-0.40 [[ 1.72671041e-02 -9.99850912e-01 -1.44808995e-05 2.44045133e+02] [ 9.99848178e-01 1.72670908e-02 -2.33831100e-03 1.27919129e+02] [ 2.33821243e-03 2.58971586e-05 9.99997266e-01 -3.99479155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:127.94, Z:-0.40 [[ 2.07638407e-02 -9.99784408e-01 -1.74729624e-05 2.44042272e+02] [ 9.99780045e-01 2.07638017e-02 -2.95414275e-03 1.27943115e+02] [ 2.95386866e-03 4.38702304e-05 9.99995636e-01 -3.99284665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.04, Y:127.97, Z:-0.40 [[ 2.67887004e-02 -9.99641118e-01 -1.65511859e-05 2.44036761e+02] [ 9.99636802e-01 2.67886334e-02 -2.93809920e-03 1.27967714e+02] [ 2.93748816e-03 6.21626848e-05 9.99995684e-01 -3.99923940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.03, Y:127.99, Z:-0.40 [[ 2.84656511e-02 -9.99594771e-01 -1.74985211e-05 2.44034247e+02] [ 9.99589474e-01 2.84655572e-02 -3.25495421e-03 1.27990903e+02] [ 3.25413331e-03 7.51630532e-05 9.99994702e-01 -4.00233667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.03, Y:128.01, Z:-0.40 [[ 2.92438417e-02 -9.99572307e-01 -1.79998022e-05 2.44027698e+02] [ 9.99566015e-01 2.92437215e-02 -3.54763845e-03 1.28013651e+02] [ 3.54664754e-03 8.57545869e-05 9.99993707e-01 -3.99719772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 338.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.02, Y:128.04, Z:-0.40 [[ 2.84247902e-02 -9.99595934e-01 -1.66457098e-05 2.44023409e+02] [ 9.99589872e-01 2.84246758e-02 -3.48213183e-03 1.28037734e+02] [ 3.48119797e-03 8.23399839e-05 9.99993937e-01 -3.98997664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.02, Y:128.06, Z:-0.40 [[ 2.73514285e-02 -9.99625880e-01 -1.32917574e-05 2.44019325e+02] [ 9.99621517e-01 2.73513484e-02 -2.95409933e-03 1.28062480e+02] [ 2.95335769e-03 6.75121100e-05 9.99995637e-01 -3.98844028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.01, Y:128.09, Z:-0.40 [[ 2.50474993e-02 -9.99686262e-01 -6.35698543e-06 2.44012430e+02] [ 9.99685083e-01 2.50474795e-02 -1.53559813e-03 1.28085385e+02] [ 1.53527558e-03 3.21079096e-05 9.99998821e-01 -3.98526460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.01, Y:128.11, Z:-0.40 [[ 2.35350771e-02 -9.99723012e-01 -3.93647115e-06 2.44008879e+02] [ 9.99722470e-01 2.35350685e-02 -1.04063806e-03 1.28109134e+02] [ 1.04044246e-03 2.05561183e-05 9.99999459e-01 -3.98629371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.09028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.00, Y:128.13, Z:-0.40 [[ 1.97443107e-02 -9.99805062e-01 -7.97339368e-06 2.44003010e+02] [ 9.99802568e-01 1.97442793e-02 -2.23336826e-03 1.28131498e+02] [ 2.23309032e-03 3.61244975e-05 9.99997506e-01 -3.99582443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.00, Y:128.16, Z:-0.40 [[ 1.68155273e-02 -9.99858609e-01 -8.97714690e-06 2.44002133e+02] [ 9.99854895e-01 1.68154894e-02 -2.72540914e-03 1.28155435e+02] [ 2.72517475e-03 3.68533477e-05 9.99996286e-01 -3.99767756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.00, Y:128.18, Z:-0.40 [[ 1.32379271e-02 -9.99912375e-01 -7.26232248e-06 2.44002576e+02] [ 9.99909470e-01 1.32379062e-02 -2.41049838e-03 1.28180117e+02] [ 2.41038330e-03 2.46483369e-05 9.99997095e-01 -3.99301837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.00, Y:128.20, Z:-0.40 [[ 5.00669542e-03 -9.99987466e-01 -5.46229180e-06 2.44004030e+02] [ 9.99985389e-01 5.00669615e-03 -2.03837138e-03 1.28202442e+02] [ 2.03837318e-03 4.74329266e-06 9.99997923e-01 -3.98634088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.00, Y:128.23, Z:-0.40 [[ 1.27619272e-03 -9.99999186e-01 -6.17656021e-06 2.44004823e+02] [ 9.99995885e-01 1.27620438e-03 -2.56946818e-03 1.28225822e+02] [ 2.56947397e-03 -2.89739820e-06 9.99996699e-01 -3.98467424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.01, Y:128.25, Z:-0.40 [[-1.62960579e-03 -9.99998672e-01 -5.78327421e-06 2.44006517e+02] [ 9.99995001e-01 -1.62958413e-03 -2.70971053e-03 1.28250821e+02] [ 2.70969750e-03 -1.01990053e-05 9.99996329e-01 -3.98470817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.01, Y:128.28, Z:-0.40 [[-3.68374852e-03 -9.99993215e-01 -3.65151757e-06 2.44009692e+02] [ 9.99991220e-01 -3.68373388e-03 -1.99749743e-03 1.28275336e+02] [ 1.99747043e-03 -1.10097637e-05 9.99998005e-01 -3.97649372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.01, Y:128.30, Z:-0.40 [[-2.69422991e-03 -9.99996371e-01 -3.90775439e-06 2.44010144e+02] [ 9.99993202e-01 -2.69421154e-03 -2.51750365e-03 1.28298618e+02] [ 2.51748398e-03 -1.06904614e-05 9.99996831e-01 -3.97657809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.33028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.01, Y:128.32, Z:-0.40 [[ 1.70181926e-03 -9.99998552e-01 -6.05450581e-06 2.44009824e+02] [ 9.99987447e-01 1.70182890e-03 -4.71271762e-03 1.28321123e+02] [ 4.71272110e-03 1.96576382e-06 9.99988895e-01 -3.98538442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.01, Y:128.35, Z:-0.40 [[ 3.60112723e-03 -9.99993516e-01 -4.58308368e-06 2.44010009e+02] [ 9.99982950e-01 3.60111024e-03 -4.59699636e-03 1.28345213e+02] [ 4.59698305e-03 1.19713632e-05 9.99989434e-01 -3.99298475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.39028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.01, Y:128.37, Z:-0.40 [[ 4.75313269e-03 -9.99988704e-01 -2.46475308e-06 2.44010354e+02] [ 9.99982642e-01 4.75311246e-03 -3.48179127e-03 1.28370187e+02] [ 3.48176366e-03 1.40847056e-05 9.99993939e-01 -3.99038332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.01, Y:128.39, Z:-0.40 [[ 5.39027718e-03 -9.99985472e-01 -3.78419848e-07 2.44010633e+02] [ 9.99984638e-01 5.39027318e-03 -1.29149528e-03 1.28393273e+02] [ 1.29147856e-03 6.58310350e-06 9.99999166e-01 -3.97890599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.01, Y:128.42, Z:-0.40 [[ 5.19774403e-03 -9.99986492e-01 4.25374250e-09 2.44010462e+02] [ 9.99985793e-01 5.19774039e-03 -1.18232885e-03 1.28416813e+02] [ 1.18231286e-03 6.14969643e-06 9.99999301e-01 -3.98246712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.48028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.01, Y:128.44, Z:-0.40 [[ 5.42293370e-03 -9.99985296e-01 5.07131708e-07 2.44010737e+02] [ 9.99983070e-01 5.42292055e-03 -2.10990313e-03 1.28439399e+02] [ 2.10986935e-03 1.19489879e-05 9.99997774e-01 -3.98662775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.01, Y:128.45, Z:-0.40 [[ 5.81789329e-03 -9.99983076e-01 6.07671624e-08 2.44010996e+02] [ 9.99980313e-01 5.81787707e-03 -2.35062674e-03 1.28447599e+02] [ 2.35058661e-03 1.37364615e-05 9.99997237e-01 -3.99100154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:128.45, Z:-0.40 [[ 6.14622172e-03 -9.99981112e-01 -1.82602267e-07 2.44011072e+02] [ 9.99977598e-01 6.14620060e-03 -2.65109865e-03 1.28450368e+02] [ 2.65104970e-03 1.61116419e-05 9.99996486e-01 -3.98583982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.57028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.01, Y:128.47, Z:-0.40 [[ 5.88835067e-03 -9.99982664e-01 7.31918464e-07 2.44011320e+02] [ 9.99980229e-01 5.88833472e-03 -2.20643105e-03 1.28474457e+02] [ 2.20638849e-03 1.37241437e-05 9.99997566e-01 -3.98818877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.60028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.01, Y:128.48, Z:-0.40 [[ 5.81586828e-03 -9.99983088e-01 2.39613371e-07 2.44011927e+02] [ 9.99981101e-01 5.81585625e-03 -1.99345880e-03 1.28481393e+02] [ 1.99342370e-03 1.18333027e-05 9.99998013e-01 -3.98720778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.630281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.01, Y:128.48, Z:-0.40 [[ 5.29571451e-03 -9.99985978e-01 3.54363360e-08 2.44012732e+02] [ 9.99984380e-01 5.29570599e-03 -1.78760392e-03 1.28481795e+02] [ 1.78757866e-03 9.50207578e-06 9.99998402e-01 -3.98814063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.01, Y:128.50, Z:-0.40 [[ 3.06398981e-03 -9.99995306e-01 7.89215962e-07 2.44014835e+02] [ 9.99994560e-01 3.06398656e-03 -1.22133773e-03 1.28501683e+02] [ 1.22132957e-03 4.53137801e-06 9.99999254e-01 -3.98752506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.690281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.02, Y:128.48, Z:-0.40 [[ 2.07713204e-03 -9.99997843e-01 2.56552328e-07 2.44016773e+02] [ 9.99997150e-01 2.07713030e-03 -1.17669027e-03 1.28479213e+02] [ 1.17668720e-03 2.70069265e-06 9.99999308e-01 -3.98854563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.02, Y:128.48, Z:-0.40 [[-3.99757543e-04 -9.99999920e-01 1.93543021e-06 2.44020740e+02] [ 9.99996863e-01 -3.99761108e-04 -2.47288015e-03 1.28481362e+02] [ 2.47288073e-03 9.46871641e-07 9.99996942e-01 -3.99607703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.750281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[-8.01604501e-04 -9.99999679e-01 1.96198241e-06 2.44021818e+02] [ 9.99993750e-01 -8.01606505e-04 -3.44350852e-03 1.28464555e+02] [ 3.44350898e-03 -7.98361777e-07 9.99994071e-01 -3.99509955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.78028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[-1.18367560e-03 -9.99999299e-01 3.58055483e-06 2.44021893e+02] [ 9.99993371e-01 -1.18368091e-03 -3.44350727e-03 1.28462035e+02] [ 3.44350910e-03 -4.95464439e-07 9.99994071e-01 -3.99508358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.810281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.02, Y:128.47, Z:-0.40 [[-1.77805133e-03 -9.99998419e-01 5.36766085e-06 2.44023017e+02] [ 9.99991239e-01 -1.77805890e-03 -3.78959312e-03 1.28466305e+02] [ 3.78959667e-03 -1.37047726e-06 9.99992819e-01 -3.99941706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[-4.36319690e-04 -9.99999905e-01 6.31746758e-06 2.44024873e+02] [ 9.99993784e-01 -4.36339124e-04 -3.49877507e-03 1.28462276e+02] [ 3.49877749e-03 4.79084386e-06 9.99993879e-01 -3.98957871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.03, Y:128.49, Z:-0.40 [[ 3.01875096e-03 -9.99995444e-01 2.39123128e-06 2.44025214e+02] [ 9.99994933e-01 3.01874700e-03 -1.01015207e-03 1.28490618e+02] [ 1.01014025e-03 5.44061671e-06 9.99999490e-01 -3.98098159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.02, Y:128.47, Z:-0.40 [[ 4.67415340e-03 -9.99989076e-01 1.38536985e-06 2.44024677e+02] [ 9.99988821e-01 4.67415122e-03 -7.13966560e-04 1.28467720e+02] [ 7.13952285e-04 4.72254359e-06 9.99999745e-01 -3.98852310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.930281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.02, Y:128.48, Z:-0.40 [[ 5.46647186e-03 -9.99985059e-01 3.88312693e-06 2.44024427e+02] [ 9.99983924e-01 5.46645980e-03 -1.50635433e-03 1.28484920e+02] [ 1.50631060e-03 1.21175081e-05 9.99998865e-01 -4.00084345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.96028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.02, Y:128.48, Z:-0.40 [[ 5.63235959e-03 -9.99984138e-01 6.62201122e-06 2.44024837e+02] [ 9.99981557e-01 5.63233000e-03 -2.27232003e-03 1.28480144e+02] [ 2.27224669e-03 1.94204126e-05 9.99997418e-01 -4.01561053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 339.990281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:244.03, Y:128.48, Z:-0.40 [[ 4.72442256e-03 -9.99988840e-01 9.40161740e-06 2.44027009e+02] [ 9.99984737e-01 4.72437624e-03 -2.86445230e-03 1.28479261e+02] [ 2.86437592e-03 2.29343570e-05 9.99995897e-01 -4.02170628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.02028169299996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:244.03, Y:128.48, Z:-0.40 [[ 3.74828452e-03 -9.99992975e-01 1.00949031e-05 2.44027567e+02] [ 9.99989208e-01 3.74824269e-03 -2.74505642e-03 1.28480564e+02] [ 2.74499930e-03 2.03840467e-05 9.99996232e-01 -4.01666188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.050281693 meters Centerline goodness : 0.999302 Centerline is valid? [True, True] Translation: X:244.03, Y:128.47, Z:-0.40 [[ 2.97917638e-03 -9.99995562e-01 6.81825011e-06 2.44026072e+02] [ 9.99994198e-01 2.97916105e-03 -1.65202535e-03 1.28467667e+02] [ 1.65199771e-03 1.17398855e-05 9.99998635e-01 -4.00052907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.08028169299996 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:244.02, Y:128.48, Z:-0.40 [[ 3.57777809e-03 -9.99993600e-01 6.15339285e-06 2.44024048e+02] [ 9.99992686e-01 3.57776650e-03 -1.35183711e-03 1.28480224e+02] [ 1.35180645e-03 1.09899211e-05 9.99999086e-01 -3.99006013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.110281693 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:244.02, Y:128.47, Z:-0.40 [[ 5.24604005e-03 -9.99986239e-01 6.83414497e-06 2.44022498e+02] [ 9.99984977e-01 5.24602256e-03 -1.58918541e-03 1.28470205e+02] [ 1.58912769e-03 1.51709726e-05 9.99998737e-01 -3.98805124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.14028169299996 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:244.02, Y:128.47, Z:-0.40 [[ 7.72525753e-03 -9.99970160e-01 5.80672659e-06 2.44018855e+02] [ 9.99969226e-01 7.72524238e-03 -1.36666607e-03 1.28468402e+02] [ 1.36658043e-03 1.63643952e-05 9.99999066e-01 -3.99165053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.17028169299994 meters Centerline goodness : 0.999146 Centerline is valid? [True, True] Translation: X:244.02, Y:128.47, Z:-0.40 [[ 7.78671115e-03 -9.99969683e-01 3.46228402e-06 2.44016972e+02] [ 9.99969445e-01 7.78670690e-03 -6.89641005e-04 1.28474316e+02] [ 6.89593137e-04 8.83221353e-06 9.99999762e-01 -3.99174690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.20028169299997 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:244.01, Y:128.46, Z:-0.40 [[ 6.32846956e-03 -9.99979975e-01 -2.36324532e-07 2.44014981e+02] [ 9.99979975e-01 6.32846954e-03 3.17209423e-05 1.28463773e+02] [-3.17188115e-05 -4.37064814e-07 1.00000000e+00 -3.99624565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.23028169299994 meters Centerline goodness : 0.999209 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[ 4.12741210e-03 -9.99991482e-01 5.71327231e-07 2.44015001e+02] [ 9.99991472e-01 4.12741198e-03 -1.43225161e-04 1.28462615e+02] [ 1.43221583e-04 1.16247163e-06 9.99999990e-01 -3.99945803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.26028169299997 meters Centerline goodness : 0.999140 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[ 1.11020970e-03 -9.99999384e-01 1.39528293e-06 2.44015253e+02] [ 9.99999327e-01 1.11020916e-03 -3.37080606e-04 1.28460885e+02] [ 3.37078849e-04 1.76951215e-06 9.99999943e-01 -4.00239397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.29028169299994 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:244.02, Y:128.46, Z:-0.40 [[-5.73289635e-03 -9.99983567e-01 2.92502147e-06 2.44016516e+02] [ 9.99983317e-01 -5.73289698e-03 -7.06882050e-04 1.28460750e+02] [ 7.06887202e-04 -1.12750885e-06 9.99999750e-01 -3.98930707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.32028169299997 meters Centerline goodness : 0.999134 Centerline is valid? [True, True] Translation: X:244.02, Y:128.45, Z:-0.40 [[-8.62333014e-03 -9.99962818e-01 2.05837306e-06 2.44017531e+02] [ 9.99962680e-01 -8.62333003e-03 -5.26939123e-04 1.28446742e+02] [ 5.26937281e-04 -2.48567379e-06 9.99999861e-01 -3.98354136e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.35028169299994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:244.02, Y:128.42, Z:-0.40 [[-1.38291565e-02 -9.99904373e-01 4.68520179e-06 2.44020890e+02] [ 9.99903637e-01 -1.38291521e-02 -1.21277286e-03 1.28423635e+02] [ 1.21272168e-03 -1.20868754e-05 9.99999265e-01 -3.98669105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.380281693 meters Centerline goodness : 0.999069 Centerline is valid? [True, True] Translation: X:244.02, Y:128.43, Z:-0.40 [[-1.60631888e-02 -9.99870979e-01 7.74835259e-06 2.44023205e+02] [ 9.99869462e-01 -1.60631779e-02 -1.74149274e-03 1.28429375e+02] [ 1.74139252e-03 -2.02265855e-05 9.99998484e-01 -3.99103991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.41028169299994 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:244.03, Y:128.44, Z:-0.40 [[-1.84780515e-02 -9.99829266e-01 8.26104482e-06 2.44027869e+02] [ 9.99827804e-01 -1.84780386e-02 -1.71017147e-03 1.28437674e+02] [ 1.71003213e-03 -2.33410141e-05 9.99998538e-01 -4.00419226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.440281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:244.03, Y:128.42, Z:-0.40 [[-1.87452910e-02 -9.99824292e-01 7.05201729e-06 2.44030051e+02] [ 9.99823161e-01 -1.87452804e-02 -1.50342802e-03 1.28417793e+02] [ 1.50329605e-03 -2.11314256e-05 9.99998870e-01 -3.99634215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.47028169299995 meters Centerline goodness : 0.998996 Centerline is valid? [True, True] Translation: X:244.03, Y:128.44, Z:-0.40 [[-1.89774683e-02 -9.99819912e-01 6.45940486e-06 2.44031786e+02] [ 9.99819158e-01 -1.89774620e-02 -1.22747630e-03 1.28439497e+02] [ 1.22737782e-03 -1.68361558e-05 9.99999247e-01 -3.98589420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.500281693 meters Centerline goodness : 0.999025 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-1.84095665e-02 -9.99830530e-01 4.22161068e-06 2.44033633e+02] [ 9.99830262e-01 -1.84095647e-02 -7.31404059e-04 1.28414709e+02] [ 7.31357826e-04 -9.24393757e-06 9.99999733e-01 -3.98945972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.53028169299995 meters Centerline goodness : 0.998956 Centerline is valid? [True, True] Translation: X:244.04, Y:128.43, Z:-0.40 [[-1.51599229e-02 -9.99885082e-01 5.20163082e-06 2.44035091e+02] [ 9.99884718e-01 -1.51599218e-02 -8.52407188e-04 1.28431251e+02] [ 8.52388087e-04 -7.72139609e-06 9.99999637e-01 -3.98285032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.560281693 meters Centerline goodness : 0.998988 Centerline is valid? [True, True] Translation: X:244.03, Y:128.43, Z:-0.40 [[-1.06971944e-02 -9.99942783e-01 1.60180418e-05 2.44033628e+02] [ 9.99939548e-01 -1.06972006e-02 -2.54377757e-03 1.28432974e+02] [ 2.54380338e-03 -1.11942098e-05 9.99996764e-01 -3.98419407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.59028169299995 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:244.03, Y:128.46, Z:-0.40 [[-8.42436802e-03 -9.99964514e-01 1.95746063e-05 2.44032881e+02] [ 9.99960207e-01 -8.42438919e-03 -2.93498545e-03 1.28455526e+02] [ 2.93504620e-03 -5.15157023e-06 9.99995693e-01 -3.99095092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.620281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:244.03, Y:128.45, Z:-0.40 [[-6.58682281e-03 -9.99978306e-01 1.90238087e-05 2.44032389e+02] [ 9.99974681e-01 -6.58685016e-03 -2.69291282e-03 1.28446337e+02] [ 2.69297971e-03 1.28558748e-06 9.99996374e-01 -3.99264889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.65028169299995 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:244.03, Y:128.46, Z:-0.40 [[-5.25129959e-03 -9.99986212e-01 1.25276231e-05 2.44032352e+02] [ 9.99984820e-01 -5.25131318e-03 -1.66818732e-03 1.28463708e+02] [ 1.66823010e-03 3.76728157e-06 9.99998609e-01 -3.99031199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.680281693 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:244.03, Y:128.45, Z:-0.40 [[-3.98570635e-03 -9.99992057e-01 -3.19489377e-06 2.44031303e+02] [ 9.99991958e-01 -3.98570737e-03 4.43994363e-04 1.28451233e+02] [-4.44003570e-04 -1.42523692e-06 9.99999901e-01 -3.97741819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.71028169299996 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:244.03, Y:128.44, Z:-0.40 [[-3.80923410e-03 -9.99992745e-01 -4.64778625e-06 2.44030443e+02] [ 9.99992564e-01 -3.80923621e-03 6.01138468e-04 1.28437127e+02] [-6.01151811e-04 -2.35787454e-06 9.99999819e-01 -3.97628808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.740281693 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:244.03, Y:128.45, Z:-0.40 [[-2.94380242e-03 -9.99995667e-01 -6.16143587e-06 2.44029738e+02] [ 9.99995385e-01 -2.94380622e-03 7.51373570e-04 1.28446463e+02] [-7.51388453e-04 -3.94951209e-06 9.99999718e-01 -3.98462983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.77028169299996 meters Centerline goodness : 0.998948 Centerline is valid? [True, True] Translation: X:244.03, Y:128.44, Z:-0.40 [[-2.56585297e-03 -9.99996708e-01 -9.06388787e-06 2.44029771e+02] [ 9.99996163e-01 -2.56586103e-03 1.04429871e-03 1.28440482e+02] [-1.04431852e-03 -6.38433615e-06 9.99999455e-01 -3.98626317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.800281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:244.03, Y:128.45, Z:-0.40 [[-2.47551657e-03 -9.99996936e-01 -1.25906258e-05 2.44028514e+02] [ 9.99995984e-01 -2.47553158e-03 1.37974491e-03 1.28445588e+02] [-1.37977185e-03 -9.17499384e-06 9.99999048e-01 -3.99255569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.83028169299996 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:244.02, Y:128.44, Z:-0.40 [[-2.37861066e-03 -9.99997171e-01 -7.10945823e-06 2.44024291e+02] [ 9.99996883e-01 -2.37861537e-03 7.58874245e-04 1.28444607e+02] [-7.58889009e-04 -5.30436970e-06 9.99999712e-01 -3.99674746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.860281693 meters Centerline goodness : 0.998840 Centerline is valid? [True, True] Translation: X:244.02, Y:128.44, Z:-0.40 [[-2.57063814e-03 -9.99996696e-01 -2.24902742e-06 2.44023515e+02] [ 9.99996669e-01 -2.57063859e-03 2.29984095e-04 1.28436834e+02] [-2.29989117e-04 -1.65781404e-06 9.99999974e-01 -4.00194250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.89028169299996 meters Centerline goodness : 0.998965 Centerline is valid? [True, True] Translation: X:244.02, Y:128.43, Z:-0.40 [[-4.97428625e-03 -9.99987628e-01 -6.04501055e-06 2.44023219e+02] [ 9.99987432e-01 -4.97428906e-03 6.26680952e-04 1.28429179e+02] [-6.26703269e-04 -2.92764412e-06 9.99999804e-01 -3.99770546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.92028169299994 meters Centerline goodness : 0.998961 Centerline is valid? [True, True] Translation: X:244.02, Y:128.43, Z:-0.40 [[-6.94414792e-03 -9.99975889e-01 -7.23428874e-06 2.44022648e+02] [ 9.99975608e-01 -6.94415139e-03 7.49685320e-04 1.28428447e+02] [-7.49717480e-04 -2.02818653e-06 9.99999719e-01 -3.99904672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.95028169299997 meters Centerline goodness : 0.998913 Centerline is valid? [True, True] Translation: X:244.02, Y:128.42, Z:-0.40 [[-1.03830886e-02 -9.99946094e-01 6.10998185e-06 2.44021815e+02] [ 9.99945901e-01 -1.03830904e-02 -6.21075514e-04 1.28423008e+02] [ 6.21105475e-04 -3.39030805e-07 9.99999807e-01 -4.01463809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 340.98028169299994 meters Centerline goodness : 0.998933 Centerline is valid? [True, True] Translation: X:244.02, Y:128.43, Z:-0.40 [[-1.25744989e-02 -9.99920938e-01 1.36886222e-05 2.44022073e+02] [ 9.99920081e-01 -1.25745060e-02 -1.30880740e-03 1.28431409e+02] [ 1.30887605e-03 -2.77006895e-06 9.99999143e-01 -4.01595043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.01028169299997 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:244.02, Y:128.41, Z:-0.40 [[-1.43047866e-02 -9.99897681e-01 1.84505312e-05 2.44023223e+02] [ 9.99896005e-01 -1.43047964e-02 -1.83083771e-03 1.28407707e+02] [ 1.83091432e-03 -7.74113040e-06 9.99998324e-01 -4.01679861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.04028169299994 meters Centerline goodness : 0.998919 Centerline is valid? [True, True] Translation: X:244.02, Y:128.40, Z:-0.40 [[-1.65794732e-02 -9.99862551e-01 2.49392135e-05 2.44024367e+02] [ 9.99859788e-01 -1.65794860e-02 -2.35059168e-03 1.28404767e+02] [ 2.35068207e-03 -1.40358549e-05 9.99997237e-01 -4.01787975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.07028169299997 meters Centerline goodness : 0.998937 Centerline is valid? [True, True] Translation: X:244.03, Y:128.40, Z:-0.40 [[-1.83090913e-02 -9.99832374e-01 2.15853007e-05 2.44027275e+02] [ 9.99830452e-01 -1.83090985e-02 -1.96063892e-03 1.28399805e+02] [ 1.96070547e-03 -1.43158760e-05 9.99998078e-01 -4.01862250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.10028169299994 meters Centerline goodness : 0.998976 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-1.70050221e-02 -9.99855404e-01 1.44853485e-05 2.44029374e+02] [ 9.99854605e-01 -1.70050269e-02 -1.26416429e-03 1.28410530e+02] [ 1.26422782e-03 -7.01389927e-06 9.99999201e-01 -4.00563312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.130281693 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-1.62520502e-02 -9.99867927e-01 1.58890412e-05 2.44029441e+02] [ 9.99867025e-01 -1.62520569e-02 -1.34300212e-03 1.28408938e+02] [ 1.34308297e-03 -5.93960946e-06 9.99999098e-01 -4.00450842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.16028169299994 meters Centerline goodness : 0.998830 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-1.58374340e-02 -9.99874580e-01 1.95205792e-05 2.44029224e+02] [ 9.99873296e-01 -1.58374449e-02 -1.60204266e-03 1.28406738e+02] [ 1.60215089e-03 -5.85413899e-06 9.99998717e-01 -4.01083259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.190281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:244.03, Y:128.43, Z:-0.40 [[-1.48973354e-02 -9.99889028e-01 1.38692128e-05 2.44028947e+02] [ 9.99888427e-01 -1.48973417e-02 -1.09700287e-03 1.28427175e+02] [ 1.09708775e-03 -2.47475433e-06 9.99999398e-01 -4.01926313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.22028169299995 meters Centerline goodness : 0.998927 Centerline is valid? [True, True] Translation: X:244.03, Y:128.42, Z:-0.40 [[-1.51109674e-02 -9.99885823e-01 3.20100144e-06 2.44029317e+02] [ 9.99885796e-01 -1.51109678e-02 -2.30707600e-04 1.28416922e+02] [ 2.30729629e-04 -2.85579161e-07 9.99999973e-01 -4.02054545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.250281693 meters Centerline goodness : 0.998923 Centerline is valid? [True, True] Translation: X:244.03, Y:128.39, Z:-0.40 [[-1.50152071e-02 -9.99887265e-01 -7.38489256e-06 2.44031232e+02] [ 9.99887099e-01 -1.50152088e-02 5.76142121e-04 1.28393130e+02] [-5.76188055e-04 1.26683444e-06 9.99999834e-01 -4.00783289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.28028169299995 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-1.54821321e-02 -9.99880145e-01 -8.98605011e-06 2.44031924e+02] [ 9.99879896e-01 -1.54821346e-02 7.04730803e-04 1.28408238e+02] [-7.04785460e-04 1.92576453e-06 9.99999752e-01 -4.00731428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.310281693 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:244.03, Y:128.40, Z:-0.40 [[-1.59181367e-02 -9.99873298e-01 -3.78053241e-06 2.44033260e+02] [ 9.99873254e-01 -1.59181371e-02 2.98512702e-04 1.28396130e+02] [-2.98535059e-04 9.71712759e-07 9.99999955e-01 -4.00913005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.34028169299995 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.40 [[-1.56583846e-02 -9.99877400e-01 3.20415890e-06 2.44035264e+02] [ 9.99877377e-01 -1.56583850e-02 -2.13637311e-04 1.28399921e+02] [ 2.13661291e-04 -1.41449190e-07 9.99999977e-01 -4.01828369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.370281693 meters Centerline goodness : 0.999128 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.40 [[-1.49981502e-02 -9.99887521e-01 2.79774627e-06 2.44037062e+02] [ 9.99887505e-01 -1.49981504e-02 -1.79311963e-04 1.28396911e+02] [ 1.79333755e-04 1.08083794e-07 9.99999984e-01 -4.02432153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.40028169299995 meters Centerline goodness : 0.999236 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.40 [[-1.31724633e-02 -9.99913239e-01 6.32018659e-06 2.44041039e+02] [ 9.99913153e-01 -1.31724648e-02 -4.15349270e-04 1.28396793e+02] [ 4.15396487e-04 8.48464680e-07 9.99999914e-01 -4.02253686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.430281693 meters Centerline goodness : 0.999075 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.40 [[-1.27845752e-02 -9.99918274e-01 1.04917259e-05 2.44042889e+02] [ 9.99918041e-01 -1.27845793e-02 -6.82367283e-04 1.28406488e+02] [ 6.82445649e-04 1.76709023e-06 9.99999767e-01 -4.02003382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.46028169299996 meters Centerline goodness : 0.999026 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-1.21493325e-02 -9.99926194e-01 1.34104477e-05 2.44044726e+02] [ 9.99925829e-01 -1.21493396e-02 -8.54692954e-04 1.28394375e+02] [ 8.54792800e-04 3.02550409e-06 9.99999635e-01 -4.02346652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.490281693 meters Centerline goodness : 0.999044 Centerline is valid? [True, True] Translation: X:244.05, Y:128.40, Z:-0.40 [[-9.40714734e-03 -9.99955752e-01 1.54923190e-05 2.44047410e+02] [ 9.99955286e-01 -9.40715792e-03 -9.65583093e-04 1.28402481e+02] [ 9.65686107e-04 6.40824385e-06 9.99999534e-01 -4.01791178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.52028169299996 meters Centerline goodness : 0.998942 Centerline is valid? [True, True] Translation: X:244.05, Y:128.41, Z:-0.40 [[-8.12271135e-03 -9.99967010e-01 2.24102449e-05 2.44047965e+02] [ 9.99966072e-01 -8.12273443e-03 -1.36971622e-03 1.28411441e+02] [ 1.36985307e-03 1.12836751e-05 9.99999062e-01 -4.01815838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.550281693 meters Centerline goodness : 0.998825 Centerline is valid? [True, True] Translation: X:244.05, Y:128.39, Z:-0.40 [[-5.04047199e-03 -9.99987297e-01 5.79034854e-06 2.44047013e+02] [ 9.99987241e-01 -5.04047365e-03 -3.34610618e-04 1.28386416e+02] [ 3.34635553e-04 4.10367922e-06 9.99999944e-01 -4.02168623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.58028169299996 meters Centerline goodness : 0.998833 Centerline is valid? [True, True] Translation: X:244.05, Y:128.37, Z:-0.40 [[-4.04153791e-03 -9.99991833e-01 -1.09245893e-05 2.44045573e+02] [ 9.99991616e-01 -4.04154423e-03 6.58730520e-04 1.28374136e+02] [-6.58769293e-04 -8.26221336e-06 9.99999783e-01 -4.02157429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.610281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:244.04, Y:128.38, Z:-0.40 [[-3.14217230e-03 -9.99995063e-01 -1.89237094e-05 2.44043413e+02] [ 9.99994452e-01 -3.14219130e-03 1.10550946e-03 1.28383584e+02] [-1.10556346e-03 -1.54499032e-05 9.99999389e-01 -4.01880856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.64028169299996 meters Centerline goodness : 0.998974 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-4.05484459e-04 -9.99999918e-01 3.43597459e-06 2.44038439e+02] [ 9.99999902e-01 -4.05485071e-04 -1.80014233e-04 1.28389489e+02] [ 1.80015612e-04 3.36298128e-06 9.99999984e-01 -4.02088454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.67028169299994 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:244.04, Y:128.38, Z:-0.40 [[ 2.21693101e-04 -9.99999975e-01 2.45764130e-05 2.44035529e+02] [ 9.99999073e-01 2.21659884e-04 -1.34338131e-03 1.28377231e+02] [ 1.34337582e-03 2.48742086e-05 9.99999097e-01 -4.01953049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.70028169299997 meters Centerline goodness : 0.998814 Centerline is valid? [True, True] Translation: X:244.04, Y:128.37, Z:-0.40 [[-1.63898666e-04 -9.99999986e-01 2.50935897e-05 2.44035649e+02] [ 9.99999084e-01 -1.63932229e-04 -1.34337179e-03 1.28374716e+02] [ 1.34337589e-03 2.48733899e-05 9.99999097e-01 -4.01951456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.73028169299994 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:244.03, Y:128.39, Z:-0.40 [[-9.46954327e-04 -9.99999551e-01 2.85733056e-05 2.44029142e+02] [ 9.99998427e-01 -9.46996122e-04 -1.49996212e-03 1.28387191e+02] [ 1.49998851e-03 2.71528650e-05 9.99998875e-01 -4.02748424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.76028169299997 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-2.32741679e-03 -9.99997292e-01 8.81044040e-06 2.44026652e+02] [ 9.99997179e-01 -2.32742071e-03 -4.75072851e-04 1.28367694e+02] [ 4.75092070e-04 7.70472302e-06 9.99999887e-01 -4.02189896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.79028169299994 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:244.02, Y:128.39, Z:-0.40 [[-4.90297271e-03 -9.99987980e-01 -1.40879770e-05 2.44024001e+02] [ 9.99987700e-01 -4.90298190e-03 7.49368334e-04 1.28388573e+02] [-7.49428400e-04 -1.04136712e-05 9.99999719e-01 -4.02169622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.82028169299997 meters Centerline goodness : 0.998547 Centerline is valid? [True, True] Translation: X:244.02, Y:128.39, Z:-0.40 [[-1.07822188e-02 -9.99941870e-01 -2.12292028e-06 2.44020637e+02] [ 9.99941864e-01 -1.07822190e-02 1.08310177e-04 1.28389321e+02] [-1.08326771e-04 -9.54972820e-07 9.99999994e-01 -4.03376893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.85028169299994 meters Centerline goodness : 0.998796 Centerline is valid? [True, True] Translation: X:244.02, Y:128.39, Z:-0.40 [[-1.40227002e-02 -9.99901677e-01 2.03480757e-05 2.44019619e+02] [ 9.99901096e-01 -1.40227140e-02 -1.07810121e-03 1.28391459e+02] [ 1.07828054e-03 5.22817309e-06 9.99999419e-01 -4.04674487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.880281693 meters Centerline goodness : 0.998778 Centerline is valid? [True, True] Translation: X:244.02, Y:128.38, Z:-0.41 [[-1.70044700e-02 -9.99855413e-01 4.28445788e-05 2.44019742e+02] [ 9.99852800e-01 -1.70045235e-02 -2.28575579e-03 1.28382909e+02] [ 2.28615385e-03 3.97020628e-06 9.99997387e-01 -4.05195535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.91028169299994 meters Centerline goodness : 0.998764 Centerline is valid? [True, True] Translation: X:244.02, Y:128.37, Z:-0.40 [[-2.20261849e-02 -9.99757394e-01 3.02160850e-05 2.44020005e+02] [ 9.99756072e-01 -2.20262050e-02 -1.62596817e-03 1.28365062e+02] [ 1.62623925e-03 -5.60516122e-06 9.99998678e-01 -4.04663331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.940281693 meters Centerline goodness : 0.998657 Centerline is valid? [True, True] Translation: X:244.02, Y:128.37, Z:-0.40 [[-2.53734002e-02 -9.99678043e-01 1.24534192e-05 2.44019260e+02] [ 9.99677816e-01 -2.53734028e-02 -6.74798408e-04 1.28365762e+02] [ 6.74897138e-04 -4.67252320e-06 9.99999772e-01 -4.03927198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 341.97028169299995 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:244.02, Y:128.37, Z:-0.40 [[-2.67989040e-02 -9.99640845e-01 7.65132599e-06 2.44019602e+02] [ 9.99640759e-01 -2.67989049e-02 -4.15276453e-04 1.28367246e+02] [ 4.15332351e-04 -3.48037646e-06 9.99999914e-01 -4.04344321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.000281693 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:244.02, Y:128.35, Z:-0.40 [[-2.82186251e-02 -9.99601775e-01 1.93310614e-05 2.44020501e+02] [ 9.99601215e-01 -2.82186298e-02 -1.05813221e-03 1.28348727e+02] [ 1.05825633e-03 -1.05356835e-05 9.99999440e-01 -4.04728797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.03028169299995 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:244.02, Y:128.34, Z:-0.41 [[-2.97108563e-02 -9.99558534e-01 4.04596459e-05 2.44021305e+02] [ 9.99556072e-01 -2.97108729e-02 -2.21892679e-03 1.28343494e+02] [ 2.21914930e-03 -2.54845301e-05 9.99997537e-01 -4.05304035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.060281693 meters Centerline goodness : 0.998890 Centerline is valid? [True, True] Translation: X:244.02, Y:128.35, Z:-0.41 [[-3.28036349e-02 -9.99461815e-01 4.84366241e-05 2.44022833e+02] [ 9.99458469e-01 -3.28036504e-02 -2.58633664e-03 1.28353010e+02] [ 2.58653361e-03 -3.64308486e-05 9.99996654e-01 -4.05390780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.09028169299995 meters Centerline goodness : 0.998879 Centerline is valid? [True, True] Translation: X:244.02, Y:128.34, Z:-0.40 [[-3.37971824e-02 -9.99428712e-01 3.15183997e-05 2.44024565e+02] [ 9.99427251e-01 -3.37971869e-02 -1.70902804e-03 1.28339987e+02] [ 1.70911693e-03 -2.62599849e-05 9.99998539e-01 -4.04299714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.120281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:244.03, Y:128.35, Z:-0.40 [[-3.63989368e-02 -9.99337339e-01 1.62748686e-06 2.44027110e+02] [ 9.99337336e-01 -3.63989368e-02 -7.37066512e-05 1.28346155e+02] [ 7.37170475e-05 -1.05643535e-06 9.99999997e-01 -4.03605208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.15028169299995 meters Centerline goodness : 0.998902 Centerline is valid? [True, True] Translation: X:244.03, Y:128.33, Z:-0.40 [[-3.68984968e-02 -9.99319019e-01 -6.34862894e-06 2.44028293e+02] [ 9.99318962e-01 -3.68984969e-02 3.35732840e-04 1.28333896e+02] [-3.35738467e-04 6.04373185e-06 9.99999944e-01 -4.03138111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.180281693 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:244.03, Y:128.33, Z:-0.40 [[-3.67458244e-02 -9.99324644e-01 -2.54596078e-05 2.44029505e+02] [ 9.99323747e-01 -3.67458256e-02 1.33870323e-03 1.28334812e+02] [-1.33873466e-03 2.37493630e-05 9.99999104e-01 -4.02808562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.21028169299996 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:244.03, Y:128.34, Z:-0.40 [[-3.39747846e-02 -9.99422689e-01 -4.71880094e-05 2.44030390e+02] [ 9.99419751e-01 -3.39747991e-02 2.42356698e-03 1.28344487e+02] [-2.42377103e-03 3.51795375e-05 9.99997062e-01 -4.02366320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.240281693 meters Centerline goodness : 0.998895 Centerline is valid? [True, True] Translation: X:244.03, Y:128.36, Z:-0.40 [[-2.90291275e-02 -9.99578565e-01 -4.38685401e-05 2.44028073e+02] [ 9.99576119e-01 -2.90291535e-02 2.21127843e-03 1.28364014e+02] [-2.21161999e-03 2.03415384e-05 9.99997554e-01 -4.01926801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.27028169299996 meters Centerline goodness : 0.998952 Centerline is valid? [True, True] Translation: X:244.03, Y:128.35, Z:-0.40 [[-2.58320515e-02 -9.99666296e-01 -3.51838723e-05 2.44026987e+02] [ 9.99664731e-01 -2.58320734e-02 1.76928622e-03 1.28353193e+02] [-1.76960467e-03 1.05322166e-05 9.99998434e-01 -4.02087586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.300281693 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:244.03, Y:128.36, Z:-0.40 [[-2.37156012e-02 -9.99718745e-01 -1.88769360e-05 2.44025806e+02] [ 9.99718299e-01 -2.37156084e-02 9.44926646e-04 1.28360929e+02] [-9.45108559e-04 3.53788518e-06 9.99999553e-01 -4.02396202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.33028169299996 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:244.02, Y:128.37, Z:-0.40 [[-2.27949491e-02 -9.99740161e-01 2.62166531e-06 2.44024797e+02] [ 9.99740155e-01 -2.27949493e-02 -1.15444027e-04 1.28365186e+02] [ 1.15473791e-04 -1.05566362e-08 9.99999993e-01 -4.03044710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.360281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[-2.33743433e-02 -9.99726783e-01 1.59246835e-05 2.44024099e+02] [ 9.99726479e-01 -2.33743486e-02 -7.79078163e-04 1.28357850e+02] [ 7.79237535e-04 -2.29011267e-06 9.99999696e-01 -4.03344692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.39028169299996 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-2.64521686e-02 -9.99650080e-01 5.94126735e-06 2.44026162e+02] [ 9.99650043e-01 -2.64521692e-02 -2.72662073e-04 1.28370994e+02] [ 2.72723822e-04 -1.27331495e-06 9.99999963e-01 -4.03811583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.42028169299994 meters Centerline goodness : 0.999071 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-2.80767061e-02 -9.99605772e-01 6.05808212e-07 2.44028221e+02] [ 9.99605771e-01 -2.80767061e-02 -1.70147286e-05 1.28366850e+02] [ 1.70250300e-05 1.27851856e-07 1.00000000e+00 -4.03849063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.45028169299997 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:244.03, Y:128.36, Z:-0.40 [[-2.84383921e-02 -9.99595547e-01 1.56580956e-06 2.44029466e+02] [ 9.99595544e-01 -2.84383921e-02 -7.51488672e-05 1.28356565e+02] [ 7.51630021e-05 -5.71936683e-07 9.99999997e-01 -4.03634797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.48028169299994 meters Centerline goodness : 0.999113 Centerline is valid? [True, True] Translation: X:244.03, Y:128.36, Z:-0.40 [[-2.73336468e-02 -9.99626366e-01 1.14693919e-05 2.44028999e+02] [ 9.99626231e-01 -2.73336491e-02 -5.19312182e-04 1.28358035e+02] [ 5.19431649e-04 -2.72959075e-06 9.99999865e-01 -4.03640898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.51028169299997 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:244.03, Y:128.35, Z:-0.40 [[-2.58370571e-02 -9.99666167e-01 2.25143376e-05 2.44028779e+02] [ 9.99665655e-01 -2.58370667e-02 -1.01227397e-03 1.28353997e+02] [ 1.01251774e-03 -3.64737036e-06 9.99999487e-01 -4.03882163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.54028169299994 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-2.11576924e-02 -9.99776148e-01 7.61607418e-05 2.44028767e+02] [ 9.99770396e-01 -2.11578290e-02 -3.39127429e-03 1.28365118e+02] [ 3.39212654e-03 4.39171677e-06 9.99994247e-01 -4.04648931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.57028169299997 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-1.88536183e-02 -9.99822251e-01 9.11983630e-05 2.44028780e+02] [ 9.99814274e-01 -1.88538322e-02 -3.99378333e-03 1.28373955e+02] [ 3.99479288e-03 1.58841587e-05 9.99992021e-01 -4.04625844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.60028169299994 meters Centerline goodness : 0.998981 Centerline is valid? [True, True] Translation: X:244.03, Y:128.38, Z:-0.40 [[-1.66354542e-02 -9.99861617e-01 9.06453990e-05 2.44028849e+02] [ 9.99854001e-01 -1.66356813e-02 -3.90263164e-03 1.28375178e+02] [ 3.90359953e-03 2.57101149e-05 9.99992381e-01 -4.04499724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.630281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:244.03, Y:128.38, Z:-0.40 [[-1.34608545e-02 -9.99909397e-01 5.21176968e-05 2.44026842e+02] [ 9.99906973e-01 -1.34609366e-02 -2.20212090e-03 1.28378806e+02] [ 2.20262294e-03 2.24704194e-05 9.99997574e-01 -4.04009143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.66028169299994 meters Centerline goodness : 0.998855 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-1.20687075e-02 -9.99927170e-01 4.00295463e-05 2.44025426e+02] [ 9.99925726e-01 -1.20687581e-02 -1.69943648e-03 1.28374447e+02] [ 1.69979582e-03 1.95165713e-05 9.99998555e-01 -4.03652115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.690281693 meters Centerline goodness : 0.998841 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[-8.78420478e-03 -9.99961417e-01 3.95805694e-05 2.44021206e+02] [ 9.99959981e-01 -8.78425925e-03 -1.69487651e-03 1.28364053e+02] [ 1.69515880e-03 2.46908431e-05 9.99998563e-01 -4.03452839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.72028169299995 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[-6.94431596e-03 -9.99975887e-01 4.80647830e-05 2.44017924e+02] [ 9.99973744e-01 -6.94440059e-03 -2.07019988e-03 1.28362617e+02] [ 2.07048374e-03 3.36873990e-05 9.99997856e-01 -4.03180963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.750281693 meters Centerline goodness : 0.998836 Centerline is valid? [True, True] Translation: X:244.01, Y:128.37, Z:-0.40 [[-3.21138756e-03 -9.99994842e-01 6.04552009e-05 2.44010254e+02] [ 9.99991413e-01 -3.21153490e-03 -2.61930211e-03 1.28374716e+02] [ 2.61948275e-03 5.20430875e-05 9.99996568e-01 -4.03751357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.78028169299995 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:244.01, Y:128.37, Z:-0.40 [[-1.35715862e-03 -9.99999077e-01 5.84183718e-05 2.44007350e+02] [ 9.99995748e-01 -1.35730488e-03 -2.58109646e-03 1.28371936e+02] [ 2.58117337e-03 5.49151661e-05 9.99996667e-01 -4.03949620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.810281693 meters Centerline goodness : 0.999168 Centerline is valid? [True, True] Translation: X:244.01, Y:128.38, Z:-0.40 [[-4.79073858e-04 -9.99999884e-01 4.06185277e-05 2.44005037e+02] [ 9.99998260e-01 -4.79146308e-04 -1.80280349e-03 1.28375451e+02] [ 1.80282274e-03 3.97547810e-05 9.99998374e-01 -4.04146230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.84028169299995 meters Centerline goodness : 0.999040 Centerline is valid? [True, True] Translation: X:244.00, Y:128.38, Z:-0.40 [[-1.74918885e-03 -9.99998470e-01 -2.15839548e-06 2.44001216e+02] [ 9.99998466e-01 -1.74918904e-03 9.20772069e-05 1.28379022e+02] [-9.20808415e-05 -1.99733174e-06 9.99999996e-01 -4.03885264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.870281693 meters Centerline goodness : 0.999108 Centerline is valid? [True, True] Translation: X:244.00, Y:128.37, Z:-0.40 [[-3.16457998e-03 -9.99994993e-01 -7.90546207e-06 2.43998837e+02] [ 9.99994932e-01 -3.16458254e-03 3.47434882e-04 1.28373968e+02] [-3.47458160e-04 -6.80593653e-06 9.99999940e-01 -4.03752503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.90028169299995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:244.00, Y:128.39, Z:-0.40 [[-4.72912691e-03 -9.99988818e-01 -4.83110381e-06 2.43996322e+02] [ 9.99988794e-01 -4.72912784e-03 2.16335830e-04 1.28394899e+02] [-2.16356258e-04 -3.80797008e-06 9.99999977e-01 -4.03483682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.930281693 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:243.99, Y:128.40, Z:-0.40 [[-7.12164664e-03 -9.99974641e-01 -7.00432052e-06 2.43992297e+02] [ 9.99974591e-01 -7.12164849e-03 3.14090284e-04 1.28401576e+02] [-3.14132201e-04 -4.76730254e-06 9.99999951e-01 -4.03902241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.96028169299996 meters Centerline goodness : 0.999087 Centerline is valid? [True, True] Translation: X:243.99, Y:128.39, Z:-0.40 [[-7.77316246e-03 -9.99969788e-01 -1.28541360e-05 2.43991574e+02] [ 9.99969610e-01 -7.77316875e-03 5.96888357e-04 1.28390615e+02] [-5.96970241e-04 -8.21403521e-06 9.99999822e-01 -4.04187675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 342.990281693 meters Centerline goodness : 0.999023 Centerline is valid? [True, True] Translation: X:243.99, Y:128.38, Z:-0.40 [[-8.81751870e-03 -9.99961125e-01 1.09944970e-06 2.43990766e+02] [ 9.99961123e-01 -8.81751876e-03 -6.47929623e-05 1.28375358e+02] [ 6.48001380e-05 5.28093802e-07 9.99999998e-01 -4.04443497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.02028169299996 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:243.99, Y:128.39, Z:-0.40 [[-9.11944354e-03 -9.99958417e-01 1.38055204e-05 2.43990396e+02] [ 9.99958179e-01 -9.11945090e-03 -6.90309810e-04 1.28387485e+02] [ 6.90407003e-04 7.50970166e-06 9.99999762e-01 -4.04778802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.050281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:243.99, Y:128.39, Z:-0.40 [[-9.94813102e-03 -9.99950516e-01 2.22280197e-05 2.43990482e+02] [ 9.99949883e-01 -9.94814974e-03 -1.12547893e-03 1.28385568e+02] [ 1.12564436e-03 1.10304939e-05 9.99999366e-01 -4.04756099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.08028169299996 meters Centerline goodness : 0.999011 Centerline is valid? [True, True] Translation: X:243.99, Y:128.39, Z:-0.40 [[-1.35120069e-02 -9.99908708e-01 2.98784063e-05 2.43992378e+02] [ 9.99907525e-01 -1.35120369e-02 -1.53823324e-03 1.28387478e+02] [ 1.53849653e-03 9.09102506e-06 9.99998817e-01 -4.04407878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.110281693 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:244.00, Y:128.36, Z:-0.41 [[-1.81115658e-02 -9.99835971e-01 3.78887312e-05 2.43996256e+02] [ 9.99834000e-01 -1.81116053e-02 -1.98575281e-03 1.28362996e+02] [ 1.98611331e-03 1.91734904e-06 9.99998028e-01 -4.05201892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.14028169299996 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:244.00, Y:128.37, Z:-0.41 [[-2.01691595e-02 -9.99796581e-01 3.89401825e-05 2.43997679e+02] [ 9.99794415e-01 -2.01691969e-02 -2.08120456e-03 1.28365038e+02] [ 2.08156660e-03 -3.04396982e-06 9.99997834e-01 -4.05229081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.17028169299994 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:244.00, Y:128.37, Z:-0.41 [[-2.20361540e-02 -9.99757174e-01 3.36162036e-05 2.43999473e+02] [ 9.99755546e-01 -2.20361788e-02 -1.80413388e-03 1.28369980e+02] [ 1.80443657e-03 -6.14818615e-06 9.99998372e-01 -4.05024032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.20028169299997 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:244.00, Y:128.36, Z:-0.40 [[-2.32110437e-02 -9.99730587e-01 1.79538286e-05 2.44002072e+02] [ 9.99730094e-01 -2.32110501e-02 -9.93637331e-04 1.28355965e+02] [ 9.93786360e-04 -5.11437682e-06 9.99999506e-01 -4.04658664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.23028169299994 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:244.01, Y:128.36, Z:-0.40 [[-2.64499492e-02 -9.99650139e-01 1.90502828e-05 2.44008406e+02] [ 9.99649584e-01 -2.64499546e-02 -1.05350129e-03 1.28355233e+02] [ 1.05363659e-03 -8.82144818e-06 9.99999445e-01 -4.04354989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.26028169299997 meters Centerline goodness : 0.999295 Centerline is valid? [True, True] Translation: X:244.01, Y:128.36, Z:-0.40 [[-2.77194757e-02 -9.99615741e-01 3.80362087e-05 2.44011429e+02] [ 9.99613504e-01 -2.77194941e-02 -2.11493400e-03 1.28363847e+02] [ 2.11517567e-03 -2.06033539e-05 9.99997763e-01 -4.04873783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.29028169299994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[-2.92870689e-02 -9.99571041e-01 4.44308955e-05 2.44018030e+02] [ 9.99567963e-01 -2.92870890e-02 -2.48086925e-03 1.28362209e+02] [ 2.48110631e-03 -2.82456887e-05 9.99996922e-01 -4.04753110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.32028169299997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:244.02, Y:128.39, Z:-0.40 [[-2.97781577e-02 -9.99556532e-01 2.39559826e-05 2.44020943e+02] [ 9.99555693e-01 -2.97781638e-02 -1.29523361e-03 1.28394984e+02] [ 1.29537258e-03 -1.46243320e-05 9.99999161e-01 -4.04113150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.35028169299994 meters Centerline goodness : 0.999347 Centerline is valid? [True, True] Translation: X:244.02, Y:128.38, Z:-0.40 [[-2.95163399e-02 -9.99564298e-01 -5.34615714e-06 2.44024432e+02] [ 9.99564256e-01 -2.95163403e-02 2.89277342e-04 1.28378428e+02] [-2.89309102e-04 3.19458078e-06 9.99999958e-01 -4.03457469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.380281693 meters Centerline goodness : 0.999374 Centerline is valid? [True, True] Translation: X:244.03, Y:128.37, Z:-0.40 [[-2.85904266e-02 -9.99591210e-01 -1.54543570e-05 2.44030754e+02] [ 9.99590852e-01 -2.85904294e-02 8.46234584e-04 1.28369939e+02] [-8.46330499e-04 8.74617389e-06 9.99999642e-01 -4.03442437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.41028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.03, Y:128.39, Z:-0.40 [[-2.75302058e-02 -9.99620972e-01 -4.00080613e-06 2.44033736e+02] [ 9.99620947e-01 -2.75302060e-02 2.24085186e-04 1.28385339e+02] [-2.24110394e-04 2.16982168e-06 9.99999975e-01 -4.03856902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.440281693 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-2.30002050e-02 -9.99735460e-01 1.98326943e-05 2.44039389e+02] [ 9.99734945e-01 -2.30002133e-02 -1.01490754e-03 1.28388169e+02] [ 1.01509521e-03 -3.51564393e-06 9.99999485e-01 -4.04021258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.47028169299995 meters Centerline goodness : 0.999205 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.40 [[-2.00373875e-02 -9.99799231e-01 2.78818910e-05 2.44041187e+02] [ 9.99798246e-01 -2.00374069e-02 -1.40366508e-03 1.28414931e+02] [ 1.40394195e-03 -2.49515479e-07 9.99999015e-01 -4.03555040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.500281693 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.40 [[-1.64615443e-02 -9.99864499e-01 2.79570707e-05 2.44042985e+02] [ 9.99863547e-01 -1.64615672e-02 -1.38004130e-03 1.28409062e+02] [ 1.38031452e-03 5.23564489e-06 9.99999047e-01 -4.03324095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.53028169299995 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.40 [[-8.27610221e-03 -9.99965752e-01 2.70573048e-05 2.44043945e+02] [ 9.99964894e-01 -8.27613056e-03 -1.30980373e-03 1.28410120e+02] [ 1.30998281e-03 1.62162854e-05 9.99999142e-01 -4.02829890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.560281693 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-4.67971952e-03 -9.99989050e-01 2.45228729e-05 2.44043289e+02] [ 9.99988373e-01 -4.67974489e-03 -1.16396417e-03 1.28392322e+02] [ 1.16406618e-03 1.90755620e-05 9.99999322e-01 -4.02720826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.59028169299995 meters Centerline goodness : 0.999337 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-5.06543681e-03 -9.99987170e-01 2.49703986e-05 2.44043416e+02] [ 9.99986493e-01 -5.06546244e-03 -1.16395470e-03 1.28389810e+02] [ 1.16406625e-03 1.90741224e-05 9.99999322e-01 -4.02719232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.620281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[ 1.17475946e-03 -9.99999310e-01 5.53020812e-06 2.44040127e+02] [ 9.99999280e-01 1.17475808e-03 -2.44392971e-04 1.28386295e+02] [ 2.44386305e-04 5.81730709e-06 9.99999970e-01 -4.02827739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.65028169299995 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:244.04, Y:128.38, Z:-0.40 [[ 2.86830169e-03 -9.99995886e-01 -3.32398611e-06 2.44038089e+02] [ 9.99995873e-01 2.86830111e-03 1.62063732e-04 1.28377707e+02] [-1.62053531e-04 -3.78882007e-06 9.99999987e-01 -4.02835373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.680281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:244.03, Y:128.35, Z:-0.40 [[ 5.38997681e-03 -9.99985474e-01 -8.35057587e-06 2.44033882e+02] [ 9.99985402e-01 5.38997326e-03 3.78232011e-04 1.28354166e+02] [-3.78181508e-04 -1.03891157e-05 9.99999928e-01 -4.03268716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.71028169299996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:244.03, Y:128.35, Z:-0.40 [[ 5.55985248e-03 -9.99984544e-01 -9.56477516e-06 2.44031300e+02] [ 9.99984447e-01 5.55984774e-03 4.39703416e-04 1.28348589e+02] [-4.39643441e-04 -1.20093125e-05 9.99999903e-01 -4.03552648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.740281693 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:244.03, Y:128.36, Z:-0.40 [[ 5.09278924e-03 -9.99987032e-01 -7.40996600e-07 2.44028428e+02] [ 9.99987031e-01 5.09278920e-03 4.32341122e-05 1.28358110e+02] [-4.32297777e-05 -9.61169208e-07 9.99999999e-01 -4.03387324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.77028169299996 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[ 3.98594162e-03 -9.99992056e-01 2.24397335e-05 2.44022052e+02] [ 9.99991560e-01 3.98591728e-03 -9.96541380e-04 1.28360160e+02] [ 9.96444020e-04 2.64116998e-05 9.99999503e-01 -4.03862813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.800281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:244.02, Y:128.36, Z:-0.40 [[ 3.03706468e-03 -9.99995388e-01 2.42451397e-05 2.44018854e+02] [ 9.99994804e-01 3.03703669e-03 -1.08105925e-03 1.28364785e+02] [ 1.08098063e-03 2.75282606e-05 9.99999415e-01 -4.03889095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.83028169299996 meters Centerline goodness : 0.999420 Centerline is valid? [True, True] Translation: X:244.01, Y:128.37, Z:-0.40 [[ 8.87772906e-06 -1.00000000e+00 8.34115568e-06 2.44014107e+02] [ 9.99999929e-01 8.87457908e-06 -3.77447697e-04 1.28368097e+02] [ 3.77447623e-04 8.34450597e-06 9.99999929e-01 -4.03906624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.860281693 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:244.01, Y:128.38, Z:-0.40 [[-2.13736884e-03 -9.99997716e-01 1.02370334e-05 2.44012649e+02] [ 9.99997609e-01 -2.13737335e-03 -4.62945958e-04 1.28383404e+02] [ 4.62966781e-04 9.24752266e-06 9.99999893e-01 -4.04057424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.89028169299996 meters Centerline goodness : 0.999526 Centerline is valid? [True, True] Translation: X:244.01, Y:128.39, Z:-0.40 [[-4.61636538e-03 -9.99989344e-01 2.51209930e-05 2.44011189e+02] [ 9.99988694e-01 -4.61639103e-03 -1.14096009e-03 1.28394883e+02] [ 1.14106390e-03 1.98536203e-05 9.99999349e-01 -4.04512270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.92028169299994 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:244.01, Y:128.41, Z:-0.40 [[-8.04641966e-03 -9.99967626e-01 5.17992681e-05 2.44010470e+02] [ 9.99964848e-01 -8.04651942e-03 -2.35721974e-03 1.28408301e+02] [ 2.35756023e-03 3.28302679e-05 9.99997220e-01 -4.04968161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.95028169299997 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:244.01, Y:128.41, Z:-0.41 [[-8.86706570e-03 -9.99960686e-01 4.67837814e-05 2.44010176e+02] [ 9.99958385e-01 -8.86714566e-03 -2.14506102e-03 1.28412363e+02] [ 2.14539153e-03 2.77614375e-05 9.99997698e-01 -4.05123133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 343.98028169299994 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:244.01, Y:128.42, Z:-0.40 [[-9.74430244e-03 -9.99952522e-01 3.98258023e-05 2.44008478e+02] [ 9.99950831e-01 -9.74435921e-03 -1.83908992e-03 1.28416029e+02] [ 1.83939068e-03 2.19031957e-05 9.99998308e-01 -4.04681881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.01028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:244.01, Y:128.43, Z:-0.40 [[-9.55011342e-03 -9.99954396e-01 4.03367074e-05 2.44006912e+02] [ 9.99952637e-01 -9.55017228e-03 -1.87543214e-03 1.28427580e+02] [ 1.87573184e-03 2.24242073e-05 9.99998241e-01 -4.04253547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.04028169299994 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:244.01, Y:128.41, Z:-0.40 [[-8.45663603e-03 -9.99964241e-01 4.14953236e-05 2.44006481e+02] [ 9.99962297e-01 -8.45670142e-03 -1.97210030e-03 1.28413173e+02] [ 1.97238069e-03 2.48164247e-05 9.99998055e-01 -4.04205601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.07028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:244.00, Y:128.42, Z:-0.40 [[-6.37579597e-03 -9.99979673e-01 6.13414855e-05 2.44004838e+02] [ 9.99975402e-01 -6.37594803e-03 -2.92273326e-03 1.28423564e+02] [ 2.92306496e-03 4.27052257e-05 9.99995727e-01 -4.03840025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.10028169299994 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:244.00, Y:128.43, Z:-0.40 [[-5.66766025e-03 -9.99983937e-01 6.58695803e-05 2.44003033e+02] [ 9.99978944e-01 -5.66784013e-03 -3.16035288e-03 1.28426252e+02] [ 3.16067545e-03 4.79563870e-05 9.99995004e-01 -4.04250861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.130281693 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:244.00, Y:128.42, Z:-0.40 [[-5.99277636e-03 -9.99982043e-01 2.67578671e-05 2.44000021e+02] [ 9.99981174e-01 -5.99280644e-03 -1.31843351e-03 1.28419648e+02] [ 1.31857018e-03 1.88562862e-05 9.99999131e-01 -4.04376918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.16028169299994 meters Centerline goodness : 0.999432 Centerline is valid? [True, True] Translation: X:244.00, Y:128.42, Z:-0.40 [[-6.85712519e-03 -9.99976490e-01 4.81169678e-06 2.44000019e+02] [ 9.99976458e-01 -6.85712618e-03 -2.51680252e-04 1.28418910e+02] [ 2.51707329e-04 3.08578051e-06 9.99999968e-01 -4.04348317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.190281693 meters Centerline goodness : 0.999600 Centerline is valid? [True, True] Translation: X:244.00, Y:128.43, Z:-0.40 [[-8.89900007e-03 -9.99960403e-01 -4.15278147e-06 2.44000796e+02] [ 9.99960382e-01 -8.89900073e-03 2.03523295e-04 1.28433174e+02] [-2.03552191e-04 -2.34146313e-06 9.99999979e-01 -4.04509555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.22028169299995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:244.01, Y:128.40, Z:-0.41 [[-1.53341117e-02 -9.99882426e-01 5.14528682e-06 2.44005383e+02] [ 9.99882388e-01 -1.53341125e-02 -2.75485072e-04 1.28395459e+02] [ 2.75531580e-04 9.20362805e-07 9.99999962e-01 -4.05493212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.250281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:244.01, Y:128.41, Z:-0.41 [[-1.89541390e-02 -9.99820354e-01 1.72991514e-05 2.44007342e+02] [ 9.99819953e-01 -1.89541469e-02 -8.95549748e-04 1.28411188e+02] [ 8.95716757e-04 3.21662355e-07 9.99999599e-01 -4.05903984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.28028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.01, Y:128.39, Z:-0.41 [[-2.45643770e-02 -9.99698250e-01 2.60449960e-05 2.44014302e+02] [ 9.99697296e-01 -2.45643895e-02 -1.38064567e-03 1.28390807e+02] [ 1.38086884e-03 -7.87758854e-06 9.99999047e-01 -4.05434884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.310281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.02, Y:128.40, Z:-0.41 [[-2.64044212e-02 -9.99651342e-01 2.10969792e-05 2.44017855e+02] [ 9.99650733e-01 -2.64044284e-02 -1.10381244e-03 1.28401572e+02] [ 1.10398464e-03 -8.05591785e-06 9.99999391e-01 -4.05237696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.34028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.02, Y:128.40, Z:-0.40 [[-2.70220244e-02 -9.99634838e-01 2.18936135e-05 2.44021024e+02] [ 9.99634170e-01 -2.70220316e-02 -1.15601875e-03 1.28397996e+02] [ 1.15618822e-03 -9.35236256e-06 9.99999332e-01 -4.04893994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.370281693 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:244.03, Y:128.40, Z:-0.41 [[-2.62402882e-02 -9.99655664e-01 3.34247319e-05 2.44026316e+02] [ 9.99654196e-01 -2.62403070e-02 -1.71319661e-03 1.28398178e+02] [ 1.71348377e-03 -1.15415994e-05 9.99998532e-01 -4.05871798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.40028169299995 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.41 [[-2.49400716e-02 -9.99688948e-01 3.26515594e-05 2.44028995e+02] [ 9.99687601e-01 -2.49400916e-02 -1.64094984e-03 1.28406298e+02] [ 1.64125375e-03 -8.28404731e-06 9.99998653e-01 -4.05366140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.430281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.03, Y:128.41, Z:-0.40 [[-2.25774821e-02 -9.99745096e-01 2.84317428e-05 2.44033475e+02] [ 9.99744115e-01 -2.25774998e-02 -1.40007826e-03 1.28408838e+02] [ 1.40036329e-03 -3.18577427e-06 9.99999020e-01 -4.04469410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.46028169299996 meters Centerline goodness : 0.999580 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.41 [[-2.17818498e-02 -9.99762747e-01 4.02261680e-05 2.44035360e+02] [ 9.99760847e-01 -2.17818868e-02 -1.94869272e-03 1.28407013e+02] [ 1.94910659e-03 -2.22958427e-06 9.99998101e-01 -4.05319328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.490281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:244.04, Y:128.43, Z:-0.41 [[-2.16873512e-02 -9.99764799e-01 7.25028533e-05 2.44036513e+02] [ 9.99758825e-01 -2.16874723e-02 -3.45632391e-03 1.28431903e+02] [ 3.45708338e-03 -2.47314325e-06 9.99994024e-01 -4.05911007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.52028169299996 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:244.04, Y:128.41, Z:-0.41 [[-2.25065292e-02 -9.99746691e-01 9.96551189e-05 2.44039679e+02] [ 9.99735792e-01 -2.25067492e-02 -4.66816469e-03 1.28410585e+02] [ 4.66922511e-03 -5.43539579e-06 9.99989099e-01 -4.06881461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.550281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.41 [[-2.36038349e-02 -9.99721386e-01 9.70184001e-05 2.44040360e+02] [ 9.99711421e-01 -2.36040328e-02 -4.46369424e-03 1.28400247e+02] [ 4.46474062e-03 -8.36989940e-06 9.99990033e-01 -4.06764252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.58028169299996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.41 [[-2.58151988e-02 -9.99666730e-01 6.73717072e-05 2.44041413e+02] [ 9.99662100e-01 -2.58152843e-02 -3.04241478e-03 1.28395932e+02] [ 3.04314005e-03 -1.11916001e-05 9.99995370e-01 -4.06932841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.610281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.04, Y:128.40, Z:-0.41 [[-2.71420672e-02 -9.99631585e-01 5.27014550e-05 2.44042931e+02] [ 9.99628853e-01 -2.71421162e-02 -2.33684040e-03 1.28395947e+02] [ 2.33740990e-03 -1.07447840e-05 9.99997268e-01 -4.06878126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.64028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.05, Y:128.37, Z:-0.41 [[-2.78902113e-02 -9.99610992e-01 3.86657560e-05 2.44045317e+02] [ 9.99609533e-01 -2.78902367e-02 -1.70756178e-03 1.28371749e+02] [ 1.70797593e-03 -8.97360075e-06 9.99998541e-01 -4.06553309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.67028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.05, Y:128.37, Z:-0.41 [[-2.86881651e-02 -9.99588410e-01 1.77237116e-05 2.44048167e+02] [ 9.99588120e-01 -2.86881703e-02 -7.61224815e-04 1.28365371e+02] [ 7.61419963e-04 -4.12173156e-06 9.99999710e-01 -4.06317855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.70028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.05, Y:128.38, Z:-0.41 [[-2.88481072e-02 -9.99583807e-01 1.70865500e-05 2.44048886e+02] [ 9.99583546e-01 -2.88481120e-02 -7.21518320e-04 1.28379229e+02] [ 7.21710944e-04 -3.73500354e-06 9.99999740e-01 -4.05801827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.73028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.05, Y:128.37, Z:-0.41 [[-2.67843036e-02 -9.99641236e-01 1.76967387e-05 2.44049807e+02] [ 9.99640965e-01 -2.67843094e-02 -7.35614382e-04 1.28369579e+02] [ 7.35824465e-04 -2.01253395e-06 9.99999729e-01 -4.05172636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.76028169299997 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:244.05, Y:128.38, Z:-0.41 [[-2.54000517e-02 -9.99677366e-01 3.25946048e-05 2.44049284e+02] [ 9.99676465e-01 -2.54000726e-02 -1.34189050e-03 1.28375670e+02] [ 1.34228546e-03 -1.50002875e-06 9.99999099e-01 -4.05552123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.79028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.05, Y:128.38, Z:-0.41 [[-2.35275017e-02 -9.99723189e-01 4.39190700e-05 2.44049138e+02] [ 9.99721599e-01 -2.35275426e-02 -1.78318112e-03 1.28380218e+02] [ 1.78372083e-03 1.95304592e-06 9.99998409e-01 -4.05833541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.82028169299997 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:244.05, Y:128.40, Z:-0.40 [[-1.95733346e-02 -9.99808424e-01 2.92939157e-05 2.44047804e+02] [ 9.99807742e-01 -1.95733555e-02 -1.16752604e-03 1.28398265e+02] [ 1.16787575e-03 6.43590592e-06 9.99999318e-01 -4.04843268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.85028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.05, Y:128.40, Z:-0.40 [[-1.81874129e-02 -9.99834595e-01 3.40965361e-05 2.44047214e+02] [ 9.99833698e-01 -1.81874423e-02 -1.33945089e-03 1.28397337e+02] [ 1.33984947e-03 9.72971937e-06 9.99999102e-01 -4.04805653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.880281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.05, Y:128.39, Z:-0.40 [[-1.53528781e-02 -9.99882136e-01 5.60181455e-05 2.44046909e+02] [ 9.99879774e-01 -1.53529636e-02 -2.17339113e-03 1.28389598e+02] [ 2.17399501e-03 2.26436017e-05 9.99997637e-01 -4.04592377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.91028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.05, Y:128.38, Z:-0.40 [[-1.46372627e-02 -9.99892868e-01 5.17410537e-05 2.44046333e+02] [ 9.99890914e-01 -1.46373364e-02 -1.97684437e-03 1.28381009e+02] [ 1.97738994e-03 2.27998191e-05 9.99998045e-01 -4.04570907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.940281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.05, Y:128.37, Z:-0.40 [[-1.44652199e-02 -9.99895373e-01 3.45665184e-05 2.44045158e+02] [ 9.99894530e-01 -1.44652526e-02 -1.29831722e-03 1.28372166e+02] [ 1.29868139e-03 1.57824286e-05 9.99999157e-01 -4.04469407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 344.97028169299995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.04, Y:128.37, Z:-0.40 [[-1.47454878e-02 -9.99891279e-01 5.80167692e-06 2.44044090e+02] [ 9.99891258e-01 -1.47454887e-02 -2.07184947e-04 1.28374533e+02] [ 2.07247970e-04 2.74600293e-06 9.99999979e-01 -4.04185340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.000281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:244.04, Y:128.37, Z:-0.40 [[-1.61262723e-02 -9.99869963e-01 3.94548794e-06 2.44044368e+02] [ 9.99869954e-01 -1.61262727e-02 -1.36006898e-04 1.28370984e+02] [ 1.36052838e-04 1.75169057e-06 9.99999991e-01 -4.03435589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.03028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.04, Y:128.39, Z:-0.40 [[-1.70789493e-02 -9.99854144e-01 1.58448790e-05 2.44043414e+02] [ 9.99853984e-01 -1.70789556e-02 -5.65191642e-04 1.28387287e+02] [ 5.65379819e-04 6.18968602e-06 9.99999840e-01 -4.03454328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.060281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.04, Y:128.38, Z:-0.40 [[-1.74520831e-02 -9.99847700e-01 3.11089543e-05 2.44043186e+02] [ 9.99847092e-01 -1.74521068e-02 -1.10260359e-03 1.28378827e+02] [ 1.10297858e-03 1.18614680e-05 9.99999392e-01 -4.03471622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.09028169299995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.04, Y:128.37, Z:-0.40 [[-1.74776511e-02 -9.99847253e-01 4.46252667e-05 2.44043374e+02] [ 9.99846030e-01 -1.74776995e-02 -1.56383422e-03 1.28366140e+02] [ 1.56437529e-03 1.72862469e-05 9.99998776e-01 -4.04030434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.120281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.04, Y:128.38, Z:-0.40 [[-1.62659322e-02 -9.99867700e-01 4.83715690e-05 2.44043185e+02] [ 9.99866301e-01 -1.62659904e-02 -1.67288398e-03 1.28376289e+02] [ 1.67344947e-03 2.11540843e-05 9.99998600e-01 -4.04307606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.15028169299995 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.04, Y:128.35, Z:-0.40 [[-1.53040972e-02 -9.99882885e-01 1.22415675e-06 2.44043195e+02] [ 9.99882885e-01 -1.53040973e-02 -3.35671596e-05 1.28350079e+02] [ 3.35819630e-05 7.10298315e-07 9.99999999e-01 -4.03462369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.04, Y:128.37, Z:-0.40 [[-1.56729121e-02 -9.99877172e-01 -1.50536893e-05 2.44043775e+02] [ 9.99877038e-01 -1.56729178e-02 5.17852697e-04 1.28366882e+02] [-5.18025026e-04 -6.93557851e-06 9.99999866e-01 -4.03164950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.21028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.05, Y:128.35, Z:-0.40 [[-1.61365117e-02 -9.99869798e-01 -1.62719839e-05 2.44046200e+02] [ 9.99869646e-01 -1.61365182e-02 5.51862949e-04 1.28351725e+02] [-5.52053669e-04 -7.36471986e-06 9.99999848e-01 -4.02835720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.05, Y:128.36, Z:-0.40 [[-1.73134683e-02 -9.99850111e-01 -7.31551101e-06 2.44050323e+02] [ 9.99850080e-01 -1.73134696e-02 2.49380010e-04 1.28357405e+02] [-2.49469288e-04 -2.99678136e-06 9.99999969e-01 -4.03765988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.05, Y:128.36, Z:-0.40 [[-1.83248460e-02 -9.99832086e-01 -8.87440578e-06 2.44051579e+02] [ 9.99832042e-01 -1.83248478e-02 2.97029803e-04 1.28363449e+02] [-2.97142549e-04 -3.42988985e-06 9.99999956e-01 -4.04061597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:128.35, Z:-0.40 [[-1.91809486e-02 -9.99816029e-01 -1.81246500e-05 2.44055205e+02] [ 9.99815854e-01 -1.91809560e-02 5.90763920e-04 1.28350400e+02] [-5.91002885e-04 -6.78989995e-06 9.99999825e-01 -4.03453202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.33028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.06, Y:128.34, Z:-0.40 [[-1.98220241e-02 -9.99803524e-01 -1.79152171e-05 2.44056751e+02] [ 9.99803358e-01 -1.98220311e-02 5.76800069e-04 1.28344729e+02] [-5.77041857e-04 -6.47834935e-06 9.99999834e-01 -4.03346882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.360281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:128.34, Z:-0.40 [[-2.03083767e-02 -9.99793764e-01 5.13476279e-07 2.44058547e+02] [ 9.99793764e-01 -2.03083767e-02 -8.42567655e-06 1.28341442e+02] [ 8.43436680e-06 3.42258571e-07 1.00000000e+00 -4.03295787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.06, Y:128.35, Z:-0.40 [[-2.10248680e-02 -9.99778953e-01 1.59848913e-05 2.44062427e+02] [ 9.99778834e-01 -2.10248733e-02 -4.87876757e-04 1.28349535e+02] [ 4.88104994e-04 5.72381156e-06 9.99999881e-01 -4.04530251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.42028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.07, Y:128.34, Z:-0.40 [[-2.29702571e-02 -9.99736149e-01 -3.59784169e-06 2.44067927e+02] [ 9.99736142e-01 -2.29702574e-02 1.17740095e-04 1.28342034e+02] [-1.17791673e-04 -8.92372115e-07 9.99999993e-01 -4.04779501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.45028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:244.07, Y:128.33, Z:-0.41 [[-2.47539353e-02 -9.99693574e-01 -7.84675347e-06 2.44070722e+02] [ 9.99693544e-01 -2.47539365e-02 2.44938084e-04 1.28332380e+02] [-2.45057266e-04 -1.78116730e-06 9.99999970e-01 -4.05221208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.48028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.07, Y:128.35, Z:-0.41 [[-2.60572451e-02 -9.99660452e-01 5.71824449e-06 2.44073096e+02] [ 9.99660439e-01 -2.60572457e-02 -1.63712380e-04 1.28346202e+02] [ 1.63805794e-04 1.45040919e-06 9.99999987e-01 -4.05354028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.51028169299997 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.07, Y:128.34, Z:-0.41 [[-2.64477370e-02 -9.99650197e-01 5.78365529e-06 2.44073254e+02] [ 9.99650184e-01 -2.64477376e-02 -1.63710133e-04 1.28343701e+02] [ 1.63805831e-04 1.45186953e-06 9.99999987e-01 -4.05352435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.54028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.08, Y:128.34, Z:-0.41 [[-2.64661876e-02 -9.99649708e-01 5.05959410e-05 2.44078425e+02] [ 9.99648624e-01 -2.64662334e-02 -1.47185876e-03 1.28339801e+02] [ 1.47268226e-03 1.16236728e-05 9.99998916e-01 -4.05695773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.08, Y:128.33, Z:-0.41 [[-2.58360691e-02 -9.99666190e-01 7.37585390e-05 2.44080814e+02] [ 9.99663932e-01 -2.58361676e-02 -2.12477805e-03 1.28332828e+02] [ 2.12597442e-03 1.88378385e-05 9.99997740e-01 -4.05790358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.08, Y:128.34, Z:-0.41 [[-2.36854403e-02 -9.99719456e-01 9.35994586e-05 2.44083932e+02] [ 9.99715896e-01 -2.36856058e-02 -2.66816961e-03 1.28336420e+02] [ 2.66963803e-03 3.03760945e-05 9.99996436e-01 -4.06375648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.09, Y:128.32, Z:-0.41 [[-2.24841789e-02 -9.99747196e-01 8.04243129e-05 2.44085893e+02] [ 9.99744627e-01 -2.24843035e-02 -2.26647732e-03 1.28315408e+02] [ 2.26771263e-03 2.94438929e-05 9.99997428e-01 -4.06485616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.66028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.09, Y:128.31, Z:-0.41 [[-2.09373379e-02 -9.99780788e-01 6.40381642e-05 2.44087202e+02] [ 9.99779197e-01 -2.09374188e-02 -1.78388706e-03 1.28311810e+02] [ 1.78483680e-03 2.66741783e-05 9.99998407e-01 -4.06364624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.690281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.09, Y:128.29, Z:-0.41 [[-1.77971919e-02 -9.99841614e-01 8.07654775e-05 2.44088407e+02] [ 9.99839133e-01 -1.77973277e-02 -2.22786451e-03 1.28288421e+02] [ 2.22894906e-03 4.11027526e-05 9.99997515e-01 -4.06386460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.72028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.09, Y:128.29, Z:-0.41 [[-1.65149094e-02 -9.99863615e-01 9.76466851e-05 2.44087557e+02] [ 9.99860060e-01 -1.65151111e-02 -2.66689211e-03 1.28292117e+02] [ 2.66814104e-03 5.35895388e-05 9.99996439e-01 -4.06412195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.750281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.09, Y:128.27, Z:-0.41 [[-1.48196616e-02 -9.99890176e-01 1.16206248e-04 2.44085172e+02] [ 9.99885240e-01 -1.48199536e-02 -3.14249645e-03 1.28269915e+02] [ 3.14387350e-03 6.96221780e-05 9.99995056e-01 -4.06116123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.78028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.08, Y:128.27, Z:-0.41 [[-1.46059516e-02 -9.99893322e-01 1.05130775e-04 2.44083544e+02] [ 9.99889365e-01 -1.46061897e-02 -2.81376887e-03 1.28265874e+02] [ 2.81500426e-03 6.40213719e-05 9.99996036e-01 -4.06013720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.08, Y:128.28, Z:-0.41 [[-1.51493802e-02 -9.99885237e-01 9.91123505e-05 2.44081334e+02] [ 9.99881791e-01 -1.51495883e-02 -2.62562112e-03 1.28284640e+02] [ 2.62682130e-03 5.93241018e-05 9.99996548e-01 -4.05436856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.08, Y:128.28, Z:-0.40 [[-1.83700679e-02 -9.99831254e-01 5.90409924e-05 2.44078718e+02] [ 9.99830060e-01 -1.83701372e-02 -1.54580166e-03 1.28281891e+02] [ 1.54662540e-03 3.06344775e-05 9.99998804e-01 -4.04946841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.08, Y:128.28, Z:-0.40 [[-2.02585808e-02 -9.99794774e-01 2.57672954e-05 2.44077096e+02] [ 9.99794553e-01 -2.02585935e-02 -6.64406734e-04 1.28277669e+02] [ 6.64792389e-04 1.23020641e-05 9.99999779e-01 -4.04417727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.90028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.07, Y:128.28, Z:-0.40 [[-2.17661534e-02 -9.99763089e-01 6.48255165e-06 2.44074357e+02] [ 9.99763076e-01 -2.17661541e-02 -1.60855101e-04 1.28277279e+02] [ 1.60958093e-04 2.97981898e-06 9.99999987e-01 -4.04363234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.07, Y:128.27, Z:-0.40 [[-2.12527039e-02 -9.99774136e-01 6.14198760e-06 2.44073128e+02] [ 9.99774124e-01 -2.12527046e-02 -1.50597924e-04 1.28272405e+02] [ 1.50694443e-04 2.93998720e-06 9.99999989e-01 -4.04918727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.27, Z:-0.40 [[-1.99741850e-02 -9.99800496e-01 1.66858947e-05 2.44070704e+02] [ 9.99800410e-01 -1.99741902e-02 -4.15647724e-04 1.28274879e+02] [ 4.15898088e-04 8.38033989e-06 9.99999914e-01 -4.04344630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 345.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.25, Z:-0.40 [[-1.55306859e-02 -9.99879392e-01 1.44855079e-05 2.44064890e+02] [ 9.99879328e-01 -1.55306901e-02 -3.56663450e-04 1.28245939e+02] [ 3.56845404e-04 8.94453186e-06 9.99999936e-01 -4.04081053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.02028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.06, Y:128.24, Z:-0.40 [[-1.29419376e-02 -9.99916249e-01 2.62858862e-05 2.44058760e+02] [ 9.99916041e-01 -1.29419519e-02 -6.46079723e-04 1.28244700e+02] [ 6.46365804e-04 1.79221558e-05 9.99999791e-01 -4.04342552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.26, Z:-0.40 [[-1.35974194e-02 -9.99907550e-01 4.60419090e-05 2.44056830e+02] [ 9.99906917e-01 -1.35974626e-02 -1.12552714e-03 1.28255104e+02] [ 1.12604914e-03 3.07333587e-05 9.99999366e-01 -4.04477764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.25, Z:-0.41 [[-1.59552800e-02 -9.99872704e-01 6.65580238e-05 2.44056235e+02] [ 9.99871401e-01 -1.59553667e-02 -1.61464650e-03 1.28245909e+02] [ 1.61550292e-03 4.07873276e-05 9.99998694e-01 -4.05006329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.25, Z:-0.41 [[-2.00750219e-02 -9.99798474e-01 6.96119388e-05 2.44055452e+02] [ 9.99797074e-01 -2.00751103e-02 -1.67355598e-03 1.28254755e+02] [ 1.67461619e-03 3.60011397e-05 9.99998597e-01 -4.05510443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.05, Y:128.29, Z:-0.41 [[-3.07977928e-02 -9.99525635e-01 -2.82750724e-05 2.44054365e+02] [ 9.99525403e-01 -3.07978049e-02 6.81660908e-04 1.28290267e+02] [-6.82208362e-04 -7.26800169e-06 9.99999767e-01 -4.05564346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.05, Y:128.28, Z:-0.41 [[-3.97092124e-02 -9.99211278e-01 -8.72928634e-06 2.44054978e+02] [ 9.99211256e-01 -3.97092133e-02 2.12568545e-04 1.28283311e+02] [-2.12747520e-04 -2.81471679e-07 9.99999977e-01 -4.06165687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.30, Z:-0.41 [[-4.19977681e-02 -9.99117703e-01 6.32299065e-05 2.44055069e+02] [ 9.99116610e-01 -4.19978156e-02 -1.47772416e-03 1.28296784e+02] [ 1.47907589e-03 1.11293312e-06 9.99998906e-01 -4.06900785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.26, Z:-0.41 [[-4.28215821e-02 -9.99082725e-01 1.41559783e-04 2.44057285e+02] [ 9.99077249e-01 -4.28218161e-02 -3.30789644e-03 1.28264090e+02] [ 3.31092403e-03 -2.20200160e-07 9.99994519e-01 -4.07159999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:128.29, Z:-0.41 [[-4.21706704e-02 -9.99110401e-01 2.01325779e-04 2.44058378e+02] [ 9.99099537e-01 -4.21711507e-02 -4.65930101e-03 1.28289473e+02] [ 4.66364624e-03 4.65864513e-06 9.99989125e-01 -4.06672387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.29028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.06, Y:128.28, Z:-0.41 [[-4.14335215e-02 -9.99141242e-01 2.03647345e-04 2.44059695e+02] [ 9.99130326e-01 -4.14340207e-02 -4.67059600e-03 1.28275782e+02] [ 4.67502302e-03 9.95099900e-06 9.99989072e-01 -4.06903791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.06, Y:128.28, Z:-0.41 [[-3.89190389e-02 -9.99242341e-01 2.29818415e-04 2.44060785e+02] [ 9.99228683e-01 -3.89197085e-02 -5.22448236e-03 1.28284926e+02] [ 5.22946844e-03 2.63093204e-05 9.99986326e-01 -4.06847513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.35028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.06, Y:128.28, Z:-0.41 [[-3.82736275e-02 -9.99267269e-01 2.34495816e-04 2.44061468e+02] [ 9.99253301e-01 -3.82743324e-02 -5.28350500e-03 1.28283112e+02] [ 5.28860878e-03 3.21018159e-05 9.99986015e-01 -4.07134833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.380281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.06, Y:128.28, Z:-0.41 [[-3.77122492e-02 -9.99288616e-01 2.21390305e-04 2.44062490e+02] [ 9.99276386e-01 -3.77128830e-02 -4.94400520e-03 1.28276909e+02] [ 4.94883738e-03 3.47805476e-05 9.99987754e-01 -4.07081577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.27, Z:-0.41 [[-3.66308052e-02 -9.99328858e-01 1.32836943e-04 2.44064521e+02] [ 9.99324538e-01 -3.66310374e-02 -2.93849754e-03 1.28267407e+02] [ 2.94139134e-03 2.51076857e-05 9.99995674e-01 -4.05296047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.440281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.07, Y:128.26, Z:-0.41 [[-3.63865311e-02 -9.99337787e-01 8.49847901e-05 2.44065656e+02] [ 9.99336053e-01 -3.63866263e-02 -1.86190635e-03 1.28257753e+02] [ 1.86376568e-03 1.71800513e-05 9.99998263e-01 -4.05129036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.26, Z:-0.41 [[-3.63107612e-02 -9.99340544e-01 6.94406941e-05 2.44067316e+02] [ 9.99339408e-01 -3.63108247e-02 -1.50744795e-03 1.28260878e+02] [ 1.50897530e-03 1.46582396e-05 9.99998861e-01 -4.06143051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.500281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.07, Y:128.26, Z:-0.41 [[-3.69318478e-02 -9.99317783e-01 8.46146206e-05 2.44068094e+02] [ 9.99316121e-01 -3.69319407e-02 -1.82246910e-03 1.28262757e+02] [ 1.82435076e-03 1.72496030e-05 9.99998336e-01 -4.06627930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.24, Z:-0.41 [[-3.75372924e-02 -9.99295224e-01 8.38548334e-05 2.44070091e+02] [ 9.99293619e-01 -3.75373824e-02 -1.79100917e-03 1.28243279e+02] [ 1.79289461e-03 1.65659650e-05 9.99998393e-01 -4.06745150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.560281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.07, Y:128.24, Z:-0.41 [[-3.76758356e-02 -9.99290012e-01 5.92925205e-05 2.44072291e+02] [ 9.99289225e-01 -3.76758803e-02 -1.25446831e-03 1.28243150e+02] [ 1.25581155e-03 1.19872350e-05 9.99999211e-01 -4.05295931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.26, Z:-0.41 [[-3.69573547e-02 -9.99316842e-01 6.17603580e-05 2.44073196e+02] [ 9.99316001e-01 -3.69574038e-02 -1.29610345e-03 1.28259308e+02] [ 1.29750051e-03 1.38175591e-05 9.99999158e-01 -4.05074771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.620281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.08, Y:128.23, Z:-0.41 [[-3.34800147e-02 -9.99439378e-01 1.33615685e-04 2.44077065e+02] [ 9.99435492e-01 -3.34802572e-02 -2.78728530e-03 1.28228496e+02] [ 2.79019618e-03 4.02219054e-05 9.99996107e-01 -4.05277875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.65028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.08, Y:128.22, Z:-0.41 [[-3.15202639e-02 -9.99503098e-01 1.73946340e-04 2.44077328e+02] [ 9.99496612e-01 -3.15206861e-02 -3.60126574e-03 1.28223821e+02] [ 3.60495918e-03 6.03459312e-05 9.99993500e-01 -4.05818780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.08, Y:128.21, Z:-0.41 [[-2.94835694e-02 -9.99565247e-01 1.88540684e-04 2.44077568e+02] [ 9.99557746e-01 -2.94840787e-02 -3.87308620e-03 1.28213502e+02] [ 3.87696132e-03 7.42648952e-05 9.99992482e-01 -4.05930213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.08, Y:128.21, Z:-0.41 [[-2.79399168e-02 -9.99609592e-01 1.59952424e-04 2.44077825e+02] [ 9.99604280e-01 -2.79402899e-02 -3.25949525e-03 1.28206469e+02] [ 3.26269183e-03 6.88191019e-05 9.99994675e-01 -4.06189234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.740281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.41 [[-2.62004394e-02 -9.99656704e-01 1.02244203e-04 2.44079115e+02] [ 9.99654571e-01 -2.62005948e-02 -2.06577079e-03 1.28193151e+02] [ 2.06774048e-03 4.80847825e-05 9.99997861e-01 -4.05543580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.41 [[-2.68715308e-02 -9.99638888e-01 1.22950317e-04 2.44079269e+02] [ 9.99635847e-01 -2.68717524e-02 -2.46626316e-03 1.28189291e+02] [ 2.46867646e-03 5.66332773e-05 9.99996951e-01 -4.05663462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.41 [[-3.02013448e-02 -9.99543824e-01 1.47851284e-04 2.44079660e+02] [ 9.99539490e-01 -3.02016494e-02 -2.94432134e-03 1.28193158e+02] [ 2.94744356e-03 5.88607327e-05 9.99995655e-01 -4.06191917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:128.20, Z:-0.41 [[-3.21967718e-02 -9.99481539e-01 1.45873376e-04 2.44079680e+02] [ 9.99477383e-01 -3.21970587e-02 -2.88292231e-03 1.28202831e+02] [ 2.88612432e-03 5.29763484e-05 9.99995834e-01 -4.05476211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.860281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.08, Y:128.20, Z:-0.40 [[-3.42680653e-02 -9.99412672e-01 9.90779858e-05 2.44080453e+02] [ 9.99410787e-01 -3.42681931e-02 -1.94183879e-03 1.28198951e+02] [ 1.94409352e-03 3.24765493e-05 9.99998110e-01 -4.04127725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-3.51110437e-02 -9.99383414e-01 7.68568391e-05 2.44081277e+02] [ 9.99382298e-01 -3.51111194e-02 -1.49409994e-03 1.28184974e+02] [ 1.49587723e-03 2.43499563e-05 9.99998881e-01 -4.04333274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.92028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.08, Y:128.21, Z:-0.40 [[-3.57876904e-02 -9.99359413e-01 7.54812983e-05 2.44079960e+02] [ 9.99358352e-01 -3.57877624e-02 -1.45639097e-03 1.28205696e+02] [ 1.45815934e-03 2.33119966e-05 9.99998937e-01 -4.04513296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.95028169299997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:244.08, Y:128.20, Z:-0.40 [[-3.56798097e-02 -9.99363265e-01 1.25928251e-04 2.44078214e+02] [ 9.99360348e-01 -3.56800098e-02 -2.41486811e-03 1.28196381e+02] [ 2.41782360e-03 3.96856663e-05 9.99997076e-01 -4.04555218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 346.98028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:244.08, Y:128.20, Z:-0.40 [[-3.50509251e-02 -9.99385518e-01 1.38684032e-04 2.44077985e+02] [ 9.99382031e-01 -3.50511693e-02 -2.64045678e-03 1.28197492e+02] [ 2.64369530e-03 4.60478768e-05 9.99996504e-01 -4.04257881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.01028169299997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.40 [[-3.43711945e-02 -9.99409129e-01 1.18573164e-04 2.44078220e+02] [ 9.99406618e-01 -3.43713740e-02 -2.24049780e-03 1.28186329e+02] [ 2.24324948e-03 4.14942188e-05 9.99997483e-01 -4.04951461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.04028169299994 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.41 [[-3.53778051e-02 -9.99374002e-01 1.23218016e-04 2.44079031e+02] [ 9.99371329e-01 -3.53779955e-02 -2.31174395e-03 1.28179981e+02] [ 2.31465601e-03 4.13561258e-05 9.99997320e-01 -4.05471837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.07028169299997 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.41 [[-3.69974020e-02 -9.99315350e-01 1.55563184e-04 2.44079964e+02] [ 9.99311146e-01 -3.69976976e-02 -2.89901248e-03 1.28175815e+02] [ 2.90278315e-03 4.82000936e-05 9.99995786e-01 -4.06341723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.10028169299994 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.41 [[-4.02793054e-02 -9.99188434e-01 2.25624894e-04 2.44080909e+02] [ 9.99179706e-01 -4.02798967e-02 -4.17680840e-03 1.28187050e+02] [ 4.18250679e-03 5.72008737e-05 9.99991252e-01 -4.06313447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.130281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.41 [[-4.16358590e-02 -9.99132836e-01 1.76462616e-04 2.44081386e+02] [ 9.99127575e-01 -4.16362125e-02 -3.24253929e-03 1.28188708e+02] [ 3.24707471e-03 4.13027571e-05 9.99994727e-01 -4.05646395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.16028169299994 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-4.32022258e-02 -9.99066348e-01 1.43452947e-05 2.44082075e+02] [ 9.99066315e-01 -4.32022281e-02 -2.57644930e-04 1.28183936e+02] [ 2.58024128e-04 3.20106625e-06 9.99999967e-01 -4.04073144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.190281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-4.39500963e-02 -9.99033728e-01 1.33851201e-05 2.44082760e+02] [ 9.99033699e-01 -4.39500982e-02 -2.38432169e-04 1.28179199e+02] [ 2.38790056e-04 2.89306926e-06 9.99999972e-01 -4.04131303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.22028169299995 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:244.08, Y:128.20, Z:-0.40 [[-4.47467132e-02 -9.98998362e-01 7.11913709e-05 2.44082343e+02] [ 9.98997544e-01 -4.47467677e-02 -1.27820500e-03 1.28198161e+02] [ 1.28011029e-03 1.39245321e-05 9.99999181e-01 -4.04519963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.250281693 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.41 [[-4.56550767e-02 -9.98957257e-01 1.15028428e-04 2.44084301e+02] [ 9.98955146e-01 -4.56552167e-02 -2.05359363e-03 1.28182224e+02] [ 2.05670391e-03 2.11512650e-05 9.99997885e-01 -4.05346592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.28028169299995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:244.08, Y:128.19, Z:-0.40 [[-4.61636671e-02 -9.98933885e-01 9.66422370e-05 2.44084250e+02] [ 9.98932417e-01 -4.61637650e-02 -1.71275437e-03 1.28187807e+02] [ 1.71538975e-03 1.74720406e-05 9.99998529e-01 -4.04348994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.310281693 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:244.08, Y:128.23, Z:-0.40 [[-4.66344992e-02 -9.98911029e-01 1.40706501e-03 2.44081812e+02] [ 9.98911651e-01 -4.66356459e-02 -7.93458537e-04 1.28231689e+02] [ 8.58213869e-04 1.36853109e-03 9.99998695e-01 -4.03732561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.34028169299995 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:244.09, Y:128.18, Z:-0.40 [[-4.66199662e-02 -9.98911961e-01 -1.21378897e-03 2.44086574e+02] [ 9.98909663e-01 -4.66167947e-02 -2.52178550e-03 1.28176105e+02] [ 2.46245875e-03 -1.33003109e-03 9.99996084e-01 -4.03949402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.370281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:244.09, Y:128.19, Z:-0.40 [[-4.67644266e-02 -9.98905931e-01 1.72042686e-04 2.44085483e+02] [ 9.98901411e-01 -4.67647326e-02 -3.00512457e-03 1.28188043e+02] [ 3.00988229e-03 3.13207546e-05 9.99995470e-01 -4.04146125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.40028169299995 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:244.09, Y:128.19, Z:-0.40 [[-4.71540268e-02 -9.98887615e-01 1.73216071e-04 2.44085700e+02] [ 9.98883095e-01 -4.71543346e-02 -3.00505722e-03 1.28185547e+02] [ 3.00988233e-03 3.13220568e-05 9.99995470e-01 -4.04144516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.430281693 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-4.73258051e-02 -9.98879493e-01 1.62551187e-04 2.44086646e+02] [ 9.98875567e-01 -4.73260749e-02 -2.80087966e-03 1.28164807e+02] [ 2.80543416e-03 2.98145241e-05 9.99996064e-01 -4.04008510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.46028169299996 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-4.73383319e-02 -9.98878909e-01 8.58885454e-05 2.44083861e+02] [ 9.98877830e-01 -4.73384070e-02 -1.46807585e-03 1.28176392e+02] [ 1.47049583e-03 1.62959020e-05 9.99998919e-01 -4.04089473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.490281693 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-4.86988075e-02 -9.98813506e-01 8.22045532e-05 2.44082371e+02] [ 9.98812531e-01 -4.86988749e-02 -1.39553595e-03 1.28179377e+02] [ 1.39788342e-03 1.41460012e-05 9.99999023e-01 -4.04933194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.52028169299996 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-5.01206144e-02 -9.98743163e-01 1.35618499e-04 2.44082836e+02] [ 9.98740538e-01 -5.01207936e-02 -2.28978114e-03 1.28177139e+02] [ 2.29370057e-03 2.06824553e-05 9.99997369e-01 -4.04906321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.550281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-5.18953094e-02 -9.98652511e-01 1.97685070e-04 2.44083417e+02] [ 9.98647001e-01 -5.18956798e-02 -3.31764211e-03 1.28175347e+02] [ 3.32343062e-03 2.52475384e-05 9.99994477e-01 -4.04659055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.58028169299996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:244.08, Y:128.18, Z:-0.40 [[-5.36237214e-02 -9.98561179e-01 2.62719241e-04 2.44083651e+02] [ 9.98551566e-01 -5.36243580e-02 -4.38148587e-03 1.28180623e+02] [ 4.38926985e-03 2.73871320e-05 9.99990367e-01 -4.04431312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.610281693 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:244.08, Y:128.16, Z:-0.40 [[-5.39907659e-02 -9.98541410e-01 2.22983500e-04 2.44084500e+02] [ 9.98534578e-01 -5.39912213e-02 -3.69398086e-03 1.28163642e+02] [ 3.70063201e-03 2.32158789e-05 9.99993152e-01 -4.04647040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.64028169299996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-5.37194364e-02 -9.98556065e-01 8.03252233e-05 2.44085025e+02] [ 9.98555194e-01 -5.37194956e-02 -1.31950868e-03 1.28159868e+02] [ 1.32191843e-03 9.32590631e-06 9.99999126e-01 -4.04268340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.67028169299994 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-5.37077676e-02 -9.98556694e-01 7.37239950e-05 2.44086216e+02] [ 9.98555969e-01 -5.37078174e-02 -1.20299825e-03 1.28158729e+02] [ 1.20522151e-03 9.00718507e-06 9.99999274e-01 -4.03901319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.70028169299997 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-5.36739421e-02 -9.98558507e-01 1.24868229e-04 2.44086728e+02] [ 9.98556449e-01 -5.36740850e-02 -2.02737460e-03 1.28163571e+02] [ 2.03115434e-03 1.58707885e-05 9.99997937e-01 -4.04040713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.73028169299994 meters Centerline goodness : 0.999535 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-5.39105889e-02 -9.98545743e-01 2.16363542e-04 2.44088887e+02] [ 9.98539632e-01 -5.39110159e-02 -3.49360498e-03 1.28156940e+02] [ 3.50018876e-03 2.77052702e-05 9.99993874e-01 -4.04759459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.76028169299997 meters Centerline goodness : 0.999335 Centerline is valid? [True, True] Translation: X:244.09, Y:128.16, Z:-0.40 [[-5.48425562e-02 -9.98494999e-01 1.75191783e-04 2.44090666e+02] [ 9.98491045e-01 -5.48428321e-02 -2.81026192e-03 1.28155874e+02] [ 2.81564049e-03 2.08054794e-05 9.99996036e-01 -4.04686330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.79028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.09, Y:128.14, Z:-0.40 [[-5.62185206e-02 -9.98418483e-01 9.97100532e-05 2.44094346e+02] [ 9.98417221e-01 -5.62186081e-02 -1.58782898e-03 1.28135307e+02] [ 1.59092337e-03 1.02868377e-05 9.99998734e-01 -4.04473450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.82028169299997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:244.10, Y:128.15, Z:-0.40 [[-5.85659261e-02 -9.98283542e-01 -4.63742505e-05 2.44095811e+02] [ 9.98283268e-01 -5.85659444e-02 7.39698236e-04 1.28153007e+02] [-7.41144527e-04 -2.97352613e-06 9.99999725e-01 -4.02915686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.85028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:244.10, Y:128.14, Z:-0.40 [[-5.91676707e-02 -9.98248056e-01 -6.79211181e-05 2.44097041e+02] [ 9.98247478e-01 -5.91677095e-02 1.07490571e-03 1.28138177e+02] [-1.07704128e-03 -4.20241753e-06 9.99999420e-01 -4.03066826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.880281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:244.10, Y:128.14, Z:-0.40 [[-5.77214873e-02 -9.98332725e-01 3.28247589e-05 2.44097004e+02] [ 9.98332594e-01 -5.77214965e-02 -5.10535236e-04 1.28136620e+02] [ 5.11578728e-04 3.30117354e-06 9.99999869e-01 -4.02946459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.91028169299994 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:244.10, Y:128.13, Z:-0.40 [[-5.63764088e-02 -9.98409582e-01 9.00553583e-05 2.44097212e+02] [ 9.98408601e-01 -5.63764796e-02 -1.39894608e-03 1.28127117e+02] [ 1.40179818e-03 1.10444881e-05 9.99999017e-01 -4.03462925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.940281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:244.10, Y:128.12, Z:-0.40 [[-5.48038141e-02 -9.98497130e-01 1.55429098e-04 2.44097258e+02] [ 9.98494239e-01 -5.48040294e-02 -2.40285814e-03 1.28117412e+02] [ 2.40776509e-03 2.35092681e-05 9.99997101e-01 -4.03586294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 347.97028169299995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.09, Y:128.12, Z:-0.40 [[-5.18228646e-02 -9.98656281e-01 1.52382825e-04 2.44094982e+02] [ 9.98653536e-01 -5.18230795e-02 -2.34170233e-03 1.28120878e+02] [ 2.34645269e-03 3.08239238e-05 9.99997247e-01 -4.04427595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.000281693 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:244.09, Y:128.10, Z:-0.40 [[-5.13600503e-02 -9.98680198e-01 8.71545141e-05 2.44094907e+02] [ 9.98679313e-01 -5.13601208e-02 -1.32984307e-03 1.28102945e+02] [ 1.33256421e-03 1.87386031e-05 9.99999112e-01 -4.04436319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.03028169299995 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:244.09, Y:128.11, Z:-0.40 [[-5.26253889e-02 -9.98614324e-01 2.33829678e-05 2.44092097e+02] [ 9.98614262e-01 -5.26253938e-02 -3.51977871e-04 1.28111445e+02] [ 3.52720681e-04 4.82759285e-06 9.99999938e-01 -4.04608347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.060281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:244.09, Y:128.11, Z:-0.41 [[-5.48226922e-02 -9.98496101e-01 8.99379757e-05 2.44092086e+02] [ 9.98495180e-01 -5.48227638e-02 -1.35646479e-03 1.28105596e+02] [ 1.35935545e-03 1.54375835e-05 9.99999076e-01 -4.05093452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.09028169299995 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:244.09, Y:128.11, Z:-0.41 [[-5.75749178e-02 -9.98341173e-01 1.76313952e-04 2.44092012e+02] [ 9.98337663e-01 -5.75751830e-02 -2.64732712e-03 1.28110325e+02] [ 2.65308697e-03 2.36012173e-05 9.99996480e-01 -4.05489720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.120281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:244.09, Y:128.12, Z:-0.41 [[-6.34561851e-02 -9.97984608e-01 1.85950741e-04 2.44092677e+02] [ 9.97980747e-01 -6.34564569e-02 -2.77599993e-03 1.28118550e+02] [ 2.78220498e-03 9.42089368e-06 9.99996130e-01 -4.06448058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.15028169299995 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:244.09, Y:128.13, Z:-0.41 [[-6.66741206e-02 -9.97774795e-01 1.40182629e-04 2.44093477e+02] [ 9.97772628e-01 -6.66742680e-02 -2.07962746e-03 1.28127580e+02] [ 2.08434644e-03 1.21305756e-06 9.99997828e-01 -4.05759200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.180281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.10, Y:128.13, Z:-0.41 [[-6.95602205e-02 -9.97577748e-01 1.09047543e-04 2.44095352e+02] [ 9.97576453e-01 -6.95603059e-02 -1.60750242e-03 1.28125359e+02] [ 1.61119403e-03 -3.03496146e-06 9.99998702e-01 -4.05885893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.21028169299996 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:244.10, Y:128.11, Z:-0.41 [[-7.35623366e-02 -9.97290604e-01 1.86358381e-04 2.44100714e+02] [ 9.97286856e-01 -7.35625711e-02 -2.73400623e-03 1.28110237e+02] [ 2.74030773e-03 -1.52671227e-05 9.99996245e-01 -4.05543453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.240281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:244.10, Y:128.11, Z:-0.41 [[-7.51552210e-02 -9.97171823e-01 2.21564990e-04 2.44103115e+02] [ 9.97166583e-01 -7.51555444e-02 -3.23267270e-03 1.28113996e+02] [ 3.24018197e-03 -2.20150279e-05 9.99994750e-01 -4.05943324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.27028169299996 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:244.11, Y:128.10, Z:-0.41 [[-7.71629802e-02 -9.97018480e-01 1.55210569e-04 2.44111203e+02] [ 9.97015940e-01 -7.71631340e-02 -2.25068615e-03 1.28096599e+02] [ 2.25595222e-03 -1.89222396e-05 9.99997455e-01 -4.05758630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.300281693 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:244.12, Y:128.08, Z:-0.41 [[-7.84514070e-02 -9.96917936e-01 7.88022564e-05 2.44116438e+02] [ 9.96917290e-01 -7.84514459e-02 -1.13461366e-03 1.28082377e+02] [ 1.13729886e-03 -1.04527063e-05 9.99999353e-01 -4.05796813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.33028169299996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:244.12, Y:128.09, Z:-0.41 [[-7.94862951e-02 -9.96835956e-01 7.15112207e-05 2.44120210e+02] [ 9.96835431e-01 -7.94863267e-02 -1.02363214e-03 1.28086304e+02] [ 1.02607749e-03 -1.00798079e-05 9.99999474e-01 -4.05348918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.360281693 meters Centerline goodness : 0.999485 Centerline is valid? [True, True] Translation: X:244.13, Y:128.09, Z:-0.41 [[-8.02430203e-02 -9.96775323e-01 1.14332067e-04 2.44127369e+02] [ 9.96773991e-01 -8.02431000e-02 -1.62962059e-03 1.28094048e+02] [ 1.63353994e-03 -1.68024475e-05 9.99998666e-01 -4.06159915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.39028169299996 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:244.13, Y:128.11, Z:-0.41 [[-8.01615385e-02 -9.96781880e-01 1.06446033e-04 2.44130175e+02] [ 9.96780739e-01 -8.01616078e-02 -1.50853719e-03 1.28106446e+02] [ 1.51221542e-03 -1.48233064e-05 9.99998857e-01 -4.06574810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.42028169299994 meters Centerline goodness : 0.999529 Centerline is valid? [True, True] Translation: X:244.14, Y:128.11, Z:-0.41 [[-7.79192893e-02 -9.96959664e-01 1.08648833e-04 2.44137445e+02] [ 9.96958489e-01 -7.79193643e-02 -1.53127486e-03 1.28105017e+02] [ 1.53508512e-03 -1.09974724e-05 9.99998822e-01 -4.07033556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.45028169299997 meters Centerline goodness : 0.999396 Centerline is valid? [True, True] Translation: X:244.14, Y:128.11, Z:-0.40 [[-7.64064348e-02 -9.97076745e-01 1.45047637e-04 2.44140027e+02] [ 9.97074670e-01 -7.64065717e-02 -2.03415538e-03 1.28106413e+02] [ 2.03929161e-03 -1.07992356e-05 9.99997921e-01 -4.01373846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.48028169299994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:244.14, Y:128.11, Z:-0.41 [[-7.42749913e-02 -9.97237783e-01 1.73442868e-04 2.44143114e+02] [ 9.97234847e-01 -7.42751935e-02 -2.41966769e-03 1.28105849e+02] [ 2.42586654e-03 -6.75752481e-06 9.99997058e-01 -4.05897588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.51028169299997 meters Centerline goodness : 0.999532 Centerline is valid? [True, True] Translation: X:244.15, Y:128.08, Z:-0.41 [[-6.93810565e-02 -9.97590216e-01 1.71592170e-04 2.44150858e+02] [ 9.97587375e-01 -6.93812684e-02 -2.38085947e-03 1.28078675e+02] [ 2.38702739e-03 5.99163717e-06 9.99997151e-01 -4.05930692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.54028169299994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:244.15, Y:128.08, Z:-0.41 [[-6.67287514e-02 -9.97771145e-01 1.29660022e-04 2.44154608e+02] [ 9.97769541e-01 -6.67288766e-02 -1.78862050e-03 1.28076409e+02] [ 1.79328599e-03 1.00184085e-05 9.99998392e-01 -4.05617354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.57028169299997 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:244.16, Y:128.06, Z:-0.40 [[-6.37781838e-02 -9.97964096e-01 8.10338856e-05 2.44158906e+02] [ 9.97963478e-01 -6.37782345e-02 -1.11065595e-03 1.28064083e+02] [ 1.11356295e-03 1.00332392e-05 9.99999380e-01 -4.04879228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.60028169299994 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:244.16, Y:128.05, Z:-0.40 [[-5.77407863e-02 -9.98331608e-01 4.41459561e-05 2.44164351e+02] [ 9.98331428e-01 -5.77408024e-02 -6.00397896e-04 1.28051046e+02] [ 6.01945220e-04 9.40484876e-06 9.99999819e-01 -4.04463168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.630281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:244.17, Y:128.03, Z:-0.40 [[-5.52331429e-02 -9.98473483e-01 6.36923654e-05 2.44167034e+02] [ 9.98473110e-01 -5.52331773e-02 -8.63280929e-04 1.28029651e+02] [ 8.65481047e-04 1.59133953e-05 9.99999625e-01 -4.04805311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.66028169299994 meters Centerline goodness : 0.999505 Centerline is valid? [True, True] Translation: X:244.17, Y:128.01, Z:-0.41 [[-5.00109132e-02 -9.98748662e-01 1.40624566e-04 2.44170385e+02] [ 9.98746855e-01 -5.00110903e-02 -1.90035022e-03 1.28013392e+02] [ 1.90500502e-03 4.54100932e-05 9.99998184e-01 -4.05275248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.690281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:244.17, Y:128.00, Z:-0.41 [[-4.74580872e-02 -9.98873224e-01 1.09859729e-04 2.44172767e+02] [ 9.98872134e-01 -4.74581978e-02 -1.47651231e-03 1.28001788e+02] [ 1.48006235e-03 3.96633722e-05 9.99998904e-01 -4.05269780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.72028169299995 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:244.17, Y:127.99, Z:-0.40 [[-4.54509296e-02 -9.98966572e-01 4.36707077e-05 2.44174006e+02] [ 9.98966402e-01 -4.54509474e-02 -5.82143326e-04 1.27990799e+02] [ 5.83526598e-04 1.71666144e-05 9.99999830e-01 -4.04742237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.750281693 meters Centerline goodness : 0.999514 Centerline is valid? [True, True] Translation: X:244.17, Y:127.99, Z:-0.40 [[-4.36619996e-02 -9.99046359e-01 -3.99525041e-05 2.44173490e+02] [ 9.99046216e-01 -4.36620148e-02 5.35962670e-04 1.27990089e+02] [-5.37195961e-04 -1.65131961e-05 9.99999856e-01 -4.04319602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.78028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.17, Y:127.98, Z:-0.40 [[-4.03900629e-02 -9.99183986e-01 -7.37457253e-05 2.44172020e+02] [ 9.99183504e-01 -4.03901159e-02 9.81844293e-04 1.27975344e+02] [-9.84021692e-04 -3.40287594e-05 9.99999515e-01 -4.03386028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.810281693 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:244.17, Y:127.95, Z:-0.40 [[-3.85254544e-02 -9.99257619e-01 -6.63216955e-06 2.44171427e+02] [ 9.99257615e-01 -3.85254549e-02 9.06510687e-05 1.27951323e+02] [-9.08392784e-05 -3.13487231e-06 9.99999996e-01 -4.03884553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.84028169299995 meters Centerline goodness : 0.999622 Centerline is valid? [True, True] Translation: X:244.17, Y:127.95, Z:-0.40 [[-3.78910521e-02 -9.99281876e-01 -1.02439390e-05 2.44169418e+02] [ 9.99281867e-01 -3.78910532e-02 1.37684611e-04 1.27954171e+02] [-1.37973890e-04 -5.01956774e-06 9.99999990e-01 -4.03552822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.870281693 meters Centerline goodness : 0.999632 Centerline is valid? [True, True] Translation: X:244.17, Y:127.97, Z:-0.40 [[-3.79385209e-02 -9.99280073e-01 -6.98919985e-05 2.44165858e+02] [ 9.99279652e-01 -3.79385691e-02 9.17453744e-04 1.27965593e+02] [-9.19444847e-04 -3.50348139e-05 9.99999577e-01 -4.03715922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.90028169299995 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:244.16, Y:127.94, Z:-0.40 [[-3.77459471e-02 -9.99287362e-01 -1.08145658e-04 2.44164850e+02] [ 9.99286367e-01 -3.77460622e-02 1.41125055e-03 1.27944857e+02] [-1.41432691e-03 -5.47994934e-05 9.99998998e-01 -4.03361814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.930281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:244.16, Y:127.97, Z:-0.40 [[-3.83785267e-02 -9.99263268e-01 -9.65109244e-05 2.44157919e+02] [ 9.99262483e-01 -3.83786176e-02 1.25382544e-03 1.27966132e+02] [-1.25660566e-03 -4.83197728e-05 9.99999209e-01 -4.03672905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.96028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.16, Y:127.94, Z:-0.40 [[-3.94370252e-02 -9.99222057e-01 -3.69056620e-05 2.44157076e+02] [ 9.99221943e-01 -3.94370384e-02 4.79060934e-04 1.27942522e+02] [-4.80143702e-04 -1.79842091e-05 9.99999885e-01 -4.04255243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 348.990281693 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:244.15, Y:127.97, Z:-0.41 [[-4.27431638e-02 -9.99086090e-01 8.36335525e-05 2.44149238e+02] [ 9.99085517e-01 -4.27432289e-02 -1.07081365e-03 1.27968883e+02] [ 1.07340979e-03 3.77871076e-05 9.99999423e-01 -4.05020491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.02028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:244.15, Y:127.96, Z:-0.41 [[-4.46983342e-02 -9.99000520e-01 1.38579289e-04 2.44146540e+02] [ 9.98998958e-01 -4.46985095e-02 -1.76791320e-03 1.27960317e+02] [ 1.77234049e-03 5.94177902e-05 9.99998428e-01 -4.05106221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.050281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:244.14, Y:127.97, Z:-0.40 [[-4.64938778e-02 -9.98918558e-01 1.82664449e-04 2.44142830e+02] [ 9.98915866e-01 -4.64941768e-02 -2.32034250e-03 1.27971301e+02] [ 2.32632602e-03 7.45846957e-05 9.99997291e-01 -4.04755639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.08028169299996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:244.14, Y:127.98, Z:-0.40 [[-4.99210421e-02 -9.98753160e-01 1.19424576e-04 2.44135754e+02] [ 9.98752022e-01 -4.99211656e-02 -1.50882037e-03 1.27980563e+02] [ 1.51290093e-03 4.39536514e-05 9.99998855e-01 -4.04742026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.110281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:244.13, Y:127.98, Z:-0.40 [[-5.24731763e-02 -9.98622330e-01 8.77501515e-05 2.44132949e+02] [ 9.98621722e-01 -5.24732412e-02 -1.10262231e-03 1.27976387e+02] [ 1.10570779e-03 2.97711126e-05 9.99999388e-01 -4.04159383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.14028169299996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:244.13, Y:127.98, Z:-0.40 [[-5.80288681e-02 -9.98314898e-01 1.24496333e-04 2.44127601e+02] [ 9.98313682e-01 -5.80289918e-02 -1.55826416e-03 1.27978779e+02] [ 1.56286272e-03 3.38620870e-05 9.99998778e-01 -4.03777147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.17028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.12, Y:127.99, Z:-0.40 [[-6.08576996e-02 -9.98146437e-01 1.73138586e-04 2.44124417e+02] [ 9.98144105e-01 -6.08579318e-02 -2.15803198e-03 1.27994542e+02] [ 2.16456879e-03 4.14843967e-05 9.99997656e-01 -4.03861313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.20028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:244.12, Y:128.01, Z:-0.40 [[-6.62597736e-02 -9.97802405e-01 4.61129760e-05 2.44119988e+02] [ 9.97802243e-01 -6.62597891e-02 -5.69790619e-04 1.28014391e+02] [ 5.71593886e-04 8.25743347e-06 9.99999837e-01 -4.04549219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.23028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:244.12, Y:128.03, Z:-0.40 [[-6.89718095e-02 -9.97618609e-01 -1.40328628e-05 2.44117491e+02] [ 9.97618594e-01 -6.89718109e-02 1.76539858e-04 1.28025535e+02] [-1.77087320e-04 -1.82317136e-06 9.99999984e-01 -4.04087377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.26028169299997 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-7.17300473e-02 -9.97424082e-01 -4.46847390e-05 2.44117851e+02] [ 9.97423928e-01 -7.17300611e-02 5.52823232e-04 1.28000982e+02] [-5.54604444e-04 -4.91559127e-06 9.99999846e-01 -4.04226052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.29028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.54672011e-02 -9.97148284e-01 -2.51412882e-05 2.44114509e+02] [ 9.97148236e-01 -7.54672053e-02 3.10881697e-04 1.28012397e+02] [-3.11892494e-04 -1.60821955e-06 9.99999951e-01 -4.03700979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.32028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.58512398e-02 -9.97119145e-01 -2.52597889e-05 2.44114787e+02] [ 9.97119096e-01 -7.58512440e-02 3.10872045e-04 1.28009913e+02] [-3.11892454e-04 -1.60698785e-06 9.99999951e-01 -4.03699370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.35028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.71981051e-02 -9.97015773e-01 -3.30670086e-05 2.44113863e+02] [ 9.97015691e-01 -7.71981121e-02 4.04116849e-04 1.28011803e+02] [-4.05463583e-04 -1.77127147e-06 9.99999918e-01 -4.03420985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.380281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.85313684e-02 -9.96911634e-01 -1.32369745e-04 2.44111682e+02] [ 9.96910349e-01 -7.85314797e-02 1.60112877e-03 1.28014881e+02] [-1.60657909e-03 -6.22193554e-06 9.99998709e-01 -4.03252907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.41028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.11, Y:128.02, Z:-0.40 [[-7.96193135e-02 -9.96825332e-01 -1.50934176e-04 2.44110220e+02] [ 9.96823676e-01 -7.96194564e-02 1.81668499e-03 1.28017754e+02] [-1.82293492e-03 -5.81154785e-06 9.99998338e-01 -4.02952846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.440281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.11, Y:128.00, Z:-0.40 [[-8.03103783e-02 -9.96769899e-01 -1.10069162e-04 2.44110183e+02] [ 9.96769025e-01 -8.03104536e-02 1.31943529e-03 1.28001257e+02] [-1.32401308e-03 -3.74918441e-06 9.99999124e-01 -4.03223978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.47028169299995 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:244.11, Y:128.02, Z:-0.40 [[-8.07684086e-02 -9.96732893e-01 -6.36743139e-05 2.44107202e+02] [ 9.96732603e-01 -8.07684337e-02 7.60983783e-04 1.28022146e+02] [-7.63640442e-04 -2.00281546e-06 9.99999708e-01 -4.02873473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.500281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-8.04929896e-02 -9.96755175e-01 -7.53781564e-06 2.44106195e+02] [ 9.96755171e-01 -8.04929899e-02 9.22910715e-05 1.28011423e+02] [-9.25983443e-05 -8.45724581e-08 9.99999996e-01 -4.03211474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.53028169299995 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-8.02401848e-02 -9.96775556e-01 5.90541572e-05 2.44105052e+02] [ 9.96775315e-01 -8.02402065e-02 -6.93526166e-04 1.28011225e+02] [ 6.96028448e-04 3.21505840e-06 9.99999758e-01 -4.02654665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.560281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.10, Y:128.01, Z:-0.40 [[-8.11827073e-02 -9.96699234e-01 6.85673650e-05 2.44102244e+02] [ 9.96698911e-01 -8.11827362e-02 -8.01991721e-04 1.28011005e+02] [ 8.04911021e-04 3.23315890e-06 9.99999676e-01 -4.03094673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.59028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.10, Y:128.00, Z:-0.40 [[-8.23385953e-02 -9.96604413e-01 1.63850526e-05 2.44102378e+02] [ 9.96604395e-01 -8.23385969e-02 -1.88545994e-04 1.27995236e+02] [ 1.89254892e-04 8.04803137e-07 9.99999982e-01 -4.03184447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.620281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.10, Y:127.98, Z:-0.40 [[-8.30008141e-02 -9.96549479e-01 -2.43897362e-05 2.44102617e+02] [ 9.96549438e-01 -8.30008177e-02 2.86601420e-04 1.27981368e+02] [-2.87636863e-04 -5.17426699e-07 9.99999959e-01 -4.03036301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.65028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.10, Y:127.99, Z:-0.40 [[-8.15175717e-02 -9.96671905e-01 2.92619843e-06 2.44100956e+02] [ 9.96671904e-01 -8.15175718e-02 -3.10165741e-05 1.27988828e+02] [ 3.11518846e-05 3.88063958e-07 1.00000000e+00 -4.03684129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.680281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.10, Y:128.00, Z:-0.40 [[-8.04114981e-02 -9.96761751e-01 4.74482699e-05 2.44099174e+02] [ 9.96761603e-01 -8.04115121e-02 -5.44094763e-04 1.28002103e+02] [ 5.46148236e-04 3.54313852e-06 9.99999851e-01 -4.03909683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.71028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.10, Y:127.98, Z:-0.40 [[-7.76354592e-02 -9.96981791e-01 2.09469375e-04 2.44097698e+02] [ 9.96978900e-01 -7.76357385e-02 -2.40097971e-03 1.27984591e+02] [ 2.40999536e-03 2.24353843e-05 9.99997096e-01 -4.04017805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.740281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.10, Y:127.99, Z:-0.40 [[-7.70056449e-02 -9.97030620e-01 2.69767517e-04 2.44095337e+02] [ 9.97025866e-01 -7.70061109e-02 -3.07909320e-03 1.27994235e+02] [ 3.09072395e-03 3.18576345e-05 9.99995223e-01 -4.04639034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.77028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.10, Y:127.98, Z:-0.41 [[-7.64157979e-02 -9.97075995e-01 2.94901077e-04 2.44096439e+02] [ 9.97070363e-01 -7.64163575e-02 -3.35122400e-03 1.27976846e+02] [ 3.36396027e-03 3.79506684e-05 9.99994341e-01 -4.05191793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.800281693 meters Centerline goodness : 0.999784 Centerline is valid? [True, True] Translation: X:244.09, Y:127.99, Z:-0.41 [[-7.50150555e-02 -9.97182372e-01 2.40692255e-04 2.44093955e+02] [ 9.97178656e-01 -7.50154331e-02 -2.72255082e-03 1.27986569e+02] [ 2.73293532e-03 3.57808791e-05 9.99996265e-01 -4.05449644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.83028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.09, Y:127.96, Z:-0.40 [[-7.40790796e-02 -9.97252343e-01 2.34733371e-04 2.44094597e+02] [ 9.97248840e-01 -7.40794416e-02 -2.64341539e-03 1.27959615e+02] [ 2.65354110e-03 3.82658033e-05 9.99996479e-01 -4.04964407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.860281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.09, Y:127.97, Z:-0.41 [[-7.19534961e-02 -9.97407907e-01 4.02019867e-04 2.44090188e+02] [ 9.97397715e-01 -7.19545786e-02 -4.50954442e-03 1.27969793e+02] [ 4.52678243e-03 7.64962101e-05 9.99989751e-01 -4.06269170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.89028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.09, Y:127.96, Z:-0.41 [[-7.17125397e-02 -9.97425231e-01 4.70180171e-04 2.44089977e+02] [ 9.97411409e-01 -7.17140216e-02 -5.25163470e-03 1.27959922e+02] [ 5.27183146e-03 9.23550047e-05 9.99986100e-01 -4.07041532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.92028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.09, Y:127.94, Z:-0.41 [[-7.15127778e-02 -9.97439582e-01 4.51059772e-04 2.44090567e+02] [ 9.97426972e-01 -7.15141422e-02 -5.01635223e-03 1.27940516e+02] [ 5.03576542e-03 9.11659005e-05 9.99987316e-01 -4.06991359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.95028169299997 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.09, Y:127.96, Z:-0.41 [[-7.11312927e-02 -9.97466874e-01 4.18392466e-04 2.44087755e+02] [ 9.97456118e-01 -7.11324690e-02 -4.63295202e-03 1.27955265e+02] [ 4.65097746e-03 8.77802583e-05 9.99989180e-01 -4.06685304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 349.98028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.09, Y:127.94, Z:-0.41 [[-6.93722916e-02 -9.97590798e-01 2.91789425e-04 2.44086047e+02] [ 9.97585615e-01 -6.93728720e-02 -3.21643685e-03 1.27940009e+02] [ 3.22893007e-03 6.79533383e-05 9.99994785e-01 -4.05942610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.01028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.09, Y:127.93, Z:-0.41 [[-6.86504877e-02 -9.97640731e-01 2.88578812e-04 2.44085934e+02] [ 9.97635704e-01 -6.86510581e-02 -3.16763367e-03 1.27927741e+02] [ 3.17997160e-03 7.04369300e-05 9.99994941e-01 -4.05473117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.04028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.08, Y:127.92, Z:-0.41 [[-6.74079520e-02 -9.97725470e-01 2.32738250e-04 2.44084113e+02] [ 9.97722230e-01 -6.74083264e-02 -2.54352469e-03 1.27919299e+02] [ 2.55342786e-03 6.07543356e-05 9.99996738e-01 -4.05608543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.07028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.08, Y:127.91, Z:-0.41 [[-6.71264652e-02 -9.97744463e-01 1.58847908e-04 2.44083258e+02] [ 9.97742967e-01 -6.71266397e-02 -1.72797853e-03 1.27912224e+02] [ 1.73474394e-03 4.24962924e-05 9.99998494e-01 -4.05612488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.10028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.08, Y:127.92, Z:-0.41 [[-6.65585023e-02 -9.97782516e-01 1.28988601e-04 2.44081214e+02] [ 9.97781539e-01 -6.65586177e-02 -1.39687279e-03 1.27917295e+02] [ 1.40236055e-03 3.57286841e-05 9.99999016e-01 -4.05653688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.130281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.08, Y:127.90, Z:-0.41 [[-6.43882236e-02 -9.97924919e-01 1.13317762e-04 2.44079379e+02] [ 9.97924172e-01 -6.43883142e-02 -1.22181538e-03 1.27901716e+02] [ 1.22657635e-03 3.44120117e-05 9.99999247e-01 -4.05291731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.16028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.08, Y:127.89, Z:-0.41 [[-6.36341719e-02 -9.97973280e-01 1.55010707e-04 2.44078197e+02] [ 9.97971892e-01 -6.36343420e-02 -1.66554132e-03 1.27893408e+02] [ 1.67202974e-03 4.87109856e-05 9.99998601e-01 -4.05001334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.07, Y:127.91, Z:-0.41 [[-6.25395065e-02 -9.98042469e-01 2.02690868e-04 2.44072265e+02] [ 9.98040112e-01 -6.25397995e-02 -2.16978477e-03 1.27907737e+02] [ 2.17821359e-03 6.65963478e-05 9.99997626e-01 -4.05000152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.07, Y:127.89, Z:-0.41 [[-6.20663024e-02 -9.98072018e-01 1.47661087e-04 2.44072429e+02] [ 9.98070759e-01 -6.20664587e-02 -1.58597808e-03 1.27885644e+02] [ 1.59208515e-03 4.89404173e-05 9.99998731e-01 -4.05670001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.250281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.07, Y:127.91, Z:-0.41 [[-6.21666219e-02 -9.98065783e-01 5.93238832e-05 2.44069057e+02] [ 9.98065584e-01 -6.21666470e-02 -6.31636379e-04 1.27908236e+02] [ 6.34102625e-04 1.99424261e-05 9.99999799e-01 -4.05327500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.28028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.07, Y:127.90, Z:-0.40 [[-6.14055843e-02 -9.98112896e-01 3.02782449e-05 2.44065207e+02] [ 9.98112843e-01 -6.14055909e-02 -3.24674236e-04 1.27903020e+02] [ 3.25920796e-04 1.02842939e-05 9.99999947e-01 -4.04489274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.310281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.06, Y:127.90, Z:-0.40 [[-6.06361126e-02 -9.98159932e-01 1.09712964e-04 2.44061590e+02] [ 9.98159240e-01 -6.06361998e-02 -1.17594438e-03 1.27903624e+02] [ 1.18043314e-03 3.82063130e-05 9.99999303e-01 -4.04548844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.34028169299995 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:244.05, Y:127.91, Z:-0.41 [[-5.94948072e-02 -9.98228570e-01 3.00866761e-04 2.44054109e+02] [ 9.98223353e-01 -5.94954695e-02 -3.22896078e-03 1.27908952e+02] [ 3.24114111e-03 1.08225827e-04 9.99994742e-01 -4.05481989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.370281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:244.05, Y:127.92, Z:-0.41 [[-5.96535123e-02 -9.98219085e-01 3.41469744e-04 2.44051199e+02] [ 9.98212345e-01 -5.96543651e-02 -3.67025452e-03 1.27918502e+02] [ 3.68408827e-03 1.21915741e-04 9.99993206e-01 -4.05790578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.40028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.05, Y:127.93, Z:-0.41 [[-6.00831023e-02 -9.98193333e-01 3.02744080e-04 2.44048500e+02] [ 9.98188024e-01 -6.00837706e-02 -3.25716863e-03 1.27933455e+02] [ 3.26947401e-03 1.06494719e-04 9.99994650e-01 -4.06023940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.430281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.05, Y:127.91, Z:-0.41 [[-6.13732472e-02 -9.98114863e-01 2.12644659e-04 2.44046285e+02] [ 9.98112217e-01 -6.13735744e-02 -2.29943221e-03 1.27911986e+02] [ 2.30814823e-03 7.11196106e-05 9.99997334e-01 -4.05844446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.46028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.04, Y:127.92, Z:-0.41 [[-6.22496631e-02 -9.98060579e-01 2.43523778e-04 2.44042221e+02] [ 9.98057103e-01 -6.22500894e-02 -2.63540472e-03 1.27923660e+02] [ 2.64545293e-03 7.89975802e-05 9.99996498e-01 -4.06325945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.490281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.04, Y:127.93, Z:-0.41 [[-6.30635137e-02 -9.98009485e-01 2.46170649e-04 2.44038584e+02] [ 9.98005921e-01 -6.30639467e-02 -2.66821491e-03 1.27932542e+02] [ 2.67842828e-03 7.74127579e-05 9.99996410e-01 -4.06637747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.52028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.03, Y:127.95, Z:-0.41 [[-6.60983731e-02 -9.97813101e-01 1.40447620e-04 2.44033808e+02] [ 9.97811937e-01 -6.60985106e-02 -1.52513979e-03 1.27949149e+02] [ 1.53108784e-03 3.93310534e-05 9.99998827e-01 -4.05727411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.550281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.03, Y:127.96, Z:-0.41 [[-6.80679399e-02 -9.97680688e-01 1.08898716e-05 2.44032132e+02] [ 9.97680681e-01 -6.80679407e-02 -1.21372990e-04 1.27955384e+02] [ 1.21832739e-04 2.60300518e-06 9.99999993e-01 -4.05001494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.58028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-7.34433120e-02 -9.97299383e-01 -1.42312605e-04 2.44029300e+02] [ 9.97298175e-01 -7.34434446e-02 1.55238285e-03 1.27973366e+02] [-1.55864239e-03 -2.79159627e-05 9.99998785e-01 -4.05544498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.610281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-7.53958355e-02 -9.97153676e-01 -1.21651313e-04 2.44030042e+02] [ 9.97152788e-01 -7.53959308e-02 1.33085226e-03 1.27966671e+02] [-1.33623624e-03 -2.09642277e-05 9.99999107e-01 -4.06336405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.64028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-7.70701835e-02 -9.97025664e-01 -1.07782643e-04 2.44031382e+02] [ 9.97024962e-01 -7.70702572e-02 1.18389697e-03 1.27965713e+02] [-1.18868250e-03 -1.62188283e-05 9.99999293e-01 -4.07120826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.67028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.03, Y:127.98, Z:-0.41 [[-7.90310906e-02 -9.96872149e-01 -7.41406417e-05 2.44032800e+02] [ 9.96871815e-01 -7.90311248e-02 8.16543658e-04 1.27976921e+02] [-8.19849049e-04 -9.37638032e-06 9.99999664e-01 -4.06241013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.70028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-7.88078046e-02 -9.96889828e-01 -4.11960079e-05 2.44033061e+02] [ 9.96889724e-01 -7.88078152e-02 4.53493596e-04 1.27974862e+02] [-4.55329720e-04 -5.32904226e-06 9.99999896e-01 -4.06074160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-7.81272421e-02 -9.96943396e-01 -6.80681993e-06 2.44033717e+02] [ 9.96943393e-01 -7.81272424e-02 7.29560702e-05 1.27966403e+02] [-7.32648703e-05 -1.08615759e-06 9.99999997e-01 -4.06058815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.76028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.03, Y:127.99, Z:-0.41 [[-7.66203218e-02 -9.97060342e-01 3.93814466e-05 2.44032479e+02] [ 9.97060245e-01 -7.66203318e-02 -4.39813164e-04 1.27990131e+02] [ 4.41537683e-04 5.56704855e-06 9.99999903e-01 -4.06491230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.79028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.41 [[-7.53454875e-02 -9.97157486e-01 7.26287336e-05 2.44031664e+02] [ 9.97157153e-01 -7.53455217e-02 -8.15570206e-04 1.27995917e+02] [ 8.18724187e-04 1.09727264e-05 9.99999665e-01 -4.06580791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.82028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.41 [[-7.16947319e-02 -9.97426608e-01 1.61922255e-04 2.44028262e+02] [ 9.97424943e-01 -7.16949081e-02 -1.82288141e-03 1.28000519e+02] [ 1.82979943e-03 3.08143019e-05 9.99998325e-01 -4.06502002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.03, Y:127.99, Z:-0.41 [[-6.96904768e-02 -9.97568650e-01 1.63044703e-04 2.44026591e+02] [ 9.97566947e-01 -6.96906592e-02 -1.84365425e-03 1.27992923e+02] [ 1.85053437e-03 3.41628629e-05 9.99998287e-01 -4.06818786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.880281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.02, Y:128.00, Z:-0.41 [[-6.80912577e-02 -9.97679087e-01 1.41691477e-04 2.44022713e+02] [ 9.97677789e-01 -6.80913977e-02 -1.60972907e-03 1.28004950e+02] [ 1.61564100e-03 3.17539631e-05 9.99998694e-01 -4.06330635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.91028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.02, Y:128.00, Z:-0.41 [[-6.74233865e-02 -9.97724454e-01 6.41598181e-06 2.44017849e+02] [ 9.97724452e-01 -6.74233868e-02 -7.59478077e-05 1.27998367e+02] [ 7.62075722e-05 1.28072354e-06 9.99999997e-01 -4.06429334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.940281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.01, Y:128.01, Z:-0.41 [[-6.82957704e-02 -9.97665118e-01 -1.02568709e-05 2.44014728e+02] [ 9.97665111e-01 -6.82957711e-02 1.14498605e-04 1.28007902e+02] [-1.14931765e-04 -2.41315183e-06 9.99999993e-01 -4.06460289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 350.97028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.01, Y:127.99, Z:-0.41 [[-7.16705908e-02 -9.97428351e-01 1.08934340e-04 2.44012349e+02] [ 9.97427561e-01 -7.16706712e-02 -1.25502175e-03 1.27992107e+02] [ 1.25960167e-03 1.87059632e-05 9.99999207e-01 -4.07519571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.000281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.01, Y:128.00, Z:-0.41 [[-7.26638182e-02 -9.97356473e-01 1.87076348e-04 2.44009562e+02] [ 9.97354128e-01 -7.26640531e-02 -2.16293588e-03 1.28004119e+02] [ 2.17081182e-03 2.94141884e-05 9.99997643e-01 -4.07871493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.03028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.01, Y:128.01, Z:-0.41 [[-7.31044831e-02 -9.97324265e-01 2.11167426e-04 2.44007016e+02] [ 9.97321251e-01 -7.31047813e-02 -2.45222937e-03 1.28008849e+02] [ 2.46110520e-03 3.13328009e-05 9.99996971e-01 -4.07770616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.060281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.00, Y:128.00, Z:-0.41 [[-7.35338496e-02 -9.97292700e-01 2.08894750e-04 2.44003090e+02] [ 9.97289723e-01 -7.35341405e-02 -2.43689798e-03 1.27995221e+02] [ 2.44566146e-03 2.91340981e-05 9.99997009e-01 -4.06869054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.09028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.00, Y:128.01, Z:-0.41 [[-7.37315913e-02 -9.97278103e-01 1.94078662e-04 2.43999216e+02] [ 9.97275509e-01 -7.37318422e-02 -2.27460682e-03 1.28011495e+02] [ 2.28272535e-03 2.58395163e-05 9.99997394e-01 -4.06710959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.120281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.00, Y:127.98, Z:-0.41 [[-7.79652952e-02 -9.96956061e-01 1.60692184e-04 2.43998278e+02] [ 9.96954265e-01 -7.79654598e-02 -1.89239129e-03 1.27982520e+02] [ 1.89915941e-03 1.26619120e-05 9.99998197e-01 -4.08099652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.15028169299995 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.00, Y:128.00, Z:-0.41 [[-8.08102865e-02 -9.96729487e-01 1.67249167e-04 2.43996377e+02] [ 9.96727523e-01 -8.08104593e-02 -1.97845271e-03 1.28002387e+02] [ 1.98549763e-03 6.82251729e-06 9.99998029e-01 -4.09011466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.180281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.00, Y:127.97, Z:-0.41 [[-8.76171277e-02 -9.96154218e-01 1.12453976e-04 2.44000388e+02] [ 9.96153321e-01 -8.76171997e-02 -1.33725411e-03 1.27972002e+02] [ 1.34196423e-03 -5.14496296e-06 9.99999100e-01 -4.08567321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.21028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.00, Y:127.97, Z:-0.41 [[-8.72422120e-02 -9.96187123e-01 1.11953580e-04 2.44000100e+02] [ 9.96186225e-01 -8.72422837e-02 -1.33729614e-03 1.27974533e+02] [ 1.34196428e-03 -5.14205902e-06 9.99999100e-01 -4.08568932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.240281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.00, Y:127.97, Z:-0.41 [[-9.05158762e-02 -9.95895012e-01 3.84990189e-05 2.44001777e+02] [ 9.95894904e-01 -9.05158844e-02 -4.63839177e-04 1.27966304e+02] [ 4.65419896e-04 -3.64383287e-06 9.99999892e-01 -4.07575623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.00, Y:127.95, Z:-0.41 [[-9.34028546e-02 -9.95628397e-01 -4.86046139e-05 2.44004384e+02] [ 9.95628227e-01 -9.34028670e-02 5.81706753e-04 1.27950539e+02] [-5.83703572e-04 5.94094572e-06 9.99999830e-01 -4.07086512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.300281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.00, Y:127.96, Z:-0.41 [[-9.62099406e-02 -9.95361062e-01 -6.35604339e-05 2.44004810e+02] [ 9.95360768e-01 -9.62099611e-02 7.65016158e-04 1.27959960e+02] [-7.67582442e-04 1.03365968e-05 9.99999705e-01 -4.06598422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.33028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.01, Y:127.94, Z:-0.41 [[-1.00146498e-01 -9.94972688e-01 1.70577296e-04 2.44008661e+02] [ 9.94970529e-01 -1.00146636e-01 -2.07289062e-03 1.27943940e+02] [ 2.07955229e-03 -3.78733527e-05 9.99997837e-01 -4.08242992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.360281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.01, Y:127.94, Z:-0.41 [[-1.00452377e-01 -9.94941839e-01 2.40223561e-04 2.44012087e+02] [ 9.94937523e-01 -1.00452649e-01 -2.93111120e-03 1.27940883e+02] [ 2.94041625e-03 -5.54296523e-05 9.99995675e-01 -4.08458807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.39028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:244.01, Y:127.96, Z:-0.41 [[-9.98238361e-02 -9.95005113e-01 1.63485055e-04 2.44012580e+02] [ 9.95003094e-01 -9.98239629e-02 -2.00468738e-03 1.27955469e+02] [ 2.01099392e-03 -3.74474498e-05 9.99997977e-01 -4.07979332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.42028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.01, Y:127.97, Z:-0.41 [[-9.88645922e-02 -9.95100892e-01 8.32041442e-05 2.44012969e+02] [ 9.95100363e-01 -9.88646254e-02 -1.02637101e-03 1.27972815e+02] [ 1.02956865e-03 -1.86752768e-05 9.99999470e-01 -4.07404454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.45028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.02, Y:127.96, Z:-0.41 [[-9.78675234e-02 -9.95199450e-01 5.44858785e-05 2.44015429e+02] [ 9.95199220e-01 -9.78675378e-02 -6.76217286e-04 1.27964592e+02] [ 6.78303469e-04 -1.19554072e-05 9.99999770e-01 -4.07076092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.48028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.02, Y:127.97, Z:-0.41 [[-9.79698095e-02 -9.95189386e-01 4.11705708e-05 2.44018997e+02] [ 9.95189254e-01 -9.79698177e-02 -5.14016136e-04 1.27965617e+02] [ 5.15576876e-04 -9.38555323e-06 9.99999867e-01 -4.08110675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.51028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.02, Y:127.96, Z:-0.41 [[-9.81328242e-02 -9.95173326e-01 2.60808474e-05 2.44022163e+02] [ 9.95173272e-01 -9.81328275e-02 -3.28178559e-04 1.27955532e+02] [ 3.29153936e-04 -6.25012659e-06 9.99999946e-01 -4.07407436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.54028169299994 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.03, Y:127.96, Z:-0.41 [[-9.89846323e-02 -9.95088962e-01 -1.62707715e-05 2.44026721e+02] [ 9.95088942e-01 -9.89846335e-02 2.00916374e-04 1.27956690e+02] [-2.01540222e-04 3.69676855e-06 9.99999980e-01 -4.07073193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.57028169299997 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-9.86693245e-02 -9.95120276e-01 2.44976509e-05 2.44027659e+02] [ 9.95120228e-01 -9.86693274e-02 -3.08554560e-04 1.27971444e+02] [ 3.09466066e-04 -6.06676211e-06 9.99999952e-01 -4.06861582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.60028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.03, Y:127.97, Z:-0.41 [[-9.81966741e-02 -9.95167024e-01 8.37742591e-05 2.44030216e+02] [ 9.95166461e-01 -9.81967077e-02 -1.05920223e-03 1.27965774e+02] [ 1.06230948e-03 -2.06408028e-05 9.99999436e-01 -4.07011749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.630281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.03, Y:127.98, Z:-0.41 [[-9.67726905e-02 -9.95306488e-01 2.04569879e-04 2.44033826e+02] [ 9.95303132e-01 -9.67728955e-02 -2.58490739e-03 1.27980521e+02] [ 2.59257192e-03 -4.65394016e-05 9.99996638e-01 -4.07241971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.66028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.04, Y:127.97, Z:-0.41 [[-9.50515671e-02 -9.95472335e-01 1.70119589e-04 2.44036580e+02] [ 9.95469989e-01 -9.50517124e-02 -2.16169839e-03 1.27970679e+02] [ 2.16808111e-03 -3.61238741e-05 9.99997649e-01 -4.07206754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.690281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.04, Y:128.00, Z:-0.41 [[-9.15775794e-02 -9.95797943e-01 6.21280490e-05 2.44036771e+02] [ 9.95797632e-01 -9.15775999e-02 -7.87531320e-04 1.28001325e+02] [ 7.89911606e-04 -1.02532480e-05 9.99999688e-01 -4.07192118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.72028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.04, Y:128.01, Z:-0.41 [[-8.98061096e-02 -9.95959267e-01 4.44820416e-05 2.44037571e+02] [ 9.95959106e-01 -8.98061204e-02 -5.66282127e-04 1.28006540e+02] [ 5.67988692e-04 -6.55330047e-06 9.99999839e-01 -4.07527560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.750281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.04, Y:128.00, Z:-0.41 [[-8.82899417e-02 -9.96094809e-01 1.36591228e-04 2.44042055e+02] [ 9.96093290e-01 -8.82900457e-02 -1.73963552e-03 1.28004331e+02] [ 1.74490156e-03 -1.75347130e-05 9.99998478e-01 -4.07711413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.78028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.41 [[-8.81576850e-02 -9.96106521e-01 1.44468302e-04 2.44042962e+02] [ 9.96104822e-01 -8.81578014e-02 -1.84022386e-03 1.28019928e+02] [ 1.84579499e-03 -1.83243031e-05 9.99998296e-01 -4.07504079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.810281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.05, Y:128.01, Z:-0.41 [[-8.76386580e-02 -9.96152323e-01 1.22973005e-04 2.44045280e+02] [ 9.96151086e-01 -8.76387429e-02 -1.57009397e-03 1.28013625e+02] [ 1.57482996e-03 -1.51012365e-05 9.99998760e-01 -4.06690543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.05, Y:128.02, Z:-0.41 [[-8.51612712e-02 -9.96367180e-01 1.90631479e-05 2.44048412e+02] [ 9.96367150e-01 -8.51612733e-02 -2.43214964e-04 1.28022113e+02] [ 2.43954850e-04 -1.71860113e-06 9.99999970e-01 -4.06513178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.870281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:128.04, Z:-0.41 [[-8.35012169e-02 -9.96507675e-01 2.85925238e-05 2.44048919e+02] [ 9.96507610e-01 -8.35012218e-02 -3.59940523e-04 1.28041286e+02] [ 3.61071005e-04 -1.56280413e-06 9.99999935e-01 -4.06363552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-8.10376675e-02 -9.96711037e-01 7.63934248e-05 2.44050294e+02] [ 9.96710571e-01 -8.10377035e-02 -9.63084779e-04 1.28048816e+02] [ 9.66107977e-04 -1.90401009e-06 9.99999533e-01 -4.06603239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.930281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-7.38746097e-02 -9.97267524e-01 1.68448429e-04 2.44050781e+02] [ 9.97265279e-01 -7.38748008e-02 -2.11604395e-03 1.28064020e+02] [ 2.12270601e-03 1.16658484e-05 9.99997747e-01 -4.06042155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.96028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-6.96253827e-02 -9.97573191e-01 1.87147638e-04 2.44051044e+02] [ 9.97570408e-01 -6.96256305e-02 -2.35625262e-03 1.28062114e+02] [ 2.36356472e-03 2.26379551e-05 9.99997207e-01 -4.06004545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 351.990281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.05, Y:128.07, Z:-0.41 [[-6.56288040e-02 -9.97844088e-01 1.92355405e-04 2.44050720e+02] [ 9.97841187e-01 -6.56290770e-02 -2.40638294e-03 1.28066511e+02] [ 2.41381910e-03 3.40121115e-05 9.99997086e-01 -4.05878735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.02028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-5.83576452e-02 -9.98295715e-01 2.25283219e-04 2.44050625e+02] [ 9.98291710e-01 -5.83580493e-02 -2.82838686e-03 1.28055348e+02] [ 2.83671358e-03 5.98403725e-05 9.99995975e-01 -4.06074087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-5.60388518e-02 -9.98428557e-01 2.51714515e-04 2.44050502e+02] [ 9.98423548e-01 -5.60393682e-02 -3.16354009e-03 1.28047281e+02] [ 3.17267469e-03 7.40365447e-05 9.99994964e-01 -4.06474887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.08028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-5.60702349e-02 -9.98426809e-01 1.88825201e-04 2.44049010e+02] [ 9.98424022e-01 -5.60705247e-02 -2.35979592e-03 1.28054622e+02] [ 2.36667104e-03 5.62133052e-05 9.99997198e-01 -4.06603767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.110281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-5.75661729e-02 -9.98341684e-01 1.32227797e-04 2.44049117e+02] [ 9.98340309e-01 -5.75663131e-02 -1.65716941e-03 1.28052170e+02] [ 1.66203317e-03 3.66114394e-05 9.99998618e-01 -4.07026100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.14028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-5.96988238e-02 -9.98216429e-01 1.10991582e-04 2.44048985e+02] [ 9.98215459e-01 -5.96989206e-02 -1.39160012e-03 1.28054366e+02] [ 1.39574418e-03 2.77166224e-05 9.99999026e-01 -4.06973383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.17028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.05, Y:128.05, Z:-0.41 [[-6.40011550e-02 -9.97949815e-01 1.36132360e-04 2.44048446e+02] [ 9.97948352e-01 -6.40012943e-02 -1.70919638e-03 1.28053811e+02] [ 1.71440486e-03 2.64625220e-05 9.99998530e-01 -4.06296918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.20028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.05, Y:128.07, Z:-0.41 [[-6.57922193e-02 -9.97833329e-01 1.74606928e-04 2.44046795e+02] [ 9.97830950e-01 -6.57924438e-02 -2.17921411e-03 1.28066148e+02] [ 2.18598029e-03 3.08528640e-05 9.99997610e-01 -4.06510057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.23028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.04, Y:128.07, Z:-0.41 [[-6.83182940e-02 -9.97663550e-01 2.27852131e-04 2.44043989e+02] [ 9.97659475e-01 -6.83186662e-02 -2.85157554e-03 1.28070557e+02] [ 2.86047953e-03 3.25040611e-05 9.99995908e-01 -4.06597778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.26028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.04, Y:128.06, Z:-0.41 [[-6.91100005e-02 -9.97609020e-01 2.27389247e-04 2.44043905e+02] [ 9.97604945e-01 -6.91103682e-02 -2.85144399e-03 1.28064170e+02] [ 2.86034120e-03 2.97813417e-05 9.99995909e-01 -4.06911020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.04, Y:128.07, Z:-0.41 [[-6.98903750e-02 -9.97554655e-01 2.11969427e-04 2.44043586e+02] [ 9.97551107e-01 -6.98906918e-02 -2.66101846e-03 1.28066505e+02] [ 2.66932605e-03 2.54707579e-05 9.99996437e-01 -4.06867415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.32028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.05, Y:128.07, Z:-0.41 [[-7.22107058e-02 -9.97389393e-01 1.11994414e-04 2.44045528e+02] [ 9.97388405e-01 -7.22107919e-02 -1.40429031e-03 1.28074633e+02] [ 1.40871146e-03 1.02971359e-05 9.99999008e-01 -4.06432152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.35028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-7.41947154e-02 -9.97243772e-01 5.16472045e-05 2.44048760e+02] [ 9.97243560e-01 -7.41947333e-02 -6.50155198e-04 1.28055573e+02] [ 6.52195173e-04 3.26676217e-06 9.99999787e-01 -4.06420980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.380281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-7.66198927e-02 -9.97060375e-01 1.58910873e-05 2.44050137e+02] [ 9.97060355e-01 -7.66198943e-02 -1.99680846e-04 1.28058986e+02] [ 2.00311433e-04 5.44848181e-07 9.99999980e-01 -4.06403858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.41028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.05, Y:128.06, Z:-0.41 [[-7.97287170e-02 -9.96816597e-01 6.01157492e-05 2.44053503e+02] [ 9.96816311e-01 -7.97287396e-02 -7.55389698e-04 1.28056596e+02] [ 7.57777941e-04 -3.01892156e-07 9.99999713e-01 -4.06179747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.06, Y:128.05, Z:-0.41 [[-7.95727520e-02 -9.96829056e-01 1.06181542e-04 2.44055509e+02] [ 9.96828159e-01 -7.95728228e-02 -1.33662326e-03 1.28045973e+02] [ 1.34083407e-03 -5.14039527e-07 9.99999101e-01 -4.06459726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.47028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.06, Y:128.09, Z:-0.41 [[-7.81669139e-02 -9.96940263e-01 2.11953410e-04 2.44055052e+02] [ 9.96936740e-01 -7.81672012e-02 -2.65044190e-03 1.28085484e+02] [ 2.65890005e-03 4.12727815e-06 9.99996465e-01 -4.05957837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.06, Y:128.07, Z:-0.41 [[-7.77259554e-02 -9.96974737e-01 2.24763315e-04 2.44057443e+02] [ 9.96970753e-01 -7.77262802e-02 -2.81817659e-03 1.28070834e+02] [ 2.82712088e-03 5.03698328e-06 9.99996004e-01 -4.05714586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.53028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.06, Y:128.06, Z:-0.41 [[-7.83058299e-02 -9.96929366e-01 1.92767556e-04 2.44059493e+02] [ 9.96926473e-01 -7.83060671e-02 -2.40148442e-03 1.28061655e+02] [ 2.40920521e-03 4.12484944e-06 9.99997098e-01 -4.05468690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.560281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.06, Y:128.05, Z:-0.41 [[-7.93323997e-02 -9.96848206e-01 1.58393988e-04 2.44063113e+02] [ 9.96846273e-01 -7.93325578e-02 -1.96322546e-03 1.28052991e+02] [ 1.96960358e-03 2.14706934e-06 9.99998060e-01 -4.05007299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.59028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.06, Y:128.06, Z:-0.41 [[-7.95385755e-02 -9.96831774e-01 1.72354432e-04 2.44064187e+02] [ 9.96829506e-01 -7.95387621e-02 -2.12626327e-03 1.28063825e+02] [ 2.13323564e-03 2.68803256e-06 9.99997725e-01 -4.05475075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.07, Y:128.05, Z:-0.41 [[-7.93280177e-02 -9.96848561e-01 1.09534302e-04 2.44069234e+02] [ 9.96847655e-01 -7.93280933e-02 -1.34370293e-03 1.28050456e+02] [ 1.34815748e-03 2.59572255e-06 9.99999091e-01 -4.05208753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.65028169299995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.07, Y:128.05, Z:-0.40 [[-7.95981335e-02 -9.96827034e-01 3.46098831e-05 2.44070529e+02] [ 9.96826945e-01 -7.95981410e-02 -4.20491691e-04 1.28050770e+02] [ 4.21912368e-04 1.02971032e-06 9.99999911e-01 -4.04576038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.07, Y:128.05, Z:-0.40 [[-7.93187826e-02 -9.96849302e-01 2.94409063e-05 2.44071449e+02] [ 9.96849238e-01 -7.93187881e-02 -3.55551632e-04 1.28046055e+02] [ 3.56766613e-04 1.14622241e-06 9.99999936e-01 -4.03339748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.07, Y:128.07, Z:-0.40 [[-7.57583448e-02 -9.97126199e-01 1.28554472e-04 2.44069740e+02] [ 9.97124986e-01 -7.57584531e-02 -1.55523464e-03 1.28065895e+02] [ 1.56050429e-03 1.03628740e-05 9.99998782e-01 -4.03747917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.07, Y:128.06, Z:-0.40 [[-7.37144983e-02 -9.97279376e-01 1.36186119e-04 2.44070534e+02] [ 9.97278028e-01 -7.37146226e-02 -1.63988444e-03 1.28062657e+02] [ 1.64546184e-03 1.49321658e-05 9.99998646e-01 -4.03985484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.07, Y:128.04, Z:-0.40 [[-7.13175179e-02 -9.97453664e-01 2.49377578e-05 2.44071906e+02] [ 9.97453620e-01 -7.13175222e-02 -2.96433615e-04 1.28042574e+02] [ 2.97457294e-04 3.73334713e-06 9.99999956e-01 -4.03586230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.07, Y:128.04, Z:-0.40 [[-7.12655433e-02 -9.97457379e-01 -2.13648899e-05 2.44070970e+02] [ 9.97457345e-01 -7.12655464e-02 2.58298925e-04 1.28039476e+02] [-2.59164749e-04 -2.90275308e-06 9.99999966e-01 -4.02803501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.83028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.07, Y:128.03, Z:-0.40 [[-7.11409594e-02 -9.97466270e-01 -6.30086265e-05 2.44068639e+02] [ 9.97465986e-01 -7.11409867e-02 7.52497756e-04 1.28029828e+02] [-7.55073625e-04 -9.31554952e-06 9.99999715e-01 -4.01610203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.07, Y:128.02, Z:-0.40 [[-7.13684031e-02 -9.97450022e-01 -6.92698185e-05 2.44067477e+02] [ 9.97449682e-01 -7.13684359e-02 8.23187796e-04 1.28023402e+02] [-8.26032364e-04 -1.03435600e-05 9.99999659e-01 -4.01483895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.07, Y:128.02, Z:-0.40 [[-7.14773936e-02 -9.97442216e-01 -8.83099835e-05 2.44066356e+02] [ 9.97441670e-01 -7.14774469e-02 1.04388278e-03 1.28020556e+02] [-1.04752492e-03 -1.34700374e-05 9.99999451e-01 -4.02281902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.92028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.06, Y:128.05, Z:-0.40 [[-7.24577401e-02 -9.97371482e-01 -5.46733671e-05 2.44061531e+02] [ 9.97371274e-01 -7.24577603e-02 6.44448319e-04 1.28047908e+02] [-6.46715884e-04 -7.83437697e-06 9.99999791e-01 -4.03583130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.95028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.33148802e-02 -9.97308840e-01 -7.94712811e-05 2.44061827e+02] [ 9.97308404e-01 -7.33149225e-02 9.32507731e-04 1.28036310e+02] [-9.35824635e-04 -1.08906839e-05 9.99999562e-01 -4.03236378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 352.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.53770222e-02 -9.97155105e-01 -2.20427975e-05 2.44060658e+02] [ 9.97155071e-01 -7.53770254e-02 2.60380098e-04 1.28038435e+02] [-2.61300864e-04 -2.35341085e-06 9.99999966e-01 -4.02401322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.01028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.62615116e-02 -9.97087847e-01 8.97120927e-05 2.44059905e+02] [ 9.97087304e-01 -7.62615637e-02 -1.04014888e-03 1.28042091e+02] [ 1.04396139e-03 1.01274630e-05 9.99999455e-01 -4.02696715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.66790426e-02 -9.97055806e-01 2.12013008e-04 2.44059362e+02] [ 9.97052763e-01 -7.66793324e-02 -2.46325974e-03 1.28037652e+02] [ 2.47226444e-03 2.25077569e-05 9.99996944e-01 -4.03314854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.07028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.72502346e-02 -9.97011698e-01 2.73505863e-04 2.44058002e+02] [ 9.97006688e-01 -7.72507136e-02 -3.16078533e-03 1.28040973e+02] [ 3.17246847e-03 2.85157664e-05 9.99994967e-01 -4.03535897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.10028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.64540643e-02 -9.97073080e-01 2.20558919e-04 2.44056346e+02] [ 9.97069807e-01 -7.64543785e-02 -2.55488465e-03 1.28036014e+02] [ 2.56426940e-03 2.45813238e-05 9.99996712e-01 -4.03212805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.65025651e-02 -9.97069360e-01 2.20776556e-04 2.44056406e+02] [ 9.97066087e-01 -7.65028797e-02 -2.55486585e-03 1.28035180e+02] [ 2.56426850e-03 2.46750261e-05 9.99996712e-01 -4.03212269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.16028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-7.60651083e-02 -9.97102831e-01 2.10176001e-04 2.44055254e+02] [ 9.97099868e-01 -7.60653946e-02 -2.43079799e-03 1.28035697e+02] [ 2.43974267e-03 2.46675507e-05 9.99997024e-01 -4.03112251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:128.04, Z:-0.40 [[-7.50550949e-02 -9.97179346e-01 2.91722800e-04 2.44051814e+02] [ 9.97173621e-01 -7.50556525e-02 -3.37901220e-03 1.28038601e+02] [ 3.39137662e-03 3.72861999e-05 9.99994249e-01 -4.03412202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.22028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.05, Y:128.04, Z:-0.40 [[-7.48236597e-02 -9.97196730e-01 3.18393755e-04 2.44049745e+02] [ 9.97189896e-01 -7.48243258e-02 -3.69209049e-03 1.28040494e+02] [ 3.70556416e-03 4.12433138e-05 9.99993134e-01 -4.04207943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.250281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.05, Y:128.04, Z:-0.40 [[-7.52074735e-02 -9.97167839e-01 3.70971237e-04 2.44047410e+02] [ 9.97158540e-01 -7.52083744e-02 -4.30658480e-03 1.28043063e+02] [ 4.32228800e-03 4.60297748e-05 9.99990658e-01 -4.04278242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.28028169299995 meters Centerline goodness : 0.999698 Centerline is valid? [True, True] Translation: X:244.04, Y:128.04, Z:-0.40 [[-7.57759020e-02 -9.97124769e-01 4.55026634e-04 2.44043347e+02] [ 9.97110729e-01 -7.57772498e-02 -5.29170932e-03 1.28042773e+02] [ 5.31097510e-03 5.27278923e-05 9.99985895e-01 -3.97901584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.310281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.04, Y:128.05, Z:-0.40 [[-7.59506888e-02 -9.97111501e-01 3.84494898e-04 2.44040891e+02] [ 9.97101440e-01 -7.59516498e-02 -4.47936649e-03 1.28045022e+02] [ 4.49563087e-03 4.31694455e-05 9.99989894e-01 -4.03255219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.34028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.40 [[-7.57086506e-02 -9.97129950e-01 2.49356565e-04 2.44036599e+02] [ 9.97125674e-01 -7.57090562e-02 -2.92044791e-03 1.28023592e+02] [ 2.93094463e-03 2.75366631e-05 9.99995704e-01 -4.02732321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.370281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.03, Y:128.03, Z:-0.40 [[-7.54095413e-02 -9.97152629e-01 1.86122858e-04 2.44032348e+02] [ 9.97150241e-01 -7.54097680e-02 -2.18251704e-03 1.28033882e+02] [ 2.19033809e-03 2.10098436e-05 9.99997601e-01 -4.02776230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.40028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.03, Y:128.04, Z:-0.40 [[-7.50223041e-02 -9.97181841e-01 1.71822535e-04 2.44026688e+02] [ 9.97179783e-01 -7.50224984e-02 -2.02597561e-03 1.28040503e+02] [ 2.03315665e-03 1.93445999e-05 9.99997933e-01 -4.02752623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.02, Y:128.04, Z:-0.40 [[-7.47132307e-02 -9.97205044e-01 1.80513622e-04 2.44024627e+02] [ 9.97202752e-01 -7.47134461e-02 -2.13811306e-03 1.28039393e+02] [ 2.14562392e-03 2.02633466e-05 9.99997698e-01 -4.02687687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.02, Y:128.03, Z:-0.40 [[-7.44143499e-02 -9.97227389e-01 1.97472795e-04 2.44022788e+02] [ 9.97224622e-01 -7.44146086e-02 -2.34946130e-03 1.28029802e+02] [ 2.35764201e-03 2.20910980e-05 9.99997221e-01 -4.02215661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:128.04, Z:-0.40 [[-7.44944399e-02 -9.97221410e-01 1.94490157e-04 2.44019088e+02] [ 9.97218701e-01 -7.44946909e-02 -2.32470595e-03 1.28041610e+02] [ 2.33273503e-03 2.07715540e-05 9.99997279e-01 -4.02330613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.02, Y:128.02, Z:-0.40 [[-7.63608934e-02 -9.97080236e-01 1.32758534e-04 2.44016387e+02] [ 9.97078960e-01 -7.63610081e-02 -1.59510377e-03 1.28024349e+02] [ 1.60058401e-03 1.05671920e-05 9.99998719e-01 -4.03085849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:128.02, Z:-0.40 [[-8.11059938e-02 -9.96705481e-01 3.37938020e-05 2.44016012e+02] [ 9.96705397e-01 -8.11060008e-02 -4.10079711e-04 1.28018664e+02] [ 4.11469575e-04 4.22542430e-07 9.99999915e-01 -4.03569815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.02, Y:128.00, Z:-0.40 [[-8.42651301e-02 -9.96443369e-01 -2.30395004e-05 2.44017758e+02] [ 9.96443331e-01 -8.42651333e-02 2.75934203e-04 1.28003873e+02] [-2.76894234e-04 2.94075026e-07 9.99999962e-01 -4.03099213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:128.00, Z:-0.40 [[-8.81733044e-02 -9.96105147e-01 -6.44269767e-05 2.44018714e+02] [ 9.96104841e-01 -8.81733278e-02 7.80419691e-04 1.27998756e+02] [-7.83060812e-04 4.63615954e-06 9.99999693e-01 -4.02664211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:128.00, Z:-0.40 [[-9.23988642e-02 -9.95722074e-01 -2.62979924e-05 2.44019909e+02] [ 9.95722023e-01 -9.23988679e-02 3.18289118e-04 1.28002311e+02] [-3.19357406e-04 3.22406287e-06 9.99999949e-01 -4.02673130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.67028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.03, Y:127.99, Z:-0.40 [[-1.02004929e-01 -9.94783879e-01 1.67655945e-04 2.44026205e+02] [ 9.94781747e-01 -1.02005058e-01 -2.05995323e-03 1.27985188e+02] [ 2.06631002e-03 -4.33443097e-05 9.99997864e-01 -4.04060986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.70028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.03, Y:127.96, Z:-0.40 [[-1.06259833e-01 -9.94338368e-01 2.42242700e-04 2.44031507e+02] [ 9.94333880e-01 -1.06260081e-01 -2.98842528e-03 1.27958854e+02] [ 2.99724665e-03 -7.66794472e-05 9.99995505e-01 -4.04462596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.73028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.04, Y:127.97, Z:-0.40 [[-1.12860880e-01 -9.93610768e-01 2.51941428e-04 2.44036756e+02] [ 9.93605902e-01 -1.12861116e-01 -3.11140239e-03 1.27969749e+02] [ 3.11995731e-03 -1.00825121e-04 9.99995128e-01 -4.04063823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:127.96, Z:-0.40 [[-1.14617755e-01 -9.93409632e-01 2.70229841e-04 2.44041008e+02] [ 9.93403977e-01 -1.14618015e-01 -3.35392781e-03 1.27960006e+02] [ 3.36279740e-03 -1.15972276e-04 9.99994339e-01 -4.03644288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:127.96, Z:-0.40 [[-1.15380755e-01 -9.93321298e-01 2.82706822e-04 2.44045376e+02] [ 9.93315095e-01 -1.15381035e-01 -3.51278882e-03 1.27963878e+02] [ 3.52194696e-03 -1.24491275e-04 9.99993790e-01 -4.03236992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:127.96, Z:-0.40 [[-1.14149509e-01 -9.93463524e-01 3.39808304e-04 2.44054027e+02] [ 9.93454545e-01 -1.14149923e-01 -4.22645890e-03 1.27963466e+02] [ 4.23762185e-03 -1.44864105e-04 9.99991011e-01 -4.03383530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:127.98, Z:-0.40 [[-1.10098881e-01 -9.93920578e-01 3.48128806e-04 2.44057890e+02] [ 9.93911255e-01 -1.10099357e-01 -4.30691300e-03 1.27983581e+02] [ 4.31905822e-03 -1.28177165e-04 9.99990665e-01 -4.02774455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:127.98, Z:-0.40 [[-1.07074503e-01 -9.94250942e-01 3.38719975e-04 2.44060344e+02] [ 9.94242186e-01 -1.07074982e-01 -4.17425508e-03 1.27983551e+02] [ 4.18652548e-03 -1.10186601e-04 9.99991230e-01 -4.02535635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:127.99, Z:-0.40 [[-1.04024641e-01 -9.94574671e-01 3.14246499e-04 2.44061817e+02] [ 9.94567205e-01 -1.04025078e-01 -3.85463250e-03 1.27993464e+02] [ 3.86640936e-03 -8.84375005e-05 9.99992522e-01 -4.02563988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.01, Z:-0.40 [[-1.00912514e-01 -9.94895252e-01 3.18794795e-04 2.44062492e+02] [ 9.94887640e-01 -1.00912989e-01 -3.89269089e-03 1.28009045e+02] [ 3.90499022e-03 -7.56562233e-05 9.99992373e-01 -4.02055158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 353.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.03, Z:-0.40 [[-9.60875354e-02 -9.95372831e-01 3.35645139e-04 2.44061542e+02] [ 9.95364472e-01 -9.60881041e-02 -4.07977849e-03 1.28028323e+02] [ 4.09315217e-03 -5.79266126e-05 9.99991621e-01 -4.02207137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.02, Z:-0.40 [[-9.32259831e-02 -9.95644939e-01 2.66448435e-04 2.44062597e+02] [ 9.95639723e-01 -9.32263572e-02 -3.22319276e-03 1.28023753e+02] [ 3.23399558e-03 -3.51986677e-05 9.99994770e-01 -4.01940366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.06, Y:128.04, Z:-0.40 [[-9.26906444e-02 -9.95694929e-01 2.27991407e-04 2.44062091e+02] [ 9.95691146e-01 -9.26909208e-02 -2.74483080e-03 1.28044213e+02] [ 2.75414684e-03 -2.74111100e-05 9.99996207e-01 -4.02193463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.01, Z:-0.40 [[-9.21570814e-02 -9.95744466e-01 1.76538309e-04 2.44065905e+02] [ 9.95742183e-01 -9.21572482e-02 -2.13244603e-03 1.28012940e+02] [ 2.13964061e-03 -2.07333612e-05 9.99997711e-01 -4.02231952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.03, Z:-0.40 [[-9.31436509e-02 -9.95652671e-01 1.35920516e-04 2.44065301e+02] [ 9.95651336e-01 -9.31437486e-02 -1.63058509e-03 1.28031835e+02] [ 1.63615655e-03 -1.65492057e-05 9.99998661e-01 -4.01898461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:128.01, Z:-0.40 [[-9.69605197e-02 -9.95288226e-01 6.86462798e-05 2.44070234e+02] [ 9.95287890e-01 -9.69605434e-02 -8.18340939e-04 1.28014980e+02] [ 8.21141082e-04 -1.10239518e-05 9.99999663e-01 -4.01795703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:128.00, Z:-0.40 [[-1.01419574e-01 -9.94843733e-01 1.29096031e-04 2.44077827e+02] [ 9.94842550e-01 -1.01419652e-01 -1.53462458e-03 1.28004846e+02] [ 1.53980452e-03 -2.72107456e-05 9.99998814e-01 -4.02958080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.08, Y:128.01, Z:-0.40 [[-1.02979908e-01 -9.94683419e-01 1.88446941e-04 2.44081539e+02] [ 9.94680916e-01 -1.02980072e-01 -2.23146389e-03 1.28009316e+02] [ 2.23900641e-03 -4.23513709e-05 9.99997493e-01 -4.02705688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.21028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.09, Y:128.00, Z:-0.40 [[-1.03307000e-01 -9.94649487e-01 2.50079516e-04 2.44085573e+02] [ 9.94645116e-01 -1.03307287e-01 -2.94901266e-03 1.28003721e+02] [ 2.95906897e-03 -5.59132814e-05 9.99995620e-01 -4.03046623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.09, Y:128.02, Z:-0.40 [[-9.97866057e-02 -9.95008791e-01 3.72427415e-04 2.44090125e+02] [ 9.94999181e-01 -9.97872789e-02 -4.37358266e-03 1.28018938e+02] [ 4.38891671e-03 -6.58599952e-05 9.99990367e-01 -4.02062607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:128.01, Z:-0.40 [[-9.68666555e-02 -9.95297296e-01 3.77884622e-04 2.44092317e+02] [ 9.95287493e-01 -9.68673787e-02 -4.41790169e-03 1.28014985e+02] [ 4.43373031e-03 -5.18435235e-05 9.99990170e-01 -4.01656431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.09, Y:128.03, Z:-0.40 [[-8.86388317e-02 -9.96063788e-01 2.95558835e-04 2.44091854e+02] [ 9.96057850e-01 -8.86393238e-02 -3.43932704e-03 1.28033796e+02] [ 3.45198725e-03 -1.04642326e-05 9.99994042e-01 -4.00993436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.09, Y:128.04, Z:-0.40 [[-8.41054221e-02 -9.96456821e-01 2.86801019e-04 2.44090472e+02] [ 9.96451282e-01 -8.41059109e-02 -3.32226211e-03 1.28041748e+02] [ 3.33461240e-03 6.36298591e-06 9.99994440e-01 -4.00366792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.360281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.09, Y:128.06, Z:-0.40 [[-7.94001947e-02 -9.96842780e-01 2.83756984e-04 2.44087167e+02] [ 9.96837411e-01 -7.94006984e-02 -3.27202511e-03 1.28059816e+02] [ 3.28422511e-03 2.30601462e-05 9.99994607e-01 -3.99666234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.39028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.09, Y:128.04, Z:-0.40 [[-7.46067962e-02 -9.97212991e-01 2.77985932e-04 2.44086215e+02] [ 9.97207886e-01 -7.46073038e-02 -3.19088978e-03 1.28044598e+02] [ 3.20273652e-03 3.91477006e-05 9.99994870e-01 -3.99528338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.42028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.08, Y:128.01, Z:-0.40 [[-6.68528532e-02 -9.97762833e-01 1.56559859e-04 2.44084184e+02] [ 9.97761220e-01 -6.68530267e-02 -1.79466720e-03 1.28007084e+02] [ 1.80111873e-03 3.62307329e-05 9.99998377e-01 -3.99993097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.08, Y:128.01, Z:-0.40 [[-6.30608496e-02 -9.98009679e-01 9.63859305e-05 2.44078072e+02] [ 9.98009076e-01 -6.30609175e-02 -1.09790064e-03 1.28011368e+02] [ 1.10179365e-03 2.69594860e-05 9.99999393e-01 -3.99516849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.48028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.08, Y:127.99, Z:-0.40 [[-6.26539320e-02 -9.98035303e-01 1.35749599e-04 2.44075803e+02] [ 9.98034115e-01 -6.26540669e-02 -1.54069137e-03 1.27994300e+02] [ 1.54616964e-03 3.89523590e-05 9.99998804e-01 -4.00019265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.07, Y:127.99, Z:-0.40 [[-6.24492659e-02 -9.98048125e-01 1.70906874e-04 2.44072293e+02] [ 9.98046256e-01 -6.24494798e-02 -1.93206712e-03 1.27993629e+02] [ 1.93896901e-03 4.99167925e-05 9.99998119e-01 -3.99835135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.07, Y:127.99, Z:-0.40 [[-6.29452203e-02 -9.98016971e-01 1.58051233e-04 2.44068444e+02] [ 9.98015387e-01 -6.29454021e-02 -1.77883542e-03 1.27994214e+02] [ 1.78525653e-03 4.57683758e-05 9.99998405e-01 -4.00020859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.00, Z:-0.40 [[-6.50889529e-02 -9.97879463e-01 7.16375846e-05 2.44062176e+02] [ 9.97879142e-01 -6.50889895e-02 -8.01298061e-04 1.27996585e+02] [ 8.04261697e-04 1.93299997e-05 9.99999676e-01 -3.99697788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.06, Y:128.00, Z:-0.40 [[-6.72193473e-02 -9.97738222e-01 6.15628509e-06 2.44059265e+02] [ 9.97738220e-01 -6.72193476e-02 -6.60552027e-05 1.28003962e+02] [ 6.63196221e-05 1.70217331e-06 9.99999998e-01 -3.99425497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.06, Y:128.01, Z:-0.40 [[-7.11338826e-02 -9.97466776e-01 -4.15032914e-05 2.44055325e+02] [ 9.97466668e-01 -7.11338942e-02 4.63720089e-04 1.28007818e+02] [-4.65497673e-04 -8.41193942e-06 9.99999892e-01 -3.99541006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:128.01, Z:-0.40 [[-7.27275877e-02 -9.97351842e-01 -1.88702864e-05 2.44054026e+02] [ 9.97351820e-01 -7.27275900e-02 2.10532718e-04 1.28011311e+02] [-2.11347585e-04 -3.50877773e-06 9.99999978e-01 -3.99964984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.05, Y:128.03, Z:-0.40 [[-7.60749800e-02 -9.97102100e-01 1.20345952e-05 2.44049468e+02] [ 9.97102091e-01 -7.60749809e-02 -1.31768943e-04 1.28027832e+02] [ 1.32302622e-04 1.97540035e-06 9.99999991e-01 -4.00448075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.05, Y:128.03, Z:-0.40 [[-7.71128154e-02 -9.97022374e-01 -2.04117676e-05 2.44047452e+02] [ 9.97022348e-01 -7.71128181e-02 2.26930415e-04 1.28029425e+02] [-2.27828710e-04 -2.85174527e-06 9.99999974e-01 -4.00178235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:128.04, Z:-0.40 [[-7.91530674e-02 -9.96862473e-01 -3.21033111e-05 2.44044209e+02] [ 9.96862409e-01 -7.91530739e-02 3.58110137e-04 1.28036140e+02] [-3.59527632e-04 -3.65706826e-06 9.99999935e-01 -3.99877122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.78028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.40 [[-7.98026895e-02 -9.96810680e-01 5.18517513e-06 2.44044898e+02] [ 9.96810678e-01 -7.98026896e-02 -6.10663082e-05 1.28017356e+02] [ 6.12853392e-05 2.95382306e-07 9.99999998e-01 -4.00570054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.40 [[-8.05978922e-02 -9.96746698e-01 2.75751048e-05 2.44043724e+02] [ 9.96746649e-01 -8.05978968e-02 -3.11424074e-04 1.28016972e+02] [ 3.12633412e-04 2.38526945e-06 9.99999951e-01 -4.00709819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.84028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.04, Y:128.01, Z:-0.40 [[-8.16532981e-02 -9.96660790e-01 9.34045209e-05 2.44041733e+02] [ 9.96660228e-01 -8.16533513e-02 -1.05869995e-03 1.28012360e+02] [ 1.06279152e-03 6.64622813e-06 9.99999435e-01 -4.01319065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.40 [[-8.24536600e-02 -9.96594878e-01 2.08170539e-04 2.44039609e+02] [ 9.96592088e-01 -8.24539217e-02 -2.35825610e-03 1.28020361e+02] [ 2.36739042e-03 1.30142660e-05 9.99997198e-01 -4.01714217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.90028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.04, Y:128.02, Z:-0.40 [[-8.42230394e-02 -9.96446851e-01 3.91443414e-04 2.44035449e+02] [ 9.96436893e-01 -8.42239477e-02 -4.45477705e-03 1.28020224e+02] [ 4.47191747e-03 1.48537970e-05 9.99990001e-01 -4.02189006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.03, Y:128.04, Z:-0.40 [[-8.49290340e-02 -9.96386944e-01 3.41363614e-04 2.44031573e+02] [ 9.96379351e-01 -8.49297195e-02 -3.88996827e-03 1.28042479e+02] [ 3.90490551e-03 9.75640888e-06 9.99992376e-01 -4.01745241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.03, Y:128.02, Z:-0.40 [[-8.52802761e-02 -9.96356966e-01 2.66667601e-04 2.44031389e+02] [ 9.96352285e-01 -8.52806929e-02 -3.05427588e-03 1.28019721e+02] [ 3.06589064e-03 5.22538304e-06 9.99995300e-01 -4.00692104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 354.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.03, Y:128.02, Z:-0.40 [[-8.68600536e-02 -9.96220515e-01 1.29832218e-04 2.44027163e+02] [ 9.96219393e-01 -8.68601506e-02 -1.49503512e-03 1.28019831e+02] [ 1.50066191e-03 -5.17457338e-07 9.99998874e-01 -4.01269957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.02028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.03, Y:128.02, Z:-0.40 [[-8.64802098e-02 -9.96253560e-01 1.29262387e-04 2.44026869e+02] [ 9.96252439e-01 -8.64803064e-02 -1.49508455e-03 1.28022351e+02] [ 1.50066195e-03 -5.17256875e-07 9.99998874e-01 -4.01271568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.03, Y:128.01, Z:-0.40 [[-8.74614156e-02 -9.96167898e-01 1.43995400e-04 2.44026204e+02] [ 9.96166493e-01 -8.74615341e-02 -1.67251621e-03 1.28006145e+02] [ 1.67870101e-03 -2.83724294e-06 9.99998591e-01 -4.01773271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.02, Y:128.01, Z:-0.40 [[-9.03392676e-02 -9.95911013e-01 2.65673329e-04 2.44024903e+02] [ 9.95906198e-01 -9.03396570e-02 -3.09700554e-03 1.28005620e+02] [ 3.10834277e-03 -1.51954972e-05 9.99995169e-01 -4.02788655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.110281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.02, Y:128.01, Z:-0.40 [[-9.19592017e-02 -9.95762725e-01 3.16556445e-04 2.44024603e+02] [ 9.95755829e-01 -9.19597430e-02 -3.70597053e-03 1.28012449e+02] [ 3.71937776e-03 -2.55851658e-05 9.99993083e-01 -4.02641128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.14028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.02, Y:128.02, Z:-0.40 [[-9.40329392e-02 -9.95569025e-01 3.51585267e-04 2.44023903e+02] [ 9.95560442e-01 -9.40335885e-02 -4.13411998e-03 1.28018948e+02] [ 4.14886262e-03 -3.87190686e-05 9.99991393e-01 -4.02519534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.17028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.02, Y:128.02, Z:-0.40 [[-9.75033047e-02 -9.95235170e-01 2.50079839e-04 2.44023837e+02] [ 9.95230785e-01 -9.75036175e-02 -2.95457732e-03 1.28018361e+02] [ 2.96488295e-03 -3.91938979e-05 9.99995604e-01 -4.01796958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.40 [[-9.77979277e-02 -9.95206282e-01 1.45411644e-04 2.44025885e+02] [ 9.95204784e-01 -9.77980328e-02 -1.72680750e-03 1.27996862e+02] [ 1.73275065e-03 -2.41638314e-05 9.99998499e-01 -4.00781025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.02, Y:128.02, Z:-0.40 [[-9.77892178e-02 -9.95207149e-01 1.15455525e-05 2.44024839e+02] [ 9.95207139e-01 -9.77892184e-02 -1.38184712e-04 1.28019354e+02] [ 1.38651444e-04 -2.02275857e-06 9.99999990e-01 -3.99527202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.26028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.03, Y:127.99, Z:-0.40 [[-9.70312396e-02 -9.95281336e-01 2.64747862e-05 2.44027753e+02] [ 9.95281285e-01 -9.70312431e-02 -3.18654966e-04 1.27991081e+02] [ 3.19720222e-04 -4.56962706e-06 9.99999949e-01 -4.00035319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.40 [[-9.68641917e-02 -9.95297608e-01 1.55516876e-05 2.44027886e+02] [ 9.95297590e-01 -9.68641929e-02 -1.89169271e-04 1.28000450e+02] [ 1.89786124e-04 -2.84517127e-06 9.99999982e-01 -4.01417760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.32028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.40 [[-9.83376017e-02 -9.95153110e-01 6.29738283e-05 2.44031356e+02] [ 9.95152819e-01 -9.83376212e-02 -7.60759891e-04 1.28000417e+02] [ 7.63265267e-04 -1.21427203e-05 9.99999709e-01 -4.02276137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.35028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.03, Y:128.00, Z:-0.40 [[-9.94606699e-02 -9.95041489e-01 1.02042039e-04 2.44033103e+02] [ 9.95040721e-01 -9.94607200e-02 -1.23648110e-03 1.28004244e+02] [ 1.24049917e-03 -2.14452548e-05 9.99999230e-01 -4.02345767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.380281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.04, Y:127.99, Z:-0.40 [[-1.03241892e-01 -9.94656262e-01 1.79759185e-04 2.44039099e+02] [ 9.94653861e-01 -1.03242038e-01 -2.18578068e-03 1.27993201e+02] [ 2.19265915e-03 -4.68659670e-05 9.99997595e-01 -4.01374484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.04, Y:128.01, Z:-0.40 [[-1.05292738e-01 -9.94441246e-01 2.16928838e-04 2.44041178e+02] [ 9.94437744e-01 -1.05292943e-01 -2.63983572e-03 1.28007753e+02] [ 2.64800260e-03 -6.22333075e-05 9.99996492e-01 -4.01292821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.05, Y:128.01, Z:-0.40 [[-1.07067312e-01 -9.94251746e-01 2.37607523e-04 2.44045083e+02] [ 9.94247530e-01 -1.07067551e-01 -2.89630076e-03 1.28007481e+02] [ 2.90509214e-03 -7.38584451e-05 9.99995778e-01 -4.01317793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.47028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.06, Y:127.99, Z:-0.40 [[-1.10833826e-01 -9.93838923e-01 2.42862251e-04 2.44056153e+02] [ 9.93834473e-01 -1.10834057e-01 -2.97538445e-03 1.27985795e+02] [ 2.98397028e-03 -8.84083645e-05 9.99995544e-01 -4.02048087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.500281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.06, Y:127.98, Z:-0.40 [[-1.13244988e-01 -9.93567073e-01 2.08367117e-04 2.44061739e+02] [ 9.93563835e-01 -1.13245151e-01 -2.53796582e-03 1.27983729e+02] [ 2.54523584e-03 -8.03858781e-05 9.99996758e-01 -4.02287057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.53028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.07, Y:127.98, Z:-0.40 [[-1.14947615e-01 -9.93371534e-01 2.01534595e-04 2.44067990e+02] [ 9.93368532e-01 -1.14947764e-01 -2.44350059e-03 1.27976301e+02] [ 2.45046988e-03 -8.06764402e-05 9.99996994e-01 -4.01728105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.560281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.08, Y:127.98, Z:-0.40 [[-1.17296810e-01 -9.93096886e-01 1.84560522e-04 2.44079689e+02] [ 9.93094390e-01 -1.17296929e-01 -2.22763838e-03 1.27981726e+02] [ 2.23390912e-03 -7.80088574e-05 9.99997502e-01 -4.00854264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.59028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.09, Y:127.99, Z:-0.40 [[-1.18655448e-01 -9.92935469e-01 1.96601853e-04 2.44085826e+02] [ 9.92932662e-01 -1.18655581e-01 -2.36271860e-03 1.27988108e+02] [ 2.36935501e-03 -8.51370336e-05 9.99997189e-01 -4.00701134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.620281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.10, Y:127.98, Z:-0.40 [[-1.19780312e-01 -9.92800402e-01 1.98836514e-04 2.44098330e+02] [ 9.92797555e-01 -1.19780445e-01 -2.37912999e-03 1.27983017e+02] [ 2.38581793e-03 -8.75685260e-05 9.99997150e-01 -4.00978317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.10, Y:127.99, Z:-0.40 [[-1.19882275e-01 -9.92788096e-01 1.91944080e-04 2.44103713e+02] [ 9.92785466e-01 -1.19882400e-01 -2.28653506e-03 1.27986693e+02] [ 2.29305550e-03 -8.35557328e-05 9.99997367e-01 -4.00551349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.11, Y:127.99, Z:-0.40 [[-1.17590015e-01 -9.93062223e-01 9.49220477e-05 2.44114427e+02] [ 9.93061588e-01 -1.17590047e-01 -1.12440095e-03 1.27994959e+02] [ 1.12776199e-03 -3.79548848e-05 9.99999363e-01 -3.99519326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.12, Y:128.01, Z:-0.40 [[-1.15771911e-01 -9.93275824e-01 4.87737207e-05 2.44118731e+02] [ 9.93275658e-01 -1.15771920e-01 -5.73843914e-04 1.28006342e+02] [ 5.75631913e-04 -1.79892572e-05 9.99999834e-01 -3.99132463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.740281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.12, Y:127.99, Z:-0.40 [[-1.13338694e-01 -9.93556407e-01 8.12655334e-05 2.44123772e+02] [ 9.93555950e-01 -1.13338719e-01 -9.53801464e-04 1.27991130e+02] [ 9.56866087e-04 -2.73607576e-05 9.99999542e-01 -3.98979141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.77028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.12, Y:128.01, Z:-0.40 [[-1.10129352e-01 -9.93917248e-01 1.70660109e-04 2.44124341e+02] [ 9.93915243e-01 -1.10129472e-01 -1.99732039e-03 1.28008705e+02] [ 2.00396589e-03 -5.03419162e-05 9.99997991e-01 -3.99001398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.12, Y:128.04, Z:-0.40 [[-1.01090446e-01 -9.94877196e-01 2.94632252e-04 2.44123776e+02] [ 9.94871268e-01 -1.01090861e-01 -3.43495435e-03 1.28035046e+02] [ 3.44714238e-03 -5.41199046e-05 9.99994057e-01 -3.99433133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.83028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.12, Y:128.06, Z:-0.40 [[-9.13243897e-02 -9.95821172e-01 2.21077673e-04 2.44121540e+02] [ 9.95817869e-01 -9.13246562e-02 -2.56509105e-03 1.28060426e+02] [ 2.57456182e-03 -1.41022778e-05 9.99996686e-01 -3.98386005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.860281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.12, Y:128.07, Z:-0.40 [[-8.74458999e-02 -9.96169261e-01 1.36189628e-04 2.44119774e+02] [ 9.96168021e-01 -8.74460059e-02 -1.57187717e-03 1.28065144e+02] [ 1.57776495e-03 -1.78646102e-06 9.99998755e-01 -3.98274949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.89028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.12, Y:128.06, Z:-0.40 [[-8.44203412e-02 -9.96430228e-01 8.20614469e-05 2.44117894e+02] [ 9.96429783e-01 -8.44203810e-02 -9.41703523e-04 1.28063808e+02] [ 9.45269515e-04 2.26953706e-06 9.99999553e-01 -3.97502394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.12, Y:128.06, Z:-0.40 [[-8.22371359e-02 -9.96612789e-01 5.70464881e-05 2.44115441e+02] [ 9.96612576e-01 -8.22371557e-02 -6.50814581e-04 1.28062440e+02] [ 6.53301475e-04 3.33212026e-06 9.99999787e-01 -3.97777224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:128.05, Z:-0.40 [[-8.06333186e-02 -9.96743825e-01 1.24301456e-04 2.44113090e+02] [ 9.96742820e-01 -8.06334138e-02 -1.41514143e-03 1.28046326e+02] [ 1.42055633e-03 9.78903450e-06 9.99998991e-01 -3.98666156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 355.98028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.11, Y:128.05, Z:-0.40 [[-8.15148347e-02 -9.96672106e-01 2.13818518e-04 2.44110886e+02] [ 9.96669154e-01 -8.15151137e-02 -2.42552008e-03 1.28049149e+02] [ 2.43487765e-03 1.53904534e-05 9.99997036e-01 -3.98852523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.11, Y:128.05, Z:-0.40 [[-8.24330228e-02 -9.96596585e-01 2.10599028e-04 2.44109789e+02] [ 9.96593747e-01 -8.24332907e-02 -2.37838009e-03 1.28046737e+02] [ 2.38764584e-03 1.38246145e-05 9.99997150e-01 -3.99221092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.11, Y:128.05, Z:-0.40 [[-8.27771625e-02 -9.96568062e-01 1.95689501e-04 2.44108118e+02] [ 9.96565634e-01 -8.27773929e-02 -2.20002320e-03 1.28052548e+02] [ 2.20867153e-03 1.29057535e-05 9.99997561e-01 -3.99143507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.07028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.11, Y:128.06, Z:-0.40 [[-8.25573749e-02 -9.96586297e-01 1.78214847e-04 2.44106090e+02] [ 9.96584302e-01 -8.25575662e-02 -1.99440215e-03 1.28063508e+02] [ 2.00230684e-03 1.29535130e-05 9.99997995e-01 -3.99119461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:128.05, Z:-0.40 [[-8.02529036e-02 -9.96774494e-01 2.82522669e-04 2.44105964e+02] [ 9.96769519e-01 -8.02533958e-02 -3.14935817e-03 1.28052770e+02] [ 3.16187330e-03 2.88648474e-05 9.99995001e-01 -3.98518618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.130281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.10, Y:128.04, Z:-0.40 [[-7.76067657e-02 -9.96983956e-01 4.26873955e-04 2.44104612e+02] [ 9.96972694e-01 -7.76079182e-02 -4.73907003e-03 1.28044374e+02] [ 4.75790558e-03 5.77977794e-05 9.99988679e-01 -3.98718832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.16028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.67785970e-02 -9.97048102e-01 3.59975606e-04 2.44106316e+02] [ 9.97040165e-01 -7.67794223e-02 -3.97875106e-03 1.28013660e+02] [ 3.99464491e-03 5.34272131e-05 9.99992020e-01 -3.99074081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.190281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.11, Y:127.99, Z:-0.40 [[-7.60770695e-02 -9.97101917e-01 2.15043027e-04 2.44107607e+02] [ 9.97099111e-01 -7.60773656e-02 -2.36573705e-03 1.27994813e+02] [ 2.37524086e-03 3.44408693e-05 9.99997179e-01 -3.98764799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-7.54924771e-02 -9.97146364e-01 -1.20229614e-04 2.44106179e+02] [ 9.97145489e-01 -7.54925702e-02 1.32128334e-03 1.28011756e+02] [-1.32658932e-03 -2.01394651e-05 9.99999120e-01 -3.97712163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.11, Y:127.98, Z:-0.40 [[-7.58968018e-02 -9.97115664e-01 -1.64891586e-04 2.44108591e+02] [ 9.97114034e-01 -7.58969760e-02 1.80352415e-03 1.27982617e+02] [-1.81083696e-03 -2.75339993e-05 9.99998360e-01 -3.97113062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.28028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.11, Y:128.00, Z:-0.40 [[-7.69757376e-02 -9.97032962e-01 -9.46794196e-05 2.44106118e+02] [ 9.97032427e-01 -7.69757943e-02 1.03238636e-03 1.28004168e+02] [-1.03661125e-03 -1.49297504e-05 9.99999463e-01 -3.97637764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.310281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.11, Y:128.02, Z:-0.40 [[-7.94814139e-02 -9.96836334e-01 1.67020648e-04 2.44105592e+02] [ 9.96834698e-01 -7.94815861e-02 -1.80620453e-03 1.28016885e+02] [ 1.81376537e-03 2.29322875e-05 9.99998355e-01 -3.98734557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.34028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-8.14062317e-02 -9.96680981e-01 2.16333208e-04 2.44107636e+02] [ 9.96678257e-01 -8.14065150e-02 -2.33042302e-03 1.28010550e+02] [ 2.34029923e-03 2.59036485e-05 9.99997261e-01 -3.98886704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.370281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-8.52258733e-02 -9.96361639e-01 1.85145210e-04 2.44109269e+02] [ 9.96359661e-01 -8.52260730e-02 -1.98572919e-03 1.28009652e+02] [ 1.99428359e-03 1.52357142e-05 9.99998011e-01 -3.98980355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:128.01, Z:-0.40 [[-8.67562557e-02 -9.96229550e-01 1.89573392e-04 2.44109741e+02] [ 9.96227492e-01 -8.67564618e-02 -2.02478742e-03 1.28012662e+02] [ 2.03359978e-03 1.31952494e-05 9.99997932e-01 -3.99384907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.11, Y:128.00, Z:-0.40 [[-8.80201712e-02 -9.96118669e-01 2.16659271e-04 2.44111629e+02] [ 9.96116002e-01 -8.80204369e-02 -2.30484640e-03 1.28003061e+02] [ 2.31497097e-03 1.29447924e-05 9.99997320e-01 -3.99292905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-8.87119633e-02 -9.96057313e-01 1.32343333e-04 2.44115107e+02] [ 9.96056327e-01 -8.87120617e-02 -1.40105213e-03 1.28000662e+02] [ 1.40726867e-03 7.53132872e-06 9.99999010e-01 -3.98082355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.490281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-8.90000064e-02 -9.96031623e-01 7.48189824e-05 2.44115486e+02] [ 9.96031311e-01 -8.90000377e-02 -7.87664956e-04 1.28003393e+02] [ 7.91198096e-04 4.41986310e-06 9.99999687e-01 -3.97538929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-8.93323656e-02 -9.96001869e-01 7.65478607e-05 2.44115410e+02] [ 9.96001545e-01 -8.93323982e-02 -8.02610792e-04 1.28000219e+02] [ 8.06240053e-04 4.54266689e-06 9.99999675e-01 -3.97615681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.550281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-8.97408816e-02 -9.95965142e-01 9.68939005e-05 2.44116210e+02] [ 9.95964628e-01 -8.97409337e-02 -1.01248213e-03 1.27995200e+02] [ 1.01709225e-03 5.64185892e-06 9.99999483e-01 -3.97985900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.58028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.12, Y:127.99, Z:-0.40 [[-9.03437104e-02 -9.95910639e-01 1.18832471e-04 2.44116868e+02] [ 9.95909870e-01 -9.03437883e-02 -1.23726349e-03 1.27993176e+02] [ 1.24293965e-03 6.56745642e-06 9.99999228e-01 -3.97321981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.610281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.12, Y:127.99, Z:-0.40 [[-9.15700654e-02 -9.95798630e-01 1.05345803e-04 2.44115530e+02] [ 9.95798031e-01 -9.15701259e-02 -1.09209406e-03 1.27994530e+02] [ 1.09715230e-03 4.90001857e-06 9.99999398e-01 -3.96716669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.64028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-9.21600660e-02 -9.95744202e-01 7.72671522e-05 2.44115347e+02] [ 9.95743883e-01 -9.21600983e-02 -7.97065917e-04 1.27996532e+02] [ 8.00794714e-04 3.48064660e-06 9.99999679e-01 -3.96808422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.67028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.12, Y:128.00, Z:-0.40 [[-9.19242031e-02 -9.95766002e-01 1.01220209e-04 2.44117280e+02] [ 9.95765458e-01 -9.19242587e-02 -1.04072256e-03 1.27995709e+02] [ 1.04562074e-03 5.12399514e-06 9.99999453e-01 -3.96498088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.70028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.12, Y:127.98, Z:-0.40 [[-9.20735677e-02 -9.95752203e-01 9.28269897e-05 2.44120027e+02] [ 9.95751749e-01 -9.20736143e-02 -9.50401031e-04 1.27975431e+02] [ 9.54910837e-04 4.92582372e-06 9.99999544e-01 -3.96289197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.12, Y:127.99, Z:-0.40 [[-9.23209221e-02 -9.95729302e-01 7.25166888e-05 2.44118351e+02] [ 9.95729027e-01 -9.23209505e-02 -7.38939071e-04 1.27989449e+02] [ 7.42478094e-04 3.98743561e-06 9.99999724e-01 -3.95814315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.76028169299997 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:244.12, Y:127.97, Z:-0.40 [[-9.27162096e-02 -9.95692574e-01 4.44915431e-05 2.44118163e+02] [ 9.95692472e-01 -9.27162203e-02 -4.50580352e-04 1.27973538e+02] [ 4.52764599e-04 2.52379212e-06 9.99999898e-01 -3.95520926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.79028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.12, Y:127.98, Z:-0.40 [[-9.34414186e-02 -9.95624779e-01 1.46018689e-05 2.44117464e+02] [ 9.95624769e-01 -9.34414197e-02 -1.45601502e-04 1.27979385e+02] [ 1.46328883e-04 9.32771457e-07 9.99999989e-01 -3.95848157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.82028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.12, Y:127.98, Z:-0.40 [[-9.49966191e-02 -9.95477595e-01 1.40750416e-05 2.44116837e+02] [ 9.95477585e-01 -9.49966202e-02 -1.39691943e-04 1.27980342e+02] [ 1.40397281e-04 7.41126049e-07 9.99999990e-01 -3.96684546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.85028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.12, Y:127.98, Z:-0.40 [[-9.60495369e-02 -9.95376554e-01 5.09988716e-05 2.44115445e+02] [ 9.95376423e-01 -9.60495504e-02 -5.10725279e-04 1.27982489e+02] [ 5.13262387e-04 1.70814791e-06 9.99999868e-01 -3.96517153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.880281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.11, Y:127.98, Z:-0.40 [[-9.68155031e-02 -9.95302343e-01 6.04914560e-05 2.44114685e+02] [ 9.95302160e-01 -9.68155220e-02 -6.03850873e-04 1.27984729e+02] [ 6.06870701e-04 1.74515073e-06 9.99999816e-01 -3.96500210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:128.00, Z:-0.40 [[-9.82157217e-02 -9.95165147e-01 4.69509091e-05 2.44113330e+02] [ 9.95165038e-01 -9.82157329e-02 -4.66244930e-04 1.27995673e+02] [ 4.68602022e-04 9.31320962e-07 9.99999890e-01 -3.95854726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.940281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:127.99, Z:-0.40 [[-9.86091233e-02 -9.95126243e-01 4.71364313e-05 2.44113653e+02] [ 9.95126133e-01 -9.86091346e-02 -4.66226262e-04 1.27993191e+02] [ 4.68602071e-04 9.32531693e-07 9.99999890e-01 -3.95853118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 356.97028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.12, Y:127.97, Z:-0.40 [[-9.97399348e-02 -9.95013536e-01 9.03983343e-05 2.44116256e+02] [ 9.95013136e-01 -9.97399757e-02 -8.92954200e-04 1.27967275e+02] [ 8.97517844e-04 8.84336443e-07 9.99999597e-01 -3.95427959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.000281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.12, Y:127.96, Z:-0.40 [[-1.00577681e-01 -9.94929189e-01 1.95143668e-04 2.44115532e+02] [ 9.94927331e-01 -1.00577870e-01 -1.92307808e-03 1.27961418e+02] [ 1.93295365e-03 7.35035614e-07 9.99998132e-01 -3.96152148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.03028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.11, Y:127.97, Z:-0.40 [[-1.00759257e-01 -9.94910815e-01 2.08141376e-04 2.44113458e+02] [ 9.94908716e-01 -1.00759472e-01 -2.04338269e-03 1.27973411e+02] [ 2.05395575e-03 1.19194785e-06 9.99997891e-01 -3.96543553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.060281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.11, Y:127.97, Z:-0.40 [[-1.00457282e-01 -9.94941352e-01 2.00957502e-04 2.44113707e+02] [ 9.94939411e-01 -1.00457483e-01 -1.96512285e-03 1.27968132e+02] [ 1.97536967e-03 2.52963849e-06 9.99998049e-01 -3.96266245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.09028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.11, Y:127.96, Z:-0.40 [[-9.88982933e-02 -9.95097518e-01 2.37743212e-04 2.44113027e+02] [ 9.95094822e-01 -9.88985788e-02 -2.31635407e-03 1.27960998e+02] [ 2.32851066e-03 7.49357500e-06 9.99997289e-01 -3.96027641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.120281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.11, Y:127.97, Z:-0.40 [[-9.81096501e-02 -9.95175579e-01 2.51399533e-04 2.44111045e+02] [ 9.95172588e-01 -9.81099716e-02 -2.44014471e-03 1.27966860e+02] [ 2.45303723e-03 1.07841804e-05 9.99996991e-01 -3.95980205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.15028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.11, Y:127.97, Z:-0.40 [[-9.66416991e-02 -9.95319212e-01 2.19194974e-04 2.44109958e+02] [ 9.95316956e-01 -9.66419468e-02 -2.11907697e-03 1.27965050e+02] [ 2.13034145e-03 1.33772759e-05 9.99997731e-01 -3.96985864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.180281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.11, Y:127.94, Z:-0.40 [[-9.67533167e-02 -9.95308369e-01 2.14445444e-04 2.44112631e+02] [ 9.95306227e-01 -9.67535534e-02 -2.06525200e-03 1.27943347e+02] [ 2.07631096e-03 1.36189050e-05 9.99997844e-01 -3.96971953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.21028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.11, Y:127.95, Z:-0.40 [[-9.74244621e-02 -9.95242898e-01 2.21475857e-04 2.44112177e+02] [ 9.95240629e-01 -9.74247129e-02 -2.12502376e-03 1.27946674e+02] [ 2.13649203e-03 1.33924738e-05 9.99997718e-01 -3.96541320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.240281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.11, Y:127.95, Z:-0.40 [[-9.98119576e-02 -9.95006256e-01 3.51110457e-04 2.44111383e+02] [ 9.95000591e-01 -9.98125741e-02 -3.35756716e-03 1.27945992e+02] [ 3.37584557e-03 1.42297616e-05 9.99994302e-01 -3.96730809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.27028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.11, Y:127.94, Z:-0.40 [[-1.01317465e-01 -9.94854078e-01 3.66393689e-04 2.44112321e+02] [ 9.94847954e-01 -1.01318127e-01 -3.49067494e-03 1.27944967e+02] [ 3.50983452e-03 1.08396763e-05 9.99993840e-01 -3.97334492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.300281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.11, Y:127.96, Z:-0.40 [[-1.03568817e-01 -9.94622269e-01 2.03243225e-04 2.44113538e+02] [ 9.94620401e-01 -1.03569017e-01 -1.92797301e-03 1.27956254e+02] [ 1.93865459e-03 2.47197364e-06 9.99998121e-01 -3.96333788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.33028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.12, Y:127.94, Z:-0.40 [[-1.04147427e-01 -9.94561865e-01 9.99721862e-05 2.44115007e+02] [ 9.94561417e-01 -1.04147475e-01 -9.43574975e-04 1.27942273e+02] [ 9.48855538e-04 1.15757311e-06 9.99999550e-01 -3.95160157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.360281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.11, Y:127.94, Z:-0.40 [[-1.02396578e-01 -9.94743649e-01 1.21000864e-04 2.44113819e+02] [ 9.94742997e-01 -1.02396649e-01 -1.13831650e-03 1.27938758e+02] [ 1.14472319e-03 3.80504871e-06 9.99999345e-01 -3.95021900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.39028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.11, Y:127.94, Z:-0.40 [[-1.01235417e-01 -9.94862475e-01 2.14525482e-04 2.44113580e+02] [ 9.94860440e-01 -1.01235644e-01 -2.01249294e-03 1.27938157e+02] [ 2.02387133e-03 9.68735226e-06 9.99997952e-01 -3.95425496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.42028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.11, Y:127.93, Z:-0.40 [[-1.00143803e-01 -9.94972950e-01 2.19961513e-04 2.44114394e+02] [ 9.94970825e-01 -1.00144044e-01 -2.05595012e-03 1.27928987e+02] [ 2.06764259e-03 1.29646238e-05 9.99997862e-01 -3.96212900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.45028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.11, Y:127.94, Z:-0.40 [[-9.92186651e-02 -9.95065645e-01 1.40308245e-04 2.44112231e+02] [ 9.95064788e-01 -9.92187638e-02 -1.30576625e-03 1.27938639e+02] [ 1.31324435e-03 1.00594097e-05 9.99999138e-01 -3.95866911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.48028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.40 [[-9.98919969e-02 -9.94998285e-01 3.43227432e-05 2.44113493e+02] [ 9.94998235e-01 -9.98920028e-02 -3.16489636e-04 1.27924499e+02] [ 3.18335213e-04 2.53628717e-06 9.99999949e-01 -3.95761506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.51028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.01523236e-01 -9.94833165e-01 -7.79139677e-05 2.44113973e+02] [ 9.94832902e-01 -1.01523266e-01 7.23416073e-04 1.27920692e+02] [-7.27588382e-04 -4.06783813e-06 9.99999735e-01 -3.94849222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.54028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.11, Y:127.93, Z:-0.39 [[-1.01969984e-01 -9.94787475e-01 -5.43814747e-05 2.44112992e+02] [ 9.94787347e-01 -1.01969998e-01 5.03789176e-04 1.27925799e+02] [-5.06708441e-04 -2.72662881e-06 9.99999872e-01 -3.94829704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.57028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.01843753e-01 -9.94800407e-01 -1.93236454e-05 2.44113310e+02] [ 9.94800391e-01 -1.01843755e-01 1.79849529e-04 1.27915536e+02] [-1.80882377e-04 -9.06618857e-07 9.99999984e-01 -3.94628380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.60028169299994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.40 [[-1.01415249e-01 -9.94844174e-01 1.32816310e-04 2.44111431e+02] [ 9.94843433e-01 -1.01415336e-01 -1.21365388e-03 1.27916077e+02] [ 1.22086610e-03 9.04842236e-06 9.99999255e-01 -3.95676576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.630281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.40 [[-1.02102781e-01 -9.94773834e-01 2.05573201e-04 2.44110497e+02] [ 9.94772070e-01 -1.02102987e-01 -1.87296093e-03 1.27922702e+02] [ 1.88416216e-03 1.32639595e-05 9.99998225e-01 -3.95781827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.66028169299994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:244.11, Y:127.91, Z:-0.40 [[-1.04930754e-01 -9.94479485e-01 3.01471067e-04 2.44112625e+02] [ 9.94475716e-01 -1.04931187e-01 -2.73786913e-03 1.27913378e+02] [ 2.75438840e-03 1.25189825e-05 9.99996207e-01 -3.96449755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.11, Y:127.93, Z:-0.40 [[-1.07205886e-01 -9.94236780e-01 3.50550208e-04 2.44112350e+02] [ 9.94231719e-01 -1.07206458e-01 -3.17250693e-03 1.27927553e+02] [ 3.19180432e-03 8.41672076e-06 9.99994906e-01 -3.97027855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.72028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.12, Y:127.91, Z:-0.40 [[-1.09126058e-01 -9.94027824e-01 4.33771232e-04 2.44115775e+02] [ 9.94020126e-01 -1.09126920e-01 -3.91210887e-03 1.27914251e+02] [ 3.93608119e-03 4.26431644e-06 9.99992254e-01 -3.97431974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.750281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:244.12, Y:127.92, Z:-0.40 [[-1.10039505e-01 -9.93927074e-01 5.28050509e-04 2.44119509e+02] [ 9.93915744e-01 -1.10040771e-01 -4.74585674e-03 1.27923134e+02] [ 4.77514259e-03 2.60599074e-06 9.99988599e-01 -3.97052088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.78028169299995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:244.12, Y:127.91, Z:-0.40 [[-1.09205311e-01 -9.94019089e-01 5.01097634e-04 2.44121789e+02] [ 9.94008960e-01 -1.09206461e-01 -4.48744863e-03 1.27910105e+02] [ 4.51533270e-03 8.04231335e-06 9.99989806e-01 -3.95991516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.810281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:244.12, Y:127.91, Z:-0.39 [[-1.04805236e-01 -9.94492719e-01 3.08405878e-04 2.44120004e+02] [ 9.94488913e-01 -1.04805688e-01 -2.75119592e-03 1.27911573e+02] [ 2.76836700e-03 1.83664879e-05 9.99996168e-01 -3.94252560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.84028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.12, Y:127.91, Z:-0.39 [[-1.02172152e-01 -9.94766707e-01 2.22105272e-04 2.44118981e+02] [ 9.94764750e-01 -1.02172391e-01 -1.97370134e-03 1.27907227e+02] [ 1.98606541e-03 1.92851828e-05 9.99998028e-01 -3.94346751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.870281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.12, Y:127.89, Z:-0.39 [[-9.97506434e-02 -9.95012456e-01 1.46694076e-04 2.44119432e+02] [ 9.95011609e-01 -9.97507499e-02 -1.29826323e-03 1.27889083e+02] [ 1.30642093e-03 1.64597164e-05 9.99999147e-01 -3.94208029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.90028169299995 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:244.12, Y:127.87, Z:-0.39 [[-9.67640503e-02 -9.95307348e-01 4.52762544e-05 2.44117637e+02] [ 9.95307268e-01 -9.67640607e-02 -3.97819450e-04 1.27865049e+02] [ 4.00333736e-04 6.56916383e-06 9.99999920e-01 -3.94924010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.930281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.12, Y:127.86, Z:-0.39 [[-9.66413135e-02 -9.95319272e-01 6.37002136e-05 2.44116037e+02] [ 9.95319115e-01 -9.66413340e-02 -5.58701676e-04 1.27861857e+02] [ 5.62242619e-04 9.40837636e-06 9.99999842e-01 -3.94868724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.96028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.11, Y:127.86, Z:-0.39 [[-9.80217604e-02 -9.95184261e-01 1.47863761e-04 2.44112897e+02] [ 9.95183418e-01 -9.80218698e-02 -1.29532017e-03 1.27863757e+02] [ 1.30357613e-03 2.01819996e-05 9.99999150e-01 -3.94721684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 357.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.11, Y:127.86, Z:-0.39 [[-9.93120871e-02 -9.95056326e-01 1.32125863e-04 2.44110815e+02] [ 9.95055658e-01 -9.93121735e-02 -1.15329540e-03 1.27860938e+02] [ 1.16071559e-03 1.69364146e-05 9.99999326e-01 -3.94045509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.02028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.10, Y:127.88, Z:-0.39 [[-1.00262826e-01 -9.94960985e-01 5.97416541e-05 2.44101999e+02] [ 9.94960850e-01 -1.00262843e-01 -5.18501712e-04 1.27878592e+02] [ 5.21878842e-04 7.45416008e-06 9.99999864e-01 -3.93399905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.050281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.10, Y:127.88, Z:-0.39 [[-1.00354443e-01 -9.94951748e-01 7.33145866e-05 2.44098520e+02] [ 9.94951545e-01 -1.00354469e-01 -6.34591939e-04 1.27878881e+02] [ 6.38745805e-04 9.26034077e-06 9.99999796e-01 -3.93755568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.08028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.10, Y:127.87, Z:-0.39 [[-1.00399156e-01 -9.94947234e-01 1.00599086e-04 2.44097055e+02] [ 9.94946855e-01 -1.00399206e-01 -8.68602906e-04 1.27867965e+02] [ 8.74314127e-04 1.28837451e-05 9.99999618e-01 -3.93883694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.09, Y:127.87, Z:-0.39 [[-1.00105577e-01 -9.94976797e-01 2.16850991e-04 2.44091841e+02] [ 9.94975043e-01 -1.00105808e-01 -1.86850890e-03 1.27867144e+02] [ 1.88083105e-03 2.87131616e-05 9.99998231e-01 -3.93923649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.14028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.09, Y:127.85, Z:-0.39 [[-1.00263874e-01 -9.94960866e-01 1.76464476e-04 2.44090290e+02] [ 9.94959711e-01 -1.00264026e-01 -1.51591818e-03 1.27852939e+02] [ 1.52597230e-03 2.35832154e-05 9.99998835e-01 -3.94274872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.17028169299994 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.08, Y:127.88, Z:-0.39 [[-1.02238762e-01 -9.94759887e-01 4.85033536e-05 2.44081040e+02] [ 9.94759801e-01 -1.02238773e-01 -4.13632493e-04 1.27875189e+02] [ 4.16423936e-04 5.95991252e-06 9.99999913e-01 -3.94297680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.20028169299997 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.08, Y:127.86, Z:-0.39 [[-1.03658249e-01 -9.94612973e-01 2.62991024e-05 2.44080011e+02] [ 9.94612948e-01 -1.03658252e-01 -2.26539022e-04 1.27863704e+02] [ 2.28044769e-04 2.67478947e-06 9.99999974e-01 -3.94691069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.23028169299994 meters Centerline goodness : 0.999718 Centerline is valid? [True, True] Translation: X:244.08, Y:127.88, Z:-0.40 [[-1.06228456e-01 -9.94341749e-01 4.77994660e-05 2.44076617e+02] [ 9.94341665e-01 -1.06228467e-01 -4.06724295e-04 1.27879145e+02] [ 4.09500611e-04 4.32330676e-06 9.99999916e-01 -3.95294180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.26028169299997 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:244.07, Y:127.87, Z:-0.39 [[-1.11203544e-01 -9.93797650e-01 4.68647698e-05 2.44074618e+02] [ 9.93797569e-01 -1.11203554e-01 -4.02209554e-04 1.27872585e+02] [ 4.04926439e-04 1.84696622e-06 9.99999918e-01 -3.94452673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.29028169299994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:244.07, Y:127.86, Z:-0.39 [[-1.13412675e-01 -9.93547965e-01 7.98234545e-05 2.44074869e+02] [ 9.93547729e-01 -1.13412704e-01 -6.85362367e-04 1.27856457e+02] [ 6.89993379e-04 1.57963220e-06 9.99999762e-01 -3.94222027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.32028169299997 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:244.07, Y:127.85, Z:-0.40 [[-1.16874439e-01 -9.93146673e-01 2.26829497e-04 2.44074419e+02] [ 9.93144762e-01 -1.16874659e-01 -1.94850356e-03 1.27845395e+02] [ 1.96166045e-03 -2.45573314e-06 9.99998076e-01 -3.95026433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.35028169299994 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:244.07, Y:127.87, Z:-0.40 [[-1.18546735e-01 -9.92948434e-01 2.82419355e-04 2.44071875e+02] [ 9.92945497e-01 -1.18547072e-01 -2.41480558e-03 1.27869293e+02] [ 2.43125740e-03 -5.84029036e-06 9.99997045e-01 -3.95662533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.380281693 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:244.07, Y:127.84, Z:-0.39 [[-1.19497927e-01 -9.92834431e-01 1.93920006e-04 2.44074782e+02] [ 9.92833031e-01 -1.19498084e-01 -1.66724137e-03 1.27844400e+02] [ 1.67846770e-03 -6.70169906e-06 9.99998591e-01 -3.94809527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.41028169299994 meters Centerline goodness : 0.999472 Centerline is valid? [True, True] Translation: X:244.07, Y:127.84, Z:-0.39 [[-1.18920189e-01 -9.92903810e-01 1.11652091e-04 2.44074831e+02] [ 9.92903345e-01 -1.18920241e-01 -9.60703522e-04 1.27840682e+02] [ 9.67163881e-04 -3.38730887e-06 9.99999532e-01 -3.93910534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.440281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.07, Y:127.85, Z:-0.39 [[-1.17775890e-01 -9.93040199e-01 5.81866260e-05 2.44073096e+02] [ 9.93040072e-01 -1.17775905e-01 -5.00719563e-04 1.27851299e+02] [ 5.04087636e-04 -1.19104108e-06 9.99999873e-01 -3.93739848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.47028169299995 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:244.07, Y:127.85, Z:-0.39 [[-1.14153756e-01 -9.93463088e-01 1.11557562e-04 2.44071523e+02] [ 9.93462623e-01 -1.14153810e-01 -9.61500358e-04 1.27853318e+02] [ 9.67949835e-04 1.06939064e-06 9.99999532e-01 -3.93787456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.500281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:244.07, Y:127.86, Z:-0.39 [[-1.11747070e-01 -9.93736669e-01 1.60206437e-04 2.44068644e+02] [ 9.93735709e-01 -1.11747185e-01 -1.38134012e-03 1.27863895e+02] [ 1.39059095e-03 4.84214583e-06 9.99999033e-01 -3.93775864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.53028169299995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:244.06, Y:127.87, Z:-0.39 [[-1.07164590e-01 -9.94241279e-01 1.72750467e-04 2.44064175e+02] [ 9.94240160e-01 -1.07164729e-01 -1.49162128e-03 1.27867969e+02] [ 1.50154420e-03 1.19064690e-05 9.99998873e-01 -3.93644140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.560281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:244.06, Y:127.87, Z:-0.39 [[-1.05443072e-01 -9.94425322e-01 1.95300749e-04 2.44062599e+02] [ 9.94423889e-01 -1.05443252e-01 -1.68837186e-03 1.27870276e+02] [ 1.69955287e-03 1.61846153e-05 9.99998556e-01 -3.93950475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.59028169299995 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:244.06, Y:127.90, Z:-0.39 [[-1.04706084e-01 -9.94503184e-01 2.31149261e-04 2.44058241e+02] [ 9.94501176e-01 -1.04706337e-01 -1.99844279e-03 1.27896287e+02] [ 2.01166051e-03 2.06290924e-05 9.99997976e-01 -3.94634703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.620281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:244.06, Y:127.89, Z:-0.40 [[-1.04882965e-01 -9.94484539e-01 2.55258819e-04 2.44056221e+02] [ 9.94482070e-01 -1.04883273e-01 -2.21634860e-03 1.27886978e+02] [ 2.23089679e-03 2.13931066e-05 9.99997511e-01 -3.95217056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.65028169299995 meters Centerline goodness : 0.999212 Centerline is valid? [True, True] Translation: X:244.05, Y:127.91, Z:-0.40 [[-1.05574015e-01 -9.94411421e-01 2.32841080e-04 2.44052160e+02] [ 9.94409365e-01 -1.05574270e-01 -2.02200517e-03 1.27908813e+02] [ 2.03528706e-03 1.80681469e-05 9.99997929e-01 -3.95167842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.680281693 meters Centerline goodness : 0.999381 Centerline is valid? [True, True] Translation: X:244.05, Y:127.88, Z:-0.39 [[-1.05845856e-01 -9.94382536e-01 1.62134843e-04 2.44051605e+02] [ 9.94381530e-01 -1.05845980e-01 -1.41465634e-03 1.27884217e+02] [ 1.42387088e-03 1.14883822e-05 9.99998986e-01 -3.94552525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.71028169299996 meters Centerline goodness : 0.999356 Centerline is valid? [True, True] Translation: X:244.05, Y:127.89, Z:-0.39 [[-1.05506949e-01 -9.94418553e-01 1.61137070e-04 2.44049213e+02] [ 9.94417552e-01 -1.05507072e-01 -1.41076227e-03 1.27886062e+02] [ 1.41988927e-03 1.13923074e-05 9.99998992e-01 -3.94449765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.740281693 meters Centerline goodness : 0.999292 Centerline is valid? [True, True] Translation: X:244.05, Y:127.89, Z:-0.39 [[-1.05233561e-01 -9.94447509e-01 2.20927914e-04 2.44045982e+02] [ 9.94445617e-01 -1.05233792e-01 -1.94007171e-03 1.27887994e+02] [ 1.95254856e-03 1.55401406e-05 9.99998094e-01 -3.94595108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.77028169299996 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:244.04, Y:127.92, Z:-0.39 [[-1.05088603e-01 -9.94462832e-01 2.48657490e-04 2.44037329e+02] [ 9.94460432e-01 -1.05088896e-01 -2.18481755e-03 1.27917650e+02] [ 2.19885099e-03 1.76806094e-05 9.99997582e-01 -3.94631803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.800281693 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:244.04, Y:127.89, Z:-0.40 [[-1.06167966e-01 -9.94348193e-01 1.83421012e-04 2.44037791e+02] [ 9.94346876e-01 -1.06168124e-01 -1.61883410e-03 1.27888283e+02] [ 1.62915822e-03 1.05157870e-05 9.99998673e-01 -3.95215492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.83028169299996 meters Centerline goodness : 0.999323 Centerline is valid? [True, True] Translation: X:244.04, Y:127.89, Z:-0.40 [[-1.05784329e-01 -9.94389080e-01 1.82799350e-04 2.44037431e+02] [ 9.94387762e-01 -1.05784486e-01 -1.61890446e-03 1.27890799e+02] [ 1.62915825e-03 1.05187151e-05 9.99998673e-01 -3.95217103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.860281693 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.04, Y:127.89, Z:-0.40 [[-1.07175449e-01 -9.94240112e-01 1.53978075e-04 2.44036801e+02] [ 9.94239169e-01 -1.07175559e-01 -1.36872121e-03 1.27887466e+02] [ 1.37734021e-03 6.39772398e-06 9.99999051e-01 -3.95293941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.89028169299996 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:244.04, Y:127.87, Z:-0.40 [[-1.09125951e-01 -9.94027919e-01 1.53109737e-04 2.44037567e+02] [ 9.94026981e-01 -1.09126059e-01 -1.36568511e-03 1.27874453e+02] [ 1.37423739e-03 3.16352297e-06 9.99999056e-01 -3.95176903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.92028169299994 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:244.04, Y:127.88, Z:-0.40 [[-1.11537206e-01 -9.93760249e-01 1.36896563e-04 2.44037165e+02] [ 9.93759494e-01 -1.11537290e-01 -1.22548714e-03 1.27877080e+02] [ 1.23310948e-03 -6.45152273e-07 9.99999240e-01 -3.95011700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.95028169299997 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:244.04, Y:127.86, Z:-0.39 [[-1.17403837e-01 -9.93084234e-01 2.06926422e-04 2.44041072e+02] [ 9.93082497e-01 -1.17404019e-01 -1.85760121e-03 1.27862105e+02] [ 1.86904847e-03 -1.25945025e-05 9.99998253e-01 -3.94799026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 358.98028169299994 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:244.05, Y:127.85, Z:-0.39 [[-1.22495546e-01 -9.92469041e-01 2.10378301e-04 2.44045871e+02] [ 9.92467232e-01 -1.22495724e-01 -1.89493492e-03 1.27847350e+02] [ 1.90643468e-03 -2.33275175e-05 9.99998183e-01 -3.94886537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.01028169299997 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.05, Y:127.85, Z:-0.39 [[-1.23655004e-01 -9.92325245e-01 2.19193213e-04 2.44047582e+02] [ 9.92323268e-01 -1.23655195e-01 -1.98089889e-03 1.27846040e+02] [ 1.99280036e-03 -2.74375336e-05 9.99998014e-01 -3.94693876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.04028169299994 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.05, Y:127.86, Z:-0.39 [[-1.23779079e-01 -9.92309777e-01 2.17016236e-04 2.44048255e+02] [ 9.92307826e-01 -1.23779266e-01 -1.96790950e-03 1.27856739e+02] [ 1.97963795e-03 -2.82391150e-05 9.99998040e-01 -3.94211278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.07028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:244.05, Y:127.86, Z:-0.39 [[-1.22773651e-01 -9.92434674e-01 2.20237332e-04 2.44051195e+02] [ 9.92432651e-01 -1.22773846e-01 -2.00392985e-03 1.27864178e+02] [ 2.01580885e-03 -2.74590655e-05 9.99997968e-01 -3.93657442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.10028169299994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:244.05, Y:127.86, Z:-0.39 [[-1.22018070e-01 -9.92527829e-01 3.16246662e-04 2.44053050e+02] [ 9.92523632e-01 -1.22018474e-01 -2.88642533e-03 1.27858056e+02] [ 2.90344540e-03 -3.83137624e-05 9.99995784e-01 -3.93131360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.130281693 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:244.05, Y:127.87, Z:-0.39 [[-1.20649306e-01 -9.92695102e-01 4.23963426e-04 2.44054771e+02] [ 9.92687550e-01 -1.20650042e-01 -3.87248652e-03 1.27874098e+02] [ 3.89534961e-03 -4.63495962e-05 9.99992412e-01 -3.93617100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.16028169299994 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:244.06, Y:127.89, Z:-0.39 [[-1.19915113e-01 -9.92784102e-01 3.03680437e-04 2.44055274e+02] [ 9.92780217e-01 -1.19915493e-01 -2.77769555e-03 1.27888606e+02] [ 2.79406797e-03 -3.15997451e-05 9.99996096e-01 -3.94089103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.190281693 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:244.06, Y:127.87, Z:-0.39 [[-1.19326619e-01 -9.92855031e-01 2.14548265e-04 2.44059733e+02] [ 9.92853075e-01 -1.19326810e-01 -1.97084511e-03 1.27866170e+02] [ 1.98236484e-03 -2.21593792e-05 9.99998035e-01 -3.93343989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.22028169299995 meters Centerline goodness : 0.999409 Centerline is valid? [True, True] Translation: X:244.06, Y:127.87, Z:-0.39 [[-1.20259957e-01 -9.92742433e-01 6.83043896e-05 2.44063402e+02] [ 9.92742234e-01 -1.20259976e-01 -6.28382174e-04 1.27866189e+02] [ 6.32035933e-04 -7.76056080e-06 9.99999800e-01 -3.92583183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.250281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.06, Y:127.87, Z:-0.39 [[-1.20866699e-01 -9.92668745e-01 5.43840108e-05 2.44064687e+02] [ 9.92668619e-01 -1.20866711e-01 -5.01136125e-04 1.27870893e+02] [ 5.04035385e-04 -6.58536843e-06 9.99999873e-01 -3.92140378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.28028169299995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:244.07, Y:127.87, Z:-0.39 [[-1.21965991e-01 -9.92534278e-01 -6.71436669e-05 2.44068817e+02] [ 9.92534086e-01 -1.21966009e-01 6.17678360e-04 1.27873244e+02] [-6.21256190e-04 8.69337507e-06 9.99999807e-01 -3.91817176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.310281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:244.07, Y:127.88, Z:-0.39 [[-1.22661605e-01 -9.92448548e-01 -1.02553044e-04 2.44070663e+02] [ 9.92448099e-01 -1.22661647e-01 9.44526497e-04 1.27877185e+02] [-9.49973275e-04 1.40785627e-05 9.99999549e-01 -3.91789264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.34028169299995 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:244.07, Y:127.89, Z:-0.39 [[-1.23726732e-01 -9.92316322e-01 -1.13135414e-04 2.44071770e+02] [ 9.92315776e-01 -1.23726783e-01 1.04118802e-03 1.27890388e+02] [-1.04718574e-03 1.65567341e-05 9.99999452e-01 -3.92049951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.370281693 meters Centerline goodness : 0.999269 Centerline is valid? [True, True] Translation: X:244.08, Y:127.89, Z:-0.39 [[-1.24744604e-01 -9.92188883e-01 -6.85149844e-05 2.44077665e+02] [ 9.92188683e-01 -1.24744622e-01 6.29230562e-04 1.27890049e+02] [-6.32862444e-04 1.05133251e-05 9.99999800e-01 -3.92473372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.40028169299995 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.08, Y:127.88, Z:-0.39 [[-1.25070758e-01 -9.92147824e-01 -1.57010799e-06 2.44081825e+02] [ 9.92147824e-01 -1.25070758e-01 1.43753610e-05 1.27881741e+02] [-1.44588577e-05 2.40158075e-07 1.00000000e+00 -3.92921234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.430281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:244.09, Y:127.89, Z:-0.39 [[-1.26350374e-01 -9.91985673e-01 8.39863469e-05 2.44089385e+02] [ 9.91985379e-01 -1.26350401e-01 -7.64101994e-04 1.27886179e+02] [ 7.68589939e-04 -1.32313443e-05 9.99999705e-01 -3.93220448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.46028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.09, Y:127.88, Z:-0.39 [[-1.27051384e-01 -9.91896132e-01 9.81512979e-05 2.44094007e+02] [ 9.91895732e-01 -1.27051421e-01 -8.90265871e-04 1.27880958e+02] [ 8.95521536e-04 -1.57536577e-05 9.99999599e-01 -3.92779888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.490281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:244.10, Y:127.90, Z:-0.39 [[-1.27236101e-01 -9.91872452e-01 1.20088760e-04 2.44095813e+02] [ 9.91871857e-01 -1.27236157e-01 -1.08596132e-03 1.27898626e+02] [ 1.09241474e-03 -1.90608222e-05 9.99999403e-01 -3.92816884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.52028169299996 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:244.10, Y:127.89, Z:-0.39 [[-1.25807786e-01 -9.92054595e-01 2.86179339e-04 2.44102838e+02] [ 9.92051236e-01 -1.25808104e-01 -2.58197114e-03 1.27894047e+02] [ 2.59746001e-03 -4.09275042e-05 9.99996626e-01 -3.92989427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.550281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:244.10, Y:127.90, Z:-0.39 [[-1.24246569e-01 -9.92251308e-01 3.64637366e-04 2.44104519e+02] [ 9.92245890e-01 -1.24247095e-01 -3.27905034e-03 1.27902518e+02] [ 3.29894712e-03 -4.56008254e-05 9.99994557e-01 -3.93207720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.58028169299996 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:244.11, Y:127.91, Z:-0.39 [[-1.20497499e-01 -9.92713583e-01 3.08198788e-04 2.44106941e+02] [ 9.92709742e-01 -1.20497890e-01 -2.76155261e-03 1.27906219e+02] [ 2.77856809e-03 -2.68082432e-05 9.99996139e-01 -3.91724050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.610281693 meters Centerline goodness : 0.999488 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.18683257e-01 -9.92932144e-01 2.06377575e-04 2.44106638e+02] [ 9.92930435e-01 -1.18683436e-01 -1.84202850e-03 1.27916086e+02] [ 1.85350291e-03 -1.36993668e-05 9.99998282e-01 -3.91541307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.64028169299996 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:244.11, Y:127.90, Z:-0.39 [[-1.16955299e-01 -9.93137167e-01 1.61542310e-04 2.44109298e+02] [ 9.93136128e-01 -1.16955410e-01 -1.43636573e-03 1.27903503e+02] [ 1.44540144e-03 -7.55707882e-06 9.99998955e-01 -3.91293476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.67028169299994 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:244.11, Y:127.91, Z:-0.39 [[-1.13051800e-01 -9.93589067e-01 2.37157118e-04 2.44110406e+02] [ 9.93586843e-01 -1.13052049e-01 -2.10243567e-03 1.27910927e+02] [ 2.11576819e-03 -2.04794497e-06 9.99997762e-01 -3.91774671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.70028169299997 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.11318553e-01 -9.93784734e-01 2.87044911e-04 2.44109069e+02] [ 9.93781497e-01 -1.11318923e-01 -2.53629904e-03 1.27920799e+02] [ 2.55248880e-03 2.92278210e-06 9.99996742e-01 -3.92121179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.73028169299994 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.08880106e-01 -9.94054823e-01 3.62994678e-04 2.44106340e+02] [ 9.94049683e-01 -1.08880710e-01 -3.19677660e-03 1.27921158e+02] [ 3.21729432e-03 1.27693698e-05 9.99994824e-01 -3.91386033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.76028169299997 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.11, Y:127.92, Z:-0.39 [[-1.08046399e-01 -9.94145807e-01 2.99197125e-04 2.44105647e+02] [ 9.94142341e-01 -1.08046812e-01 -2.62539064e-03 1.27916687e+02] [ 2.64234839e-03 1.37805260e-05 9.99996509e-01 -3.91394750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.79028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.10, Y:127.92, Z:-0.39 [[-1.07742232e-01 -9.94178836e-01 2.33027371e-04 2.44104027e+02] [ 9.94176748e-01 -1.07742483e-01 -2.03719343e-03 1.27918040e+02] [ 2.05044154e-03 1.21786276e-05 9.99997898e-01 -3.90725481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.82028169299997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.10, Y:127.91, Z:-0.39 [[-1.08811390e-01 -9.94062404e-01 1.34706793e-04 2.44104332e+02] [ 9.94061712e-01 -1.08811473e-01 -1.17266612e-03 1.27906210e+02] [ 1.18036094e-03 6.30743597e-06 9.99999303e-01 -3.91673800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.85028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.10, Y:127.91, Z:-0.39 [[-1.10512475e-01 -9.93874716e-01 2.06232077e-04 2.44104902e+02] [ 9.93873103e-01 -1.10512667e-01 -1.79032725e-03 1.27907353e+02] [ 1.80215224e-03 7.11501843e-06 9.99998376e-01 -3.92767087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.880281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:244.11, Y:127.89, Z:-0.39 [[-1.15053984e-01 -9.93359179e-01 3.50417115e-04 2.44109919e+02] [ 9.93354548e-01 -1.15054518e-01 -3.03319715e-03 1.27889166e+02] [ 3.05337130e-03 -8.92981870e-07 9.99995338e-01 -3.93298598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.91028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:244.11, Y:127.89, Z:-0.39 [[-1.17027940e-01 -9.93128559e-01 3.55488150e-04 2.44111724e+02] [ 9.93123824e-01 -1.17028480e-01 -3.06675340e-03 1.27890573e+02] [ 3.08728263e-03 -5.85208330e-06 9.99995234e-01 -3.92925441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.940281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:244.12, Y:127.88, Z:-0.39 [[-1.18947329e-01 -9.92900513e-01 3.22967057e-04 2.44117077e+02] [ 9.92896630e-01 -1.18947767e-01 -2.77667655e-03 1.27875062e+02] [ 2.79537978e-03 -9.60535709e-06 9.99996093e-01 -3.92258051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 359.97028169299995 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:244.11, Y:127.90, Z:-0.39 [[-1.18855426e-01 -9.92911518e-01 3.25462235e-04 2.44114713e+02] [ 9.92907601e-01 -1.18855871e-01 -2.78872500e-03 1.27903255e+02] [ 2.80764027e-03 -8.30117112e-06 9.99996059e-01 -3.91442610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.000281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:244.12, Y:127.89, Z:-0.39 [[-1.15602860e-01 -9.93295464e-01 3.15566013e-04 2.44115095e+02] [ 9.93291809e-01 -1.15603291e-01 -2.69472196e-03 1.27890317e+02] [ 2.71313557e-03 1.93156932e-06 9.99996319e-01 -3.91066629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.03028169299995 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.11, Y:127.89, Z:-0.39 [[-1.13297887e-01 -9.93561004e-01 3.47850487e-04 2.44113594e+02] [ 9.93556592e-01 -1.13298420e-01 -2.96066759e-03 1.27891436e+02] [ 2.98101477e-03 1.01717631e-05 9.99995557e-01 -3.91271670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.060281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.11, Y:127.89, Z:-0.39 [[-1.10723623e-01 -9.93851143e-01 4.30541730e-04 2.44111950e+02] [ 9.93844431e-01 -1.10724457e-01 -3.65268549e-03 1.27892442e+02] [ 3.67789715e-03 2.34529295e-05 9.99993236e-01 -3.91208026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.09028169299995 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:244.11, Y:127.88, Z:-0.39 [[-1.06812342e-01 -9.94279115e-01 4.05781913e-04 2.44109372e+02] [ 9.94273196e-01 -1.06813106e-01 -3.43103344e-03 1.27877992e+02] [ 3.45474772e-03 3.69813636e-05 9.99994032e-01 -3.92437168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.120281693 meters Centerline goodness : 0.999473 Centerline is valid? [True, True] Translation: X:244.11, Y:127.89, Z:-0.39 [[-1.06305098e-01 -9.94333506e-01 3.23404633e-04 2.44105809e+02] [ 9.94329773e-01 -1.06305585e-01 -2.72496857e-03 1.27891675e+02] [ 2.74390727e-03 3.18928055e-05 9.99996235e-01 -3.92302908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.15028169299995 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:244.10, Y:127.89, Z:-0.39 [[-1.08143324e-01 -9.94135292e-01 2.07531225e-04 2.44102905e+02] [ 9.94133766e-01 -1.08143521e-01 -1.74203177e-03 1.27886766e+02] [ 1.75425842e-03 1.79246924e-05 9.99998461e-01 -3.92105043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.180281693 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:244.10, Y:127.88, Z:-0.39 [[-1.10464123e-01 -9.93880088e-01 2.19323592e-04 2.44101276e+02] [ 9.93878394e-01 -1.10464339e-01 -1.83503284e-03 1.27880044e+02] [ 1.84803004e-03 1.52756862e-05 9.99998292e-01 -3.92326326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.21028169299996 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:244.10, Y:127.87, Z:-0.39 [[-1.15396985e-01 -9.93319429e-01 2.19734651e-04 2.44098284e+02] [ 9.93317739e-01 -1.15397194e-01 -1.83243443e-03 1.27868204e+02] [ 1.84554948e-03 6.80891829e-06 9.99998297e-01 -3.92876273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.240281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:244.10, Y:127.85, Z:-0.39 [[-1.17357903e-01 -9.93089674e-01 1.45678282e-04 2.44099163e+02] [ 9.93088937e-01 -1.17357993e-01 -1.21021186e-03 1.27854362e+02] [ 1.21894541e-03 2.64356415e-06 9.99999257e-01 -3.92683143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.27028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.10, Y:127.86, Z:-0.39 [[-1.18821652e-01 -9.92915609e-01 9.58506329e-05 2.44098080e+02] [ 9.92915292e-01 -1.18821690e-01 -7.92983218e-04 1.27863016e+02] [ 7.98754549e-04 9.47983378e-07 9.99999681e-01 -3.92557680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.300281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:244.10, Y:127.86, Z:-0.39 [[-1.19605328e-01 -9.92821504e-01 1.61924828e-04 2.44098205e+02] [ 9.92820604e-01 -1.19605438e-01 -1.33667835e-03 1.27860333e+02] [ 1.34645010e-03 8.88452142e-07 9.99999094e-01 -3.91887206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.33028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.10, Y:127.87, Z:-0.39 [[-1.18889816e-01 -9.92907421e-01 2.55820942e-04 2.44096775e+02] [ 9.92905187e-01 -1.18890091e-01 -2.10610774e-03 1.27866311e+02] [ 2.12158458e-03 3.61117900e-06 9.99997749e-01 -3.92546520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.360281693 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:244.10, Y:127.86, Z:-0.39 [[-1.16760634e-01 -9.93159974e-01 4.69516196e-04 2.44096168e+02] [ 9.93152494e-01 -1.16761577e-01 -3.85459077e-03 1.27856741e+02] [ 3.88304672e-03 1.62367177e-05 9.99992461e-01 -3.93217267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.39028169299996 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:244.09, Y:127.86, Z:-0.39 [[-1.15956076e-01 -9.93254196e-01 5.39512562e-04 2.44094956e+02] [ 9.93244383e-01 -1.15957328e-01 -4.41522727e-03 1.27862513e+02] [ 4.44800345e-03 2.38953940e-05 9.99990107e-01 -3.92849218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.42028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:244.10, Y:127.85, Z:-0.39 [[-1.14931028e-01 -9.93373367e-01 4.62025044e-04 2.44096328e+02] [ 9.93366218e-01 -1.14931954e-01 -3.76863289e-03 1.27847952e+02] [ 3.79676098e-03 2.58272187e-05 9.99992792e-01 -3.92534633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.45028169299997 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:244.09, Y:127.87, Z:-0.39 [[-1.15828574e-01 -9.93269174e-01 2.97698308e-04 2.44093985e+02] [ 9.93266227e-01 -1.15828955e-01 -2.41970406e-03 1.27868286e+02] [ 2.43789954e-03 1.54228050e-05 9.99997028e-01 -3.92441606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.48028169299994 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:244.10, Y:127.85, Z:-0.39 [[-1.17329957e-01 -9.93092970e-01 1.82944006e-04 2.44097743e+02] [ 9.93091865e-01 -1.17330099e-01 -1.48140628e-03 1.27846662e+02] [ 1.49263900e-03 7.86686981e-06 9.99998886e-01 -3.92267790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.51028169299997 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:244.10, Y:127.85, Z:-0.39 [[-1.21619540e-01 -9.92576783e-01 1.34712819e-04 2.44100542e+02] [ 9.92576188e-01 -1.21619615e-01 -1.08684349e-03 1.27851196e+02] [ 1.09515933e-03 1.53133081e-06 9.99999400e-01 -3.92387527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.54028169299994 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:244.11, Y:127.83, Z:-0.39 [[-1.24228480e-01 -9.92253614e-01 2.26209165e-04 2.44105221e+02] [ 9.92251934e-01 -1.24228686e-01 -1.82550294e-03 1.27826961e+02] [ 1.83946356e-03 -2.32297465e-06 9.99998308e-01 -3.92865017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.57028169299997 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.11, Y:127.83, Z:-0.39 [[-1.28766629e-01 -9.91674832e-01 4.27798943e-04 2.44107962e+02] [ 9.91668862e-01 -1.28767338e-01 -3.44091971e-03 1.27829635e+02] [ 3.46736001e-03 -1.88407398e-05 9.99993989e-01 -3.93184218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.60028169299994 meters Centerline goodness : 0.999596 Centerline is valid? [True, True] Translation: X:244.11, Y:127.83, Z:-0.39 [[-1.30408502e-01 -9.91460283e-01 3.61176753e-04 2.44110176e+02] [ 9.91456054e-01 -1.30409000e-01 -2.89564135e-03 1.27825923e+02] [ 2.91801410e-03 -1.95253723e-05 9.99995742e-01 -3.93233945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.630281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.11, Y:127.82, Z:-0.39 [[-1.32496413e-01 -9.91183455e-01 2.43198931e-04 2.44114942e+02] [ 9.91181551e-01 -1.32496635e-01 -1.94305782e-03 1.27821142e+02] [ 1.95814980e-03 -1.63938977e-05 9.99998083e-01 -3.92800595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.66028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.12, Y:127.81, Z:-0.39 [[-1.33617489e-01 -9.91032943e-01 2.69125289e-04 2.44119195e+02] [ 9.91030625e-01 -1.33617758e-01 -2.14377194e-03 1.27806352e+02] [ 2.16050853e-03 -1.97340189e-05 9.99997666e-01 -3.93277643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.690281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.12, Y:127.80, Z:-0.39 [[-1.35037261e-01 -9.90840457e-01 3.57440787e-04 2.44122521e+02] [ 9.90836389e-01 -1.35037731e-01 -2.83920530e-03 1.27798268e+02] [ 2.86146746e-03 -2.92331687e-05 9.99995906e-01 -3.93666438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.72028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:244.12, Y:127.81, Z:-0.39 [[-1.38216542e-01 -9.90401968e-01 3.60135377e-04 2.44124509e+02] [ 9.90397863e-01 -1.38217006e-01 -2.85184209e-03 1.27814785e+02] [ 2.87424686e-03 -3.74944439e-05 9.99995869e-01 -3.94163920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.750281693 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:244.12, Y:127.81, Z:-0.39 [[-1.38596451e-01 -9.90348875e-01 3.61231020e-04 2.44124897e+02] [ 9.90344770e-01 -1.38596916e-01 -2.85170357e-03 1.27812305e+02] [ 2.87424692e-03 -3.74927414e-05 9.99995869e-01 -3.94162311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.78028169299995 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:244.13, Y:127.80, Z:-0.39 [[-1.40724835e-01 -9.90048710e-01 2.70649382e-04 2.44129333e+02] [ 9.90046420e-01 -1.40725092e-01 -2.12959942e-03 1.27800385e+02] [ 2.14649432e-03 -3.17320762e-05 9.99997696e-01 -3.93956349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.810281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.14, Y:127.78, Z:-0.39 [[-1.45310115e-01 -9.89386141e-01 1.83404886e-04 2.44139602e+02] [ 9.89385097e-01 -1.45310228e-01 -1.43816598e-03 1.27776816e+02] [ 1.44955210e-03 -2.75220031e-05 9.99998949e-01 -3.93012224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.84028169299995 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:244.14, Y:127.76, Z:-0.39 [[-1.47377486e-01 -9.89080314e-01 9.46147981e-05 2.44144515e+02] [ 9.89080038e-01 -1.47377516e-01 -7.38814441e-04 1.27764656e+02] [ 7.44690913e-04 -1.53030070e-05 9.99999723e-01 -3.92060850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.870281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.15, Y:127.77, Z:-0.39 [[-1.48706958e-01 -9.88881308e-01 8.87269330e-06 2.44146311e+02] [ 9.88881305e-01 -1.48706959e-01 -6.73773612e-05 1.27770458e+02] [ 6.79476443e-05 -1.24544191e-06 9.99999998e-01 -3.91453313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.90028169299995 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:244.15, Y:127.76, Z:-0.39 [[-1.49077374e-01 -9.88825529e-01 9.99561471e-05 2.44151626e+02] [ 9.88825225e-01 -1.49077406e-01 -7.76017499e-04 1.27764027e+02] [ 7.82247117e-04 -1.68474910e-05 9.99999694e-01 -3.92168092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.930281693 meters Centerline goodness : 0.999537 Centerline is valid? [True, True] Translation: X:244.15, Y:127.76, Z:-0.39 [[-1.48616671e-01 -9.88894853e-01 2.34132359e-04 2.44154814e+02] [ 9.88893188e-01 -1.48616850e-01 -1.81487581e-03 1.27759594e+02] [ 1.82951736e-03 -3.81889060e-05 9.99998326e-01 -3.93557707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.96028169299996 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:244.16, Y:127.78, Z:-0.39 [[-1.45836144e-01 -9.89308619e-01 5.25988122e-04 2.44156774e+02] [ 9.89300260e-01 -1.45837074e-01 -4.06746580e-03 1.27778403e+02] [ 4.10068754e-03 -7.28233415e-05 9.99991590e-01 -3.93602152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 360.990281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:244.16, Y:127.79, Z:-0.39 [[-1.43475570e-01 -9.89653646e-01 6.49454125e-04 2.44156942e+02] [ 9.89640979e-01 -1.43477020e-01 -5.00769465e-03 1.27787065e+02] [ 5.04906501e-03 -7.57554294e-05 9.99987251e-01 -3.92602636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.02028169299996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:244.16, Y:127.79, Z:-0.39 [[-1.37140655e-01 -9.90551336e-01 7.01656128e-04 2.44158104e+02] [ 9.90536649e-01 -1.37142442e-01 -5.39416620e-03 1.27793639e+02] [ 5.43942537e-03 -4.47433742e-05 9.99985205e-01 -3.92060671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.050281693 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:244.16, Y:127.81, Z:-0.39 [[-1.34727903e-01 -9.90882457e-01 5.90775593e-04 2.44157393e+02] [ 9.90872113e-01 -1.34729196e-01 -4.52773881e-03 1.27811475e+02] [ 4.56605168e-03 -2.46296949e-05 9.99989575e-01 -3.91711218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.08028169299996 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:244.16, Y:127.80, Z:-0.39 [[-1.32051929e-01 -9.91242735e-01 3.57846905e-04 2.44162989e+02] [ 9.91238966e-01 -1.32052414e-01 -2.73351927e-03 1.27802938e+02] [ 2.75683567e-03 -6.25469645e-06 9.99996200e-01 -3.91151236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.110281693 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:244.17, Y:127.81, Z:-0.39 [[-1.32073244e-01 -9.91239903e-01 3.35843628e-04 2.44165197e+02] [ 9.91236604e-01 -1.32073671e-01 -2.55760869e-03 1.27805521e+02] [ 2.57955989e-03 -4.89117924e-06 9.99996673e-01 -3.91697037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.14028169299996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:244.17, Y:127.81, Z:-0.39 [[-1.32790522e-01 -9.91144061e-01 3.55940757e-04 2.44167038e+02] [ 9.91140377e-01 -1.32790999e-01 -2.70258630e-03 1.27813392e+02] [ 2.72591809e-03 -6.09058960e-06 9.99996285e-01 -3.92088184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.17028169299994 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:244.17, Y:127.81, Z:-0.39 [[-1.34904116e-01 -9.90858628e-01 2.42910663e-04 2.44174113e+02] [ 9.90856923e-01 -1.34904334e-01 -1.83818603e-03 1.27813426e+02] [ 1.85415219e-03 -7.28914927e-06 9.99998281e-01 -3.91840825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.20028169299997 meters Centerline goodness : 0.999333 Centerline is valid? [True, True] Translation: X:244.18, Y:127.81, Z:-0.39 [[-1.36197996e-01 -9.90681624e-01 1.59181221e-04 2.44178034e+02] [ 9.90680897e-01 -1.36198089e-01 -1.20028531e-03 1.27813316e+02] [ 1.21078078e-03 -5.77865859e-06 9.99999267e-01 -3.91376695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.23028169299994 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:244.19, Y:127.81, Z:-0.39 [[-1.36871623e-01 -9.90588770e-01 2.16422683e-04 2.44185664e+02] [ 9.90587433e-01 -1.36871794e-01 -1.62768871e-03 1.27808941e+02] [ 1.64199232e-03 -8.39880570e-06 9.99998652e-01 -3.91823510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.26028169299997 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:244.19, Y:127.80, Z:-0.39 [[-1.36581446e-01 -9.90628799e-01 3.01579894e-04 2.44189171e+02] [ 9.90626216e-01 -1.36581778e-01 -2.26211563e-03 1.27803152e+02] [ 2.28210721e-03 -1.02100752e-05 9.99997396e-01 -3.91630586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.29028169299994 meters Centerline goodness : 0.999154 Centerline is valid? [True, True] Translation: X:244.19, Y:127.81, Z:-0.39 [[-1.35552650e-01 -9.90770096e-01 3.08918255e-04 2.44191241e+02] [ 9.90767403e-01 -1.35553002e-01 -2.31028704e-03 1.27808509e+02] [ 2.33083811e-03 -7.09939323e-06 9.99997284e-01 -3.92035628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.32028169299997 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:244.20, Y:127.79, Z:-0.39 [[-1.31398874e-01 -9.91329535e-01 2.99709659e-04 2.44197927e+02] [ 9.91327016e-01 -1.31399216e-01 -2.23470485e-03 1.27794503e+02] [ 2.25471053e-03 3.47258118e-06 9.99997458e-01 -3.92213289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.35028169299994 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:244.20, Y:127.78, Z:-0.39 [[-1.29450634e-01 -9.91585819e-01 3.12111910e-04 2.44202948e+02] [ 9.91583104e-01 -1.29451010e-01 -2.32045164e-03 1.27776752e+02] [ 2.34133014e-03 9.10096033e-06 9.99997259e-01 -3.92265901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.380281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:244.21, Y:127.77, Z:-0.39 [[-1.26670988e-01 -9.91944728e-01 3.41790909e-04 2.44208947e+02] [ 9.91941492e-01 -1.26671448e-01 -2.53393870e-03 1.27765389e+02] [ 2.55682229e-03 1.80600644e-05 9.99996731e-01 -3.92651933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.41028169299994 meters Centerline goodness : 0.999248 Centerline is valid? [True, True] Translation: X:244.21, Y:127.76, Z:-0.39 [[-1.26273610e-01 -9.91995372e-01 3.95801232e-04 2.44210964e+02] [ 9.91991057e-01 -1.26274228e-01 -2.92620641e-03 1.27762143e+02] [ 2.95276272e-03 2.31286353e-05 9.99995640e-01 -3.92892892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.440281693 meters Centerline goodness : 0.999313 Centerline is valid? [True, True] Translation: X:244.21, Y:127.75, Z:-0.39 [[-1.25618572e-01 -9.92078525e-01 4.18524548e-04 2.44213920e+02] [ 9.92073727e-01 -1.25619266e-01 -3.08546180e-03 1.27752676e+02] [ 3.11359514e-03 2.76159022e-05 9.99995152e-01 -3.92684613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.47028169299995 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:244.22, Y:127.75, Z:-0.39 [[-1.24283132e-01 -9.92246742e-01 3.27325932e-04 2.44218911e+02] [ 9.92243825e-01 -1.24283560e-01 -2.40587756e-03 1.27747923e+02] [ 2.42790540e-03 2.57771361e-05 9.99997052e-01 -3.92807602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.500281693 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:244.22, Y:127.73, Z:-0.39 [[-1.24020894e-01 -9.92279581e-01 2.26826906e-04 2.44223280e+02] [ 9.92278189e-01 -1.24021100e-01 -1.66196714e-03 1.27729496e+02] [ 1.67726738e-03 1.89567404e-05 9.99998593e-01 -3.92459884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.53028169299995 meters Centerline goodness : 0.999385 Centerline is valid? [True, True] Translation: X:244.22, Y:127.73, Z:-0.39 [[-1.22539374e-01 -9.92463629e-01 2.16167194e-04 2.44224510e+02] [ 9.92462373e-01 -1.22539563e-01 -1.57935189e-03 1.27734257e+02] [ 1.59393835e-03 2.10050141e-05 9.99998729e-01 -3.92743188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.560281693 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:244.23, Y:127.73, Z:-0.39 [[-1.21820196e-01 -9.92552132e-01 3.23229551e-04 2.44226111e+02] [ 9.92549337e-01 -1.21820620e-01 -2.35584484e-03 1.27727225e+02] [ 2.37767485e-03 3.38317957e-05 9.99997173e-01 -3.93242858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.59028169299995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:244.23, Y:127.72, Z:-0.39 [[-1.19782666e-01 -9.92799987e-01 5.46590159e-04 2.44228262e+02] [ 9.92792036e-01 -1.19783894e-01 -3.97396268e-03 1.27721162e+02] [ 4.01082279e-03 6.66385147e-05 9.99991954e-01 -3.93843423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.620281693 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:244.23, Y:127.72, Z:-0.39 [[-1.18988529e-01 -9.92895469e-01 5.64359786e-04 2.44229020e+02] [ 9.92887040e-01 -1.18989845e-01 -4.09185881e-03 1.27720021e+02] [ 4.12994116e-03 7.34612562e-05 9.99991469e-01 -3.93645292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.65028169299995 meters Centerline goodness : 0.999389 Centerline is valid? [True, True] Translation: X:244.23, Y:127.70, Z:-0.39 [[-1.18314718e-01 -9.92976007e-01 5.26750355e-04 2.44231922e+02] [ 9.92968705e-01 -1.18315869e-01 -3.80858519e-03 1.27700900e+02] [ 3.84415664e-03 7.24349353e-05 9.99992609e-01 -3.93251002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.680281693 meters Centerline goodness : 0.999364 Centerline is valid? [True, True] Translation: X:244.23, Y:127.70, Z:-0.39 [[-1.16883397e-01 -9.93145600e-01 2.97212452e-04 2.44231712e+02] [ 9.93143290e-01 -1.16883767e-01 -2.14234751e-03 1.27700938e+02] [ 2.16240232e-03 4.47696972e-05 9.99997661e-01 -3.93265507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.71028169299996 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.23, Y:127.69, Z:-0.39 [[-1.16665033e-01 -9.93171304e-01 1.78688593e-04 2.44232760e+02] [ 9.93170474e-01 -1.16665167e-01 -1.28383207e-03 1.27693149e+02] [ 1.29591190e-03 2.76899234e-05 9.99999160e-01 -3.93275010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.740281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:244.23, Y:127.71, Z:-0.39 [[-1.17934392e-01 -9.93021366e-01 2.14434775e-04 2.44230665e+02] [ 9.93020177e-01 -1.17934583e-01 -1.53680962e-03 1.27707176e+02] [ 1.55137407e-03 3.16953488e-05 9.99998796e-01 -3.93117513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.77028169299996 meters Centerline goodness : 0.999446 Centerline is valid? [True, True] Translation: X:244.23, Y:127.70, Z:-0.39 [[-1.19410794e-01 -9.92844890e-01 2.94362854e-04 2.44231647e+02] [ 9.92842660e-01 -1.19411150e-01 -2.10453049e-03 1.27698600e+02] [ 2.12462255e-03 4.09523416e-05 9.99997742e-01 -3.93386803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.800281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:244.23, Y:127.70, Z:-0.39 [[-1.20994663e-01 -9.92653093e-01 3.58264446e-04 2.44231554e+02] [ 9.92649806e-01 -1.20995185e-01 -2.55482048e-03 1.27700291e+02] [ 2.57939873e-03 4.65114891e-05 9.99996672e-01 -3.93152194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.83028169299996 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:244.23, Y:127.72, Z:-0.39 [[-1.23232921e-01 -9.92377746e-01 2.37547439e-04 2.44230490e+02] [ 9.92376309e-01 -1.23233147e-01 -1.68876655e-03 1.27716049e+02] [ 1.70516806e-03 2.76248160e-05 9.99998546e-01 -3.92692000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.860281693 meters Centerline goodness : 0.999407 Centerline is valid? [True, True] Translation: X:244.23, Y:127.71, Z:-0.39 [[-1.23922971e-01 -9.92291827e-01 1.67749999e-04 2.44232936e+02] [ 9.92291115e-01 -1.23923083e-01 -1.18879640e-03 1.27706358e+02] [ 1.20042105e-03 1.91376520e-05 9.99999279e-01 -3.92428022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.89028169299996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:244.24, Y:127.69, Z:-0.39 [[-1.24508804e-01 -9.92218501e-01 6.35483604e-05 2.44236254e+02] [ 9.92218400e-01 -1.24508820e-01 -4.48075584e-04 1.27690151e+02] [ 4.52501216e-04 7.26449735e-06 9.99999898e-01 -3.92445430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.92028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.23, Y:127.70, Z:-0.39 [[-1.24628550e-01 -9.92203461e-01 -1.30691396e-04 2.44234544e+02] [ 9.92203030e-01 -1.24628618e-01 9.24227416e-04 1.27704052e+02] [-9.33309529e-04 -1.44872759e-05 9.99999564e-01 -3.92943397e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.95028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:244.24, Y:127.69, Z:-0.39 [[-1.25062606e-01 -9.92148851e-01 -4.75299550e-05 2.44236082e+02] [ 9.92148794e-01 -1.25062615e-01 3.36306078e-04 1.27694365e+02] [-3.39609910e-04 -5.09747300e-06 9.99999942e-01 -3.92917558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 361.98028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:244.24, Y:127.71, Z:-0.39 [[-1.26281786e-01 -9.91994377e-01 2.57123833e-04 2.44235195e+02] [ 9.91992738e-01 -1.26282045e-01 -1.80347643e-03 1.27710277e+02] [ 1.82150860e-03 2.73187505e-05 9.99998341e-01 -3.94171412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.01028169299997 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:244.24, Y:127.70, Z:-0.39 [[-1.26946924e-01 -9.91909449e-01 3.52141467e-04 2.44237326e+02] [ 9.91906389e-01 -1.26947408e-01 -2.46387151e-03 1.27702031e+02] [ 2.48864088e-03 3.65104606e-05 9.99996903e-01 -3.94188361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.04028169299994 meters Centerline goodness : 0.999443 Centerline is valid? [True, True] Translation: X:244.24, Y:127.70, Z:-0.39 [[-1.27702796e-01 -9.91812459e-01 2.04588774e-04 2.44240165e+02] [ 9.91811433e-01 -1.27702958e-01 -1.42690624e-03 1.27697076e+02] [ 1.44134998e-03 2.06935690e-05 9.99998961e-01 -3.94290777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.07028169299997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:244.24, Y:127.70, Z:-0.39 [[-1.27932775e-01 -9.91782832e-01 1.40237852e-04 2.44241590e+02] [ 9.91782353e-01 -1.27932851e-01 -9.74929015e-04 1.27697809e+02] [ 9.84858888e-04 1.43600528e-05 9.99999515e-01 -3.93534976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.10028169299994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.24, Y:127.69, Z:-0.39 [[-1.27868885e-01 -9.91791074e-01 1.15799252e-04 2.44243710e+02] [ 9.91790750e-01 -1.27868937e-01 -8.02584105e-04 1.27691312e+02] [ 8.10802878e-04 1.22230920e-05 9.99999671e-01 -3.93181251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.130281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:244.25, Y:127.70, Z:-0.39 [[-1.26430524e-01 -9.91975440e-01 2.19301023e-04 2.44245398e+02] [ 9.91974280e-01 -1.26430712e-01 -1.51738474e-03 1.27695081e+02] [ 1.53293478e-03 2.56972270e-05 9.99998825e-01 -3.92948745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.16028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.25, Y:127.68, Z:-0.39 [[-1.25691974e-01 -9.92069304e-01 1.54597625e-04 2.44247679e+02] [ 9.92068731e-01 -1.25692067e-01 -1.06634848e-03 1.27682405e+02] [ 1.07732329e-03 1.93400243e-05 9.99999420e-01 -3.92859428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.190281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.25, Y:127.65, Z:-0.39 [[-1.24734804e-01 -9.92190116e-01 5.67169071e-05 2.44253301e+02] [ 9.92190039e-01 -1.24734817e-01 -3.89147530e-04 1.27648773e+02] [ 3.93182906e-04 7.73370935e-06 9.99999923e-01 -3.92584494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.22028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.25, Y:127.64, Z:-0.39 [[-1.22125964e-01 -9.92514609e-01 -2.27404171e-05 2.44254240e+02] [ 9.92514596e-01 -1.22125966e-01 1.57914316e-04 1.27636047e+02] [-1.59509461e-04 -3.28475789e-06 9.99999987e-01 -3.92555405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.250281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.25, Y:127.66, Z:-0.39 [[-1.21120518e-01 -9.92637806e-01 7.90874167e-05 2.44250647e+02] [ 9.92637659e-01 -1.21120543e-01 -5.40515432e-04 1.27655668e+02] [ 5.46115164e-04 1.30376389e-05 9.99999851e-01 -3.92735616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.28028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.25, Y:127.63, Z:-0.39 [[-1.19320228e-01 -9.92855817e-01 1.00160216e-04 2.44253005e+02] [ 9.92855582e-01 -1.19320269e-01 -6.83210462e-04 1.27630639e+02] [ 6.90280626e-04 1.79238015e-05 9.99999762e-01 -3.92311249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.310281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.25, Y:127.63, Z:-0.39 [[-1.19189955e-01 -9.92871469e-01 -7.15590547e-07 2.44252185e+02] [ 9.92871469e-01 -1.19189955e-01 6.48932510e-06 1.27629689e+02] [-6.52835689e-06 6.29729303e-08 1.00000000e+00 -3.91711800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.34028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.25, Y:127.62, Z:-0.39 [[-1.19582503e-01 -9.92824252e-01 -1.71380246e-04 2.44251614e+02] [ 9.92823566e-01 -1.19582622e-01 1.16745743e-03 1.27622394e+02] [-1.17957415e-03 -3.05428661e-05 9.99999304e-01 -3.91497021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.370281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.25, Y:127.63, Z:-0.39 [[-1.19830584e-01 -9.92794271e-01 -4.07036844e-04 2.44246750e+02] [ 9.92790428e-01 -1.19831253e-01 2.76354948e-03 1.27630718e+02] [-2.79241183e-03 -7.29445326e-05 9.99996099e-01 -3.91902861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.40028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.25, Y:127.63, Z:-0.39 [[-1.20317415e-01 -9.92735424e-01 -3.12870556e-04 2.44245875e+02] [ 9.92733163e-01 -1.20317809e-01 2.11920334e-03 1.27625255e+02] [-2.14145213e-03 -5.56199079e-05 9.99997706e-01 -3.91651953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.430281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.24, Y:127.61, Z:-0.39 [[-1.20767773e-01 -9.92680787e-01 -9.08338389e-06 2.44242437e+02] [ 9.92680785e-01 -1.20767773e-01 6.29168331e-05 1.27611633e+02] [-6.35533114e-05 -1.41857484e-06 9.99999998e-01 -3.91389711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.46028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.24, Y:127.63, Z:-0.39 [[-1.20909565e-01 -9.92663524e-01 6.77964529e-05 2.44236076e+02] [ 9.92663420e-01 -1.20909583e-01 -4.54961237e-04 1.27631336e+02] [ 4.59820666e-04 1.22898936e-05 9.99999894e-01 -3.90924200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.24, Y:127.61, Z:-0.39 [[-1.20876629e-01 -9.92667537e-01 2.82161464e-05 2.44236384e+02] [ 9.92667520e-01 -1.20876632e-01 -1.87944315e-04 1.27605048e+02] [ 1.89976893e-04 5.29117693e-06 9.99999982e-01 -3.90152858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.52028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.22, Y:127.63, Z:-0.39 [[-1.20911519e-01 -9.92663276e-01 -1.58201860e-04 2.44224188e+02] [ 9.92662709e-01 -1.20911619e-01 1.06160425e-03 1.27633126e+02] [-1.07294399e-03 -2.86809047e-05 9.99999424e-01 -3.90328373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.550281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.22, Y:127.62, Z:-0.39 [[-1.21952892e-01 -9.92535876e-01 -1.65058938e-04 2.44223179e+02] [ 9.92535261e-01 -1.21953000e-01 1.10476101e-03 1.27616280e+02] [-1.11664437e-03 -2.90980162e-05 9.99999376e-01 -3.90987135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.58028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.21, Y:127.63, Z:-0.39 [[-1.24485439e-01 -9.92221433e-01 5.94424315e-05 2.44214250e+02] [ 9.92221354e-01 -1.24485453e-01 -3.94678445e-04 1.27633766e+02] [ 3.99008130e-04 9.84833035e-06 9.99999920e-01 -3.91645693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.610281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.21, Y:127.62, Z:-0.39 [[-1.25577346e-01 -9.92083817e-01 1.74544932e-04 2.44212932e+02] [ 9.92083140e-01 -1.25577465e-01 -1.15907395e-03 1.27617998e+02] [ 1.17181742e-03 2.76096536e-05 9.99999313e-01 -3.91649510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.64028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.21, Y:127.62, Z:-0.39 [[-1.25944455e-01 -9.92037279e-01 1.74972744e-04 2.44213375e+02] [ 9.92036603e-01 -1.25944573e-01 -1.15900949e-03 1.27615549e+02] [ 1.17181749e-03 2.76085484e-05 9.99999313e-01 -3.91647901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.67028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.21, Y:127.61, Z:-0.39 [[-1.26369831e-01 -9.91983170e-01 2.39366793e-04 2.44209825e+02] [ 9.91981908e-01 -1.26370052e-01 -1.58216956e-03 1.27609211e+02] [ 1.59973437e-03 3.75090286e-05 9.99998720e-01 -3.91591564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.20, Y:127.62, Z:-0.39 [[-1.25907618e-01 -9.92041914e-01 3.34994945e-04 2.44198489e+02] [ 9.92039456e-01 -1.25908052e-01 -2.20933032e-03 1.27619062e+02] [ 2.23392684e-03 5.41566852e-05 9.99997503e-01 -3.91224727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.73028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.19, Y:127.61, Z:-0.39 [[-1.25931996e-01 -9.92038808e-01 3.68905542e-04 2.44194779e+02] [ 9.92035841e-01 -1.25932522e-01 -2.42701875e-03 1.27614996e+02] [ 2.45415399e-03 6.03282036e-05 9.99996987e-01 -3.91263231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.76028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.18, Y:127.63, Z:-0.39 [[-1.26737515e-01 -9.91936168e-01 4.90890627e-04 2.44184817e+02] [ 9.91930939e-01 -1.26738441e-01 -3.22192016e-03 1.27632613e+02] [ 3.25815385e-03 7.85914468e-05 9.99994689e-01 -3.91910924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.79028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.18, Y:127.63, Z:-0.39 [[-1.28520931e-01 -9.91706634e-01 5.67572905e-04 2.44181676e+02] [ 9.91699676e-01 -1.28522156e-01 -3.71599620e-03 1.27632065e+02] [ 3.75812378e-03 8.52785751e-05 9.99992935e-01 -3.92556817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.82028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.18, Y:127.62, Z:-0.39 [[-1.33822209e-01 -9.91005209e-01 5.40295298e-04 2.44177006e+02] [ 9.90998930e-01 -1.33823285e-01 -3.52837366e-03 1.27624898e+02] [ 3.56894077e-03 6.32573046e-05 9.99993629e-01 -3.92878042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.17, Y:127.64, Z:-0.39 [[-1.37787143e-01 -9.90461755e-01 4.63390013e-04 2.44172998e+02] [ 9.90457157e-01 -1.37787916e-01 -3.01824424e-03 1.27636597e+02] [ 3.05330503e-03 4.30927031e-05 9.99995338e-01 -3.93000875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.880281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.17, Y:127.64, Z:-0.39 [[-1.42131263e-01 -9.89847737e-01 4.02668909e-04 2.44171232e+02] [ 9.89844281e-01 -1.42131831e-01 -2.61583289e-03 1.27641259e+02] [ 2.64650833e-03 2.67878832e-05 9.99996498e-01 -3.92788710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.17, Y:127.67, Z:-0.39 [[-1.49753598e-01 -9.88723292e-01 3.34280658e-04 2.44166773e+02] [ 9.88720920e-01 -1.49753971e-01 -2.16566405e-03 1.27671114e+02] [ 2.19130235e-03 6.19429587e-06 9.99997599e-01 -3.92219538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.940281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.17, Y:127.67, Z:-0.39 [[-1.52864030e-01 -9.88247158e-01 3.78290144e-04 2.44167619e+02] [ 9.88244134e-01 -1.52864498e-01 -2.44460124e-03 1.27665351e+02] [ 2.47369736e-03 1.51418904e-07 9.99996940e-01 -3.91583717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 362.97028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.17, Y:127.66, Z:-0.39 [[-1.56832251e-01 -9.87625176e-01 3.94788754e-04 2.44166402e+02] [ 9.87621898e-01 -1.56832748e-01 -2.54468553e-03 1.27659988e+02] [ 2.57511130e-03 -9.18674174e-06 9.99996684e-01 -3.90808793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.000281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.17, Y:127.64, Z:-0.39 [[-1.57953703e-01 -9.87446468e-01 3.18296401e-04 2.44168990e+02] [ 9.87444348e-01 -1.57954023e-01 -2.04607771e-03 1.27638392e+02] [ 2.07066840e-03 -8.88556828e-06 9.99997856e-01 -3.90712211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.17, Y:127.64, Z:-0.39 [[-1.58989837e-01 -9.87280176e-01 2.92511670e-04 2.44168861e+02] [ 9.87278395e-01 -1.58990106e-01 -1.87542465e-03 1.27639613e+02] [ 1.89807604e-03 -9.38300750e-06 9.99998199e-01 -3.90517703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.17, Y:127.62, Z:-0.39 [[-1.60999735e-01 -9.86954387e-01 3.50796242e-04 2.44173817e+02] [ 9.86951837e-01 -1.61000116e-01 -2.24377617e-03 1.27616020e+02] [ 2.27098297e-03 -1.50283730e-05 9.99997421e-01 -3.91785833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.18, Y:127.61, Z:-0.39 [[-1.62540837e-01 -9.86701743e-01 3.82440075e-04 2.44175644e+02] [ 9.86698726e-01 -1.62541286e-01 -2.44024966e-03 1.27607597e+02] [ 2.46996090e-03 -1.92870891e-05 9.99996949e-01 -3.91889180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.120281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.17, Y:127.64, Z:-0.39 [[-1.64118021e-01 -9.86440628e-01 4.02494707e-04 2.44171380e+02] [ 9.86437302e-01 -1.64118513e-01 -2.56185067e-03 1.27635020e+02] [ 2.59317041e-03 -2.34100692e-05 9.99996637e-01 -3.91289639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.15028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.18, Y:127.62, Z:-0.39 [[-1.66261849e-01 -9.86081557e-01 4.01782024e-04 2.44175578e+02] [ 9.86078257e-01 -1.66262332e-01 -2.55087929e-03 1.27617050e+02] [ 2.58217623e-03 -2.79253889e-05 9.99996666e-01 -3.90698413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.180281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.18, Y:127.61, Z:-0.39 [[-1.67332821e-01 -9.85900372e-01 4.27722960e-04 2.44178876e+02] [ 9.85896651e-01 -1.67333365e-01 -2.70894566e-03 1.27607075e+02] [ 2.74232285e-03 -3.16048845e-05 9.99996239e-01 -3.91056188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.21028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.18, Y:127.60, Z:-0.39 [[-1.68104557e-01 -9.85769112e-01 3.40352898e-04 2.44181980e+02] [ 9.85766768e-01 -1.68104899e-01 -2.14996579e-03 1.27600311e+02] [ 2.17658485e-03 -2.59104687e-05 9.99997631e-01 -3.91135150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.18, Y:127.61, Z:-0.39 [[-1.68486262e-01 -9.85703957e-01 2.98267211e-04 2.44181744e+02] [ 9.85702166e-01 -1.68486525e-01 -1.87926671e-03 1.27611430e+02] [ 1.90265464e-03 -2.26279876e-05 9.99998190e-01 -3.91774468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.27028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.19, Y:127.60, Z:-0.39 [[-1.68645349e-01 -9.85676732e-01 3.54523002e-04 2.44186142e+02] [ 9.85674213e-01 -1.68645719e-01 -2.22850178e-03 1.27596212e+02] [ 2.25637114e-03 -2.63822796e-05 9.99997454e-01 -3.92073851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.19, Y:127.61, Z:-0.39 [[-1.68748026e-01 -9.85659112e-01 4.67126925e-04 2.44187036e+02] [ 9.85654759e-01 -1.68748669e-01 -2.92960136e-03 1.27606025e+02] [ 2.96641532e-03 -3.39385693e-05 9.99995600e-01 -3.92465269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.33028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.19, Y:127.60, Z:-0.39 [[-1.69024830e-01 -9.85611631e-01 5.64785734e-04 2.44192681e+02] [ 9.85605298e-01 -1.69025769e-01 -3.53367675e-03 1.27602401e+02] [ 3.57829625e-03 -4.06232993e-05 9.99993597e-01 -3.92686267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.20, Y:127.60, Z:-0.39 [[-1.69582878e-01 -9.85515813e-01 4.78572557e-04 2.44195033e+02] [ 9.85511288e-01 -1.69583550e-01 -2.98668479e-03 1.27602292e+02] [ 3.02458313e-03 -3.48519454e-05 9.99995425e-01 -3.92533355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.60, Z:-0.39 [[-1.69756644e-01 -9.85485934e-01 3.94804487e-04 2.44197607e+02] [ 9.85482870e-01 -1.69757101e-01 -2.45759517e-03 1.27599600e+02] [ 2.48894634e-03 -2.81200497e-05 9.99996902e-01 -3.92067266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.20, Y:127.61, Z:-0.39 [[-1.69082489e-01 -9.85601848e-01 3.30713209e-04 2.44201912e+02] [ 9.85599709e-01 -1.69082811e-01 -2.05332058e-03 1.27612518e+02] [ 2.07967448e-03 -2.12297126e-05 9.99997837e-01 -3.93094258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.45028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.21, Y:127.61, Z:-0.39 [[-1.68752402e-01 -9.85658375e-01 4.42091639e-04 2.44206614e+02] [ 9.85654570e-01 -1.68752979e-01 -2.73860544e-03 1.27606251e+02] [ 2.77393367e-03 -2.63966020e-05 9.99996152e-01 -3.92671438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.48028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.21, Y:127.61, Z:-0.39 [[-1.67001855e-01 -9.85956443e-01 5.22369973e-04 2.44212317e+02] [ 9.85951158e-01 -1.67002670e-01 -3.22824077e-03 1.27609514e+02] [ 3.27014197e-03 -2.40909166e-05 9.99994653e-01 -3.92311640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.21, Y:127.64, Z:-0.39 [[-1.65474104e-01 -9.86214025e-01 4.66531630e-04 2.44209571e+02] [ 9.86209832e-01 -1.65474761e-01 -2.87581625e-03 1.27638888e+02] [ 2.91336953e-03 -1.57750375e-05 9.99995756e-01 -3.91401714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.54028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.21, Y:127.62, Z:-0.39 [[-1.63311266e-01 -9.86574547e-01 3.06503101e-04 2.44213636e+02] [ 9.86572748e-01 -1.63311553e-01 -1.88410462e-03 1.27622158e+02] [ 1.90886516e-03 -5.30790391e-06 9.99998178e-01 -3.91250568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.57028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.22, Y:127.59, Z:-0.39 [[-1.57122943e-01 -9.87579048e-01 6.85008261e-05 2.44220517e+02] [ 9.87578959e-01 -1.57122958e-01 -4.18856971e-04 1.27591205e+02] [ 4.24417421e-04 1.83793468e-06 9.99999910e-01 -3.89878009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.60028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.22, Y:127.58, Z:-0.39 [[-1.54120550e-01 -9.88052048e-01 7.64006101e-05 2.44223362e+02] [ 9.88051938e-01 -1.54120569e-01 -4.66239189e-04 1.27576281e+02] [ 4.72443491e-04 3.63073069e-06 9.99999888e-01 -3.89990275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.22, Y:127.57, Z:-0.39 [[-1.51406673e-01 -9.88471553e-01 8.91778075e-05 2.44223575e+02] [ 9.88471404e-01 -1.51406700e-01 -5.43173906e-04 1.27574244e+02] [ 5.50414072e-04 5.90955848e-06 9.99999849e-01 -3.90781004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.23, Y:127.55, Z:-0.39 [[-1.49372081e-01 -9.88781057e-01 4.91991874e-05 2.44226490e+02] [ 9.88781012e-01 -1.49372089e-01 -2.98293475e-04 1.27553658e+02] [ 3.02295923e-04 4.09050527e-06 9.99999954e-01 -3.91502641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.23, Y:127.55, Z:-0.39 [[-1.46846865e-01 -9.89159238e-01 4.93278635e-06 2.44225953e+02] [ 9.89159238e-01 -1.46846865e-01 -2.85046070e-05 1.27553766e+02] [ 2.89199596e-05 6.93499007e-07 1.00000000e+00 -3.92225227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.23, Y:127.55, Z:-0.39 [[-1.46655966e-01 -9.89187558e-01 6.08016895e-05 2.44225828e+02] [ 9.89187489e-01 -1.46655979e-01 -3.67269845e-04 1.27549924e+02] [ 3.72215693e-04 6.28195650e-06 9.99999931e-01 -3.92354928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.750281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.23, Y:127.54, Z:-0.39 [[-1.46818883e-01 -9.89163369e-01 2.11112454e-04 2.44225923e+02] [ 9.89162547e-01 -1.46819033e-01 -1.27588878e-03 1.27543242e+02] [ 1.29305777e-03 2.14999669e-05 9.99999164e-01 -3.92442652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.78028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.22, Y:127.55, Z:-0.39 [[-1.47151596e-01 -9.89113886e-01 3.57964077e-04 2.44224124e+02] [ 9.89111530e-01 -1.47152027e-01 -2.15938794e-03 1.27545307e+02] [ 2.18855574e-03 3.63090135e-05 9.99997604e-01 -3.92764771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.22, Y:127.54, Z:-0.39 [[-1.47543024e-01 -9.89055548e-01 4.23042327e-04 2.44221319e+02] [ 9.89052271e-01 -1.47543624e-01 -2.54628358e-03 1.27544338e+02] [ 2.58083310e-03 4.27245960e-05 9.99996669e-01 -3.91703482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.22, Y:127.54, Z:-0.39 [[-1.47859005e-01 -9.89008381e-01 3.69438199e-04 2.44221157e+02] [ 9.89005894e-01 -1.47859462e-01 -2.21828504e-03 1.27539211e+02] [ 2.24852743e-03 3.73831362e-05 9.99997471e-01 -3.90943626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.870281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.22, Y:127.55, Z:-0.39 [[-1.48436655e-01 -9.88921863e-01 3.29665707e-04 2.44218544e+02] [ 9.88919892e-01 -1.48437017e-01 -1.97470676e-03 1.27546289e+02] [ 2.00176528e-03 3.28941092e-05 9.99997996e-01 -3.90956611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.22, Y:127.53, Z:-0.39 [[-1.49290430e-01 -9.88793379e-01 1.47382972e-04 2.44217765e+02] [ 9.88792987e-01 -1.49290502e-01 -8.79968194e-04 1.27533893e+02] [ 8.92109602e-04 1.43604194e-05 9.99999602e-01 -3.91100810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.930281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.22, Y:127.54, Z:-0.39 [[-1.49264307e-01 -9.88797332e-01 5.40003617e-05 2.44215361e+02] [ 9.88797280e-01 -1.49264317e-01 -3.20744758e-04 1.27539336e+02] [ 3.25211888e-04 5.51966675e-06 9.99999947e-01 -3.90628190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.96028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.21, Y:127.54, Z:-0.39 [[-1.47907305e-01 -9.89001212e-01 1.79888812e-04 2.44210592e+02] [ 9.89000634e-01 -1.47907413e-01 -1.06939080e-03 1.27540400e+02] [ 1.08423569e-03 1.97394371e-05 9.99999412e-01 -3.90363247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 363.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.21, Y:127.53, Z:-0.39 [[-1.47142782e-01 -9.89115209e-01 3.24909314e-04 2.44208101e+02] [ 9.89113330e-01 -1.47143136e-01 -1.92820330e-03 1.27533303e+02] [ 1.95502338e-03 3.76509357e-05 9.99998088e-01 -3.90763251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.02028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.21, Y:127.52, Z:-0.39 [[-1.46214299e-01 -9.89252809e-01 5.08677219e-04 2.44206266e+02] [ 9.89248223e-01 -1.46215171e-01 -3.01267900e-03 1.27521681e+02] [ 3.05467749e-03 6.27112873e-05 9.99995333e-01 -3.90738796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.050281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.20, Y:127.52, Z:-0.39 [[-1.45651828e-01 -9.89335693e-01 6.57428620e-04 2.44198609e+02] [ 9.89328068e-01 -1.45653287e-01 -3.88516538e-03 1.27524393e+02] [ 3.93948942e-03 8.45311478e-05 9.99992237e-01 -3.91508623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.08028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.20, Y:127.52, Z:-0.39 [[-1.46362469e-01 -9.89230870e-01 5.60101558e-04 2.44196254e+02] [ 9.89225361e-01 -1.46363524e-01 -3.30218472e-03 1.27523258e+02] [ 3.34860150e-03 7.07507568e-05 9.99994391e-01 -3.91036027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.110281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.19, Y:127.52, Z:-0.39 [[-1.47840319e-01 -9.89011180e-01 3.54639387e-04 2.44193788e+02] [ 9.89008982e-01 -1.47840738e-01 -2.08551745e-03 1.27522555e+02] [ 2.11503023e-03 4.24179739e-05 9.99997762e-01 -3.90234311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.19, Y:127.53, Z:-0.39 [[-1.51097144e-01 -9.88518908e-01 1.45140639e-04 2.44187803e+02] [ 9.88518542e-01 -1.51097213e-01 -8.50704054e-04 1.27528789e+02] [ 8.62867389e-04 1.49352605e-05 9.99999628e-01 -3.90578096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.17028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.19, Y:127.52, Z:-0.39 [[-1.52667426e-01 -9.88277606e-01 1.74812097e-04 2.44186447e+02] [ 9.88277077e-01 -1.52667525e-01 -1.02255059e-03 1.27523709e+02] [ 1.03725198e-03 1.66526214e-05 9.99999462e-01 -3.90683808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.20028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.18, Y:127.53, Z:-0.39 [[-1.54062097e-01 -9.88061140e-01 2.33675604e-04 2.44182859e+02] [ 9.88060198e-01 -1.54062273e-01 -1.36420660e-03 1.27530289e+02] [ 1.38392012e-03 2.07130339e-05 9.99999042e-01 -3.90967067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.23028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.18, Y:127.54, Z:-0.39 [[-1.55226894e-01 -9.87878784e-01 3.44365594e-04 2.44176632e+02] [ 9.87876747e-01 -1.55227274e-01 -2.00643574e-03 1.27541183e+02] [ 2.03557023e-03 2.87379752e-05 9.99997928e-01 -3.90055874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.26028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.18, Y:127.53, Z:-0.39 [[-1.55391039e-01 -9.87852968e-01 3.73289052e-04 2.44176119e+02] [ 9.87850585e-01 -1.55391484e-01 -2.17003206e-03 1.27533028e+02] [ 2.20167855e-03 3.15502724e-05 9.99997576e-01 -3.90289580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.17, Y:127.54, Z:-0.39 [[-1.55564146e-01 -9.87825723e-01 3.70500260e-04 2.44173417e+02] [ 9.87823386e-01 -1.55564584e-01 -2.14882410e-03 1.27537008e+02] [ 2.18030044e-03 3.17088339e-05 9.99997623e-01 -3.90319348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.17, Y:127.53, Z:-0.39 [[-1.55157059e-01 -9.87889714e-01 4.48485010e-04 2.44170570e+02] [ 9.87886305e-01 -1.55157702e-01 -2.59541536e-03 1.27527624e+02] [ 2.63357004e-03 4.03551854e-05 9.99996531e-01 -3.90255903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.35028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.17, Y:127.54, Z:-0.39 [[-1.55539013e-01 -9.87829622e-01 5.03316380e-04 2.44167387e+02] [ 9.87825348e-01 -1.55539820e-01 -2.90618015e-03 1.27535068e+02] [ 2.94909657e-03 4.51642879e-05 9.99995650e-01 -3.90623666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.380281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.16, Y:127.54, Z:-0.39 [[-1.56296886e-01 -9.87709951e-01 5.80410286e-04 2.44164460e+02] [ 9.87704292e-01 -1.56297955e-01 -3.34375946e-03 1.27541594e+02] [ 3.39338143e-03 5.06545403e-05 9.99994241e-01 -3.90791631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.41028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.16, Y:127.52, Z:-0.39 [[-1.58117001e-01 -9.87420191e-01 6.16929229e-04 2.44164991e+02] [ 9.87413803e-01 -1.58118198e-01 -3.55208472e-03 1.27520702e+02] [ 3.60494791e-03 4.75194510e-05 9.99993501e-01 -3.90876995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.440281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.16, Y:127.54, Z:-0.39 [[-1.59030065e-01 -9.87273591e-01 5.43004266e-04 2.44160325e+02] [ 9.87268667e-01 -1.59030987e-01 -3.11825374e-03 1.27538500e+02] [ 3.16492407e-03 4.01950040e-05 9.99994991e-01 -3.90579583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.47028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:127.52, Z:-0.39 [[-1.58929904e-01 -9.87289741e-01 5.02704094e-04 2.44161951e+02] [ 9.87285526e-01 -1.58930695e-01 -2.88513722e-03 1.27517424e+02] [ 2.92836149e-03 3.77778947e-05 9.99995712e-01 -3.90432446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.500281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.15, Y:127.53, Z:-0.39 [[-1.57310010e-01 -9.87549140e-01 5.06019010e-04 2.44154510e+02] [ 9.87544893e-01 -1.57310818e-01 -2.89656123e-03 1.27534903e+02] [ 2.94009882e-03 4.40584125e-05 9.99995677e-01 -3.90288497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.16, Y:127.51, Z:-0.39 [[-1.56375601e-01 -9.87697527e-01 5.15625255e-04 2.44157214e+02] [ 9.87693108e-01 -1.56376444e-01 -2.95508989e-03 1.27505517e+02] [ 2.99936662e-03 4.71755540e-05 9.99995501e-01 -3.90020295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.560281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.16, Y:127.50, Z:-0.39 [[-1.56755607e-01 -9.87637288e-01 5.17065931e-04 2.44157720e+02] [ 9.87632869e-01 -1.56756453e-01 -2.95483820e-03 1.27503050e+02] [ 2.99936181e-03 4.74838528e-05 9.99995501e-01 -3.90018685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.59028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.15, Y:127.52, Z:-0.39 [[-1.56577110e-01 -9.87665606e-01 5.09715600e-04 2.44153399e+02] [ 9.87661331e-01 -1.56577932e-01 -2.90617454e-03 1.27517155e+02] [ 2.95013885e-03 4.83859771e-05 9.99995647e-01 -3.89595738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.620281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.15, Y:127.51, Z:-0.39 [[-1.57471805e-01 -9.87523401e-01 4.03324298e-04 2.44153022e+02] [ 9.87520737e-01 -1.57472317e-01 -2.29403622e-03 1.27505142e+02] [ 2.32892686e-03 3.70450853e-05 9.99997287e-01 -3.90381344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.65028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.15, Y:127.51, Z:-0.39 [[-1.58938469e-01 -9.87288422e-01 3.66753734e-04 2.44152973e+02] [ 9.87286229e-01 -1.58938889e-01 -2.08116875e-03 1.27506205e+02] [ 2.11300525e-03 3.13131351e-05 9.99997767e-01 -3.90535058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.16, Y:127.50, Z:-0.39 [[-1.61169686e-01 -9.86926641e-01 3.70562164e-04 2.44155434e+02] [ 9.86924412e-01 -1.61170109e-01 -2.09804065e-03 1.27498147e+02] [ 2.13033576e-03 2.75762931e-05 9.99997730e-01 -3.90617280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.71028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.15, Y:127.52, Z:-0.39 [[-1.66676453e-01 -9.86011530e-01 4.71891568e-04 2.44153677e+02] [ 9.86007926e-01 -1.66677119e-01 -2.66603984e-03 1.27524740e+02] [ 2.70739955e-03 2.09227637e-05 9.99996335e-01 -3.91202682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.740281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.16, Y:127.50, Z:-0.39 [[-1.69575907e-01 -9.85517017e-01 4.69738473e-04 2.44160091e+02] [ 9.85513445e-01 -1.69576557e-01 -2.65343553e-03 1.27499957e+02] [ 2.69466251e-03 1.29748434e-05 9.99996369e-01 -3.91332604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.17, Y:127.49, Z:-0.39 [[-1.74627011e-01 -9.84634619e-01 2.71553153e-04 2.44165595e+02] [ 9.84633432e-01 -1.74627222e-01 -1.52927089e-03 1.27494347e+02] [ 1.55319363e-03 3.28309299e-07 9.99998794e-01 -3.90628831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.17, Y:127.49, Z:-0.39 [[-1.76285659e-01 -9.84339035e-01 1.76390185e-04 2.44169669e+02] [ 9.84338536e-01 -1.76285747e-01 -9.90640771e-04 1.27485175e+02] [ 1.00622146e-03 -1.00810444e-06 9.99999494e-01 -3.89995407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.83028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.17, Y:127.48, Z:-0.39 [[-1.77295233e-01 -9.84157706e-01 1.02951189e-04 2.44173482e+02] [ 9.84157537e-01 -1.77295263e-01 -5.76329388e-04 1.27477854e+02] [ 5.85451767e-04 -8.60265067e-07 9.99999829e-01 -3.89499258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.860281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.17, Y:127.50, Z:-0.39 [[-1.77700263e-01 -9.84084659e-01 3.68092532e-05 2.44172078e+02] [ 9.84084637e-01 -1.77700267e-01 -2.04694896e-04 1.27498765e+02] [ 2.07978121e-04 -1.50916253e-07 9.99999978e-01 -3.89016331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.18, Y:127.48, Z:-0.39 [[-1.76759768e-01 -9.84254024e-01 2.17598957e-05 2.44179577e+02] [ 9.84254017e-01 -1.76759769e-01 -1.20158411e-04 1.27481349e+02] [ 1.22112674e-04 1.78091995e-07 9.99999993e-01 -3.89434616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.92028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.18, Y:127.47, Z:-0.39 [[-1.76321842e-01 -9.84332570e-01 -2.35672334e-05 2.44182677e+02] [ 9.84332561e-01 -1.76321844e-01 1.32762791e-04 1.27473680e+02] [-1.34838157e-04 2.10984751e-07 9.99999991e-01 -3.89975935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.95028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.18, Y:127.47, Z:-0.39 [[-1.76575059e-01 -9.84287175e-01 -7.41550663e-05 2.44183779e+02] [ 9.84287088e-01 -1.76575074e-01 4.13837806e-04 1.27473313e+02] [-4.20429181e-04 8.35605673e-08 9.99999912e-01 -3.90596289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 364.98028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.18, Y:127.49, Z:-0.39 [[-1.76724411e-01 -9.84260365e-01 1.25070420e-04 2.44182682e+02] [ 9.84260122e-01 -1.76724456e-01 -6.92699805e-04 1.27493398e+02] [ 7.03899965e-04 6.84861640e-07 9.99999752e-01 -3.91204887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.01028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.19, Y:127.48, Z:-0.39 [[-1.76781323e-01 -9.84250095e-01 3.37793343e-04 2.44186365e+02] [ 9.84248320e-01 -1.76781646e-01 -1.86906517e-03 1.27480560e+02] [ 1.89934324e-03 2.05671589e-06 9.99998196e-01 -3.91198828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.19, Y:127.48, Z:-0.39 [[-1.75186297e-01 -9.84535171e-01 5.08246363e-04 2.44186148e+02] [ 9.84531170e-01 -1.75187034e-01 -2.80668586e-03 1.27483954e+02] [ 2.85231911e-03 8.69148441e-06 9.99995932e-01 -3.90830426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.07028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.18, Y:127.49, Z:-0.39 [[-1.73833362e-01 -9.84774954e-01 5.02501051e-04 2.44183764e+02] [ 9.84771062e-01 -1.73834088e-01 -2.76875744e-03 1.27493210e+02] [ 2.81395479e-03 1.35460778e-05 9.99996041e-01 -3.90857291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.18, Y:127.49, Z:-0.39 [[-1.72445281e-01 -9.85018987e-01 4.69361367e-04 2.44183572e+02] [ 9.85015608e-01 -1.72445919e-01 -2.58029645e-03 1.27488322e+02] [ 2.62258045e-03 1.73683252e-05 9.99996561e-01 -3.91076434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.130281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.18, Y:127.48, Z:-0.39 [[-1.68516956e-01 -9.85698619e-01 5.17713822e-04 2.44182756e+02] [ 9.85694528e-01 -1.68517748e-01 -2.83995610e-03 1.27476536e+02] [ 2.88658477e-03 3.17269258e-05 9.99995833e-01 -3.90650748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.18, Y:127.47, Z:-0.39 [[-1.66865795e-01 -9.85979470e-01 5.40401110e-04 2.44180492e+02] [ 9.85975033e-01 -1.66866666e-01 -2.95794203e-03 1.27473046e+02] [ 3.00664504e-03 3.92426541e-05 9.99995479e-01 -3.90780330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.190281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.18, Y:127.46, Z:-0.39 [[-1.65641928e-01 -9.86185804e-01 5.58804216e-04 2.44180272e+02] [ 9.86181082e-01 -1.65642865e-01 -3.05203507e-03 1.27457189e+02] [ 3.10243559e-03 4.55371722e-05 9.99995186e-01 -3.91339253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.22028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.17, Y:127.47, Z:-0.39 [[-1.64665920e-01 -9.86349131e-01 7.25832251e-04 2.44172190e+02] [ 9.86341200e-01 -1.64667507e-01 -3.95602872e-03 1.27472304e+02] [ 4.02154648e-03 6.44951434e-05 9.99991912e-01 -3.91277240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.250281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.17, Y:127.47, Z:-0.39 [[-1.65668361e-01 -9.86181260e-01 7.19235548e-04 2.44170450e+02] [ 9.86173505e-01 -1.65669911e-01 -3.91142708e-03 1.27470928e+02] [ 3.97653178e-03 6.12913259e-05 9.99992092e-01 -3.91379673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.28028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.17, Y:127.45, Z:-0.39 [[-1.68634787e-01 -9.85678307e-01 7.64125312e-04 2.44168723e+02] [ 9.85669586e-01 -1.68636510e-01 -4.14656872e-03 1.27452371e+02] [ 4.21604226e-03 5.39193456e-05 9.99991111e-01 -3.90731893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.16, Y:127.47, Z:-0.39 [[-1.70374437e-01 -9.85379076e-01 7.92089993e-04 2.44163075e+02] [ 9.85369743e-01 -1.70376271e-01 -4.28897451e-03 1.27471147e+02] [ 4.36121907e-03 4.97698977e-05 9.99990489e-01 -3.91276076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.16, Y:127.46, Z:-0.39 [[-1.72520427e-01 -9.85005628e-01 7.84661699e-04 2.44162353e+02] [ 9.84996506e-01 -1.72522206e-01 -4.23940497e-03 1.27463954e+02] [ 4.31120932e-03 4.15050774e-05 9.99990706e-01 -3.90962603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.16, Y:127.45, Z:-0.39 [[-1.74366031e-01 -9.84680661e-01 6.94708129e-04 2.44162908e+02] [ 9.84673508e-01 -1.74367412e-01 -3.75343033e-03 1.27450350e+02] [ 3.81706471e-03 2.95899428e-05 9.99992715e-01 -3.90862956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.40028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:127.45, Z:-0.39 [[-1.77686932e-01 -9.84086933e-01 5.12657086e-04 2.44159644e+02] [ 9.84083055e-01 -1.77687671e-01 -2.76258757e-03 1.27449650e+02] [ 2.80971917e-03 1.36214404e-05 9.99996053e-01 -3.90615228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.430281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:127.46, Z:-0.39 [[-1.78758992e-01 -9.83892750e-01 5.29156967e-04 2.44156775e+02] [ 9.83888636e-01 -1.78759775e-01 -2.84533067e-03 1.27460539e+02] [ 2.89409220e-03 1.20030836e-05 9.99995812e-01 -3.89964897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:127.45, Z:-0.39 [[-1.78831990e-01 -9.83879474e-01 5.48262389e-04 2.44158291e+02] [ 9.83875047e-01 -1.78832830e-01 -2.95143072e-03 1.27449229e+02] [ 3.00189942e-03 1.16114533e-05 9.99995494e-01 -3.89652237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.16, Y:127.44, Z:-0.39 [[-1.78444947e-01 -9.83949797e-01 4.43961248e-04 2.44158627e+02] [ 9.83946892e-01 -1.78445499e-01 -2.39130450e-03 1.27437594e+02] [ 2.43214646e-03 1.01180850e-05 9.99997042e-01 -3.88193714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.52028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.16, Y:127.44, Z:-0.39 [[-1.78540309e-01 -9.83932549e-01 3.12418700e-04 2.44156665e+02] [ 9.83931119e-01 -1.78540583e-01 -1.67757514e-03 1.27440407e+02] [ 1.70640020e-03 7.88369647e-06 9.99998544e-01 -3.87766082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.550281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.16, Y:127.44, Z:-0.39 [[-1.77817694e-01 -9.84063447e-01 -1.58150710e-05 2.44155748e+02] [ 9.84063443e-01 -1.77817695e-01 8.46971515e-05 1.27435683e+02] [-8.61595703e-05 -5.02381085e-07 9.99999996e-01 -3.87984660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.15, Y:127.46, Z:-0.39 [[-1.78051184e-01 -9.84021217e-01 -1.39408225e-04 2.44151421e+02] [ 9.84020932e-01 -1.78051239e-01 7.49316180e-04 1.27457323e+02] [-7.62164827e-04 -3.76397839e-06 9.99999710e-01 -3.87892961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.610281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.16, Y:127.44, Z:-0.39 [[-1.78229162e-01 -9.83988977e-01 -2.40783947e-04 2.44155008e+02] [ 9.83988129e-01 -1.78229325e-01 1.29240445e-03 1.27436948e+02] [-1.31462649e-03 -6.58438286e-06 9.99999136e-01 -3.87875027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.15, Y:127.44, Z:-0.39 [[-1.81246475e-01 -9.83437702e-01 -3.49489929e-05 2.44153589e+02] [ 9.83437684e-01 -1.81246479e-01 1.87780600e-04 1.27442750e+02] [-1.91004904e-04 -3.35584720e-07 9.99999982e-01 -3.87765780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.67028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.16, Y:127.43, Z:-0.39 [[-1.83055421e-01 -9.83102576e-01 1.95303689e-04 2.44156884e+02] [ 9.83102015e-01 -1.83055525e-01 -1.04977841e-03 1.27427050e+02] [ 1.06779128e-03 -1.64178923e-07 9.99999430e-01 -3.87987135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.16, Y:127.43, Z:-0.39 [[-1.85348973e-01 -9.82672669e-01 4.29700375e-04 2.44156044e+02] [ 9.82669972e-01 -1.85349471e-01 -2.30231397e-03 1.27434571e+02] [ 2.34206575e-03 -4.47787274e-06 9.99997257e-01 -3.88034656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.16, Y:127.43, Z:-0.39 [[-1.86944552e-01 -9.82370332e-01 5.14452129e-04 2.44157508e+02] [ 9.82366458e-01 -1.86945259e-01 -2.75891276e-03 1.27431052e+02] [ 2.80644843e-03 -1.03831941e-05 9.99996062e-01 -3.88401796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.16, Y:127.42, Z:-0.39 [[-1.90232836e-01 -9.81738913e-01 4.18955142e-04 2.44161360e+02] [ 9.81736340e-01 -1.90233296e-01 -2.24740518e-03 1.27424915e+02] [ 2.28606434e-03 -1.62267729e-05 9.99997387e-01 -3.88775778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.79028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.16, Y:127.44, Z:-0.39 [[-1.92348264e-01 -9.81326630e-01 4.36439585e-04 2.44160360e+02] [ 9.81323853e-01 -1.92348758e-01 -2.33470019e-03 1.27441012e+02] [ 2.37505208e-03 -2.07869532e-05 9.99997179e-01 -3.88765173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.17, Y:127.41, Z:-0.39 [[-1.95596864e-01 -9.80684210e-01 5.89735614e-04 2.44169901e+02] [ 9.80679105e-01 -1.95597749e-01 -3.16457447e-03 1.27409342e+02] [ 3.21879917e-03 -4.06394474e-05 9.99994819e-01 -3.88467441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.17, Y:127.41, Z:-0.39 [[-1.97523953e-01 -9.80297900e-01 5.61162125e-04 2.44170626e+02] [ 9.80293303e-01 -1.97524746e-01 -3.00236447e-03 1.27411217e+02] [ 3.05405500e-03 -4.29354267e-05 9.99995335e-01 -3.88565425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.17, Y:127.40, Z:-0.39 [[-1.98567370e-01 -9.80087066e-01 5.85785312e-04 2.44174664e+02] [ 9.80082052e-01 -1.98568228e-01 -3.13547834e-03 1.27395996e+02] [ 3.18936012e-03 -4.84860165e-05 9.99994913e-01 -3.88159877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:127.40, Z:-0.39 [[-2.00951405e-01 -9.79601007e-01 6.32152899e-04 2.44178298e+02] [ 9.79595194e-01 -2.00952391e-01 -3.37534818e-03 1.27400081e+02] [ 3.43352711e-03 -5.90270180e-05 9.99994104e-01 -3.89460513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.18, Y:127.40, Z:-0.39 [[-2.03063721e-01 -9.79165329e-01 6.19615392e-04 2.44181103e+02] [ 9.79159765e-01 -2.03064656e-01 -3.30150841e-03 1.27401017e+02] [ 3.35854456e-03 -6.37141210e-05 9.99994358e-01 -3.88897626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 365.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:127.41, Z:-0.39 [[-2.06283178e-01 -9.78492264e-01 3.75137664e-04 2.44185902e+02] [ 9.78490232e-01 -2.06283514e-01 -1.99417922e-03 1.27406744e+02] [ 2.02867365e-03 -4.42970866e-05 9.99997941e-01 -3.87032117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.20, Y:127.37, Z:-0.39 [[-2.06983586e-01 -9.78344385e-01 2.43446001e-04 2.44195545e+02] [ 9.78343530e-01 -2.06983727e-01 -1.29398595e-03 1.27372740e+02] [ 1.31635325e-03 -2.96600320e-05 9.99999133e-01 -3.86368409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.38, Z:-0.39 [[-2.07588196e-01 -9.78216288e-01 1.86247875e-04 2.44198421e+02] [ 9.78215791e-01 -2.07588278e-01 -9.86916177e-04 1.27375661e+02] [ 1.00408036e-03 -2.26815364e-05 9.99999496e-01 -3.86144110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.20, Y:127.39, Z:-0.39 [[-2.07958037e-01 -9.78137741e-01 1.21039704e-04 2.44199937e+02] [ 9.78137532e-01 -2.07958071e-01 -6.39617693e-04 1.27386412e+02] [ 6.50805389e-04 -1.46201619e-05 9.99999788e-01 -3.86898033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.21, Y:127.39, Z:-0.39 [[-2.07517974e-01 -9.78231205e-01 3.04257233e-05 2.44205729e+02] [ 9.78231192e-01 -2.07517976e-01 -1.59481311e-04 1.27393498e+02] [ 1.62323479e-04 -3.33184684e-06 9.99999987e-01 -3.87550901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.40, Z:-0.39 [[-2.07238934e-01 -9.78290357e-01 3.22285170e-05 2.44209620e+02] [ 9.78290343e-01 -2.07238937e-01 -1.68653604e-04 1.27395289e+02] [ 1.71671198e-04 -3.42274621e-06 9.99999985e-01 -3.87947645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.40, Z:-0.39 [[-2.07270841e-01 -9.78283595e-01 8.19277012e-05 2.44214343e+02] [ 9.78283500e-01 -2.07270857e-01 -4.29838319e-04 1.27395443e+02] [ 4.37485001e-04 -8.94443176e-06 9.99999904e-01 -3.88120399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.40, Z:-0.39 [[-2.07390933e-01 -9.78258129e-01 1.83945134e-04 2.44218903e+02] [ 9.78257654e-01 -2.07391013e-01 -9.64695739e-04 1.27398348e+02] [ 9.81870017e-04 -2.01234142e-05 9.99999518e-01 -3.88275365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.41, Z:-0.39 [[-2.07315481e-01 -9.78273914e-01 6.63044200e-04 2.44226236e+02] [ 9.78267750e-01 -2.07316529e-01 -3.47349786e-03 1.27405080e+02] [ 3.53549237e-03 -7.14751217e-05 9.99993748e-01 -3.88407930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.40, Z:-0.39 [[-2.06825211e-01 -9.78377584e-01 7.96806659e-04 2.44231589e+02] [ 9.78368718e-01 -2.06826729e-01 -4.16589754e-03 1.27396475e+02] [ 4.24062169e-03 -8.20419278e-05 9.99991005e-01 -3.88438104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.42, Z:-0.39 [[-2.03909540e-01 -9.78989590e-01 5.31862936e-04 2.44233193e+02] [ 9.78985659e-01 -2.03910228e-01 -2.77450621e-03 1.27421734e+02] [ 2.82466499e-03 -4.50620982e-05 9.99996010e-01 -3.88002682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.40, Z:-0.39 [[-2.01780121e-01 -9.79430795e-01 3.18869591e-04 2.44239805e+02] [ 9.79429389e-01 -2.01780372e-01 -1.65943583e-03 1.27399785e+02] [ 1.68964417e-03 -2.25309125e-05 9.99998572e-01 -3.87634932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.41, Z:-0.39 [[-1.99391680e-01 -9.79919834e-01 2.78746193e-04 2.44238815e+02] [ 9.79918765e-01 -1.99391874e-01 -1.44746764e-03 1.27414539e+02] [ 1.47398198e-03 -1.54643795e-05 9.99998914e-01 -3.87493178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.360281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.44, Z:-0.39 [[-1.93689172e-01 -9.81062748e-01 6.24188189e-04 2.44235870e+02] [ 9.81057411e-01 -1.93690177e-01 -3.23604893e-03 1.27441641e+02] [ 3.29566617e-03 -1.44231890e-05 9.99994569e-01 -3.88000735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.45, Z:-0.39 [[-1.91171253e-01 -9.81556333e-01 8.46425664e-04 2.44235630e+02] [ 9.81546564e-01 -1.91173127e-01 -4.37934215e-03 1.27448289e+02] [ 4.46038486e-03 -6.39812501e-06 9.99990052e-01 -3.88759310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.42, Z:-0.39 [[-1.89161194e-01 -9.81945656e-01 8.78443609e-04 2.44242102e+02] [ 9.81935181e-01 -1.89163234e-01 -4.53547882e-03 1.27420063e+02] [ 4.61976296e-03 4.63809554e-06 9.99989329e-01 -3.89016962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.42, Z:-0.39 [[-1.89543584e-01 -9.81871914e-01 8.80207344e-04 2.44242649e+02] [ 9.81861440e-01 -1.89545628e-01 -4.53513691e-03 1.27417631e+02] [ 4.61976301e-03 4.63554534e-06 9.99989329e-01 -3.89015353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.42, Z:-0.39 [[-1.88217073e-01 -9.82127120e-01 8.08563360e-04 2.44243022e+02] [ 9.82118321e-01 -1.88218809e-01 -4.15722151e-03 1.27418822e+02] [ 4.23510682e-03 1.16448261e-05 9.99991032e-01 -3.88825065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.41, Z:-0.39 [[-1.87412064e-01 -9.82281200e-01 6.02754631e-04 2.44244432e+02] [ 9.82276332e-01 -1.87413033e-01 -3.09229866e-03 1.27408682e+02] [ 3.15047091e-03 1.25375357e-05 9.99995037e-01 -3.88178453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.41, Z:-0.39 [[-1.87681441e-01 -9.82229741e-01 6.42414335e-04 2.44243403e+02] [ 9.82224234e-01 -1.87682540e-01 -3.28902819e-03 1.27413015e+02] [ 3.35115126e-03 1.37053760e-05 9.99994385e-01 -3.88042473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.57028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.25, Y:127.40, Z:-0.39 [[-1.87913563e-01 -9.82185373e-01 6.20895236e-04 2.44245969e+02] [ 9.82180250e-01 -1.87914588e-01 -3.17225621e-03 1.27399540e+02] [ 3.23241892e-03 1.37210726e-05 9.99994776e-01 -3.88032956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.40, Z:-0.39 [[-1.86996629e-01 -9.82360466e-01 4.20090236e-04 2.44245128e+02] [ 9.82358131e-01 -1.86997100e-01 -2.14149184e-03 1.27399371e+02] [ 2.18227258e-03 1.22273033e-05 9.99997619e-01 -3.87302561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.40, Z:-0.39 [[-1.86171086e-01 -9.82517306e-01 2.65900735e-04 2.44242905e+02] [ 9.82516375e-01 -1.86171275e-01 -1.35221605e-03 1.27404829e+02] [ 1.37807875e-03 9.50829594e-06 9.99999050e-01 -3.86857460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.39, Z:-0.39 [[-1.83326291e-01 -9.83052118e-01 6.73440171e-05 2.44243902e+02] [ 9.83052059e-01 -1.83326304e-01 -3.40811876e-04 1.27388525e+02] [ 3.47381766e-04 3.72289750e-06 9.99999940e-01 -3.85628482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.39, Z:-0.39 [[-1.81944758e-01 -9.83308753e-01 -4.10572822e-05 2.44243190e+02] [ 9.83308731e-01 -1.81944763e-01 2.09417407e-04 1.27387662e+02] [-2.13392127e-04 -2.26958459e-06 9.99999977e-01 -3.86067506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.36, Z:-0.39 [[-1.80507215e-01 -9.83573654e-01 -1.12438792e-04 2.44247575e+02] [ 9.83573489e-01 -1.80507250e-01 5.70124457e-04 1.27360078e+02] [-5.81055412e-04 -7.68023664e-06 9.99999831e-01 -3.86008012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.34, Z:-0.39 [[-1.78339375e-01 -9.83969038e-01 -2.24687515e-05 2.44249200e+02] [ 9.83969031e-01 -1.78339377e-01 1.14693452e-04 1.27341660e+02] [-1.16861868e-04 -1.65419713e-06 9.99999993e-01 -3.86678286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.35, Z:-0.39 [[-1.77846037e-01 -9.84058317e-01 1.26146724e-04 2.44245975e+02] [ 9.84058112e-01 -1.77846082e-01 -6.34450073e-04 1.27353671e+02] [ 6.46770571e-04 1.13012756e-05 9.99999791e-01 -3.87375086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.35, Z:-0.39 [[-1.77997889e-01 -9.84030812e-01 3.35897094e-04 2.44245487e+02] [ 9.84029364e-01 -1.77998204e-01 -1.68808420e-03 1.27349607e+02] [ 1.72091594e-03 3.00571793e-05 9.99998519e-01 -3.87616597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.24, Y:127.35, Z:-0.39 [[-1.78290859e-01 -9.83977681e-01 5.40737337e-04 2.44243296e+02] [ 9.83973943e-01 -1.78291672e-01 -2.71290448e-03 1.27349459e+02] [ 2.76584642e-03 4.83853808e-05 9.99996174e-01 -3.87939118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.36, Z:-0.39 [[-1.79167352e-01 -9.83818485e-01 4.97800830e-04 2.44240152e+02] [ 9.83815329e-01 -1.79168038e-01 -2.49242194e-03 1.27359492e+02] [ 2.54128077e-03 4.31834489e-05 9.99996770e-01 -3.87384835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.35, Z:-0.39 [[-1.79955581e-01 -9.83674655e-01 4.03134802e-04 2.44241902e+02] [ 9.83672593e-01 -1.79956029e-01 -2.01419738e-03 1.27345617e+02] [ 2.05386145e-03 3.40865956e-05 9.99997890e-01 -3.86772199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.35, Z:-0.39 [[-1.80918955e-01 -9.83497911e-01 4.37643518e-04 2.44238045e+02] [ 9.83495490e-01 -1.80919481e-01 -2.18239639e-03 1.27349933e+02] [ 2.22556053e-03 3.55835509e-05 9.99997523e-01 -3.86915350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.35, Z:-0.39 [[-1.81125476e-01 -9.83459870e-01 4.95440607e-04 2.44236542e+02] [ 9.83456780e-01 -1.81126149e-01 -2.46587995e-03 1.27348008e+02] [ 2.51483122e-03 4.06107436e-05 9.99996837e-01 -3.87703173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 366.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.34, Z:-0.39 [[-1.80807794e-01 -9.83518345e-01 4.54276838e-04 2.44236181e+02] [ 9.83515757e-01 -1.80808361e-01 -2.25643669e-03 1.27340212e+02] [ 2.30138393e-03 3.88070884e-05 9.99997351e-01 -3.87876738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.34, Z:-0.39 [[-1.79542106e-01 -9.83750216e-01 3.80446245e-04 2.44231032e+02] [ 9.83748409e-01 -1.79542505e-01 -1.88579059e-03 1.27340984e+02] [ 1.92345317e-03 3.56845753e-05 9.99998150e-01 -3.87173474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.32, Z:-0.39 [[-1.78820642e-01 -9.83881543e-01 5.36671710e-04 2.44231993e+02] [ 9.83877961e-01 -1.78821439e-01 -2.65547237e-03 1.27321089e+02] [ 2.70863866e-03 5.31661945e-05 9.99996330e-01 -3.86462087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.34, Z:-0.39 [[-1.78088910e-01 -9.84014124e-01 7.37569411e-04 2.44225616e+02] [ 9.84007384e-01 -1.78090421e-01 -3.64284799e-03 1.27335717e+02] [ 3.71596792e-03 7.70229170e-05 9.99993093e-01 -3.86840277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.33, Z:-0.39 [[-1.76758229e-01 -9.84253898e-01 8.90440396e-04 2.44220899e+02] [ 9.84244115e-01 -1.76760443e-01 -4.38950048e-03 1.27327826e+02] [ 4.47777760e-03 1.00530388e-04 9.99989970e-01 -3.87503193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.31, Z:-0.39 [[-1.77166558e-01 -9.84180574e-01 7.80362642e-04 2.44221353e+02] [ 9.84173089e-01 -1.77168255e-01 -3.83924283e-03 1.27310704e+02] [ 3.91676370e-03 8.78264757e-05 9.99992326e-01 -3.87867252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.32, Z:-0.39 [[-1.78475639e-01 -9.83944109e-01 6.60101218e-04 2.44215554e+02] [ 9.83938774e-01 -1.78476846e-01 -3.24109260e-03 1.27320049e+02] [ 3.30686675e-03 7.10431101e-05 9.99994530e-01 -3.87430975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-1.82244258e-01 -9.83253195e-01 4.30053269e-04 2.44207866e+02] [ 9.83250938e-01 -1.82244761e-01 -2.10700909e-03 1.27323450e+02] [ 2.15009837e-03 3.88599735e-05 9.99997688e-01 -3.86219372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.33, Z:-0.39 [[-1.84878978e-01 -9.82761201e-01 4.30410331e-04 2.44203680e+02] [ 9.82758948e-01 -1.84879476e-01 -2.10461346e-03 1.27333431e+02] [ 2.14790649e-03 3.38908181e-05 9.99997693e-01 -3.86311631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.34, Z:-0.39 [[-1.87900395e-01 -9.82187968e-01 4.87550629e-04 2.44200673e+02] [ 9.82185086e-01 -1.87901025e-01 -2.37946423e-03 1.27339340e+02] [ 2.42869240e-03 3.17626871e-05 9.99997050e-01 -3.86341947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.34, Z:-0.39 [[-1.90606106e-01 -9.81666444e-01 5.52885272e-04 2.44200262e+02] [ 9.81662750e-01 -1.90606906e-01 -2.69315753e-03 1.27335485e+02] [ 2.74916613e-03 2.94146056e-05 9.99996221e-01 -3.86906082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.19, Y:127.35, Z:-0.39 [[-1.95702300e-01 -9.80663168e-01 6.00658496e-04 2.44194949e+02] [ 9.80658820e-01 -1.95703221e-01 -2.92016899e-03 1.27346374e+02] [ 2.98125298e-03 1.75572637e-05 9.99995556e-01 -3.87115927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.33, Z:-0.39 [[-1.98455470e-01 -9.80109810e-01 4.33014027e-04 2.44197884e+02] [ 9.80107559e-01 -1.98455943e-01 -2.10063442e-03 1.27330715e+02] [ 2.14478661e-03 7.51792854e-06 9.99997700e-01 -3.86836182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.33, Z:-0.39 [[-2.03449708e-01 -9.79085398e-01 2.12228234e-05 2.44200929e+02] [ 9.79085392e-01 -2.03449709e-01 -1.01585321e-04 1.27325033e+02] [ 1.03778481e-04 1.11452601e-07 9.99999995e-01 -3.85681908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.31, Z:-0.39 [[-2.05746896e-01 -9.78605239e-01 3.19726988e-05 2.44204926e+02] [ 9.78605227e-01 -2.05746899e-01 -1.53371239e-04 1.27310720e+02] [ 1.56668181e-04 -2.67006130e-07 9.99999988e-01 -3.86063902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.32, Z:-0.39 [[-2.07409889e-01 -9.78254111e-01 1.77017703e-04 2.44204187e+02] [ 9.78253740e-01 -2.07409965e-01 -8.53014796e-04 1.27321174e+02] [ 8.71180467e-04 -3.75547446e-06 9.99999621e-01 -3.86448855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-2.08672893e-01 -9.77985390e-01 4.48321062e-04 2.44208429e+02] [ 9.77983009e-01 -2.08673374e-01 -2.15802513e-03 1.27315610e+02] [ 2.20406972e-03 -1.18709652e-05 9.99997571e-01 -3.87385216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.30, Z:-0.39 [[-2.08494715e-01 -9.78023337e-01 5.52823598e-04 2.44212915e+02] [ 9.78019730e-01 -2.08495448e-01 -2.65620474e-03 1.27300513e+02] [ 2.71309143e-03 -1.31322650e-05 9.99996320e-01 -3.87499475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.53028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.31, Z:-0.39 [[-2.07893154e-01 -9.78151295e-01 6.92931736e-04 2.44212008e+02] [ 9.78145650e-01 -2.07894308e-01 -3.32328351e-03 1.27309760e+02] [ 3.39473064e-03 -1.30997262e-05 9.99994238e-01 -3.87553019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-2.05314692e-01 -9.78695595e-01 8.99632186e-04 2.44210139e+02] [ 9.78686120e-01 -2.05316663e-01 -4.30658462e-03 1.27319425e+02] [ 4.39954487e-03 -3.74756155e-06 9.99990322e-01 -3.86966761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-2.03959373e-01 -9.78978896e-01 9.46665191e-04 2.44209203e+02] [ 9.78968447e-01 -2.03961570e-01 -4.52294595e-03 1.27323228e+02] [ 4.62095195e-03 4.25813301e-06 9.99989323e-01 -3.87135615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-2.03042287e-01 -9.79169493e-01 9.66363080e-04 2.44210144e+02] [ 9.79158650e-01 -2.03044587e-01 -4.60807052e-03 1.27318943e+02] [ 4.70829686e-03 1.05895905e-05 9.99988916e-01 -3.86704101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.33, Z:-0.39 [[-2.02520935e-01 -9.79277582e-01 8.29697154e-04 2.44207943e+02] [ 9.79269622e-01 -2.02522635e-01 -3.94847030e-03 1.27328460e+02] [ 4.03468090e-03 1.28493197e-05 9.99991861e-01 -3.87265972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.31, Z:-0.39 [[-2.01631990e-01 -9.79461141e-01 6.43752459e-04 2.44211029e+02] [ 9.79456369e-01 -2.01633017e-01 -3.05733255e-03 1.27308025e+02] [ 3.12434018e-03 1.40713993e-05 9.99995119e-01 -3.87412585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.31, Z:-0.39 [[-2.01207599e-01 -9.79548454e-01 5.73326062e-04 2.44210016e+02] [ 9.79544685e-01 -2.01208415e-01 -2.71746882e-03 1.27308770e+02] [ 2.77725041e-03 1.48231197e-05 9.99996143e-01 -3.87684338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.32, Z:-0.39 [[-2.00200167e-01 -9.79754908e-01 4.62689212e-04 2.44205424e+02] [ 9.79752463e-01 -2.00200702e-01 -2.18857602e-03 1.27315647e+02] [ 2.23689880e-03 1.51676089e-05 9.99997498e-01 -3.87383502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.30, Z:-0.39 [[-2.00164127e-01 -9.79762243e-01 5.20093306e-04 2.44207347e+02] [ 9.79759166e-01 -2.00164802e-01 -2.45549323e-03 1.27301319e+02] [ 2.50990393e-03 1.80645248e-05 9.99996850e-01 -3.87143642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.31, Z:-0.39 [[-2.00657837e-01 -9.79661060e-01 8.00235637e-04 2.44204616e+02] [ 9.79653800e-01 -2.00659431e-01 -3.77148361e-03 1.27305290e+02] [ 3.85535046e-03 2.71761389e-05 9.99992568e-01 -3.87250819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.30, Z:-0.39 [[-2.01079518e-01 -9.79574486e-01 9.23618298e-04 2.44205003e+02] [ 9.79564852e-01 -2.01081636e-01 -4.34477269e-03 1.27299859e+02] [ 4.44175116e-03 3.10992230e-05 9.99990135e-01 -3.87623148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.860281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.30, Z:-0.39 [[-2.01815554e-01 -9.79423101e-01 9.33540449e-04 2.44204508e+02] [ 9.79413294e-01 -2.01817711e-01 -4.38301446e-03 1.27297704e+02] [ 4.48123061e-03 2.97614377e-05 9.99989959e-01 -3.87810251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.31, Z:-0.39 [[-2.02956493e-01 -9.79187415e-01 8.16919847e-04 2.44201120e+02] [ 9.79179934e-01 -2.02958136e-01 -3.82791291e-03 1.27309825e+02] [ 3.91404468e-03 2.30117416e-05 9.99992340e-01 -3.87505776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.29, Z:-0.39 [[-2.05008100e-01 -9.78760170e-01 4.56107264e-04 2.44205539e+02] [ 9.78757837e-01 -2.05008607e-01 -2.13723293e-03 1.27287338e+02] [ 2.18534438e-03 8.26849802e-06 9.99997612e-01 -3.87297561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.20, Y:127.30, Z:-0.39 [[-2.05965774e-01 -9.78559131e-01 3.56231233e-04 2.44204000e+02] [ 9.78557715e-01 -2.05966082e-01 -1.66495625e-03 1.27296157e+02] [ 1.70262969e-03 5.66881827e-06 9.99998551e-01 -3.87345938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 367.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.28, Z:-0.39 [[-2.06614507e-01 -9.78422358e-01 3.67752699e-04 2.44207580e+02] [ 9.78420854e-01 -2.06614834e-01 -1.71556340e-03 1.27280366e+02] [ 1.75452875e-03 5.35662272e-06 9.99998461e-01 -3.86872542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.28, Z:-0.39 [[-2.06038937e-01 -9.78543638e-01 5.51402198e-04 2.44207076e+02] [ 9.78540269e-01 -2.06039675e-01 -2.56799972e-03 1.27282263e+02] [ 2.62651052e-03 1.04613230e-05 9.99996551e-01 -3.87434618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.28, Z:-0.39 [[-2.06128739e-01 -9.78524638e-01 6.90084854e-04 2.44208486e+02] [ 9.78519379e-01 -2.06129894e-01 -3.20807616e-03 1.27275996e+02] [ 3.28142868e-03 1.39847084e-05 9.99994616e-01 -3.87991185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.28, Z:-0.39 [[-2.07552670e-01 -9.78223633e-01 6.42946969e-04 2.44209039e+02] [ 9.78219084e-01 -2.07553666e-01 -2.98320799e-03 1.27275228e+02] [ 3.05169056e-03 9.77020981e-06 9.99995344e-01 -3.87794146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.21, Y:127.27, Z:-0.39 [[-2.09325225e-01 -9.77845929e-01 5.38732896e-04 2.44210017e+02] [ 9.77842746e-01 -2.09325918e-01 -2.49474724e-03 1.27273703e+02] [ 2.55224919e-03 4.58252721e-06 9.99996743e-01 -3.88222207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.26, Z:-0.39 [[-2.11450357e-01 -9.77388608e-01 5.06252417e-04 2.44215109e+02] [ 9.77385807e-01 -2.11450963e-01 -2.33987344e-03 1.27256038e+02] [ 2.39401321e-03 3.68515017e-08 9.99997134e-01 -3.88298813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.22, Y:127.26, Z:-0.39 [[-2.13928424e-01 -9.76849225e-01 4.69504380e-04 2.44215783e+02] [ 9.76846824e-01 -2.13928939e-01 -2.16589280e-03 1.27260751e+02] [ 2.21619128e-03 -4.71217066e-06 9.99997544e-01 -3.88924621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.22, Y:127.25, Z:-0.39 [[-2.18967020e-01 -9.75732080e-01 5.94028646e-04 2.44223426e+02] [ 9.75728245e-01 -2.18967825e-01 -2.73555388e-03 1.27247582e+02] [ 2.79924084e-03 -1.93855532e-05 9.99996082e-01 -3.89180687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.25, Z:-0.39 [[-2.21769294e-01 -9.75098976e-01 6.05728236e-04 2.44225641e+02] [ 9.75095001e-01 -2.21770119e-01 -2.78429103e-03 1.27249404e+02] [ 2.84929176e-03 -2.68276809e-05 9.99995940e-01 -3.89504496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.23, Y:127.25, Z:-0.39 [[-2.26384178e-01 -9.74037877e-01 6.46160594e-04 2.44231612e+02] [ 9.74033366e-01 -2.26385096e-01 -2.96471853e-03 1.27248564e+02] [ 3.03402928e-03 -4.17833893e-05 9.99995396e-01 -3.89714780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.24, Z:-0.39 [[-2.27819922e-01 -9.73703046e-01 6.78487562e-04 2.44236883e+02] [ 9.73698089e-01 -2.27820928e-01 -3.10736666e-03 1.27237741e+02] [ 3.18022605e-03 -4.72779875e-05 9.99994942e-01 -3.89367359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.24, Y:127.23, Z:-0.39 [[-2.29031531e-01 -9.73418780e-01 6.60889708e-04 2.44240246e+02] [ 9.73414093e-01 -2.29032480e-01 -3.02120358e-03 1.27233033e+02] [ 3.09226151e-03 -4.86315269e-05 9.99995218e-01 -3.89091006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.22, Z:-0.39 [[-2.29797723e-01 -9.73238273e-01 5.20539087e-04 2.44248203e+02] [ 9.73235376e-01 -2.29798309e-01 -2.37503257e-03 1.27222571e+02] [ 2.43109159e-03 -3.91700210e-05 9.99997044e-01 -3.88502831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.22, Z:-0.39 [[-2.30166861e-01 -9.73151039e-01 5.21439143e-04 2.44248813e+02] [ 9.73148142e-01 -2.30167448e-01 -2.37483517e-03 1.27220138e+02] [ 2.43109163e-03 -3.91708225e-05 9.99997044e-01 -3.88501222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.25, Y:127.21, Z:-0.39 [[-2.30272905e-01 -9.73125972e-01 4.81037500e-04 2.44253353e+02] [ 9.73123516e-01 -2.30273405e-01 -2.18678838e-03 1.27214196e+02] [ 2.23879071e-03 -3.54492083e-05 9.99997493e-01 -3.88485159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:127.21, Z:-0.39 [[-2.30269004e-01 -9.73126870e-01 5.29633985e-04 2.44257184e+02] [ 9.73123903e-01 -2.30269610e-01 -2.40348820e-03 1.27213370e+02] [ 2.46085756e-03 -3.80493430e-05 9.99996971e-01 -3.88428599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.26, Y:127.22, Z:-0.39 [[-2.30168796e-01 -9.73150529e-01 6.10099805e-04 2.44262738e+02] [ 9.73146606e-01 -2.30169601e-01 -2.76382698e-03 1.27216430e+02] [ 2.83004612e-03 -4.24301752e-05 9.99995995e-01 -3.89301131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:127.22, Z:-0.39 [[-2.30098891e-01 -9.73167013e-01 6.82264593e-04 2.44265469e+02] [ 9.73162123e-01 -2.30099898e-01 -3.08529947e-03 1.27218197e+02] [ 3.15950068e-03 -4.59699266e-05 9.99995008e-01 -3.88896600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:127.22, Z:-0.39 [[-2.30303943e-01 -9.73118577e-01 5.73651360e-04 2.44268068e+02] [ 9.73115133e-01 -2.30304654e-01 -2.58927204e-03 1.27219394e+02] [ 2.65178330e-03 -3.80907421e-05 9.99996483e-01 -3.88769901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:127.21, Z:-0.39 [[-2.30391431e-01 -9.73097937e-01 4.40218777e-04 2.44272393e+02] [ 9.73095916e-01 -2.30391850e-01 -1.98316200e-03 1.27214018e+02] [ 2.03123367e-03 -2.85284374e-05 9.99997937e-01 -3.87793834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.27, Y:127.24, Z:-0.39 [[-2.29645886e-01 -9.73274226e-01 2.17848083e-04 2.44272403e+02] [ 9.73273734e-01 -2.29645989e-01 -9.79036953e-04 1.27239082e+02] [ 1.00289937e-03 -1.28059917e-05 9.99999497e-01 -3.87465512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.610281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:127.22, Z:-0.39 [[-2.29058112e-01 -9.73412706e-01 2.91161463e-04 2.44279441e+02] [ 9.73411829e-01 -2.29058297e-01 -1.30651693e-03 1.27219239e+02] [ 1.33847312e-03 -1.58482883e-05 9.99999104e-01 -3.87860507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.28, Y:127.22, Z:-0.39 [[-2.28245999e-01 -9.73603416e-01 3.90107408e-04 2.44282486e+02] [ 9.73601848e-01 -2.28246332e-01 -1.74774703e-03 1.27220344e+02] [ 1.79065307e-03 -1.91069744e-05 9.99998397e-01 -3.88687813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:127.23, Z:-0.39 [[-2.27260842e-01 -9.73833629e-01 7.57465854e-04 2.44287461e+02] [ 9.73827734e-01 -2.27262102e-01 -3.38848331e-03 1.27231892e+02] [ 3.47196228e-03 -3.24283137e-05 9.99993972e-01 -3.89214766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.70028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.29, Y:127.23, Z:-0.39 [[-2.27227258e-01 -9.73841440e-01 7.89432983e-04 2.44292172e+02] [ 9.73835060e-01 -2.27228627e-01 -3.52512752e-03 1.27225931e+02] [ 3.61229704e-03 -3.22275442e-05 9.99993475e-01 -3.89588647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.29, Y:127.26, Z:-0.39 [[-2.27540324e-01 -9.73768351e-01 7.74548102e-04 2.44291237e+02] [ 9.73762232e-01 -2.27541640e-01 -3.45230113e-03 1.27256934e+02] [ 3.53798352e-03 -3.13120302e-05 9.99993741e-01 -3.89687346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:127.23, Z:-0.39 [[-2.27811281e-01 -9.73704995e-01 7.77146950e-04 2.44299739e+02] [ 9.73698856e-01 -2.27812604e-01 -3.45753508e-03 1.27232919e+02] [ 3.54366305e-03 -3.09583989e-05 9.99993721e-01 -3.89963949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.30, Y:127.23, Z:-0.39 [[-2.27970171e-01 -9.73667796e-01 7.90643457e-04 2.44303200e+02] [ 9.73661465e-01 -2.27971540e-01 -3.51122291e-03 1.27232246e+02] [ 3.59900888e-03 -3.06350211e-05 9.99993523e-01 -3.90008983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.31, Y:127.24, Z:-0.39 [[-2.26707157e-01 -9.73962739e-01 6.68820017e-04 2.44309126e+02] [ 9.73958228e-01 -2.26708143e-01 -2.96462827e-03 1.27239246e+02] [ 3.03906442e-03 -2.06996902e-05 9.99995382e-01 -3.89853387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.31, Y:127.25, Z:-0.39 [[-2.25928979e-01 -9.74143612e-01 5.65204363e-04 2.44310495e+02] [ 9.74140403e-01 -2.25929686e-01 -2.50056940e-03 1.27250190e+02] [ 2.56361015e-03 -1.43626870e-05 9.99996714e-01 -3.89116517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.32, Y:127.23, Z:-0.39 [[-2.25036427e-01 -9.74350285e-01 3.59988596e-04 2.44318825e+02] [ 9.74348988e-01 -2.25036715e-01 -1.58934518e-03 1.27228919e+02] [ 1.62958958e-03 -6.90603702e-06 9.99998672e-01 -3.88700458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.33, Y:127.22, Z:-0.39 [[-2.22695545e-01 -9.74888041e-01 3.07192697e-05 2.44325712e+02] [ 9.74888032e-01 -2.22695547e-01 -1.34355936e-04 1.27218389e+02] [ 1.37823040e-04 2.73800766e-08 9.99999991e-01 -3.88072881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.33, Y:127.22, Z:-0.39 [[-2.22066576e-01 -9.75031503e-01 6.13287793e-05 2.44327862e+02] [ 9.75031466e-01 -2.22066584e-01 -2.68870051e-04 1.27219262e+02] [ 2.75775842e-04 9.04380995e-08 9.99999962e-01 -3.88284403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 368.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.33, Y:127.23, Z:-0.39 [[-2.21718850e-01 -9.75110609e-01 2.26049755e-04 2.44328310e+02] [ 9.75110105e-01 -2.21718965e-01 -9.92224228e-04 1.27230707e+02] [ 1.01764789e-03 4.28585001e-07 9.99999482e-01 -3.88929137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.34, Y:127.22, Z:-0.39 [[-2.20980467e-01 -9.75278006e-01 6.66896878e-04 2.44338503e+02] [ 9.75273622e-01 -2.20981474e-01 -2.92420843e-03 1.27215911e+02] [ 2.99928802e-03 4.21398747e-06 9.99995502e-01 -3.89524806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.03028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.34, Y:127.20, Z:-0.39 [[-2.20705419e-01 -9.75340150e-01 8.42755510e-04 2.44344120e+02] [ 9.75333173e-01 -2.20707028e-01 -3.68905456e-03 1.27202243e+02] [ 3.78408509e-03 7.77307458e-06 9.99992840e-01 -3.89899383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.35, Y:127.19, Z:-0.39 [[-2.18179195e-01 -9.75908485e-01 6.84386342e-04 2.44350402e+02] [ 9.75903903e-01 -2.18180268e-01 -2.99035567e-03 1.27186481e+02] [ 3.06763307e-03 1.54619086e-05 9.99995295e-01 -3.89823588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.35, Y:127.19, Z:-0.39 [[-2.16125336e-01 -9.76365538e-01 4.19197689e-04 2.44351148e+02] [ 9.76363827e-01 -2.16125742e-01 -1.82802373e-03 1.27186541e+02] [ 1.87541878e-03 1.42072174e-05 9.99998241e-01 -3.89145900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:127.16, Z:-0.39 [[-2.13216924e-01 -9.77004859e-01 2.20647831e-04 2.44356936e+02] [ 9.77004387e-01 -2.13217038e-01 -9.60021556e-04 1.27162441e+02] [ 9.84991602e-04 1.08810559e-05 9.99999515e-01 -3.88268361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.35, Y:127.17, Z:-0.39 [[-2.10330892e-01 -9.77630250e-01 9.71366436e-05 2.44354949e+02] [ 9.77630160e-01 -2.10330915e-01 -4.21309456e-04 1.27167962e+02] [ 4.32315708e-04 6.34931852e-06 9.99999907e-01 -3.87134168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.36, Y:127.13, Z:-0.39 [[-2.04455920e-01 -9.78875768e-01 -9.28778467e-05 2.44361386e+02] [ 9.78875684e-01 -2.04455941e-01 4.04235385e-04 1.27128242e+02] [-4.14685650e-04 -8.26754831e-06 9.99999914e-01 -3.87990648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.21028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.36, Y:127.14, Z:-0.39 [[-2.02849406e-01 -9.79209942e-01 -9.10815914e-05 2.44357918e+02] [ 9.79209862e-01 -2.02849426e-01 3.95762336e-04 1.27138729e+02] [-4.06010262e-04 -8.90783794e-06 9.99999918e-01 -3.88371771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:127.13, Z:-0.39 [[-2.01502163e-01 -9.79488069e-01 1.43472995e-05 2.44359340e+02] [ 9.79488068e-01 -2.01502163e-01 -6.10230672e-05 1.27127789e+02] [ 6.26623783e-05 1.75672868e-06 9.99999998e-01 -3.88147725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:127.12, Z:-0.39 [[-2.02321555e-01 -9.79319145e-01 1.91915621e-05 2.44359764e+02] [ 9.79319142e-01 -2.02321556e-01 -8.18490641e-05 1.27119918e+02] [ 8.40392222e-05 2.23483421e-06 9.99999996e-01 -3.88149469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.35, Y:127.14, Z:-0.39 [[-2.03267483e-01 -9.79123245e-01 3.29363877e-05 2.44353202e+02] [ 9.79123235e-01 -2.03267486e-01 -1.40970141e-04 1.27140994e+02] [ 1.44722038e-04 3.59413679e-06 9.99999990e-01 -3.88273015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.33028169299996 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.36, Y:127.12, Z:-0.39 [[-2.04161443e-01 -9.78937203e-01 2.40789233e-04 2.44356290e+02] [ 9.78936656e-01 -2.04161584e-01 -1.03545639e-03 1.27118607e+02] [ 1.06280670e-03 2.43171342e-05 9.99999435e-01 -3.88019045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.35, Y:127.13, Z:-0.39 [[-2.04984118e-01 -9.78765220e-01 3.94333425e-04 2.44353780e+02] [ 9.78763756e-01 -2.04984493e-01 -1.69356969e-03 1.27126661e+02] [ 1.73843935e-03 3.88043763e-05 9.99998488e-01 -3.87983713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.35, Y:127.13, Z:-0.39 [[-2.05536692e-01 -9.78649348e-01 3.48968738e-04 2.44351393e+02] [ 9.78648205e-01 -2.05536986e-01 -1.49609205e-03 1.27131729e+02] [ 1.53587549e-03 3.40158187e-05 9.99998820e-01 -3.87885376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.42028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.35, Y:127.12, Z:-0.39 [[-2.04515072e-01 -9.78863415e-01 -2.14762942e-05 2.44351147e+02] [ 9.78863410e-01 -2.04515074e-01 9.30266118e-05 1.27116755e+02] [-9.54525727e-05 -1.99701429e-06 9.99999995e-01 -3.86102361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.35, Y:127.11, Z:-0.39 [[-2.03879772e-01 -9.78995917e-01 -1.84399557e-04 2.44350457e+02] [ 9.78995598e-01 -2.03879854e-01 7.89503315e-04 1.27114117e+02] [-8.10515876e-04 -1.95625996e-05 9.99999671e-01 -3.86104477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.35, Y:127.10, Z:-0.39 [[-2.03741733e-01 -9.79024643e-01 -2.34978524e-04 2.44352966e+02] [ 9.79024128e-01 -2.03741867e-01 1.00410034e-03 1.27099564e+02] [-1.03091394e-03 -2.54725019e-05 9.99999468e-01 -3.85872649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.51028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.35, Y:127.10, Z:-0.39 [[-2.05259561e-01 -9.78707570e-01 -6.94398217e-05 2.44350507e+02] [ 9.78707525e-01 -2.05259573e-01 2.96960848e-04 1.27101241e+02] [-3.04891018e-04 -7.00722273e-06 9.99999954e-01 -3.86886705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.54028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.35, Y:127.10, Z:-0.39 [[-2.06674997e-01 -9.78409650e-01 4.53325251e-05 2.44350028e+02] [ 9.78409631e-01 -2.06675002e-01 -1.91846088e-04 1.27103065e+02] [ 1.97073163e-04 4.70398951e-06 9.99999981e-01 -3.87548704e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.57028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.35, Y:127.11, Z:-0.39 [[-2.09898178e-01 -9.77723244e-01 -1.10229665e-04 2.44348991e+02] [ 9.77723132e-01 -2.09898207e-01 4.69246159e-04 1.27108660e+02] [-4.81929886e-04 -9.28017980e-06 9.99999884e-01 -3.86002138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.60028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.34, Y:127.12, Z:-0.39 [[-2.11482788e-01 -9.77381690e-01 -2.48936729e-04 2.44344273e+02] [ 9.77381119e-01 -2.11482933e-01 1.05666332e-03 1.27122318e+02] [-1.08540925e-03 -1.98399539e-05 9.99999411e-01 -3.85309623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.35, Y:127.10, Z:-0.39 [[-2.12182239e-01 -9.77230090e-01 -2.19407485e-04 2.44346346e+02] [ 9.77229648e-01 -2.12182351e-01 9.29890244e-04 1.27104463e+02] [-9.55271123e-04 -1.71053061e-05 9.99999544e-01 -3.85012726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.34, Y:127.11, Z:-0.39 [[-2.11627336e-01 -9.77350433e-01 -4.99288333e-05 2.44341188e+02] [ 9.77350410e-01 -2.11627342e-01 2.12055560e-04 1.27113471e+02] [-2.17818899e-04 -3.92121258e-06 9.99999976e-01 -3.85443197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.34, Y:127.11, Z:-0.39 [[-2.11185613e-01 -9.77445974e-01 6.34756508e-05 2.44339768e+02] [ 9.77445938e-01 -2.11185622e-01 -2.66785921e-04 1.27113414e+02] [ 2.74173969e-04 5.70266877e-06 9.99999962e-01 -3.85703424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.34, Y:127.09, Z:-0.39 [[-2.10855469e-01 -9.77517239e-01 1.39469618e-04 2.44341264e+02] [ 9.77517063e-01 -2.10855515e-01 -5.86460088e-04 1.27094686e+02] [ 6.02682784e-04 1.26756142e-05 9.99999818e-01 -3.85074302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.750281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.34, Y:127.10, Z:-0.39 [[-2.10948778e-01 -9.77497107e-01 1.35162325e-04 2.44335108e+02] [ 9.77496943e-01 -2.10948821e-01 -5.67376096e-04 1.27104415e+02] [ 5.83120826e-04 1.24334656e-05 9.99999830e-01 -3.85414069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.33, Y:127.10, Z:-0.39 [[-2.11908819e-01 -9.77289437e-01 8.96918812e-05 2.44331342e+02] [ 9.77289365e-01 -2.11908838e-01 -3.75529372e-04 1.27095471e+02] [ 3.86007391e-04 8.07693596e-06 9.99999925e-01 -3.85533665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.33, Y:127.10, Z:-0.39 [[-2.13100786e-01 -9.77030211e-01 1.45125013e-04 2.44327933e+02] [ 9.77030023e-01 -2.13100835e-01 -6.07249366e-04 1.27100563e+02] [ 6.24227238e-04 1.23861776e-05 9.99999805e-01 -3.86091907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.84028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.32, Y:127.12, Z:-0.39 [[-2.16164256e-01 -9.76356921e-01 4.21563500e-04 2.44318488e+02] [ 9.76355330e-01 -2.16164665e-01 -1.76295442e-03 1.27118008e+02] [ 1.81239989e-03 3.05080391e-05 9.99998357e-01 -3.86069569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.870281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.32, Y:127.10, Z:-0.39 [[-2.18248800e-01 -9.75893027e-01 5.10322511e-04 2.44319091e+02] [ 9.75890702e-01 -2.18249394e-01 -2.13077534e-03 1.27104131e+02] [ 2.19078637e-03 3.29798333e-05 9.99997600e-01 -3.86260641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.90028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.32, Y:127.10, Z:-0.39 [[-2.20421474e-01 -9.75404566e-01 5.53206470e-04 2.44317572e+02] [ 9.75401841e-01 -2.20422166e-01 -2.30607039e-03 1.27101419e+02] [ 2.37129056e-03 3.12911739e-05 9.99997188e-01 -3.86208241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.930281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.31, Y:127.13, Z:-0.39 [[-2.24174416e-01 -9.74548912e-01 4.99008730e-04 2.44308343e+02] [ 9.74546700e-01 -2.24174971e-01 -2.07652950e-03 1.27126535e+02] [ 2.13554483e-03 2.08025230e-05 9.99997720e-01 -3.86534967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.96028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.31, Y:127.12, Z:-0.39 [[-2.25903626e-01 -9.74149537e-01 4.80463098e-04 2.44309804e+02] [ 9.74147493e-01 -2.25904137e-01 -1.99592326e-03 1.27115685e+02] [ 2.05286632e-03 1.71556196e-05 9.99997893e-01 -3.86449474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 369.990281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:244.31, Y:127.12, Z:-0.39 [[-2.27563455e-01 -9.73763159e-01 4.30193244e-04 2.44307605e+02] [ 9.73761524e-01 -2.27563861e-01 -1.78396036e-03 1.27121832e+02] [ 1.83505131e-03 1.29414458e-05 9.99998316e-01 -3.86603614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.02028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.31, Y:127.13, Z:-0.39 [[-2.29983573e-01 -9.73194431e-01 3.95397278e-04 2.44305096e+02] [ 9.73193054e-01 -2.29983912e-01 -1.63678155e-03 1.27131042e+02] [ 1.68384170e-03 8.36501677e-06 9.99998582e-01 -3.86441558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.050281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.31, Y:127.12, Z:-0.39 [[-2.31002424e-01 -9.72953099e-01 3.83765162e-04 2.44306684e+02] [ 9.72951807e-01 -2.31002743e-01 -1.58589002e-03 1.27123145e+02] [ 1.63164742e-03 7.04056828e-06 9.99998669e-01 -3.86001926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.08028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.31, Y:127.11, Z:-0.39 [[-2.31605273e-01 -9.72809803e-01 2.91345657e-04 2.44308244e+02] [ 9.72809061e-01 -2.31605456e-01 -1.20168245e-03 1.27114321e+02] [ 1.23648571e-03 5.10770396e-06 9.99999236e-01 -3.86795174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.30, Y:127.12, Z:-0.39 [[-2.31620565e-01 -9.72806135e-01 3.71730209e-04 2.44304154e+02] [ 9.72804930e-01 -2.31620863e-01 -1.53092438e-03 1.27123834e+02] [ 1.57539310e-03 7.02741121e-06 9.99998759e-01 -3.86615767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.31, Y:127.12, Z:-0.39 [[-2.31522530e-01 -9.72829483e-01 3.39895839e-04 2.44305488e+02] [ 9.72828479e-01 -2.31522779e-01 -1.39734884e-03 1.27116578e+02] [ 1.43807578e-03 7.14261405e-06 9.99998966e-01 -3.87150438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.17028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.31, Y:127.11, Z:-0.39 [[-2.31243718e-01 -9.72895853e-01 5.10401866e-05 2.44307287e+02] [ 9.72895830e-01 -2.31243723e-01 -2.08587338e-04 1.27107496e+02] [ 2.14736479e-04 1.42227331e-06 9.99999977e-01 -3.87021818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.31, Y:127.11, Z:-0.39 [[-2.31506079e-01 -9.72833453e-01 -9.52683963e-05 2.44307545e+02] [ 9.72833374e-01 -2.31506098e-01 3.91679988e-04 1.27106642e+02] [-4.03094609e-04 -2.00397727e-06 9.99999919e-01 -3.86808702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.23028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.31, Y:127.10, Z:-0.39 [[-2.31960809e-01 -9.72725132e-01 -1.02052729e-05 2.44310332e+02] [ 9.72725131e-01 -2.31960809e-01 4.28162149e-05 1.27097551e+02] [-4.40156316e-05 4.75844344e-09 9.99999999e-01 -3.85933508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.31, Y:127.10, Z:-0.39 [[-2.32335614e-01 -9.72635678e-01 -1.02223625e-05 2.44310996e+02] [ 9.72635677e-01 -2.32335614e-01 4.28120856e-05 1.27095143e+02] [-4.40155807e-05 4.13774102e-09 9.99999999e-01 -3.85931899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.29028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.31, Y:127.10, Z:-0.39 [[-2.33331119e-01 -9.72397235e-01 4.55121894e-04 2.44311173e+02] [ 9.72395464e-01 -2.33331563e-01 -1.85578296e-03 1.27100095e+02] [ 1.91075252e-03 9.54655133e-06 9.99998174e-01 -3.86661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.31, Y:127.10, Z:-0.39 [[-2.34064620e-01 -9.72220880e-01 5.60230849e-04 2.44311514e+02] [ 9.72218205e-01 -2.34065291e-01 -2.28077957e-03 1.27100920e+02] [ 2.34855212e-03 1.08168257e-05 9.99997242e-01 -3.87736956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.35028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.31, Y:127.10, Z:-0.39 [[-2.34255976e-01 -9.72174789e-01 5.63605302e-04 2.44313681e+02] [ 9.72172090e-01 -2.34256653e-01 -2.29068634e-03 1.27095010e+02] [ 2.35897580e-03 1.13143801e-05 9.99997218e-01 -3.87537305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.32, Y:127.09, Z:-0.39 [[-2.33400076e-01 -9.72380675e-01 4.76466606e-04 2.44316821e+02] [ 9.72378754e-01 -2.33400562e-01 -1.93313976e-03 1.27091079e+02] [ 1.99095532e-03 1.21110367e-05 9.99998018e-01 -3.87813036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.32, Y:127.09, Z:-0.39 [[-2.33072556e-01 -9.72459178e-01 5.75926886e-04 2.44318447e+02] [ 9.72456379e-01 -2.33073267e-01 -2.33300354e-03 1.27090234e+02] [ 2.40298387e-03 1.63046760e-05 9.99997113e-01 -3.87963642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.440281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.32, Y:127.08, Z:-0.39 [[-2.32454924e-01 -9.72606917e-01 7.02708666e-04 2.44321534e+02] [ 9.72602764e-01 -2.32455985e-01 -2.84208774e-03 1.27082900e+02] [ 2.92758303e-03 2.27991006e-05 9.99995714e-01 -3.87946663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.47028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.32, Y:127.08, Z:-0.39 [[-2.30149621e-01 -9.73155139e-01 4.77808590e-04 2.44322932e+02] [ 9.73153227e-01 -2.30150116e-01 -1.92896092e-03 1.27083215e+02] [ 1.98714593e-03 2.10313462e-05 9.99998025e-01 -3.87090945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.500281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.33, Y:127.06, Z:-0.39 [[-2.28791475e-01 -9.73475405e-01 3.10475430e-04 2.44327881e+02] [ 9.73474602e-01 -2.28791685e-01 -1.25100814e-03 1.27063948e+02] [ 1.28885985e-03 1.60199482e-05 9.99999169e-01 -3.86771211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.53028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.33, Y:127.05, Z:-0.39 [[-2.27470112e-01 -9.73785011e-01 3.17962310e-04 2.44331264e+02] [ 9.73784171e-01 -2.27470334e-01 -1.27912986e-03 1.27051320e+02] [ 1.31792448e-03 1.86628506e-05 9.99999131e-01 -3.86081594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.560281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.33, Y:127.06, Z:-0.39 [[-2.24501834e-01 -9.74473472e-01 6.15605653e-04 2.44329502e+02] [ 9.74470334e-01 -2.24502673e-01 -2.47344027e-03 1.27061959e+02] [ 2.54850705e-03 4.45975697e-05 9.99996752e-01 -3.86965934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.59028169299995 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.33, Y:127.06, Z:-0.39 [[-2.23902021e-01 -9.74611375e-01 7.42908357e-04 2.44331880e+02] [ 9.74606820e-01 -2.23903246e-01 -2.98028079e-03 1.27055543e+02] [ 3.07095516e-03 5.67526579e-05 9.99995283e-01 -3.87059564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.34, Y:127.03, Z:-0.39 [[-2.22985154e-01 -9.74821709e-01 5.05758736e-04 2.44340140e+02] [ 9.74819606e-01 -2.22985724e-01 -2.02535261e-03 1.27029118e+02] [ 2.08713467e-03 4.13999669e-05 9.99997821e-01 -3.87816062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.65028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.34, Y:127.05, Z:-0.39 [[-2.23177924e-01 -9.74777650e-01 3.83612221e-04 2.44335923e+02] [ 9.74776444e-01 -2.23178251e-01 -1.53350384e-03 1.27050225e+02] [ 1.58043917e-03 3.16919542e-05 9.99998751e-01 -3.87415162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.34, Y:127.04, Z:-0.39 [[-2.23707485e-01 -9.74656303e-01 2.28471274e-04 2.44339743e+02] [ 9.74655877e-01 -2.23707601e-01 -9.11442133e-04 1.27042845e+02] [ 9.39453580e-04 1.87844428e-05 9.99999559e-01 -3.87521635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.71028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.34, Y:127.04, Z:-0.39 [[-2.25189712e-01 -9.74314823e-01 4.68356957e-04 2.44344841e+02] [ 9.74313036e-01 -2.25190196e-01 -1.86647426e-03 1.27037406e+02] [ 1.92400293e-03 3.60154886e-05 9.99998148e-01 -3.87235443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.740281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.35, Y:127.04, Z:-0.39 [[-2.26357696e-01 -9.74044123e-01 4.90084828e-04 2.44345394e+02] [ 9.74042172e-01 -2.26358224e-01 -1.94997824e-03 1.27041473e+02] [ 2.01029958e-03 3.59707083e-05 9.99997979e-01 -3.87581365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.77028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.35, Y:127.02, Z:-0.39 [[-2.27380320e-01 -9.73805980e-01 3.23331254e-04 2.44352868e+02] [ 9.73805133e-01 -2.27380548e-01 -1.28410652e-03 1.27020459e+02] [ 1.32398985e-03 2.28810840e-05 9.99999123e-01 -3.87526462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.800281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.36, Y:127.02, Z:-0.39 [[-2.28083332e-01 -9.73641523e-01 -4.23280021e-04 2.44359300e+02] [ 9.73640072e-01 -2.28083723e-01 1.68066910e-03 1.27017343e+02] [-1.73291250e-03 -2.87897818e-05 9.99998498e-01 -3.86712260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.83028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:127.01, Z:-0.39 [[-2.27924835e-01 -9.73678455e-01 -7.31852270e-04 2.44362898e+02] [ 9.73674136e-01 -2.27926004e-01 2.90059660e-03 1.27011952e+02] [-2.99105658e-03 -5.14676252e-05 9.99995525e-01 -3.85823241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.860281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.37, Y:127.01, Z:-0.39 [[-2.25757418e-01 -9.74183411e-01 -5.18629101e-04 2.44365682e+02] [ 9.74181250e-01 -2.25758010e-01 2.05257761e-03 1.27005624e+02] [-2.11667173e-03 -4.18541241e-05 9.99997759e-01 -3.85923394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:126.99, Z:-0.39 [[-2.24111575e-01 -9.74563480e-01 -1.61465022e-04 2.44370388e+02] [ 9.74563270e-01 -2.24111633e-01 6.38698482e-04 1.26987321e+02] [-6.58638405e-04 -1.42181564e-05 9.99999783e-01 -3.86529022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.37, Y:126.99, Z:-0.39 [[-2.22486337e-01 -9.74935790e-01 1.87668818e-04 2.44369262e+02] [ 9.74935510e-01 -2.22486415e-01 -7.39127674e-04 1.26993882e+02] [ 7.62355785e-04 1.85191864e-05 9.99999709e-01 -3.86990788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.95028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.37, Y:126.99, Z:-0.39 [[-2.20620531e-01 -9.75359598e-01 4.85847261e-04 2.44372650e+02] [ 9.75357725e-01 -2.20621059e-01 -1.91205272e-03 1.26988197e+02] [ 1.97212711e-03 5.20367939e-05 9.99998054e-01 -3.88225926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 370.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.37, Y:127.00, Z:-0.39 [[-2.21465492e-01 -9.75168090e-01 4.80858737e-04 2.44372232e+02] [ 9.75166261e-01 -2.21466008e-01 -1.88947847e-03 1.26995558e+02] [ 1.94905298e-03 5.04629381e-05 9.99998099e-01 -3.88722054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.37, Y:127.00, Z:-0.39 [[-2.22855196e-01 -9.74851492e-01 3.61471651e-04 2.44372220e+02] [ 9.74850461e-01 -2.22855486e-01 -1.41790531e-03 1.27002265e+02] [ 1.46280305e-03 3.63932394e-05 9.99998929e-01 -3.88939492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.04028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.38, Y:126.98, Z:-0.39 [[-2.24479123e-01 -9.74478894e-01 9.40535966e-05 2.44381647e+02] [ 9.74478824e-01 -2.24479143e-01 -3.67654684e-04 1.26979003e+02] [ 3.79384801e-04 9.12243708e-06 9.99999928e-01 -3.87771335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.38, Y:126.98, Z:-0.39 [[-2.24682934e-01 -9.74431926e-01 3.85068499e-05 2.44382087e+02] [ 9.74431914e-01 -2.24682937e-01 -1.49733584e-04 1.26978163e+02] [ 1.54557017e-04 3.87972252e-06 9.99999988e-01 -3.86878554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.38, Y:126.98, Z:-0.39 [[-2.22668853e-01 -9.74894106e-01 -2.52262231e-04 2.44379207e+02] [ 9.74893607e-01 -2.22668994e-01 9.86581165e-04 1.26983774e+02] [-1.01798314e-03 -2.62479404e-05 9.99999482e-01 -3.86370740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.38, Y:126.97, Z:-0.39 [[-2.21447974e-01 -9.75172144e-01 -2.91631937e-04 2.44381098e+02] [ 9.75171479e-01 -2.21448164e-01 1.13865458e-03 1.26971725e+02] [-1.17496558e-03 -3.22383980e-05 9.99999309e-01 -3.86144109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.16028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.38, Y:126.98, Z:-0.39 [[-2.20088560e-01 -9.75479874e-01 -2.01612976e-04 2.44378510e+02] [ 9.75479558e-01 -2.20088651e-01 7.86269345e-04 1.26976949e+02] [-8.11362649e-04 -2.36204488e-05 9.99999671e-01 -3.86055987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.38, Y:126.96, Z:-0.39 [[-2.16454122e-01 -9.76292777e-01 1.61681332e-04 2.44380158e+02] [ 9.76292576e-01 -2.16454181e-01 -6.27874223e-04 1.26957068e+02] [ 6.47985669e-04 2.19423202e-05 9.99999790e-01 -3.86619358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.38, Y:126.95, Z:-0.39 [[-2.15126451e-01 -9.76586122e-01 3.95916204e-04 2.44381017e+02] [ 9.76584915e-01 -2.15126808e-01 -1.53655655e-03 1.26946782e+02] [ 1.58575199e-03 5.60918355e-05 9.99998741e-01 -3.86820828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.38, Y:126.94, Z:-0.39 [[-2.14341615e-01 -9.76758533e-01 6.63294912e-04 2.44380084e+02] [ 9.76755154e-01 -2.14342620e-01 -2.57102124e-03 1.26943124e+02] [ 2.65343931e-03 9.67998783e-05 9.99996475e-01 -3.87338963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.38, Y:126.94, Z:-0.39 [[-2.14118146e-01 -9.76807455e-01 7.85049241e-04 2.44379116e+02] [ 9.76802735e-01 -2.14119554e-01 -3.03856194e-03 1.26940085e+02] [ 3.13618435e-03 1.16226996e-04 9.99995075e-01 -3.87354964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.37, Y:126.95, Z:-0.39 [[-2.14500603e-01 -9.76723757e-01 4.40729887e-04 2.44371796e+02] [ 9.76722274e-01 -2.14501046e-01 -1.70288052e-03 1.26950321e+02] [ 1.75778088e-03 6.52018001e-05 9.99998453e-01 -3.87367556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.37, Y:126.94, Z:-0.39 [[-2.15661171e-01 -9.76468246e-01 1.54152806e-04 2.44371572e+02] [ 9.76468066e-01 -2.15661225e-01 -5.94104653e-04 1.26941680e+02] [ 6.13369111e-04 2.23999876e-05 9.99999812e-01 -3.86935169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.370281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.37, Y:126.94, Z:-0.39 [[-2.17087145e-01 -9.76152222e-01 -1.08725129e-04 2.44371325e+02] [ 9.76152131e-01 -2.17087172e-01 4.19984710e-04 1.26935789e+02] [-4.33571838e-04 -1.49589843e-05 9.99999906e-01 -3.86861718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.40028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.21356370e-01 -9.75192928e-01 -3.34122041e-04 2.44363931e+02] [ 9.75192079e-01 -2.21356618e-01 1.28678312e-03 1.26954234e+02] [-1.32882193e-03 -4.09955271e-05 9.99999116e-01 -3.87436419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.23738725e-01 -9.74649122e-01 -2.68618154e-04 2.44363233e+02] [ 9.74648575e-01 -2.23738884e-01 1.03312968e-03 1.26954307e+02] [-1.06703926e-03 -3.06571849e-05 9.99999430e-01 -3.87814102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.96, Z:-0.39 [[-2.28023717e-01 -9.73655558e-01 -1.96011351e-04 2.44361546e+02] [ 9.73655267e-01 -2.28023801e-01 7.52985282e-04 1.26961960e+02] [-7.77843559e-04 -1.91489812e-05 9.99999697e-01 -3.88568779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.30236633e-01 -9.73134661e-01 -1.55125227e-04 2.44363829e+02] [ 9.73134479e-01 -2.30236684e-01 5.95208144e-04 1.26954086e+02] [-6.14933194e-04 -1.39189881e-05 9.99999811e-01 -3.88443767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.52028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.32181128e-01 -9.72672568e-01 -8.38846872e-06 2.44364796e+02] [ 9.72672567e-01 -2.32181128e-01 3.30281017e-05 1.26952849e+02] [-3.40731726e-05 -4.90731484e-07 9.99999999e-01 -3.88233827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.550281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.36, Y:126.97, Z:-0.39 [[-2.34128166e-01 -9.72205736e-01 9.23758875e-05 2.44359842e+02] [ 9.72205672e-01 -2.34128184e-01 -3.51850112e-04 1.26972908e+02] [ 3.63698496e-04 7.43034039e-06 9.99999934e-01 -3.87953875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.36, Y:126.96, Z:-0.39 [[-2.36812144e-01 -9.71555457e-01 -4.96245341e-05 2.44363551e+02] [ 9.71555438e-01 -2.36812149e-01 1.90185014e-04 1.26963307e+02] [-1.96526980e-04 -3.17486518e-06 9.99999981e-01 -3.88749638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.610281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.36, Y:126.96, Z:-0.39 [[-2.37862768e-01 -9.71298771e-01 -4.06115287e-05 2.44364975e+02] [ 9.71298758e-01 -2.37862771e-01 1.55574849e-04 1.26962206e+02] [-1.60769630e-04 -2.44046330e-06 9.99999987e-01 -3.88501544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.37, Y:126.97, Z:-0.39 [[-2.38398221e-01 -9.71167486e-01 -3.97174399e-05 2.44365210e+02] [ 9.71167474e-01 -2.38398225e-01 1.51939830e-04 1.26967988e+02] [-1.57027590e-04 -2.35010060e-06 9.99999988e-01 -3.87838967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.67028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.37, Y:126.95, Z:-0.39 [[-2.38362819e-01 -9.71176173e-01 -8.78422253e-05 2.44370027e+02] [ 9.71176115e-01 -2.38362835e-01 3.34374661e-04 1.26948734e+02] [-3.45675025e-04 -5.60778448e-06 9.99999940e-01 -3.87721413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.70028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.37, Y:126.95, Z:-0.39 [[-2.38257090e-01 -9.71202097e-01 -2.14565965e-04 2.44369066e+02] [ 9.71201756e-01 -2.38257186e-01 8.14144731e-04 1.26949312e+02] [-8.41820953e-04 -1.44110872e-05 9.99999646e-01 -3.87832833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.37, Y:126.95, Z:-0.39 [[-2.37746232e-01 -9.71327258e-01 -2.94372846e-04 2.44367287e+02] [ 9.71326619e-01 -2.37746413e-01 1.11491574e-03 1.26951290e+02] [-1.15293413e-03 -2.08651657e-05 9.99999335e-01 -3.88350946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.37, Y:126.95, Z:-0.39 [[-2.37234853e-01 -9.71452310e-01 -1.87004810e-04 2.44367894e+02] [ 9.71452052e-01 -2.37234926e-01 7.07533138e-04 1.26946539e+02] [-7.31698773e-04 -1.38146865e-05 9.99999732e-01 -3.87903486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.37, Y:126.94, Z:-0.39 [[-2.35017337e-01 -9.71991161e-01 1.83984172e-04 2.44365998e+02] [ 9.71990914e-01 -2.35017408e-01 -6.93185500e-04 1.26941601e+02] [ 7.17009662e-04 1.59203339e-05 9.99999743e-01 -3.87807710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.82028169299997 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.34211905e-01 -9.72185541e-01 2.40366556e-04 2.44362680e+02] [ 9.72185120e-01 -2.34212027e-01 -9.04523309e-04 1.26945913e+02] [ 9.35661221e-04 2.18306624e-05 9.99999562e-01 -3.88071572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.85028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.34267462e-01 -9.72172164e-01 1.99993700e-04 2.44362506e+02] [ 9.72171874e-01 -2.34267546e-01 -7.51295380e-04 1.26937983e+02] [ 7.77240489e-04 1.84241889e-05 9.99999698e-01 -3.89039216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.36, Y:126.95, Z:-0.39 [[-2.36125242e-01 -9.71722628e-01 6.14160206e-05 2.44359393e+02] [ 9.71722601e-01 -2.36125250e-01 -2.29712879e-04 1.26946809e+02] [ 2.37719076e-04 5.43832609e-06 9.99999972e-01 -3.89268831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.92, Z:-0.39 [[-2.38243592e-01 -9.71205432e-01 1.85230009e-06 2.44364687e+02] [ 9.71205432e-01 -2.38243592e-01 -6.01130956e-06 1.26923311e+02] [ 6.27951519e-06 3.66807932e-07 1.00000000e+00 -3.89436445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.36, Y:126.93, Z:-0.39 [[-2.40457080e-01 -9.70659771e-01 -3.65299908e-05 2.44361312e+02] [ 9.70659761e-01 -2.40457082e-01 1.37707497e-04 1.26932933e+02] [-1.42451022e-04 -2.34544971e-06 9.99999990e-01 -3.89106694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 371.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.45047353e-01 -9.69511102e-01 1.29968725e-04 2.44359198e+02] [ 9.69510981e-01 -2.45047388e-01 -4.84962145e-04 1.26937233e+02] [ 5.02024680e-04 7.16741586e-06 9.99999874e-01 -3.89033517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.46860884e-01 -9.69050860e-01 3.66181081e-04 2.44357983e+02] [ 9.69049898e-01 -2.46861155e-01 -1.36597722e-03 1.26939633e+02] [ 1.41409729e-03 1.76413957e-05 9.99999000e-01 -3.89154058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.03028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.48729429e-01 -9.68572951e-01 3.30902338e-04 2.44355882e+02] [ 9.68572167e-01 -2.48729649e-01 -1.23240761e-03 1.26935806e+02] [ 1.27598190e-03 1.39667540e-05 9.99999186e-01 -3.89087549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.49165998e-01 -9.68460770e-01 2.05896356e-04 2.44353749e+02] [ 9.68460468e-01 -2.49166083e-01 -7.65314528e-04 1.26940052e+02] [ 7.92479486e-04 8.71212313e-06 9.99999686e-01 -3.88582933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.49441782e-01 -9.68389795e-01 5.09241220e-05 2.44353274e+02] [ 9.68389776e-01 -2.49441788e-01 -1.88286203e-04 1.26940573e+02] [ 1.95037042e-04 2.34795304e-06 9.99999981e-01 -3.88669410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.120281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.50310541e-01 -9.68165587e-01 1.70160467e-04 2.44353593e+02] [ 9.68165382e-01 -2.50310599e-01 -6.30389650e-04 1.26938075e+02] [ 6.52914534e-04 6.95029947e-06 9.99999787e-01 -3.88956010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.51907539e-01 -9.67751283e-01 2.14722678e-04 2.44352542e+02] [ 9.67750957e-01 -2.51907630e-01 -7.94508281e-04 1.26942235e+02] [ 8.22976689e-04 7.65545154e-06 9.99999661e-01 -3.89463579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.52280117e-01 -9.67654224e-01 2.15029166e-04 2.44353265e+02] [ 9.67653897e-01 -2.52280209e-01 -7.94425436e-04 1.26939843e+02] [ 8.22976731e-04 7.65606877e-06 9.99999661e-01 -3.89461970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.21028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.35, Y:126.94, Z:-0.39 [[-2.56650233e-01 -9.66504332e-01 -1.85682127e-04 2.44353699e+02] [ 9.66504088e-01 -2.56650300e-01 6.86711173e-04 1.26943831e+02] [-7.11364697e-04 -3.21795249e-06 9.99999747e-01 -3.89452949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.59231500e-01 -9.65815103e-01 -4.64645147e-04 2.44356407e+02] [ 9.65813582e-01 -2.59231917e-01 1.71436185e-03 1.26938516e+02] [-1.77620742e-03 -4.34399973e-06 9.99998423e-01 -3.89149281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.60926768e-01 -9.65358462e-01 -5.12123759e-04 2.44357227e+02] [ 9.65356618e-01 -2.60927270e-01 1.88655566e-03 1.26942473e+02] [-1.95482952e-03 -2.12919049e-06 9.99998089e-01 -3.88602273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.300281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.61863672e-01 -9.65104845e-01 -2.37273424e-04 2.44360563e+02] [ 9.65104449e-01 -2.61863780e-01 8.73235051e-04 1.26943970e+02] [-9.04896693e-04 -3.25100234e-07 9.99999591e-01 -3.88719161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.61566097e-01 -9.65185562e-01 -9.28633026e-05 2.44362402e+02] [ 9.65185501e-01 -2.61566113e-01 3.41816641e-04 1.26944476e+02] [-3.54206379e-04 -2.22668834e-07 9.99999937e-01 -3.88981317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.360281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.37, Y:126.93, Z:-0.39 [[-2.58692105e-01 -9.65959829e-01 -5.02313527e-05 2.44368855e+02] [ 9.65959812e-01 -2.58692110e-01 1.85043163e-04 1.26933414e+02] [-1.91738717e-04 -6.52262514e-07 9.99999982e-01 -3.88748506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.39028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.37, Y:126.92, Z:-0.39 [[-2.56846295e-01 -9.66452264e-01 4.22854389e-05 2.44372990e+02] [ 9.66452252e-01 -2.56846298e-01 -1.53809788e-04 1.26923056e+02] [ 1.59510676e-04 1.36138366e-06 9.99999987e-01 -3.88675992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.42028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.38, Y:126.92, Z:-0.39 [[-2.54893823e-01 -9.66969043e-01 9.62424321e-05 2.44375035e+02] [ 9.66968979e-01 -2.54893841e-01 -3.50739413e-04 1.26920346e+02] [ 3.63685758e-04 3.66213642e-06 9.99999934e-01 -3.88491036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.45028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.38, Y:126.91, Z:-0.39 [[-2.49771196e-01 -9.68304877e-01 1.24060037e-04 2.44379821e+02] [ 9.68304771e-01 -2.49771227e-01 -4.51711816e-04 1.26905769e+02] [ 4.68381382e-04 7.30332547e-06 9.99999890e-01 -3.88078533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.48028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.39, Y:126.88, Z:-0.39 [[-2.47087451e-01 -9.68993184e-01 6.49292215e-06 2.44386485e+02] [ 9.68993184e-01 -2.47087451e-01 -2.27445209e-05 1.26879134e+02] [ 2.36436054e-05 6.71711614e-07 1.00000000e+00 -3.88169352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.38, Y:126.88, Z:-0.39 [[-2.42640560e-01 -9.70116259e-01 5.30340657e-05 2.44383034e+02] [ 9.70116240e-01 -2.42640566e-01 -1.92027105e-04 1.26876219e+02] [ 1.99156832e-04 4.85564413e-06 9.99999980e-01 -3.89044429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.54028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.38, Y:126.88, Z:-0.39 [[-2.41923226e-01 -9.70295370e-01 2.20404542e-04 2.44380909e+02] [ 9.70295040e-01 -2.41923326e-01 -7.99718217e-04 1.26876311e+02] [ 8.29283883e-04 2.03870229e-05 9.99999656e-01 -3.89294887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.57028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.38, Y:126.87, Z:-0.39 [[-2.41977645e-01 -9.70281766e-01 3.36734648e-04 2.44379881e+02] [ 9.70280999e-01 -2.41977877e-01 -1.22049922e-03 1.26874517e+02] [ 1.26571047e-03 3.13937034e-05 9.99999199e-01 -3.89455295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.60028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.38, Y:126.87, Z:-0.39 [[-2.42552969e-01 -9.70137994e-01 5.74183166e-04 2.44378967e+02] [ 9.70135768e-01 -2.42553643e-01 -2.07872636e-03 1.26873398e+02] [ 2.15592164e-03 5.28343762e-05 9.99997675e-01 -3.89124732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.38, Y:126.86, Z:-0.39 [[-2.45510523e-01 -9.69393700e-01 6.62090210e-04 2.44378966e+02] [ 9.69390746e-01 -2.45511410e-01 -2.39362457e-03 1.26863845e+02] [ 2.48291528e-03 5.41641025e-05 9.99996916e-01 -3.89476959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.66028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.37, Y:126.89, Z:-0.39 [[-2.47788455e-01 -9.68814060e-01 4.46069842e-04 2.44372028e+02] [ 9.68812723e-01 -2.47788855e-01 -1.60999571e-03 1.26885500e+02] [ 1.67031762e-03 3.32197875e-05 9.99998604e-01 -3.89313326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.690281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.37, Y:126.87, Z:-0.39 [[-2.50756771e-01 -9.68050124e-01 -1.22909362e-05 2.44374132e+02] [ 9.68050122e-01 -2.50756771e-01 4.52269641e-05 1.26870877e+02] [-4.68640036e-05 -5.57274823e-07 9.99999999e-01 -3.88513698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.72028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.37, Y:126.87, Z:-0.39 [[-2.51635224e-01 -9.67822124e-01 -2.25653906e-04 2.44372694e+02] [ 9.67821782e-01 -2.51635325e-01 8.13420643e-04 1.26871204e+02] [-8.44028988e-04 -1.37074796e-05 9.99999644e-01 -3.88747133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.37, Y:126.87, Z:-0.39 [[-2.51809346e-01 -9.67776828e-01 -2.54053094e-04 2.44370994e+02] [ 9.67776396e-01 -2.51809473e-01 9.14339527e-04 1.26871757e+02] [-9.48849583e-04 -1.56273500e-05 9.99999550e-01 -3.88317871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.78028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.37, Y:126.88, Z:-0.39 [[-2.51792044e-01 -9.67781358e-01 -9.26755689e-05 2.44367017e+02] [ 9.67781301e-01 -2.51792061e-01 3.33627340e-04 1.26880923e+02] [-3.46213293e-04 -5.68497265e-06 9.99999940e-01 -3.87314893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.37, Y:126.87, Z:-0.39 [[-2.50697877e-01 -9.68065323e-01 3.23821046e-04 2.44369640e+02] [ 9.68064628e-01 -2.50698085e-01 -1.15995834e-03 1.26865267e+02] [ 1.20409676e-03 2.26806078e-05 9.99999275e-01 -3.87850833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.37, Y:126.87, Z:-0.39 [[-2.50618172e-01 -9.68085913e-01 4.44861913e-04 2.44367653e+02] [ 9.68084605e-01 -2.50618565e-01 -1.59154394e-03 1.26870822e+02] [ 1.65224192e-03 3.17941363e-05 9.99998635e-01 -3.88373371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.870281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.37, Y:126.86, Z:-0.39 [[-2.52386993e-01 -9.67626362e-01 1.73631310e-04 2.44367508e+02] [ 9.67626163e-01 -2.52387052e-01 -6.19724472e-04 1.26864638e+02] [ 6.43484031e-04 1.15998028e-05 9.99999793e-01 -3.88635349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.90028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.37, Y:126.86, Z:-0.39 [[-2.54022173e-01 -9.67198395e-01 -1.99352792e-05 2.44366978e+02] [ 9.67198392e-01 -2.54022174e-01 7.20533509e-05 1.26864859e+02] [-7.47538883e-05 -9.78221187e-07 9.99999997e-01 -3.88632877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.930281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.36, Y:126.88, Z:-0.39 [[-2.56883259e-01 -9.66442438e-01 7.94801582e-05 2.44362172e+02] [ 9.66442396e-01 -2.56883271e-01 -2.82352437e-04 1.26881608e+02] [ 2.93294500e-04 4.28138046e-06 9.99999957e-01 -3.88060481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.37, Y:126.86, Z:-0.39 [[-2.57638175e-01 -9.66241380e-01 4.08077687e-04 2.44368371e+02] [ 9.66240290e-01 -2.57638498e-01 -1.45130766e-03 1.26856769e+02] [ 1.50745004e-03 2.03888450e-05 9.99998864e-01 -3.87952830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 372.990281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.37, Y:126.86, Z:-0.39 [[-2.57687329e-01 -9.66228111e-01 6.91695751e-04 2.44365702e+02] [ 9.66224987e-01 -2.57688255e-01 -2.45702186e-03 1.26861895e+02] [ 2.55228546e-03 3.51903168e-05 9.99996742e-01 -3.88555593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.02028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.36, Y:126.86, Z:-0.39 [[-2.57438155e-01 -9.66294284e-01 9.76140532e-04 2.44364255e+02] [ 9.66288081e-01 -2.57440000e-01 -3.46271981e-03 1.26855743e+02] [ 3.59730398e-03 5.17967621e-05 9.99993528e-01 -3.89263893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.050281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.36, Y:126.87, Z:-0.39 [[-2.58049221e-01 -9.66131427e-01 8.15681007e-04 2.44359827e+02] [ 9.66127108e-01 -2.58050507e-01 -2.88911431e-03 1.26870326e+02] [ 3.00175103e-03 4.25178349e-05 9.99995494e-01 -3.89125983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.08028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.36, Y:126.87, Z:-0.39 [[-2.60416729e-01 -9.65496298e-01 1.61536794e-04 2.44358144e+02] [ 9.65496129e-01 -2.60416779e-01 -5.70580599e-04 1.26873378e+02] [ 5.92960347e-04 7.37441645e-06 9.99999824e-01 -3.87980077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.110281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.36, Y:126.87, Z:-0.39 [[-2.61963122e-01 -9.65077878e-01 -1.09417238e-04 2.44357840e+02] [ 9.65077800e-01 -2.61963145e-01 3.87437940e-04 1.26871649e+02] [-4.02571068e-04 -4.10169521e-06 9.99999919e-01 -3.87233563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.87, Z:-0.39 [[-2.63435313e-01 -9.64677059e-01 -8.98538399e-05 2.44358006e+02] [ 9.64677006e-01 -2.63435329e-01 3.17858065e-04 1.26869291e+02] [-3.30301059e-04 -2.94489430e-06 9.99999945e-01 -3.87292167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.17028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.35, Y:126.88, Z:-0.39 [[-2.65600574e-01 -9.64083112e-01 2.98010733e-04 2.44352685e+02] [ 9.64082541e-01 -2.65600741e-01 -1.04871969e-03 1.26882375e+02] [ 1.09020482e-03 8.76639312e-06 9.99999406e-01 -3.87766996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.35, Y:126.88, Z:-0.39 [[-2.66356173e-01 -9.63874610e-01 3.54784953e-04 2.44353286e+02] [ 9.63873803e-01 -2.66356409e-01 -1.24682051e-03 1.26875110e+02] [ 1.29627787e-03 9.86958355e-06 9.99999160e-01 -3.87823586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.23028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.36, Y:126.86, Z:-0.39 [[-2.67384892e-01 -9.63589773e-01 2.61332727e-04 2.44355440e+02] [ 9.63589337e-01 -2.67385019e-01 -9.16807782e-04 1.26859074e+02] [ 9.53303059e-04 6.67688020e-06 9.99999546e-01 -3.87593061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.26028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.35, Y:126.86, Z:-0.39 [[-2.68379029e-01 -9.63313359e-01 2.64074981e-04 2.44353711e+02] [ 9.63312914e-01 -2.68379159e-01 -9.25075193e-04 1.26862502e+02] [ 9.62009512e-04 6.11605682e-06 9.99999537e-01 -3.87925346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.29028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.35, Y:126.87, Z:-0.39 [[-2.69660642e-01 -9.62955342e-01 3.83321149e-04 2.44351820e+02] [ 9.62954408e-01 -2.69660915e-01 -1.34122134e-03 1.26867616e+02] [ 1.39490299e-03 7.44618177e-06 9.99999027e-01 -3.87997120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.35, Y:126.86, Z:-0.39 [[-2.72635400e-01 -9.62117344e-01 3.93129618e-04 2.44351537e+02] [ 9.62116364e-01 -2.72635684e-01 -1.37352429e-03 1.26863696e+02] [ 1.42867270e-03 3.76509426e-06 9.99998979e-01 -3.88485506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.35028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.35, Y:126.88, Z:-0.39 [[-2.74010520e-01 -9.61726655e-01 2.74094485e-04 2.44346096e+02] [ 9.61726180e-01 -2.74010657e-01 -9.55928262e-04 1.26880538e+02] [ 9.94446501e-04 1.66944178e-06 9.99999506e-01 -3.87928842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.35, Y:126.87, Z:-0.39 [[-2.75244150e-01 -9.61374357e-01 5.38750041e-05 2.44347926e+02] [ 9.61374339e-01 -2.75244155e-01 -1.86872453e-04 1.26873197e+02] [ 1.94483165e-04 3.58496859e-07 9.99999981e-01 -3.87057298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.41028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.36, Y:126.84, Z:-0.39 [[-2.76796458e-01 -9.60928383e-01 -6.03580937e-04 2.44356397e+02] [ 9.60926084e-01 -2.76797116e-01 2.10170667e-03 1.26844040e+02] [-2.18665906e-03 1.74829752e-06 9.99997609e-01 -3.86646207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.440281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.36, Y:126.84, Z:-0.39 [[-2.77613073e-01 -9.60692745e-01 -6.56632132e-04 2.44357537e+02] [ 9.60690032e-01 -2.77613850e-01 2.28301110e-03 1.26839631e+02] [-2.37556237e-03 2.97378349e-06 9.99997178e-01 -3.86507593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.36, Y:126.83, Z:-0.39 [[-2.79456476e-01 -9.60158322e-01 -2.72529815e-04 2.44360947e+02] [ 9.60157855e-01 -2.79456609e-01 9.46690909e-04 1.26828486e+02] [-9.85133413e-04 2.88726239e-06 9.99999515e-01 -3.87928096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.500281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.36, Y:126.84, Z:-0.39 [[-2.81123072e-01 -9.59671716e-01 1.29621140e-04 2.44358500e+02] [ 9.59671611e-01 -2.81123102e-01 -4.48299214e-04 1.26838533e+02] [ 4.66659573e-04 -1.63352344e-06 9.99999891e-01 -3.87931721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.36, Y:126.82, Z:-0.39 [[-2.83192583e-01 -9.59062990e-01 3.76252005e-04 2.44364271e+02] [ 9.59062108e-01 -2.83192833e-01 -1.30109161e-03 1.26821415e+02] [ 1.35438068e-03 -7.61045239e-06 9.99999083e-01 -3.88021355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.560281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.37, Y:126.80, Z:-0.39 [[-2.87108957e-01 -9.57897827e-01 4.47094785e-04 2.44371890e+02] [ 9.57896583e-01 -2.87109304e-01 -1.54403717e-03 1.26804263e+02] [ 1.60739492e-03 -1.50363321e-05 9.99998708e-01 -3.88140074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.37, Y:126.82, Z:-0.39 [[-2.89143825e-01 -9.57285589e-01 3.87456022e-04 2.44370519e+02] [ 9.57284656e-01 -2.89144084e-01 -1.33605101e-03 1.26815677e+02] [ 1.39101299e-03 -1.54051937e-05 9.99999032e-01 -3.87654278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.37, Y:126.81, Z:-0.39 [[-2.91157988e-01 -9.56674950e-01 2.55589669e-04 2.44374374e+02] [ 9.56674546e-01 -2.91158100e-01 -8.79782661e-04 1.26807401e+02] [ 9.16083036e-04 -1.16396192e-05 9.99999580e-01 -3.87705586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.65028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.38, Y:126.81, Z:-0.39 [[-2.93748874e-01 -9.55882601e-01 -2.29832983e-04 2.44375859e+02] [ 9.55882273e-01 -2.93748964e-01 7.91659049e-04 1.26809718e+02] [-8.24246311e-04 1.28556800e-05 9.99999660e-01 -3.86507321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.680281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.38, Y:126.79, Z:-0.39 [[-2.95060218e-01 -9.55478597e-01 -3.44409581e-04 2.44382771e+02] [ 9.55477863e-01 -2.95060418e-01 1.18419789e-03 1.26789754e+02] [-1.23309738e-03 2.03339581e-05 9.99999240e-01 -3.86705080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.39, Y:126.79, Z:-0.39 [[-2.96660412e-01 -9.54982981e-01 3.25202894e-04 2.44386997e+02] [ 9.54982331e-01 -2.96660589e-01 -1.11490378e-03 1.26790253e+02] [ 1.16118902e-03 -2.01847968e-05 9.99999326e-01 -3.88133886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:126.79, Z:-0.39 [[-2.96967735e-01 -9.54887180e-01 7.98929094e-04 2.44390636e+02] [ 9.54883260e-01 -2.96968805e-01 -2.73640458e-03 1.26786849e+02] [ 2.85021467e-03 -4.97398521e-05 9.99995937e-01 -3.88726459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.77028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.39, Y:126.79, Z:-0.39 [[-2.96969509e-01 -9.54886382e-01 1.05286784e-03 2.44392594e+02] [ 9.54879593e-01 -2.96971368e-01 -3.60137998e-03 1.26788543e+02] [ 3.75158030e-03 -6.41380279e-05 9.99992961e-01 -3.89070938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:126.81, Z:-0.39 [[-2.96163923e-01 -9.55136478e-01 1.11329377e-03 2.44389421e+02] [ 9.55128910e-01 -2.96166008e-01 -3.80272664e-03 1.26806481e+02] [ 3.96184270e-03 -6.28913751e-05 9.99992150e-01 -3.88949345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.83028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.39, Y:126.82, Z:-0.39 [[-2.93386768e-01 -9.55993473e-01 8.27318875e-04 2.44388570e+02] [ 9.55989309e-01 -2.93387932e-01 -2.82163317e-03 1.26818678e+02] [ 2.94018826e-03 -3.69218342e-05 9.99995677e-01 -3.88342823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.860281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.40, Y:126.80, Z:-0.39 [[-2.91915477e-01 -9.56443936e-01 5.93159968e-04 2.44395047e+02] [ 9.56441803e-01 -2.91916079e-01 -2.01988231e-03 1.26799680e+02] [ 2.10505712e-03 -2.23119177e-05 9.99997784e-01 -3.88364938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.39, Y:126.82, Z:-0.39 [[-2.90296252e-01 -9.56936754e-01 3.67213238e-04 2.44390516e+02] [ 9.56935940e-01 -2.90296484e-01 -1.24834827e-03 1.26817754e+02] [ 1.30119105e-03 -1.09912800e-05 9.99999153e-01 -3.87719719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.92028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.39, Y:126.83, Z:-0.39 [[-2.86473594e-01 -9.58088131e-01 1.12436425e-04 2.44389634e+02] [ 9.58088055e-01 -2.86473616e-01 -3.81061381e-04 1.26825697e+02] [ 3.97300456e-04 -1.44002785e-06 9.99999921e-01 -3.87343587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.95028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.39, Y:126.82, Z:-0.39 [[-2.85036053e-01 -9.58516795e-01 5.16618533e-05 2.44391014e+02] [ 9.58516779e-01 -2.85036057e-01 -1.74354420e-04 1.26822906e+02] [ 1.81847131e-04 -1.78542402e-07 9.99999983e-01 -3.87329201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 373.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.39, Y:126.81, Z:-0.39 [[-2.82698817e-01 -9.59208717e-01 1.24195855e-04 2.44393509e+02] [ 9.59208625e-01 -2.82698844e-01 -4.19792566e-04 1.26814261e+02] [ 4.37778714e-04 4.54873273e-07 9.99999904e-01 -3.88085848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.39, Y:126.83, Z:-0.39 [[-2.82407351e-01 -9.59294537e-01 2.80538482e-04 2.44388043e+02] [ 9.59294069e-01 -2.82407490e-01 -9.47979523e-04 1.26830558e+02] [ 9.88617746e-04 1.40251616e-06 9.99999511e-01 -3.89033723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.04028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.82580111e-01 -9.59243595e-01 4.54777039e-04 2.44355168e+02] [ 9.59242685e-01 -2.82580470e-01 -1.32258725e-03 1.26939890e+02] [ 1.39719446e-03 6.25046958e-05 9.99999022e-01 -3.89047743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.36, Y:126.94, Z:-0.39 [[-2.82997183e-01 -9.59120657e-01 3.98347807e-04 2.44355973e+02] [ 9.59119723e-01 -2.82997464e-01 -1.33913879e-03 1.26937526e+02] [ 1.39712710e-03 3.09073103e-06 9.99999024e-01 -3.89043273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.10028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.39, Y:126.82, Z:-0.39 [[-2.83754055e-01 -9.58897034e-01 3.38450153e-04 2.44392173e+02] [ 9.58896075e-01 -2.83754250e-01 -1.35792484e-03 1.26816563e+02] [ 1.39814677e-03 -6.07781567e-05 9.99999021e-01 -3.88082712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.40, Y:126.80, Z:-0.39 [[-2.85332125e-01 -9.58428646e-01 3.29172093e-04 2.44397801e+02] [ 9.58428005e-01 -2.85332315e-01 -1.10910086e-03 1.26799124e+02] [ 1.15691747e-03 -9.74353567e-07 9.99999331e-01 -3.87770508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.40, Y:126.81, Z:-0.39 [[-2.86856983e-01 -9.57973292e-01 4.92799608e-04 2.44395664e+02] [ 9.57971857e-01 -2.86857406e-01 -1.65848987e-03 1.26807467e+02] [ 1.73015222e-03 -3.66124610e-06 9.99998503e-01 -3.87360109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.40, Y:126.80, Z:-0.39 [[-2.88181410e-01 -9.57575620e-01 6.37495878e-04 2.44397711e+02] [ 9.57573223e-01 -2.88182115e-01 -2.14265019e-03 1.26798479e+02] [ 2.23546450e-03 -7.02297128e-06 9.99997501e-01 -3.88230572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.22028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.39, Y:126.81, Z:-0.39 [[-2.88389478e-01 -9.57512987e-01 6.23493724e-04 2.44394543e+02] [ 9.57510700e-01 -2.88390152e-01 -2.09257445e-03 1.26806528e+02] [ 2.18347666e-03 -6.47453922e-06 9.99997616e-01 -3.88582678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.39, Y:126.80, Z:-0.39 [[-2.88676074e-01 -9.57426704e-01 4.79801307e-04 2.44394258e+02] [ 9.57425354e-01 -2.88676473e-01 -1.60780541e-03 1.26800271e+02] [ 1.67786319e-03 -4.76101947e-06 9.99998592e-01 -3.88610888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.40, Y:126.79, Z:-0.39 [[-2.89268228e-01 -9.57247992e-01 4.18426605e-04 2.44395016e+02] [ 9.57246968e-01 -2.89268530e-01 -1.40003234e-03 1.26793786e+02] [ 1.46121579e-03 -4.44727509e-06 9.99998932e-01 -3.87789182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.310281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.40, Y:126.78, Z:-0.39 [[-2.90099903e-01 -9.56996260e-01 4.53185336e-04 2.44398656e+02] [ 9.56995062e-01 -2.90100257e-01 -1.51426544e-03 1.26779403e+02] [ 1.58061555e-03 -5.59212855e-06 9.99998751e-01 -3.87986089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.34028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.40, Y:126.79, Z:-0.39 [[-2.93058020e-01 -9.56094017e-01 1.10826256e-03 2.44395999e+02] [ 9.56086861e-01 -2.93060115e-01 -3.69914374e-03 1.26790884e+02] [ 3.86151675e-03 -2.44684694e-05 9.99992544e-01 -3.88789526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.40, Y:126.78, Z:-0.39 [[-2.95748345e-01 -9.55265043e-01 1.27055489e-03 2.44401083e+02] [ 9.55255656e-01 -2.95751071e-01 -4.23497220e-03 1.26777298e+02] [ 4.42128887e-03 -3.87812756e-05 9.99990225e-01 -3.89057948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.40028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.41, Y:126.77, Z:-0.39 [[-2.98601112e-01 -9.54377249e-01 1.20107052e-03 2.44405070e+02] [ 9.54368877e-01 -2.98603524e-01 -3.99771751e-03 1.26767878e+02] [ 4.17397453e-03 -4.74585742e-05 9.99991288e-01 -3.88677049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.430281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.41, Y:126.75, Z:-0.39 [[-3.03390299e-01 -9.52866293e-01 3.92329333e-04 2.44413161e+02] [ 9.52865402e-01 -3.03390552e-01 -1.30346731e-03 1.26754025e+02] [ 1.36105908e-03 -2.16222906e-05 9.99999074e-01 -3.87239314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.42, Y:126.74, Z:-0.39 [[-3.05809694e-01 -9.52092659e-01 2.32144900e-05 2.44420788e+02] [ 9.52092656e-01 -3.05809695e-01 -7.62292146e-05 1.26740740e+02] [ 7.96764917e-05 -1.20928737e-06 9.99999997e-01 -3.86913542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.490281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.42, Y:126.75, Z:-0.39 [[-3.08289702e-01 -9.51292511e-01 -1.32015218e-04 2.44421420e+02] [ 9.51292410e-01 -3.08289730e-01 4.38527420e-04 1.26753497e+02] [-4.57866787e-04 9.60841247e-06 9.99999895e-01 -3.86838277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.43, Y:126.75, Z:-0.39 [[-3.12722885e-01 -9.49844206e-01 6.18457480e-04 2.44431561e+02] [ 9.49842002e-01 -3.12723492e-01 -2.04677983e-03 1.26746093e+02] [ 2.13752814e-03 -5.26380017e-05 9.99997714e-01 -3.88427363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.43, Y:126.77, Z:-0.39 [[-3.14494435e-01 -9.49258604e-01 1.16357454e-03 2.44429580e+02] [ 9.49250817e-01 -3.14496570e-01 -3.84625519e-03 1.26766508e+02] [ 4.01703103e-03 -1.05101769e-04 9.99991926e-01 -3.89912988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.44, Y:126.75, Z:-0.39 [[-3.15733722e-01 -9.48846501e-01 1.59226093e-03 2.44439602e+02] [ 9.48831953e-01 -3.15737702e-01 -5.25633049e-03 1.26748641e+02] [ 5.49018759e-03 -1.48812738e-04 9.99984918e-01 -3.90778320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.610281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.45, Y:126.75, Z:-0.39 [[-3.15336770e-01 -9.48978203e-01 1.75830425e-03 2.44450676e+02] [ 9.48960513e-01 -3.15341631e-01 -5.79660238e-03 1.26745999e+02] [ 6.05531584e-03 -1.59320569e-04 9.99981654e-01 -3.89210109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.45, Y:126.78, Z:-0.39 [[-3.13920760e-01 -9.49447879e-01 1.57528355e-03 2.44446257e+02] [ 9.49433725e-01 -3.13924685e-01 -5.18595173e-03 1.26776794e+02] [ 5.41831126e-03 -1.32350582e-04 9.99985312e-01 -3.88237422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.67028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.46, Y:126.76, Z:-0.39 [[-3.09204326e-01 -9.50994556e-01 1.42764936e-03 2.44457177e+02] [ 9.50982980e-01 -3.09207608e-01 -4.69330069e-03 1.26760836e+02] [ 4.90474345e-03 -9.35186338e-05 9.99987967e-01 -3.87679141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.45, Y:126.79, Z:-0.39 [[-3.06359883e-01 -9.51914818e-01 1.34182332e-03 2.44450393e+02] [ 9.51904629e-01 -3.06362813e-01 -4.40492680e-03 1.26789489e+02] [ 4.60419987e-03 -7.22050306e-05 9.99989398e-01 -3.88789644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:126.79, Z:-0.39 [[-2.99657307e-01 -9.54045928e-01 1.36614941e-03 2.44453991e+02] [ 9.54035417e-01 -2.99660419e-01 -4.47844840e-03 1.26788750e+02] [ 4.68202637e-03 -3.86448623e-05 9.99989039e-01 -3.89251094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.77, Z:-0.39 [[-2.96171863e-01 -9.55133627e-01 1.40788633e-03 2.44459309e+02] [ 9.55122508e-01 -2.96175209e-01 -4.60880705e-03 1.26774985e+02] [ 4.81900762e-03 -2.02950498e-05 9.99988388e-01 -3.88931979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.76, Z:-0.39 [[-2.92840587e-01 -9.56160187e-01 1.44517361e-03 2.44462703e+02] [ 9.56148515e-01 -2.92844152e-01 -4.72430438e-03 1.26764888e+02] [ 4.94040240e-03 -1.66745961e-06 9.99987796e-01 -3.87838075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.47, Y:126.74, Z:-0.39 [[-2.89869090e-01 -9.57065372e-01 1.33599603e-03 2.44468285e+02] [ 9.57055434e-01 -2.89872169e-01 -4.36132380e-03 1.26744389e+02] [ 4.56134005e-03 1.44093003e-05 9.99989597e-01 -3.87500246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:126.74, Z:-0.39 [[-2.85410262e-01 -9.58404570e-01 1.28938054e-03 2.44467906e+02] [ 9.58395353e-01 -2.85413172e-01 -4.20337737e-03 1.26738250e+02] [ 4.39654227e-03 3.60492814e-05 9.99990335e-01 -3.87295479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.75, Z:-0.39 [[-2.84562115e-01 -9.58656845e-01 1.20701198e-03 2.44463641e+02] [ 9.58648793e-01 -2.84564672e-01 -3.92941187e-03 1.26748207e+02] [ 4.11043055e-03 3.89388276e-05 9.99991551e-01 -3.86994342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.47, Y:126.73, Z:-0.39 [[-2.83943392e-01 -9.58840509e-01 1.01361608e-03 2.44467618e+02] [ 9.58834848e-01 -2.83945199e-01 -3.29517839e-03 1.26726842e+02] [ 3.44736194e-03 3.62462919e-05 9.99994057e-01 -3.86604229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.47, Y:126.72, Z:-0.39 [[-2.84429800e-01 -9.58696386e-01 9.63506775e-04 2.44468065e+02] [ 9.58691284e-01 -2.84431430e-01 -3.12800907e-03 1.26719453e+02] [ 3.27286260e-03 3.40065522e-05 9.99994644e-01 -3.86127905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 374.97028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.47, Y:126.72, Z:-0.39 [[-2.84708256e-01 -9.58613840e-01 8.45904001e-04 2.44465257e+02] [ 9.58609917e-01 -2.84709511e-01 -2.74240101e-03 1.26722929e+02] [ 2.86974048e-03 3.01077545e-05 9.99995882e-01 -3.85530690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.85790686e-01 -9.58292014e-01 3.16304760e-04 2.44464438e+02] [ 9.58291467e-01 -2.85790861e-01 -1.02354847e-03 1.26717543e+02] [ 1.07125533e-03 1.05915339e-05 9.99999426e-01 -3.84648047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.87078474e-01 -9.57907052e-01 1.69459653e-04 2.44462822e+02] [ 9.57906896e-01 -2.87078524e-01 -5.47238765e-04 1.26720343e+02] [ 5.72852100e-04 5.22610049e-06 9.99999836e-01 -3.84544488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.88321615e-01 -9.57533608e-01 1.92276469e-04 2.44463727e+02] [ 9.57533407e-01 -2.88321679e-01 -6.20191664e-04 1.26715900e+02] [ 6.49291836e-04 5.29648057e-06 9.99999789e-01 -3.84496436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.89088119e-01 -9.57302413e-01 3.87711965e-04 2.44462128e+02] [ 9.57301597e-01 -2.89088379e-01 -1.24972343e-03 1.26714493e+02] [ 1.30844628e-03 9.87708761e-06 9.99999144e-01 -3.84546510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.89254674e-01 -9.57251977e-01 6.21305159e-04 2.44460556e+02] [ 9.57249887e-01 -2.89255341e-01 -2.00045905e-03 1.26715699e+02] [ 2.09465922e-03 1.61021603e-05 9.99997806e-01 -3.84237400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.15028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.88932224e-01 -9.57348712e-01 1.27017496e-03 2.44456576e+02] [ 9.57339997e-01 -2.88935014e-01 -4.08497690e-03 1.26722169e+02] [ 4.27774540e-03 3.57078287e-05 9.99990850e-01 -3.84231576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.89169214e-01 -9.57276916e-01 1.43949138e-03 2.44458404e+02] [ 9.57265752e-01 -2.89172794e-01 -4.62333501e-03 1.26713984e+02] [ 4.84207362e-03 4.10496447e-05 9.99988276e-01 -3.83950807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.45, Y:126.73, Z:-0.38 [[-2.89557787e-01 -9.57159519e-01 1.39375374e-03 2.44451453e+02] [ 9.57149081e-01 -2.89561138e-01 -4.47029341e-03 1.26734585e+02] [ 4.68236081e-03 3.96218495e-05 9.99989037e-01 -3.84381461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.90782280e-01 -9.56788405e-01 1.26996134e-03 2.44456078e+02] [ 9.56779760e-01 -2.90785052e-01 -4.06758761e-03 1.26720612e+02] [ 4.26110644e-03 3.22909030e-05 9.99990921e-01 -3.84208560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.27028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.91729559e-01 -9.56500097e-01 1.19542130e-03 2.44459756e+02] [ 9.56492455e-01 -2.91732007e-01 -3.82359895e-03 1.26711087e+02] [ 4.00601542e-03 2.79546187e-05 9.99991976e-01 -3.84550568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.300281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.46, Y:126.70, Z:-0.38 [[-2.92927782e-01 -9.56133773e-01 1.23409729e-03 2.44463765e+02] [ 9.56125647e-01 -2.92930380e-01 -3.94201462e-03 1.26700855e+02] [ 4.13059791e-03 2.52264731e-05 9.99991469e-01 -3.84122482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.70, Z:-0.38 [[-2.93925766e-01 -9.55827477e-01 1.21618602e-03 2.44464386e+02] [ 9.55819603e-01 -2.93928281e-01 -3.87957218e-03 1.26699642e+02] [ 4.06567315e-03 2.21482196e-05 9.99991735e-01 -3.83531914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.360281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.94741863e-01 -9.55576410e-01 9.79478377e-04 2.44456084e+02] [ 9.55571316e-01 -2.94743490e-01 -3.12007997e-03 1.26724009e+02] [ 3.27016969e-03 1.63432580e-05 9.99994653e-01 -3.82556509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.94309554e-01 -9.55709515e-01 1.09981389e-03 2.44461198e+02] [ 9.55703111e-01 -2.94311608e-01 -3.49873463e-03 1.26705110e+02] [ 3.66746197e-03 2.13845236e-05 9.99993275e-01 -3.82196929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.93149671e-01 -9.56065388e-01 1.49811347e-03 2.44459514e+02] [ 9.56053541e-01 -2.93153497e-01 -4.75966088e-03 1.26707898e+02] [ 4.98972423e-03 3.69836656e-05 9.99987551e-01 -3.83280335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.45028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.46, Y:126.70, Z:-0.38 [[-2.93542981e-01 -9.55944618e-01 1.55090786e-03 2.44462561e+02] [ 9.55931954e-01 -2.93547076e-01 -4.92076389e-03 1.26699483e+02] [ 5.15924222e-03 3.81066847e-05 9.99986690e-01 -3.83810009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:126.69, Z:-0.38 [[-2.94787379e-01 -9.55561791e-01 1.43697546e-03 2.44465899e+02] [ 9.55550944e-01 -2.94790880e-01 -4.55309634e-03 1.26690070e+02] [ 4.77437215e-03 3.09079161e-05 9.99988602e-01 -3.83816996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-2.98239484e-01 -9.54490039e-01 1.40583991e-03 2.44459474e+02] [ 9.54479673e-01 -2.98242797e-01 -4.44839844e-03 1.26714514e+02] [ 4.66523362e-03 1.51575662e-05 9.99989118e-01 -3.82878799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.72, Z:-0.38 [[-2.99650620e-01 -9.54047807e-01 1.51253080e-03 2.44459553e+02] [ 9.54035835e-01 -2.99654437e-01 -4.77950459e-03 1.26717091e+02] [ 5.01311244e-03 1.08270702e-05 9.99987434e-01 -3.82602233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:126.70, Z:-0.38 [[-3.01456638e-01 -9.53478491e-01 1.63141507e-03 2.44468266e+02] [ 9.53464593e-01 -3.01461053e-01 -5.14824387e-03 1.26696965e+02] [ 5.40054790e-03 3.52421531e-06 9.99985417e-01 -3.82594924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.46, Y:126.71, Z:-0.38 [[-3.02144581e-01 -9.53260568e-01 1.71500574e-03 2.44464987e+02] [ 9.53245246e-01 -3.02149449e-01 -5.40474545e-03 1.26709143e+02] [ 5.67031875e-03 1.80651955e-06 9.99983924e-01 -3.81978937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:126.69, Z:-0.38 [[-3.01522289e-01 -9.53457799e-01 1.59240491e-03 2.44471693e+02] [ 9.53444628e-01 -3.01526494e-01 -5.01153534e-03 1.26691031e+02] [ 5.25843972e-03 7.18029762e-06 9.99986174e-01 -3.82044833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:126.68, Z:-0.38 [[-3.00745503e-01 -9.53703183e-01 1.54318577e-03 2.44475223e+02] [ 9.53690850e-01 -3.00749462e-01 -4.85011309e-03 1.26683364e+02] [ 5.08968058e-03 1.30724443e-05 9.99987047e-01 -3.82150160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:126.68, Z:-0.38 [[-2.99717636e-01 -9.54026629e-01 1.59078531e-03 2.44476129e+02] [ 9.54013563e-01 -2.99721857e-01 -4.99305839e-03 1.26684885e+02] [ 5.24030379e-03 2.11231038e-05 9.99986269e-01 -3.81844447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.48, Y:126.67, Z:-0.38 [[-2.97331268e-01 -9.54773515e-01 1.28532535e-03 2.44481783e+02] [ 9.54765016e-01 -2.97334044e-01 -4.02877494e-03 1.26672641e+02] [ 4.22873860e-03 2.93029202e-05 9.99991058e-01 -3.82030574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:126.67, Z:-0.38 [[-2.96699323e-01 -9.54970320e-01 1.09502216e-03 2.44482142e+02] [ 9.54964170e-01 -2.96701342e-01 -3.42761102e-03 1.26674211e+02] [ 3.59816134e-03 2.87370638e-05 9.99993526e-01 -3.81672491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.78028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.49, Y:126.65, Z:-0.38 [[-2.95199359e-01 -9.55435288e-01 8.65234899e-04 2.44491439e+02] [ 9.55431461e-01 -2.95200625e-01 -2.70460312e-03 1.26654371e+02] [ 2.83949114e-03 2.82755383e-05 9.99995968e-01 -3.80950722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.49, Y:126.66, Z:-0.38 [[-2.94591501e-01 -9.55622986e-01 7.46205182e-04 2.44491468e+02] [ 9.55620147e-01 -2.94592445e-01 -2.32937038e-03 1.26658664e+02] [ 2.44582629e-03 2.68759879e-05 9.99997009e-01 -3.80185335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:126.64, Z:-0.38 [[-2.93731415e-01 -9.55887770e-01 6.52987990e-04 2.44497335e+02] [ 9.55885603e-01 -2.93732140e-01 -2.03562451e-03 1.26642635e+02] [ 2.13763214e-03 2.62549490e-05 9.99997715e-01 -3.79853655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:126.64, Z:-0.38 [[-2.92725574e-01 -9.56196212e-01 7.36053644e-04 2.44497740e+02] [ 9.56193467e-01 -2.92726498e-01 -2.29170083e-03 1.26641453e+02] [ 2.40677806e-03 3.29702427e-05 9.99997103e-01 -3.79745176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.50, Y:126.63, Z:-0.38 [[-2.89385144e-01 -9.57211927e-01 1.25149688e-03 2.44501098e+02] [ 9.57204017e-01 -2.89387841e-01 -3.89205149e-03 1.26630357e+02] [ 4.08768608e-03 7.16359605e-05 9.99991643e-01 -3.79572115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.930281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.50, Y:126.63, Z:-0.38 [[-2.87904033e-01 -9.57658129e-01 1.47495802e-03 2.44502414e+02] [ 9.57647176e-01 -2.87907796e-01 -4.58124215e-03 1.26626006e+02] [ 4.81191570e-03 9.35312914e-05 9.99988418e-01 -3.80324914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.64, Z:-0.38 [[-2.86330156e-01 -9.58129789e-01 1.53285056e-03 2.44498726e+02] [ 9.58117996e-01 -2.86334239e-01 -4.75494509e-03 1.26636416e+02] [ 4.99476213e-03 1.07167541e-04 9.99987520e-01 -3.80109999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 375.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.63, Z:-0.38 [[-2.86692779e-01 -9.58021344e-01 1.53465136e-03 2.44499558e+02] [ 9.58009553e-01 -2.86696867e-01 -4.75436424e-03 1.26634077e+02] [ 4.99476215e-03 1.07168769e-04 9.99987520e-01 -3.80108389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.02028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.51, Y:126.61, Z:-0.38 [[-2.83601318e-01 -9.58941812e-01 9.45385191e-04 2.44507564e+02] [ 9.58937355e-01 -2.83602883e-01 -2.92476611e-03 1.26605985e+02] [ 3.07279448e-03 7.70976518e-05 9.99995276e-01 -3.79490974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.050281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.51, Y:126.60, Z:-0.38 [[-2.82792258e-01 -9.59180931e-01 6.92645213e-04 2.44508427e+02] [ 9.59178546e-01 -2.82793100e-01 -2.13994149e-03 1.26602272e+02] [ 2.24846636e-03 5.92115418e-05 9.99997470e-01 -3.79300958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.08028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.51, Y:126.60, Z:-0.38 [[-2.81097458e-01 -9.59678795e-01 9.10262825e-04 2.44507451e+02] [ 9.59674688e-01 -2.81098920e-01 -2.80895540e-03 1.26602935e+02] [ 2.95156883e-03 8.39659700e-05 9.99995641e-01 -3.79281621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.110281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.51, Y:126.58, Z:-0.38 [[-2.80511199e-01 -9.59849958e-01 1.23479725e-03 2.44514630e+02] [ 9.59842420e-01 -2.80513892e-01 -3.80591863e-03 1.26578956e+02] [ 3.99948862e-03 1.17607980e-04 9.99991995e-01 -3.79487615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.14028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.51, Y:126.59, Z:-0.38 [[-2.80149034e-01 -9.59955621e-01 1.31313682e-03 2.44511252e+02] [ 9.59947118e-01 -2.80152083e-01 -4.04236833e-03 1.26587755e+02] [ 4.24837221e-03 1.28076319e-04 9.99990967e-01 -3.80448033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.17028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.52, Y:126.58, Z:-0.38 [[-2.79405405e-01 -9.60172810e-01 8.91482012e-04 2.44515231e+02] [ 9.60168903e-01 -2.79406812e-01 -2.74066763e-03 1.26575879e+02] [ 2.88060069e-03 9.02159561e-05 9.99995847e-01 -3.79378314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.20028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.51, Y:126.58, Z:-0.38 [[-2.79159829e-01 -9.60244313e-01 8.05519056e-04 2.44513718e+02] [ 9.60241132e-01 -2.79160979e-01 -2.47322859e-03 1.26581767e+02] [ 2.59977317e-03 8.30664595e-05 9.99996617e-01 -3.79097203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.23028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.52, Y:126.57, Z:-0.38 [[-2.77552967e-01 -9.60709801e-01 1.01428818e-03 2.44516989e+02] [ 9.60704772e-01 -2.77554798e-01 -3.11053622e-03 1.26571277e+02] [ 3.26984318e-03 1.11092939e-04 9.99994648e-01 -3.79233955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.52, Y:126.55, Z:-0.38 [[-2.76604620e-01 -9.60983337e-01 9.53571485e-04 2.44522908e+02] [ 9.60978905e-01 -2.76606242e-01 -2.92068868e-03 1.26550117e+02] [ 3.07049698e-03 1.08486100e-04 9.99995280e-01 -3.79828963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.29028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.52, Y:126.55, Z:-0.38 [[-2.75488978e-01 -9.61303913e-01 7.81513584e-04 2.44522051e+02] [ 9.61300944e-01 -2.75490071e-01 -2.39063184e-03 1.26547641e+02] [ 2.51342297e-03 9.26770248e-05 9.99996837e-01 -3.79776304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.32028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.52, Y:126.54, Z:-0.38 [[-2.73138628e-01 -9.61974516e-01 5.66623880e-04 2.44520032e+02] [ 9.61972961e-01 -2.73139206e-01 -1.73096596e-03 1.26542114e+02] [ 1.81991234e-03 7.22831831e-05 9.99998341e-01 -3.79723293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.35028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.52, Y:126.54, Z:-0.38 [[-2.72569964e-01 -9.62135767e-01 6.17257964e-04 2.44516785e+02] [ 9.62133927e-01 -2.72570651e-01 -1.88340807e-03 1.26543067e+02] [ 1.98034067e-03 8.05243580e-05 9.99998036e-01 -3.79332222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.380281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.52, Y:126.53, Z:-0.38 [[-2.72317932e-01 -9.62207118e-01 6.36367639e-04 2.44518701e+02] [ 9.62205168e-01 -2.72318663e-01 -1.93937832e-03 1.26527069e+02] [ 2.03937841e-03 8.41887354e-05 9.99997917e-01 -3.79917530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.41028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.51, Y:126.53, Z:-0.38 [[-2.72756339e-01 -9.62082818e-01 7.94001865e-04 2.44509155e+02] [ 9.62079788e-01 -2.72757474e-01 -2.41702633e-03 1.26531262e+02] [ 2.54194945e-03 1.04633893e-04 9.99996764e-01 -3.79878282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.440281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.51, Y:126.52, Z:-0.38 [[-2.73755708e-01 -9.61799015e-01 6.83611108e-04 2.44510315e+02] [ 9.61796773e-01 -2.73756547e-01 -2.07836020e-03 1.26516197e+02] [ 2.18610781e-03 8.85319920e-05 9.99997607e-01 -3.80260972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.50, Y:126.53, Z:-0.38 [[-2.75283329e-01 -9.61362940e-01 6.21265208e-04 2.44502556e+02] [ 9.61361093e-01 -2.75284019e-01 -1.88645204e-03 1.26528875e+02] [ 1.98458946e-03 7.79514028e-05 9.99998028e-01 -3.80245717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.500281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.50, Y:126.52, Z:-0.38 [[-2.79194918e-01 -9.60234278e-01 5.73063682e-04 2.44498608e+02] [ 9.60232708e-01 -2.79195499e-01 -1.73791358e-03 1.26518640e+02] [ 1.82880099e-03 6.50578525e-05 9.99998326e-01 -3.79843906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.53028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.49, Y:126.54, Z:-0.38 [[-2.81448966e-01 -9.59575936e-01 7.09402423e-04 2.44488838e+02] [ 9.59573532e-01 -2.81449850e-01 -2.14892612e-03 1.26536882e+02] [ 2.26171900e-03 7.59107532e-05 9.99997439e-01 -3.79864011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.560281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.48, Y:126.55, Z:-0.38 [[-2.85132513e-01 -9.58487679e-01 9.05065816e-04 2.44479122e+02] [ 9.58483771e-01 -2.85133936e-01 -2.73842854e-03 1.26550119e+02] [ 2.88281500e-03 8.66758845e-05 9.99995841e-01 -3.79763194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.59028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.48, Y:126.55, Z:-0.38 [[-2.86637552e-01 -9.58038766e-01 7.98235966e-04 2.44478086e+02] [ 9.58035732e-01 -2.86638654e-01 -2.41209469e-03 1.26547174e+02] [ 2.53968550e-03 7.33416636e-05 9.99996772e-01 -3.79738526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.620281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.47, Y:126.55, Z:-0.38 [[-2.88001448e-01 -9.57629670e-01 7.62508665e-04 2.44473397e+02] [ 9.57626907e-01 -2.88002450e-01 -2.30122293e-03 1.26551706e+02] [ 2.42332372e-03 6.74432790e-05 9.99997062e-01 -3.79986665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.65028169299995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.47, Y:126.55, Z:-0.38 [[-2.89172093e-01 -9.57276772e-01 8.26686568e-04 2.44468504e+02] [ 9.57273531e-01 -2.89173266e-01 -2.49185317e-03 1.26546623e+02] [ 2.62444881e-03 7.07907755e-05 9.99996554e-01 -3.80169538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.680281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.46, Y:126.55, Z:-0.38 [[-2.89876912e-01 -9.57063546e-01 8.63309145e-04 2.44463568e+02] [ 9.57060020e-01 -2.89878188e-01 -2.59901161e-03 1.26554482e+02] [ 2.73767376e-03 7.28452077e-05 9.99996250e-01 -3.79929440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.71028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.46, Y:126.55, Z:-0.38 [[-2.90953590e-01 -9.56736702e-01 9.43891579e-04 2.44461742e+02] [ 9.56732496e-01 -2.90955111e-01 -2.83810708e-03 1.26547651e+02] [ 2.98995129e-03 7.72943019e-05 9.99995527e-01 -3.79977783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.740281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.46, Y:126.55, Z:-0.38 [[-2.91767451e-01 -9.56488959e-01 7.90586117e-04 2.44460337e+02] [ 9.56486015e-01 -2.91768516e-01 -2.37404238e-03 1.26545581e+02] [ 2.50141346e-03 6.35162698e-05 9.99996869e-01 -3.80042376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.77028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.46, Y:126.55, Z:-0.38 [[-2.92670122e-01 -9.56213259e-01 6.35586403e-04 2.44456232e+02] [ 9.56211360e-01 -2.92670808e-01 -1.90604346e-03 1.26552477e+02] [ 2.00860161e-03 4.99129674e-05 9.99997982e-01 -3.80002719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.800281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.45, Y:126.55, Z:-0.38 [[-2.93957431e-01 -9.55818472e-01 2.77234229e-04 2.44454627e+02] [ 9.55818112e-01 -2.93957561e-01 -8.29907040e-04 1.26553312e+02] [ 8.74735577e-04 2.10281564e-05 9.99999617e-01 -3.80345953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.83028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.45, Y:126.57, Z:-0.38 [[-2.97324444e-01 -9.54776490e-01 -1.70709141e-04 2.44447505e+02] [ 9.54776353e-01 -2.97324493e-01 5.11614879e-04 1.26567621e+02] [-5.39233867e-04 -1.08734410e-05 9.99999855e-01 -3.79468355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.860281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.45, Y:126.55, Z:-0.38 [[-2.98984788e-01 -9.54257835e-01 -2.85923652e-04 2.44450278e+02] [ 9.54257452e-01 -2.98984924e-01 8.55303302e-04 1.26554770e+02] [-9.01666738e-04 -1.71220992e-05 9.99999593e-01 -3.79611740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.89028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.44, Y:126.56, Z:-0.38 [[-3.01859545e-01 -9.53352356e-01 -3.17969951e-04 2.44443687e+02] [ 9.53351883e-01 -3.01859712e-01 9.49868404e-04 1.26564573e+02] [-1.00154160e-03 -1.64104078e-05 9.99999498e-01 -3.80140937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.92028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.44, Y:126.57, Z:-0.38 [[-3.03795855e-01 -9.52737143e-01 -1.20074209e-04 2.44442090e+02] [ 9.52737076e-01 -3.03795879e-01 3.58722843e-04 1.26567794e+02] [-3.78246627e-04 -5.42063725e-06 9.99999928e-01 -3.80331500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.95028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.44, Y:126.56, Z:-0.38 [[-3.05956820e-01 -9.52045384e-01 -1.02088264e-04 2.44444257e+02] [ 9.52045335e-01 -3.05956837e-01 3.04715732e-04 1.26560372e+02] [-3.21337808e-04 -3.96279880e-06 9.99999948e-01 -3.81258556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 376.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.44, Y:126.58, Z:-0.38 [[-3.11038764e-01 -9.50397167e-01 -3.36201176e-04 2.44438640e+02] [ 9.50396640e-01 -3.11038945e-01 1.00043513e-03 1.26577228e+02] [-1.05538237e-03 -8.35036273e-06 9.99999443e-01 -3.81391058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.44, Y:126.58, Z:-0.38 [[-3.13848834e-01 -9.49472875e-01 -4.11694942e-04 2.44438267e+02] [ 9.49472087e-01 -3.13849104e-01 1.22332516e-03 1.26578196e+02] [-1.29072414e-03 -6.95368135e-06 9.99999167e-01 -3.81444683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.04028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.45, Y:126.55, Z:-0.38 [[-3.18020257e-01 -9.48083907e-01 -1.46643964e-04 2.44447247e+02] [ 9.48083807e-01 -3.18020291e-01 4.35545244e-04 1.26553114e+02] [-4.59569193e-04 -5.18557333e-07 9.99999894e-01 -3.82638595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.07028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.44, Y:126.56, Z:-0.38 [[-3.19820044e-01 -9.47478286e-01 1.93271368e-04 2.44444044e+02] [ 9.47478113e-01 -3.19820103e-01 -5.72137073e-04 1.26563890e+02] [ 6.03899522e-04 1.39486534e-07 9.99999818e-01 -3.83055349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.10028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.44, Y:126.57, Z:-0.38 [[-3.21264289e-01 -9.46989376e-01 6.15458260e-04 2.44443740e+02] [ 9.46987624e-01 -3.21264879e-01 -1.82126779e-03 1.26567787e+02] [ 1.92244637e-03 -2.27694479e-06 9.99998152e-01 -3.83554273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.130281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.45, Y:126.55, Z:-0.38 [[-3.23145242e-01 -9.46349025e-01 8.21568048e-04 2.44451730e+02] [ 9.46345910e-01 -3.23146287e-01 -2.42833046e-03 1.26553614e+02] [ 2.56353483e-03 -7.21587464e-06 9.99996714e-01 -3.83805824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.16028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.45, Y:126.55, Z:-0.38 [[-3.24167607e-01 -9.45999538e-01 4.86408555e-04 2.44453347e+02] [ 9.45998449e-01 -3.24167972e-01 -1.43554201e-03 1.26551961e+02] [ 1.51570015e-03 -5.21447939e-06 9.99998851e-01 -3.84095195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.190281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.45, Y:126.56, Z:-0.38 [[-3.25144068e-01 -9.45664483e-01 1.45733038e-04 2.44452636e+02] [ 9.45664385e-01 -3.25144101e-01 -4.29008590e-04 1.26558672e+02] [ 4.53082424e-04 -1.67505442e-06 9.99999897e-01 -3.83846222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.22028169299995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:244.46, Y:126.53, Z:-0.38 [[-3.26175711e-01 -9.45309132e-01 2.24412143e-04 2.44464800e+02] [ 9.45308902e-01 -3.26175788e-01 -6.60206897e-04 1.26533889e+02] [ 6.97297416e-04 -3.20465748e-06 9.99999757e-01 -3.84403626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.250281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.46, Y:126.54, Z:-0.39 [[-3.26857054e-01 -9.45073704e-01 4.01052447e-04 2.44464431e+02] [ 9.45072968e-01 -3.26857300e-01 -1.17899230e-03 1.26540617e+02] [ 1.24532154e-03 -6.33812425e-06 9.99999225e-01 -3.85039593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.28028169299995 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.47, Y:126.54, Z:-0.38 [[-3.27331589e-01 -9.44909296e-01 6.73188511e-04 2.44467810e+02] [ 9.44907228e-01 -3.27332281e-01 -1.97701734e-03 1.26537522e+02] [ 2.08845839e-03 -1.10395371e-05 9.99997819e-01 -3.84707036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.47, Y:126.54, Z:-0.38 [[-3.27667756e-01 -9.44792843e-01 5.71185974e-04 2.44467874e+02] [ 9.44791357e-01 -3.27668254e-01 -1.67521952e-03 1.26538636e+02] [ 1.76989493e-03 -9.26385101e-06 9.99998434e-01 -3.84719093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.34028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.47, Y:126.55, Z:-0.38 [[-3.28009619e-01 -9.44674261e-01 4.81136381e-04 2.44466699e+02] [ 9.44673209e-01 -3.28009972e-01 -1.40919935e-03 1.26545857e+02] [ 1.48905188e-03 -7.71429117e-06 9.99998891e-01 -3.84847918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.370281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.48, Y:126.53, Z:-0.39 [[-3.28210522e-01 -9.44604486e-01 4.66607402e-04 2.44475237e+02] [ 9.44603500e-01 -3.28210853e-01 -1.36489267e-03 1.26532242e+02] [ 1.44242936e-03 -7.21315022e-06 9.99998960e-01 -3.85632865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.40028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.48, Y:126.53, Z:-0.39 [[-3.28427304e-01 -9.44529180e-01 3.67087084e-04 2.44478462e+02] [ 9.44528571e-01 -3.28427509e-01 -1.07227162e-03 1.26528809e+02] [ 1.13335333e-03 -5.43903728e-06 9.99999358e-01 -3.85272546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.430281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.48, Y:126.53, Z:-0.39 [[-3.28476709e-01 -9.44512057e-01 1.59048177e-04 2.44480250e+02] [ 9.44511943e-01 -3.28476748e-01 -4.63569078e-04 1.26528292e+02] [ 4.90090211e-04 -2.04874265e-06 9.99999880e-01 -3.85188184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.46028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.49, Y:126.52, Z:-0.38 [[-3.27989030e-01 -9.44681522e-01 -1.33869700e-04 2.44485296e+02] [ 9.44681441e-01 -3.27989058e-01 3.91091850e-04 1.26520524e+02] [-4.13365041e-04 1.80961560e-06 9.99999915e-01 -3.84833073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.49, Y:126.52, Z:-0.39 [[-3.27876414e-01 -9.44720604e-01 -1.94041398e-04 2.44486418e+02] [ 9.44720434e-01 -3.27876472e-01 5.65829448e-04 1.26522533e+02] [-5.98172346e-04 2.20725698e-06 9.99999821e-01 -3.85138373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.52028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.48, Y:126.54, Z:-0.39 [[-3.27248768e-01 -9.44938218e-01 -8.96453425e-05 2.44483353e+02] [ 9.44938182e-01 -3.27248780e-01 2.61492021e-04 1.26539941e+02] [-2.76430133e-04 8.63634706e-07 9.99999962e-01 -3.85514576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.550281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.48, Y:126.54, Z:-0.39 [[-3.27404925e-01 -9.44884127e-01 4.22651763e-05 2.44484055e+02] [ 9.44884119e-01 -3.27404927e-01 -1.22001903e-04 1.26540300e+02] [ 1.29115488e-04 -8.32981296e-09 9.99999992e-01 -3.86394319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.58028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.49, Y:126.52, Z:-0.39 [[-3.28095749e-01 -9.44644409e-01 3.47288890e-04 2.44491605e+02] [ 9.44643872e-01 -3.28095933e-01 -1.00675589e-03 1.26520986e+02] [ 1.06497040e-03 -2.24800662e-06 9.99999433e-01 -3.86423856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.610281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.49, Y:126.54, Z:-0.39 [[-3.30818249e-01 -9.43694468e-01 1.93307231e-04 2.44487118e+02] [ 9.43694302e-01 -3.30818305e-01 -5.59330518e-04 1.26543042e+02] [ 5.91786686e-04 -2.61381036e-06 9.99999825e-01 -3.86741552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.50, Y:126.53, Z:-0.39 [[-3.32230497e-01 -9.43198187e-01 -2.79383952e-04 2.44495361e+02] [ 9.43197839e-01 -3.32230614e-01 8.09236793e-04 1.26527717e+02] [-8.56090577e-04 5.33880194e-06 9.99999634e-01 -3.86525171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.67028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.50, Y:126.52, Z:-0.39 [[-3.33247146e-01 -9.42838825e-01 -1.13527447e-03 2.44503336e+02] [ 9.42833114e-01 -3.33249079e-01 3.28185023e-03 1.26520401e+02] [-3.47258499e-03 2.32928552e-05 9.99993970e-01 -3.86019007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.70028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:244.50, Y:126.53, Z:-0.39 [[-3.33578317e-01 -9.42721605e-01 -1.21732678e-03 2.44502246e+02] [ 9.42715054e-01 -3.33580537e-01 3.51457588e-03 1.26527356e+02] [-3.71934314e-03 2.47940216e-05 9.99993083e-01 -3.86418559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.73028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.51, Y:126.51, Z:-0.39 [[-3.32833983e-01 -9.42985244e-01 -6.07499790e-04 2.44508685e+02] [ 9.42983616e-01 -3.32834537e-01 1.75211103e-03 1.26513374e+02] [-1.85441176e-03 1.02997447e-05 9.99998281e-01 -3.87602095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.76028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.51, Y:126.52, Z:-0.39 [[-3.31434305e-01 -9.43478273e-01 -2.24049602e-04 2.44506522e+02] [ 9.43478052e-01 -3.31434380e-01 6.45858144e-04 1.26523366e+02] [-6.83610867e-04 2.67366318e-06 9.99999766e-01 -3.87633332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.79028169299994 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:244.51, Y:126.52, Z:-0.39 [[-3.29359142e-01 -9.44204711e-01 -1.35314325e-04 2.44508271e+02] [ 9.44204631e-01 -3.29359170e-01 3.89877701e-04 1.26520428e+02] [-4.12691376e-04 6.45372983e-07 9.99999915e-01 -3.87451542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.51, Y:126.53, Z:-0.39 [[-3.26347911e-01 -9.45249695e-01 -2.33726378e-04 2.44506886e+02] [ 9.45249456e-01 -3.26347994e-01 6.72034252e-04 1.26525861e+02] [-7.11516306e-04 -1.61275766e-06 9.99999747e-01 -3.87588806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.85028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.51, Y:126.50, Z:-0.39 [[-3.20889570e-01 -9.47116494e-01 -4.79206235e-04 2.44511705e+02] [ 9.47115496e-01 -3.20889928e-01 1.37533966e-03 1.26504756e+02] [-1.45637933e-03 -1.25314992e-05 9.99998939e-01 -3.86589064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.880281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.51, Y:126.50, Z:-0.39 [[-3.21255297e-01 -9.46992505e-01 -4.79738956e-04 2.44512597e+02] [ 9.46991506e-01 -3.21255655e-01 1.37515387e-03 1.26502426e+02] [-1.45637926e-03 -1.25332501e-05 9.99998939e-01 -3.86587454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.91028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.51, Y:126.51, Z:-0.39 [[-3.19352555e-01 -9.47635810e-01 -5.63973940e-04 2.44508758e+02] [ 9.47634434e-01 -3.19353052e-01 1.61447113e-03 1.26506917e+02] [-1.71003746e-03 -1.88556438e-05 9.99998538e-01 -3.86574500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.940281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.51, Y:126.48, Z:-0.39 [[-3.16106789e-01 -9.48723176e-01 -9.13381497e-04 2.44511396e+02] [ 9.48719584e-01 -3.16108106e-01 2.61100890e-03 1.26482156e+02] [-2.76585195e-03 -4.11852755e-05 9.99996174e-01 -3.86422511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 377.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.52, Y:126.46, Z:-0.39 [[-3.14599403e-01 -9.49223876e-01 -1.11783523e-03 2.44516153e+02] [ 9.49218512e-01 -3.14601384e-01 3.19140051e-03 1.26459089e+02] [-3.38102607e-03 -5.70572004e-05 9.99994283e-01 -3.86451668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.000281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.51, Y:126.46, Z:-0.39 [[-3.13018618e-01 -9.49746085e-01 -1.31095327e-03 2.44510816e+02] [ 9.49738732e-01 -3.13021354e-01 3.73809402e-03 1.26463428e+02] [-3.96059653e-03 -7.49700702e-05 9.99992154e-01 -3.86781536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.52, Y:126.44, Z:-0.39 [[-3.11596518e-01 -9.50213565e-01 -1.33851696e-03 2.44515304e+02] [ 9.50205922e-01 -3.11599381e-01 3.81208284e-03 1.26439435e+02] [-4.03937388e-03 -8.40350045e-05 9.99991838e-01 -3.87096868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.45, Z:-0.39 [[-3.10858188e-01 -9.50455279e-01 -1.39630797e-03 2.44501766e+02] [ 9.50446985e-01 -3.10861310e-01 3.97186482e-03 1.26453610e+02] [-4.20913801e-03 -9.24299969e-05 9.99991137e-01 -3.87662421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.09028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.50, Y:126.45, Z:-0.39 [[-3.11418947e-01 -9.50271748e-01 -1.35834850e-03 2.44500225e+02] [ 9.50263915e-01 -3.11421897e-01 3.85924702e-03 1.26448041e+02] [-4.09035288e-03 -8.89469179e-05 9.99991631e-01 -3.87798759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.49, Y:126.45, Z:-0.39 [[-3.12448585e-01 -9.49933974e-01 -1.15228581e-03 2.44493294e+02] [ 9.49928348e-01 -3.12450701e-01 3.26995507e-03 1.26447066e+02] [-3.46627392e-03 -7.28961211e-05 9.99993990e-01 -3.89174862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.49, Y:126.46, Z:-0.39 [[-3.13218267e-01 -9.49680691e-01 -9.49659294e-04 2.44485794e+02] [ 9.49676878e-01 -3.13219701e-01 2.69180152e-03 1.26459090e+02] [-2.85380393e-03 -5.87480678e-05 9.99995926e-01 -3.89704071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.180281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.49, Y:126.43, Z:-0.39 [[-3.13986661e-01 -9.49426875e-01 -9.92897565e-04 2.44491576e+02] [ 9.49422716e-01 -3.13988226e-01 2.81091927e-03 1.26432738e+02] [-2.98052045e-03 -6.00883438e-05 9.99995556e-01 -3.89448620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.21028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.48, Y:126.43, Z:-0.39 [[-3.15516479e-01 -9.48918503e-01 -1.73992201e-03 2.44484817e+02] [ 9.48905757e-01 -3.15521260e-01 4.91929561e-03 1.26434420e+02] [-5.21699301e-03 -9.89031872e-05 9.99986387e-01 -3.89076272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.48, Y:126.44, Z:-0.39 [[-3.16427039e-01 -9.48614913e-01 -1.91732367e-03 2.44480085e+02] [ 9.48599468e-01 -3.16432830e-01 5.41424877e-03 1.26441892e+02] [-5.74274128e-03 -1.05557505e-04 9.99983505e-01 -3.89198524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.27028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.48, Y:126.44, Z:-0.39 [[-3.17231648e-01 -9.48346501e-01 -1.73095316e-03 2.44479008e+02] [ 9.48333938e-01 -3.17236357e-01 4.88211495e-03 1.26440695e+02] [-5.17905791e-03 -9.27602494e-05 9.99986584e-01 -3.89410082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:126.43, Z:-0.39 [[-3.18520313e-01 -9.47915008e-01 -1.39551719e-03 2.44478866e+02] [ 9.47906858e-01 -3.18523362e-01 3.93140824e-03 1.26430546e+02] [-4.17114570e-03 -7.05869264e-05 9.99991298e-01 -3.90982985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.33028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.47, Y:126.45, Z:-0.39 [[-3.19531206e-01 -9.47574652e-01 -1.44476629e-03 2.44470288e+02] [ 9.47565935e-01 -3.19534464e-01 4.06518379e-03 1.26451059e+02] [-4.31371774e-03 -7.00582423e-05 9.99990693e-01 -3.92032467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.360281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.47, Y:126.45, Z:-0.39 [[-3.22944825e-01 -9.46416590e-01 -1.50915023e-03 2.44469502e+02] [ 9.46407089e-01 -3.22948346e-01 4.24111359e-03 1.26448015e+02] [-4.50123783e-03 -5.86247898e-05 9.99989868e-01 -3.91991442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.47, Y:126.45, Z:-0.39 [[-3.25979562e-01 -9.45375556e-01 -1.54345912e-03 2.44469886e+02] [ 9.45365631e-01 -3.25983213e-01 4.33220533e-03 1.26445417e+02] [-4.59870279e-03 -4.69228083e-05 9.99989425e-01 -3.92606644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.48, Y:126.43, Z:-0.39 [[-3.33045436e-01 -9.42909646e-01 -1.46183357e-03 2.44476261e+02] [ 9.42900729e-01 -3.33048644e-01 4.10080746e-03 1.26427944e+02] [-4.35355260e-03 -1.26087331e-05 9.99990523e-01 -3.92754767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.45028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.47, Y:126.44, Z:-0.39 [[-3.37221068e-01 -9.41424221e-01 -1.54525677e-03 2.44472849e+02] [ 9.41414263e-01 -3.37224608e-01 4.33000597e-03 1.26440560e+02] [-4.59747111e-03 5.44247128e-06 9.99989432e-01 -3.93284872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.48, Y:126.42, Z:-0.39 [[-3.41715396e-01 -9.39802175e-01 -1.56824409e-03 2.44481990e+02] [ 9.39791913e-01 -3.41718994e-01 4.39195870e-03 1.26418180e+02] [-4.66347113e-03 2.69767949e-05 9.99989126e-01 -3.92982755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.51028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.49, Y:126.40, Z:-0.39 [[-3.50284302e-01 -9.36641137e-01 -2.07085742e-03 2.44491461e+02] [ 9.36623203e-01 -3.50290412e-01 5.79687524e-03 1.26400873e+02] [-6.15499331e-03 9.09412914e-05 9.99981054e-01 -3.92308556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.54028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.50, Y:126.38, Z:-0.39 [[-3.54348132e-01 -9.35110294e-01 -2.47778384e-03 2.44501608e+02] [ 9.35084604e-01 -3.54356768e-01 6.93285721e-03 1.26379648e+02] [-7.36100562e-03 1.39707479e-04 9.99972898e-01 -3.92024677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.52, Y:126.35, Z:-0.39 [[-3.61239667e-01 -9.32468887e-01 -2.77070936e-03 2.44518600e+02] [ 9.32436713e-01 -3.61250229e-01 7.74907911e-03 1.26349387e+02] [-8.22669456e-03 2.15763631e-04 9.99966137e-01 -3.91880610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.52, Y:126.35, Z:-0.39 [[-3.63890011e-01 -9.31437967e-01 -2.71528484e-03 2.44522000e+02] [ 9.31407105e-01 -3.63900068e-01 7.58581674e-03 1.26352314e+02] [-8.05381006e-03 2.31367350e-04 9.99967541e-01 -3.92666698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:126.36, Z:-0.39 [[-3.65998450e-01 -9.30612640e-01 -2.29087278e-03 2.44525571e+02] [ 9.30590705e-01 -3.66005561e-01 6.39288989e-03 1.26356012e+02] [-6.78777632e-03 2.07922881e-04 9.99976941e-01 -3.92607372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.53, Y:126.35, Z:-0.39 [[-3.67567433e-01 -9.29994633e-01 -2.04060890e-03 2.44534229e+02] [ 9.29977259e-01 -3.67573046e-01 5.68807064e-03 1.26345707e+02] [-6.03994800e-03 1.93029655e-04 9.99981741e-01 -3.93453498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.54, Y:126.36, Z:-0.39 [[-3.68377450e-01 -9.29674755e-01 -1.70394453e-03 2.44538757e+02] [ 9.29662664e-01 -3.68381355e-01 4.74432440e-03 1.26358528e+02] [-5.03838003e-03 1.63608514e-04 9.99987294e-01 -3.93539713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.35, Z:-0.39 [[-3.68143691e-01 -9.29766917e-01 -1.92435854e-03 2.44545112e+02] [ 9.29751532e-01 -3.68148676e-01 5.35180346e-03 1.26351893e+02] [-5.68437985e-03 1.81057375e-04 9.99983827e-01 -3.93371116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.36, Z:-0.39 [[-3.65131710e-01 -9.30953405e-01 -2.14303762e-03 2.44549319e+02] [ 9.30934388e-01 -3.65137955e-01 5.95305730e-03 1.26363880e+02] [-6.32452333e-03 1.78622575e-04 9.99979984e-01 -3.92937817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.54, Y:126.39, Z:-0.39 [[-3.63332529e-01 -9.31656943e-01 -2.19395535e-03 2.44544187e+02] [ 9.31637071e-01 -3.63339114e-01 6.08741183e-03 1.26388498e+02] [-6.46852929e-03 1.67784598e-04 9.99979065e-01 -3.92999828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.55, Y:126.39, Z:-0.39 [[-3.61496133e-01 -9.32371060e-01 -2.18014509e-03 2.44548173e+02] [ 9.32351495e-01 -3.61502675e-01 6.04201426e-03 1.26387184e+02] [-6.42152752e-03 1.51503256e-04 9.99979370e-01 -3.93922018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.40, Z:-0.40 [[-3.57919025e-01 -9.33750942e-01 -1.77464686e-03 2.44552536e+02] [ 9.33738025e-01 -3.57923410e-01 4.91257959e-03 1.26395829e+02] [-5.22231348e-03 1.01250442e-04 9.99986359e-01 -3.95598421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.55, Y:126.40, Z:-0.40 [[-3.56117296e-01 -9.34439897e-01 -1.59676946e-03 2.44553456e+02] [ 9.34429471e-01 -3.56120867e-01 4.41503279e-03 1.26403108e+02] [-4.69422571e-03 8.02011002e-05 9.99988979e-01 -3.95643196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.42, Z:-0.39 [[-3.49646130e-01 -9.36880043e-01 -1.83515699e-03 2.44553093e+02] [ 9.36866337e-01 -3.49650943e-01 5.06802619e-03 1.26416501e+02] [-5.38979697e-03 5.27189368e-05 9.99985474e-01 -3.94850284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.43, Z:-0.39 [[-3.45954252e-01 -9.38249492e-01 -1.88314876e-03 2.44548248e+02] [ 9.38235114e-01 -3.45959376e-01 5.19429061e-03 1.26430470e+02] [-5.52503350e-03 3.01506370e-05 9.99984736e-01 -3.94251058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.55, Y:126.41, Z:-0.39 [[-3.37867784e-01 -9.41191294e-01 -2.07573445e-03 2.44554489e+02] [ 9.41173921e-01 -3.37874160e-01 5.71853648e-03 1.26412494e+02] [-6.08357378e-03 -2.15178832e-05 9.99981495e-01 -3.94936596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 378.990281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.54, Y:126.45, Z:-0.39 [[-3.34345642e-01 -9.42449983e-01 -1.01016173e-03 2.44539195e+02] [ 9.42422650e-01 -3.34343805e-01 7.33278339e-03 1.26451221e+02] [-7.24852290e-03 1.49968487e-03 9.99972605e-01 -3.94866030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.02028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.56, Y:126.39, Z:-0.40 [[-3.31169094e-01 -9.43562848e-01 -4.02293212e-03 2.44560608e+02] [ 9.43541704e-01 -3.31189492e-01 6.52480286e-03 1.26393583e+02] [-7.48891441e-03 -1.63499118e-03 9.99970621e-01 -3.95120537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.050281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.56, Y:126.38, Z:-0.39 [[-3.28559883e-01 -9.44479184e-01 -2.73387040e-03 2.44563007e+02] [ 9.44449378e-01 -3.28571236e-01 7.50430724e-03 1.26382270e+02] [-7.98593315e-03 -1.16387890e-04 9.99968105e-01 -3.94877500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.57, Y:126.35, Z:-0.40 [[-3.25289603e-01 -9.45609896e-01 -2.93248602e-03 2.44571377e+02] [ 9.45575728e-01 -3.25302783e-01 8.04009944e-03 1.26353652e+02] [-8.55674346e-03 -1.57526845e-04 9.99963378e-01 -3.95735840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.110281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.57, Y:126.35, Z:-0.40 [[-3.24842329e-01 -9.45764144e-01 -2.76489128e-03 2.44571447e+02] [ 9.45733846e-01 -3.24854058e-01 7.57193647e-03 1.26350106e+02] [-8.05945217e-03 -1.55165789e-04 9.99967510e-01 -3.95561319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.57, Y:126.35, Z:-0.40 [[-3.25461592e-01 -9.45551670e-01 -2.60602500e-03 2.44566779e+02] [ 9.45524808e-01 -3.25471994e-01 7.12871561e-03 1.26350873e+02] [-7.58875710e-03 -1.43938152e-04 9.99971195e-01 -3.96087195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:126.35, Z:-0.40 [[-3.26265334e-01 -9.45274480e-01 -2.66249255e-03 2.44563692e+02] [ 9.45246497e-01 -3.26276166e-01 7.27478154e-03 1.26354311e+02] [-7.74537320e-03 -1.43202731e-04 9.99969994e-01 -3.97102105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.20028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.56, Y:126.35, Z:-0.40 [[-3.27163819e-01 -9.44963890e-01 -2.66110468e-03 2.44564992e+02] [ 9.44935991e-01 -3.27174612e-01 7.26261259e-03 1.26349099e+02] [-7.73355253e-03 -1.38509519e-04 9.99970086e-01 -3.97388019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.56, Y:126.37, Z:-0.40 [[-3.30207433e-01 -9.43904101e-01 -2.84602613e-03 2.44559476e+02] [ 9.43872225e-01 -3.30219674e-01 7.75825428e-03 1.26365577e+02] [-8.26286185e-03 -1.24451786e-04 9.99965854e-01 -3.97302885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.56, Y:126.36, Z:-0.40 [[-3.32278302e-01 -9.43176415e-01 -3.06287855e-03 2.44561413e+02] [ 9.43139551e-01 -3.32292397e-01 8.33962316e-03 1.26361416e+02] [-8.88350713e-03 -1.17646080e-04 9.99960534e-01 -3.97100577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.29028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.56, Y:126.37, Z:-0.40 [[-3.34872442e-01 -9.42257929e-01 -3.23158356e-03 2.44557413e+02] [ 9.42216947e-01 -3.34888019e-01 8.78865514e-03 1.26372828e+02] [-9.36339861e-03 -1.01774382e-04 9.99956157e-01 -3.97260281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.32028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.56, Y:126.37, Z:-0.40 [[-3.39584034e-01 -9.40570160e-01 -3.23392006e-03 2.44562768e+02] [ 9.40529137e-01 -3.39599427e-01 8.78470501e-03 1.26367424e+02] [-9.36086880e-03 -5.84504812e-05 9.99956184e-01 -3.98145762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.57, Y:126.37, Z:-0.40 [[-3.41457053e-01 -9.39892096e-01 -3.15106965e-03 2.44565933e+02] [ 9.39853210e-01 -3.41471589e-01 8.54965826e-03 1.26366429e+02] [-9.11175698e-03 -4.22018098e-05 9.99958486e-01 -3.98191626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.56, Y:126.38, Z:-0.40 [[-3.44011111e-01 -9.38960569e-01 -3.06666074e-03 2.44564510e+02] [ 9.38923789e-01 -3.44024779e-01 8.31086984e-03 1.26383842e+02] [-8.85858636e-03 -2.03291497e-05 9.99960762e-01 -3.98662714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.57, Y:126.39, Z:-0.40 [[-3.45293298e-01 -9.38490082e-01 -2.98407048e-03 2.44567429e+02] [ 9.38455320e-01 -3.45306191e-01 8.07748534e-03 1.26385079e+02] [-8.61105789e-03 -1.13152661e-05 9.99962924e-01 -3.99167524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.440281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.57, Y:126.38, Z:-0.40 [[-3.46754006e-01 -9.37951745e-01 -2.86067118e-03 2.44574349e+02] [ 9.37919856e-01 -3.46765806e-01 7.73433353e-03 1.26377992e+02] [-8.24641457e-03 -1.16915893e-06 9.99965998e-01 -3.99449698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.58, Y:126.37, Z:-0.40 [[-3.48201860e-01 -9.37415415e-01 -2.79362310e-03 2.44580617e+02] [ 9.37385057e-01 -3.48213067e-01 7.54418212e-03 1.26373431e+02] [-8.04480868e-03 8.19770115e-06 9.99967640e-01 -4.00250017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.58, Y:126.39, Z:-0.40 [[-3.49963500e-01 -9.36759849e-01 -2.55599732e-03 2.44581550e+02] [ 9.36734479e-01 -3.49972833e-01 6.89437496e-03 1.26392888e+02] [-7.35290327e-03 1.84887750e-05 9.99972967e-01 -4.01124081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.59, Y:126.39, Z:-0.40 [[-3.50090167e-01 -9.36712987e-01 -2.37788224e-03 2.44588319e+02] [ 9.36691080e-01 -3.50098243e-01 6.40637473e-03 1.26386152e+02] [-6.83342680e-03 1.54677206e-05 9.99976652e-01 -4.01854293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:126.38, Z:-0.40 [[-3.49528620e-01 -9.36922713e-01 -2.36083609e-03 2.44600646e+02] [ 9.36901174e-01 -3.49536593e-01 6.35294426e-03 1.26378055e+02] [-6.77741638e-03 8.66573809e-06 9.99977033e-01 -4.02110118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.60, Y:126.38, Z:-0.40 [[-3.49691003e-01 -9.36861991e-01 -2.41101774e-03 2.44602838e+02] [ 9.36839578e-01 -3.49699314e-01 6.48032399e-03 1.26383270e+02] [-6.91430048e-03 7.37415551e-06 9.99976096e-01 -4.01991892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.62, Y:126.36, Z:-0.40 [[-3.48739592e-01 -9.37216684e-01 -2.36299536e-03 2.44616735e+02] [ 9.37195214e-01 -3.48747598e-01 6.34382490e-03 1.26363913e+02] [-6.76962749e-03 -2.24503381e-06 9.99977086e-01 -4.02671789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.62, Y:126.37, Z:-0.40 [[-3.46987068e-01 -9.37866872e-01 -2.38843130e-03 2.44617226e+02] [ 9.37845004e-01 -3.46995287e-01 6.40463088e-03 1.26372275e+02] [-6.83546554e-03 -1.76542715e-05 9.99976638e-01 -4.03112576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.680281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.63, Y:126.35, Z:-0.40 [[-3.44990439e-01 -9.38603031e-01 -2.43863398e-03 2.44629438e+02] [ 9.38580305e-01 -3.44999056e-01 6.53165911e-03 1.26347547e+02] [-6.97196146e-03 -3.54938797e-05 9.99975695e-01 -4.03257593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.71028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.63, Y:126.34, Z:-0.40 [[-3.43274328e-01 -9.39232088e-01 -2.41280505e-03 2.44634204e+02] [ 9.39209907e-01 -3.43282804e-01 6.45508817e-03 1.26338669e+02] [-6.89110042e-03 -5.02643528e-05 9.99976255e-01 -4.03513254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.740281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.63, Y:126.34, Z:-0.40 [[-3.40551050e-01 -9.40222714e-01 -2.49605133e-03 2.44631814e+02] [ 9.40199057e-01 -3.40560189e-01 6.67014509e-03 1.26344193e+02] [-7.12147764e-03 -7.52601941e-05 9.99974639e-01 -4.03733687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.77028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.64, Y:126.32, Z:-0.40 [[-3.38670312e-01 -9.40902245e-01 -2.32044351e-03 2.44639965e+02] [ 9.40881862e-01 -3.38678251e-01 6.19387452e-03 1.26319401e+02] [-6.61371419e-03 -8.55817956e-05 9.99978126e-01 -4.04345100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.800281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.64, Y:126.32, Z:-0.40 [[-3.39018459e-01 -9.40776854e-01 -2.32273730e-03 2.44640903e+02] [ 9.40756474e-01 -3.39026405e-01 6.19301465e-03 1.26317110e+02] [-6.61371412e-03 -8.55838665e-05 9.99978126e-01 -4.04343459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.83028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.64, Y:126.31, Z:-0.40 [[-3.38562091e-01 -9.40941468e-01 -2.20557508e-03 2.44644175e+02] [ 9.40923136e-01 -3.38569264e-01 5.87407258e-03 1.26306084e+02] [-6.27389841e-03 -8.65383299e-05 9.99980315e-01 -4.04642622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.860281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.64, Y:126.33, Z:-0.40 [[-3.37786907e-01 -9.41220335e-01 -2.07018366e-03 2.44635436e+02] [ 9.41204227e-01 -3.37793239e-01 5.50732371e-03 1.26326050e+02] [-5.88289912e-03 -8.81637665e-05 9.99982692e-01 -4.04673738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.89028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.64, Y:126.31, Z:-0.40 [[-3.37317358e-01 -9.41388627e-01 -2.11024220e-03 2.44638408e+02] [ 9.41371930e-01 -3.37323945e-01 5.60753622e-03 1.26313363e+02] [-5.99070605e-03 -9.50034683e-05 9.99982051e-01 -4.04949336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.92028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.64, Y:126.31, Z:-0.41 [[-3.38280987e-01 -9.41041695e-01 -2.55009071e-03 2.44635655e+02] [ 9.41017359e-01 -3.38290580e-01 6.76857402e-03 1.26308454e+02] [-7.23218203e-03 -1.09999726e-04 9.99973841e-01 -4.05337561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.95028169299997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.64, Y:126.30, Z:-0.40 [[-3.39719046e-01 -9.40522207e-01 -2.99130306e-03 2.44635659e+02] [ 9.40488778e-01 -3.39732194e-01 7.93063008e-03 1.26302942e+02] [-8.47517566e-03 -1.19100879e-04 9.99964078e-01 -4.04547076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 379.98028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.63, Y:126.31, Z:-0.40 [[-3.42128357e-01 -9.39646234e-01 -3.62524745e-03 2.44628493e+02] [ 9.39597197e-01 -3.42147541e-01 9.60040245e-03 1.26311382e+02] [-1.02613515e-02 -1.21702433e-04 9.99947344e-01 -4.04187787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.01028169299997 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.63, Y:126.31, Z:-0.40 [[-3.42615144e-01 -9.39468906e-01 -3.61092281e-03 2.44627537e+02] [ 9.39420356e-01 -3.42634150e-01 9.55166052e-03 1.26311468e+02] [-1.02107135e-02 -1.19630845e-04 9.99947862e-01 -4.03394446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.04028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.63, Y:126.31, Z:-0.40 [[-3.43107230e-01 -9.39288975e-01 -3.69447207e-03 2.44628812e+02] [ 9.39238258e-01 -3.43127099e-01 9.76161130e-03 1.26305466e+02] [-1.04366474e-02 -1.20710091e-04 9.99945529e-01 -4.03574685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.07028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.62, Y:126.31, Z:-0.40 [[-3.43659850e-01 -9.39086984e-01 -3.68013888e-03 2.44624731e+02] [ 9.39036762e-01 -3.43679534e-01 9.71275679e-03 1.26308132e+02] [-1.03859119e-02 -1.17901158e-04 9.99946058e-01 -4.04172570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.10028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.62, Y:126.31, Z:-0.40 [[-3.44120119e-01 -9.38918944e-01 -3.54414126e-03 2.44623376e+02] [ 9.38872461e-01 -3.44138351e-01 9.34326531e-03 1.26306109e+02] [-9.99224373e-03 -1.12291051e-04 9.99950070e-01 -4.04477371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.130281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.63, Y:126.29, Z:-0.40 [[-3.44877185e-01 -9.38641071e-01 -3.55900269e-03 2.44627090e+02] [ 9.38594290e-01 -3.44895532e-01 9.37187373e-03 1.26290337e+02] [-1.00243097e-02 -1.08314170e-04 9.99949750e-01 -4.04872042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.16028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.62, Y:126.30, Z:-0.40 [[-3.45251991e-01 -9.38503440e-01 -3.51525498e-03 2.44621449e+02] [ 9.38457897e-01 -3.45269869e-01 9.24627916e-03 1.26296228e+02] [-9.89137642e-03 -1.06622511e-04 9.99951073e-01 -4.04853309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.190281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.62, Y:126.29, Z:-0.41 [[-3.45498219e-01 -9.38414043e-01 -3.17246712e-03 2.44622216e+02] [ 9.38377029e-01 -3.45512770e-01 8.33530629e-03 1.26291621e+02] [-8.91809638e-03 -9.71367950e-05 9.99960228e-01 -4.05603825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.22028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.62, Y:126.29, Z:-0.41 [[-3.46092638e-01 -9.38197852e-01 -2.16257318e-03 2.44619630e+02] [ 9.38180686e-01 -3.46099388e-01 5.67574909e-03 1.26289836e+02] [-6.07344086e-03 -6.45494179e-05 9.99981554e-01 -4.07637916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.250281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.61, Y:126.30, Z:-0.41 [[-3.46636197e-01 -9.37997608e-01 -1.95833249e-03 2.44612912e+02] [ 9.37983559e-01 -3.46641724e-01 5.13397016e-03 1.26300862e+02] [-5.49449148e-03 -5.72637895e-05 9.99984904e-01 -4.08511710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.28028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.61, Y:126.31, Z:-0.41 [[-3.47176375e-01 -9.37797481e-01 -2.10949167e-03 2.44606382e+02] [ 9.37781214e-01 -3.47182778e-01 5.52388863e-03 1.26311745e+02] [-5.91266802e-03 -6.04780283e-05 9.99982518e-01 -4.08264311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.310281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.61, Y:126.30, Z:-0.41 [[-3.47335175e-01 -9.37738308e-01 -2.26767421e-03 2.44608168e+02] [ 9.37719552e-01 -3.47342572e-01 5.93126911e-03 1.26296252e+02] [-6.34963805e-03 -6.63040471e-05 9.99979839e-01 -4.08451732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.34028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.61, Y:126.28, Z:-0.41 [[-3.47782125e-01 -9.37573239e-01 -2.00359327e-03 2.44612285e+02] [ 9.37558628e-01 -3.47787892e-01 5.23469591e-03 1.26281489e+02] [-5.60473628e-03 -5.79524914e-05 9.99984292e-01 -4.09014999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.370281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.60, Y:126.30, Z:-0.41 [[-3.50066281e-01 -9.36723805e-01 -1.45366518e-03 2.44599144e+02] [ 9.36716123e-01 -3.50069297e-01 3.79380170e-03 1.26304646e+02] [-4.06262791e-03 -3.35895628e-05 9.99991747e-01 -4.10322477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.40028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.60, Y:126.29, Z:-0.41 [[-3.51958226e-01 -9.36014797e-01 -1.30634092e-03 2.44603825e+02] [ 9.36008602e-01 -3.51960650e-01 3.40549704e-03 1.26286291e+02] [-3.64737622e-03 -2.41536413e-05 9.99993348e-01 -4.10458987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.430281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.59, Y:126.32, Z:-0.41 [[-3.55520379e-01 -9.34667532e-01 -1.36555805e-03 2.44586818e+02] [ 9.34660768e-01 -3.55523002e-01 3.55575218e-03 1.26320875e+02] [-3.80893341e-03 -1.21911732e-05 9.99992746e-01 -4.10489966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.46028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.59, Y:126.30, Z:-0.41 [[-3.57575374e-01 -9.33883071e-01 -1.50405452e-03 2.44592911e+02] [ 9.33874878e-01 -3.57578537e-01 3.91177858e-03 1.26301586e+02] [-4.19096141e-03 -5.84304454e-06 9.99991218e-01 -4.10594915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.490281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.59, Y:126.31, Z:-0.41 [[-3.59663541e-01 -9.33080876e-01 -1.48864622e-03 2.44586852e+02] [ 9.33072862e-01 -3.59666622e-01 3.86723441e-03 1.26311982e+02] [-4.14385883e-03 1.88782891e-06 9.99991414e-01 -4.10174412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.52028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.59, Y:126.30, Z:-0.41 [[-3.61249807e-01 -9.32467804e-01 -1.53986109e-03 2.44590669e+02] [ 9.32459244e-01 -3.61253089e-01 3.99563355e-03 1.26296830e+02] [-4.28207922e-03 7.56414167e-06 9.99990832e-01 -4.10218984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.550281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.59, Y:126.29, Z:-0.41 [[-3.63782583e-01 -9.31481937e-01 -1.90607513e-03 2.44590707e+02] [ 9.31468838e-01 -3.63787575e-01 4.94003945e-03 1.26289053e+02] [-5.29496397e-03 2.16507192e-05 9.99985981e-01 -4.10555951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.58028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.59, Y:126.29, Z:-0.41 [[-3.65540305e-01 -9.30792410e-01 -2.40290947e-03 2.44589218e+02] [ 9.30771626e-01 -3.65548201e-01 6.22038022e-03 1.26291480e+02] [-6.66826193e-03 3.72397252e-05 9.99977766e-01 -4.10335492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.610281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.60, Y:126.26, Z:-0.41 [[-3.69304627e-01 -9.29304142e-01 -2.81152203e-03 2.44598531e+02] [ 9.29275709e-01 -3.69315322e-01 7.26976423e-03 1.26260169e+02] [-7.79416017e-03 7.20784434e-05 9.99969623e-01 -4.09544497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.64028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.60, Y:126.26, Z:-0.41 [[-3.70388425e-01 -9.28872827e-01 -2.77234023e-03 2.44598867e+02] [ 9.28845231e-01 -3.70398793e-01 7.16041441e-03 1.26255726e+02] [-7.67798585e-03 7.70596159e-05 9.99970521e-01 -4.09870634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.67028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.57, Y:126.33, Z:-0.41 [[-3.70929231e-01 -9.28655536e-01 -3.22511478e-03 2.44569568e+02] [ 9.28637936e-01 -3.70942276e-01 5.78022327e-03 1.26327881e+02] [-6.56416776e-03 -8.50910163e-04 9.99978094e-01 -4.10102604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.70028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.60, Y:126.26, Z:-0.41 [[-3.71151493e-01 -9.28571267e-01 -1.40398342e-03 2.44595007e+02] [ 9.28551519e-01 -3.71152873e-01 6.13359334e-03 1.26256742e+02] [-6.21657103e-03 9.72821384e-04 9.99980204e-01 -4.11320411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.73028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.59, Y:126.26, Z:-0.41 [[-3.71715003e-01 -9.28345018e-01 -1.86673614e-03 2.44591065e+02] [ 9.28332565e-01 -3.71719687e-01 4.80857634e-03 1.26260627e+02] [-5.15792046e-03 5.44680253e-05 9.99986696e-01 -4.11999436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.76028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.59, Y:126.25, Z:-0.41 [[-3.72178720e-01 -9.28158610e-01 -2.14380010e-03 2.44590347e+02] [ 9.28142221e-01 -3.72184889e-01 5.51594721e-03 1.26251339e+02] [-5.91756389e-03 6.31667839e-05 9.99982489e-01 -4.11891087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.79028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.59, Y:126.24, Z:-0.41 [[-3.72008980e-01 -9.28226637e-01 -2.15175948e-03 2.44590890e+02] [ 9.28210164e-01 -3.72015198e-01 5.53020878e-03 1.26244422e+02] [-5.93377432e-03 6.00023049e-05 9.99982393e-01 -4.11851815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.82028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.59, Y:126.25, Z:-0.41 [[-3.71756493e-01 -9.28328114e-01 -2.00572876e-03 2.44588077e+02] [ 9.28313835e-01 -3.71761900e-01 5.14916024e-03 1.26247767e+02] [-5.52576375e-03 5.22879948e-05 9.99984732e-01 -4.12274082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.85028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.59, Y:126.25, Z:-0.41 [[-3.71350803e-01 -9.28491042e-01 -1.72207261e-03 2.44586196e+02] [ 9.28480541e-01 -3.71354794e-01 4.41607828e-03 1.26245917e+02] [-4.73978905e-03 4.10033102e-05 9.99988766e-01 -4.13394405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.880281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.59, Y:126.24, Z:-0.41 [[-3.71664242e-01 -9.28365412e-01 -1.83104200e-03 2.44585973e+02] [ 9.28353565e-01 -3.71668750e-01 4.69019925e-03 1.26242843e+02] [-5.03475986e-03 4.33249819e-05 9.99987325e-01 -4.13076750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.91028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.59, Y:126.23, Z:-0.41 [[-3.72212982e-01 -9.28145057e-01 -2.06143732e-03 2.44591209e+02] [ 9.28130072e-01 -3.72218687e-01 5.27436833e-03 1.26225987e+02] [-5.66268439e-03 4.99064029e-05 9.99983966e-01 -4.12798760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.940281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.59, Y:126.23, Z:-0.41 [[-3.73207160e-01 -9.27743736e-01 -2.82408259e-03 2.44586454e+02] [ 9.27715665e-01 -3.73217838e-01 7.21735666e-03 1.26234204e+02] [-7.74985543e-03 7.36235250e-05 9.99969967e-01 -4.11590336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 380.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.60, Y:126.21, Z:-0.41 [[-3.73703990e-01 -9.27543295e-01 -2.96038417e-03 2.44596329e+02] [ 9.27512511e-01 -3.73715708e-01 7.55727211e-03 1.26208231e+02] [-8.11603914e-03 7.83893952e-05 9.99967061e-01 -4.11774149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.000281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.59, Y:126.22, Z:-0.41 [[-3.73527268e-01 -9.27615581e-01 -2.59120063e-03 2.44592130e+02] [ 9.27592049e-01 -3.73536250e-01 6.60760268e-03 1.26219846e+02] [-7.09722256e-03 6.45426765e-05 9.99974812e-01 -4.12523634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.03028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.59, Y:126.23, Z:-0.41 [[-3.73529568e-01 -9.27615016e-01 -2.45865556e-03 2.44590118e+02] [ 9.27593876e-01 -3.73537655e-01 6.26267856e-03 1.26225886e+02] [-6.72775510e-03 5.86617722e-05 9.99977367e-01 -4.13550363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.060281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.59, Y:126.22, Z:-0.41 [[-3.73494068e-01 -9.27629513e-01 -2.38069822e-03 2.44593839e+02] [ 9.27609737e-01 -3.73501652e-01 6.05738513e-03 1.26218030e+02] [-6.50820393e-03 5.40385664e-05 9.99978820e-01 -4.13628737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.60, Y:126.21, Z:-0.41 [[-3.73785191e-01 -9.27513406e-01 -1.87420882e-03 2.44597366e+02] [ 9.27501175e-01 -3.73789887e-01 4.76354622e-03 1.26213774e+02] [-5.11881328e-03 4.22121509e-05 9.99986898e-01 -4.14369570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.120281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.59, Y:126.24, Z:-0.42 [[-3.74388348e-01 -9.27270971e-01 -1.38283696e-03 2.44589246e+02] [ 9.27264324e-01 -3.74390900e-01 3.51091743e-03 1.26238158e+02] [-3.77329338e-03 3.21911996e-05 9.99992881e-01 -4.15245899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.15028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.60, Y:126.23, Z:-0.42 [[-3.76496451e-01 -9.26417762e-01 -7.43552474e-04 2.44597688e+02] [ 9.26415842e-01 -3.76497184e-01 1.88602093e-03 1.26225907e+02] [-2.02718870e-03 2.12413938e-05 9.99997945e-01 -4.16734230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.180281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.61, Y:126.21, Z:-0.42 [[-3.78225097e-01 -9.25713208e-01 -9.12311608e-04 2.44606318e+02] [ 9.25710323e-01 -3.78226196e-01 2.31134845e-03 1.26207684e+02] [-2.48470593e-03 2.96737168e-05 9.99996913e-01 -4.16484386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.21028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.61, Y:126.20, Z:-0.42 [[-3.79760143e-01 -9.25084013e-01 -1.34274172e-03 2.44610638e+02] [ 9.25077774e-01 -3.79762514e-01 3.39778305e-03 1.26200173e+02] [-3.65315775e-03 4.82020502e-05 9.99993326e-01 -4.16185013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.61, Y:126.21, Z:-0.42 [[-3.81486925e-01 -9.24371868e-01 -2.09194251e-03 2.44608307e+02] [ 9.24356750e-01 -3.81492651e-01 5.28741601e-03 1.26214320e+02] [-5.68559931e-03 8.33788986e-05 9.99983833e-01 -4.15144665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.27028169299996 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:244.61, Y:126.21, Z:-0.42 [[-3.81812334e-01 -9.24237639e-01 -2.03170485e-03 2.44613858e+02] [ 9.24223408e-01 -3.81817731e-01 5.12951037e-03 1.26205045e+02] [-5.51662750e-03 8.07611418e-05 9.99984780e-01 -4.15234195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.300281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.62, Y:126.20, Z:-0.42 [[-3.81567767e-01 -9.24339397e-01 -1.64865939e-03 2.44620906e+02] [ 9.24330047e-01 -3.81571323e-01 4.15797711e-03 1.26196346e+02] [-4.47246320e-03 6.26446332e-05 9.99989997e-01 -4.15128921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.33028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.62, Y:126.21, Z:-0.42 [[-3.81350379e-01 -9.24428858e-01 -1.78182926e-03 2.44619341e+02] [ 9.24417962e-01 -3.81354536e-01 4.48884824e-03 1.26205578e+02] [-4.82912952e-03 6.46689991e-05 9.99988338e-01 -4.15607546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.360281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.62, Y:126.21, Z:-0.42 [[-3.81554817e-01 -9.24344365e-01 -1.84867722e-03 2.44617903e+02] [ 9.24332660e-01 -3.81559289e-01 4.65208109e-03 1.26214456e+02] [-5.00550490e-03 6.62312098e-05 9.99987470e-01 -4.16080030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.39028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.62, Y:126.22, Z:-0.42 [[-3.82215261e-01 -9.24072202e-01 -1.43526807e-03 2.44617780e+02] [ 9.24065160e-01 -3.82217952e-01 3.60789382e-03 1.26222932e+02] [-3.88253961e-03 5.27108605e-05 9.99992462e-01 -4.17153562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.42028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.62, Y:126.22, Z:-0.42 [[-3.82316598e-01 -9.24030737e-01 -1.10282456e-03 2.44619432e+02] [ 9.24026588e-01 -3.82318187e-01 2.76927637e-03 1.26222090e+02] [-2.98052637e-03 3.97011084e-05 9.99995557e-01 -4.17525986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.45028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.63, Y:126.22, Z:-0.42 [[-3.80930307e-01 -9.24603423e-01 -7.82312032e-04 2.44626359e+02] [ 9.24601340e-01 -3.80931110e-01 1.96244885e-03 1.26217370e+02] [-2.11249391e-03 2.42294896e-05 9.99997768e-01 -4.18125863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.48028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.63, Y:126.22, Z:-0.42 [[-3.80196963e-01 -9.24905198e-01 -8.02579061e-04 2.44627354e+02] [ 9.24903012e-01 -3.80197809e-01 2.01102616e-03 1.26221890e+02] [-2.16514735e-03 2.22782460e-05 9.99997656e-01 -4.17748793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.51028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.42 [[-3.79195056e-01 -9.25316180e-01 -1.03793993e-03 2.44634451e+02] [ 9.25312534e-01 -3.79196476e-01 2.59767826e-03 1.26209638e+02] [-2.79725689e-03 2.46079272e-05 9.99996087e-01 -4.18312956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.54028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.63, Y:126.23, Z:-0.42 [[-3.75602869e-01 -9.26779774e-01 -1.31737346e-03 2.44628379e+02] [ 9.26773923e-01 -3.75605179e-01 3.29316061e-03 1.26232878e+02] [-3.54684693e-03 1.60132037e-05 9.99993710e-01 -4.18126216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.57028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.63, Y:126.23, Z:-0.42 [[-3.73250629e-01 -9.27729669e-01 -1.27608732e-03 2.44631450e+02] [ 9.27724197e-01 -3.73252810e-01 3.18638744e-03 1.26228244e+02] [-3.43240935e-03 5.46402926e-06 9.99994109e-01 -4.18293469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.60028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.64, Y:126.20, Z:-0.42 [[-3.68197709e-01 -9.29747317e-01 -6.11180716e-04 2.44643400e+02] [ 9.29746067e-01 -3.68198216e-01 1.52476559e-03 1.26201578e+02] [-1.64268237e-03 -6.82766941e-06 9.99998651e-01 -4.19272979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.630281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.64, Y:126.21, Z:-0.42 [[-3.66699356e-01 -9.30339413e-01 -3.97590141e-04 2.44637594e+02] [ 9.30338886e-01 -3.66699572e-01 9.91036121e-04 1.26214797e+02] [-1.06779610e-03 -6.48126094e-06 9.99999430e-01 -4.20304222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.66028169299994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:244.64, Y:126.21, Z:-0.42 [[-3.65255002e-01 -9.30907351e-01 -5.36076564e-04 2.44641202e+02] [ 9.30906395e-01 -3.65255395e-01 1.33451203e-03 1.26205390e+02] [-1.43811192e-03 -1.15999087e-05 9.99998966e-01 -4.19943448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.690281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:244.64, Y:126.20, Z:-0.42 [[-3.65612073e-01 -9.30767170e-01 -5.36589048e-04 2.44642199e+02] [ 9.30766213e-01 -3.65612466e-01 1.33430600e-03 1.26203108e+02] [-1.43811186e-03 -1.16005753e-05 9.99998966e-01 -4.19941806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.72028169299995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:244.65, Y:126.18, Z:-0.42 [[-3.63936745e-01 -9.31422396e-01 -1.53812070e-03 2.44652582e+02] [ 9.31414566e-01 -3.63939993e-01 3.81931039e-03 1.26175754e+02] [-4.11717487e-03 -4.26406309e-05 9.99991524e-01 -4.19982832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.750281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:244.65, Y:126.17, Z:-0.42 [[-3.63726868e-01 -9.31504051e-01 -1.72291780e-03 2.44654658e+02] [ 9.31494250e-01 -3.63730945e-01 4.27345665e-03 1.26172124e+02] [-4.60742071e-03 -5.05170181e-05 9.99989385e-01 -4.19878781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.66, Y:126.17, Z:-0.42 [[-3.64017056e-01 -9.31390590e-01 -1.77544750e-03 2.44655629e+02] [ 9.31380203e-01 -3.64021382e-01 4.39895607e-03 1.26173900e+02] [-4.74344714e-03 -5.23216081e-05 9.99988748e-01 -4.19783585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.65, Y:126.18, Z:-0.42 [[-3.64650939e-01 -9.31142470e-01 -1.84233278e-03 2.44654226e+02] [ 9.31131307e-01 -3.64655589e-01 4.55968926e-03 1.26178620e+02] [-4.91753726e-03 -5.27587602e-05 9.99987907e-01 -4.20123328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.66, Y:126.16, Z:-0.42 [[-3.64681286e-01 -9.31129120e-01 -2.47430703e-03 2.44659933e+02] [ 9.31109030e-01 -3.64689672e-01 6.11693274e-03 1.26163164e+02] [-6.59800841e-03 -7.31187177e-05 9.99978230e-01 -4.19414985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.66, Y:126.17, Z:-0.42 [[-3.64366428e-01 -9.31251695e-01 -2.71797464e-03 2.44656706e+02] [ 9.31227510e-01 -3.64376555e-01 6.71199080e-03 1.26169500e+02] [-7.24091905e-03 -8.54286448e-05 9.99973781e-01 -4.18996818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.90028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.42 [[-3.63413235e-01 -9.31624225e-01 -2.66922609e-03 2.44662655e+02] [ 9.31600960e-01 -3.63423026e-01 6.58451037e-03 1.26153079e+02] [-7.10434759e-03 -9.37553717e-05 9.99974759e-01 -4.18640546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.42 [[-3.60052145e-01 -9.32930284e-01 -1.88127592e-03 2.44664645e+02] [ 9.32918769e-01 -3.60057049e-01 4.63599967e-03 1.26145241e+02] [-5.00243115e-03 -8.58759913e-05 9.99987484e-01 -4.19536866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.96028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.42 [[-3.58614377e-01 -9.33484559e-01 -1.51871735e-03 2.44662578e+02] [ 9.33477075e-01 -3.58617585e-01 3.73867368e-03 1.26149965e+02] [-4.03463290e-03 -7.69456957e-05 9.99991858e-01 -4.20492710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 381.990281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.66, Y:126.14, Z:-0.42 [[-3.57678756e-01 -9.33843883e-01 -1.22833174e-03 2.44664933e+02] [ 9.33839000e-01 -3.57680859e-01 3.02071128e-03 1.26142887e+02] [-3.26022351e-03 -6.66198290e-05 9.99994683e-01 -4.20370058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.02028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.66, Y:126.14, Z:-0.42 [[-3.57559555e-01 -9.33889608e-01 -1.16825390e-03 2.44662691e+02] [ 9.33885201e-01 -3.57561457e-01 2.86992962e-03 1.26142362e+02] [-3.09792001e-03 -6.48442715e-05 9.99995199e-01 -4.20424375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.050281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.66, Y:126.14, Z:-0.42 [[-3.58379487e-01 -9.33575335e-01 -1.11228184e-03 2.44663295e+02] [ 9.33571347e-01 -3.58381208e-01 2.72954182e-03 1.26137751e+02] [-2.94685383e-03 -6.01826554e-05 9.99995656e-01 -4.20898464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.08028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.42 [[-3.60939538e-01 -9.32588660e-01 -1.02046226e-03 2.44656849e+02] [ 9.32585306e-01 -3.60940978e-01 2.50158938e-03 1.26147113e+02] [-2.70128053e-03 -4.87455894e-05 9.99996350e-01 -4.21315378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.110281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.66, Y:126.13, Z:-0.42 [[-3.62203599e-01 -9.32098388e-01 -1.07138557e-03 2.44660861e+02] [ 9.32094697e-01 -3.62205181e-01 2.62357795e-03 1.26134956e+02] [-2.83349418e-03 -4.83634333e-05 9.99995985e-01 -4.21920114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.14028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.66, Y:126.13, Z:-0.42 [[-3.63508521e-01 -9.31590449e-01 -8.89002334e-04 2.44659006e+02] [ 9.31587911e-01 -3.63509607e-01 2.17474615e-03 1.26134943e+02] [-2.34913363e-03 -3.76450707e-05 9.99997240e-01 -4.21661445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.17028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:244.65, Y:126.14, Z:-0.42 [[-3.65126672e-01 -9.30957743e-01 -4.40891145e-04 2.44654613e+02] [ 9.30957119e-01 -3.65126938e-01 1.07771428e-03 1.26135723e+02] [-1.16428768e-03 -1.69485233e-05 9.99999322e-01 -4.22764271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.20028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.65, Y:126.15, Z:-0.42 [[-3.66189734e-01 -9.30540127e-01 -3.87780840e-04 2.44647690e+02] [ 9.30539646e-01 -3.66189939e-01 9.46952508e-04 1.26147838e+02] [-1.02317875e-03 -1.40811588e-05 9.99999476e-01 -4.23371067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.23028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.64, Y:126.15, Z:-0.42 [[-3.67914293e-01 -9.29859628e-01 -3.80299547e-04 2.44644227e+02] [ 9.29859166e-01 -3.67914490e-01 9.27693074e-04 1.26146807e+02] [-1.00254205e-03 -1.23134780e-05 9.99999497e-01 -4.23943521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.26028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.64, Y:126.15, Z:-0.42 [[-3.69190876e-01 -9.29353459e-01 -4.95503034e-04 2.44643108e+02] [ 9.29352675e-01 -3.69191208e-01 1.20720839e-03 1.26145165e+02] [-1.30485866e-03 -1.48067465e-05 9.99999149e-01 -4.23308982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.29028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.65, Y:126.13, Z:-0.42 [[-3.70658573e-01 -9.28768968e-01 -6.52935394e-04 2.44646918e+02] [ 9.28767609e-01 -3.70659147e-01 1.58883565e-03 1.26132925e+02] [-1.71767772e-03 -1.75096906e-05 9.99998525e-01 -4.23343500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.32028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.64, Y:126.14, Z:-0.42 [[-3.73292549e-01 -9.27713475e-01 -6.17418507e-04 2.44643185e+02] [ 9.27712261e-01 -3.73293059e-01 1.50082097e-03 1.26143595e+02] [-1.62280988e-03 -1.25414346e-05 9.99998683e-01 -4.23699209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.35028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.65, Y:126.14, Z:-0.42 [[-3.74472609e-01 -9.27237771e-01 -6.17063478e-04 2.44647601e+02] [ 9.27236561e-01 -3.74473117e-01 1.49833442e-03 1.26135160e+02] [-1.62038595e-03 -1.10786194e-05 9.99998687e-01 -4.24147779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.380281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.64, Y:126.15, Z:-0.42 [[-3.75071600e-01 -9.26995471e-01 -8.32052487e-04 2.44641749e+02] [ 9.26993274e-01 -3.75072523e-01 2.01794409e-03 1.26147106e+02] [-2.18270506e-03 -1.44335392e-05 9.99997618e-01 -4.24670706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.41028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.64, Y:126.14, Z:-0.42 [[-3.74515865e-01 -9.27220081e-01 -8.88056119e-04 2.44643932e+02] [ 9.27217585e-01 -3.74516917e-01 2.15137998e-03 1.26138796e+02] [-2.32739476e-03 -1.76953174e-05 9.99997291e-01 -4.24572552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.440281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.64, Y:126.14, Z:-0.42 [[-3.73404277e-01 -9.27668466e-01 -6.80464276e-04 2.44642368e+02] [ 9.27667005e-01 -3.73404896e-01 1.64683388e-03 1.26139223e+02] [-1.78180455e-03 -1.63094451e-05 9.99998412e-01 -4.24708904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.47028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.64, Y:126.14, Z:-0.43 [[-3.70356968e-01 -9.28889336e-01 5.64169423e-04 2.44640509e+02] [ 9.28888336e-01 -3.70357397e-01 -1.36269416e-03 1.26138630e+02] [ 1.47473640e-03 1.93671172e-05 9.99998912e-01 -4.25961939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.500281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.64, Y:126.13, Z:-0.43 [[-3.69469318e-01 -9.29242643e-01 7.31072936e-04 2.44641950e+02] [ 9.29240968e-01 -3.69470040e-01 -1.76410574e-03 1.26132709e+02] [ 1.90939182e-03 2.75599798e-05 9.99998177e-01 -4.26252207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.53028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.65, Y:126.11, Z:-0.43 [[-3.68038583e-01 -9.29810519e-01 -3.31996941e-05 2.44648407e+02] [ 9.29810515e-01 -3.68038584e-01 8.07049711e-05 1.26109206e+02] [-8.72590994e-05 -1.16688145e-06 9.99999996e-01 -4.26009243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.560281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.65, Y:126.11, Z:-0.43 [[-3.68057367e-01 -9.29803014e-01 -3.59595255e-04 2.44645350e+02] [ 9.29802610e-01 -3.68057543e-01 8.66821158e-04 1.26111527e+02] [-9.38324671e-04 -1.53126929e-05 9.99999560e-01 -4.26098512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.59028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.64, Y:126.12, Z:-0.43 [[-3.68442851e-01 -9.29650301e-01 -4.28324137e-04 2.44640982e+02] [ 9.29649729e-01 -3.68443099e-01 1.03126558e-03 1.26117396e+02] [-1.11652943e-03 -1.82289880e-05 9.99999377e-01 -4.25896941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.620281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.64, Y:126.11, Z:-0.43 [[-3.69847949e-01 -9.29092281e-01 -1.66782503e-04 2.44640228e+02] [ 9.29092195e-01 -3.69847986e-01 4.01522622e-04 1.26111032e+02] [-4.34735742e-04 -6.45400304e-06 9.99999906e-01 -4.26914720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.65028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.64, Y:126.10, Z:-0.43 [[-3.71229551e-01 -9.28541125e-01 1.06894058e-05 2.44642391e+02] [ 9.28541125e-01 -3.71229551e-01 -2.50188661e-05 1.26103280e+02] [ 2.71992694e-05 6.37810486e-07 1.00000000e+00 -4.27283090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.64, Y:126.10, Z:-0.43 [[-3.73613434e-01 -9.27584480e-01 -1.87422297e-04 2.44640217e+02] [ 9.27584370e-01 -3.73613481e-01 4.50162702e-04 1.26101764e+02] [-4.87587432e-04 -5.66316030e-06 9.99999881e-01 -4.26718464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.63, Y:126.11, Z:-0.43 [[-3.74639954e-01 -9.27170352e-01 -2.06105927e-04 2.44634629e+02] [ 9.27170220e-01 -3.74640011e-01 4.94445067e-04 1.26112953e+02] [-5.35650334e-04 -5.85639996e-06 9.99999857e-01 -4.26765581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.64, Y:126.10, Z:-0.43 [[-3.75657572e-01 -9.26758539e-01 1.05592397e-05 2.44638045e+02] [ 9.26758538e-01 -3.75657572e-01 -2.46214710e-05 1.26103437e+02] [ 2.67848169e-05 5.36623517e-07 1.00000000e+00 -4.26610481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.77028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.63, Y:126.12, Z:-0.43 [[-3.77198141e-01 -9.26132397e-01 5.87474718e-04 2.44627328e+02] [ 9.26131333e-01 -3.77198599e-01 -1.40379964e-03 1.26121492e+02] [ 1.52169897e-03 1.45681273e-05 9.99998842e-01 -4.27762537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.62, Y:126.12, Z:-0.43 [[-3.78948158e-01 -9.25417416e-01 9.48475212e-04 2.44622762e+02] [ 9.25414646e-01 -3.78949344e-01 -2.26434696e-03 1.26116856e+02] [ 2.45489018e-03 1.96627418e-05 9.99996987e-01 -4.29120466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.83028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.62, Y:126.11, Z:-0.43 [[-3.79742876e-01 -9.25091593e-01 9.45080728e-04 2.44620467e+02] [ 9.25088848e-01 -3.79744051e-01 -2.25377648e-03 1.26114211e+02] [ 2.44383846e-03 1.84280799e-05 9.99997014e-01 -4.28966373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.860281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.62, Y:126.11, Z:-0.43 [[-3.80755632e-01 -9.24675386e-01 7.60628875e-04 2.44619790e+02] [ 9.24673611e-01 -3.80756391e-01 -1.81179911e-03 1.26108705e+02] [ 1.96494035e-03 1.34807323e-05 9.99998069e-01 -4.28717661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.89028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.62, Y:126.10, Z:-0.43 [[-3.82033710e-01 -9.24148228e-01 5.44661071e-04 2.44621022e+02] [ 9.24147320e-01 -3.82034098e-01 -1.29577566e-03 1.26099210e+02] [ 1.40556788e-03 8.31708679e-06 9.99999012e-01 -4.27794899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.92028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.62, Y:126.09, Z:-0.43 [[-3.85772532e-01 -9.22593718e-01 6.20784851e-04 2.44621950e+02] [ 9.22592538e-01 -3.85773031e-01 -1.47538059e-03 1.26085446e+02] [ 1.60065891e-03 3.57016793e-06 9.99998719e-01 -4.28402822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.95028169299997 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.62, Y:126.08, Z:-0.43 [[-3.92100586e-01 -9.19922235e-01 4.60866892e-04 2.44620177e+02] [ 9.19921584e-01 -3.92100857e-01 -1.09397558e-03 1.26077500e+02] [ 1.18707876e-03 -4.98706298e-06 9.99999295e-01 -4.28887456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 382.98028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.62, Y:126.06, Z:-0.43 [[-3.95552051e-01 -9.18443560e-01 3.59153181e-05 2.44624579e+02] [ 9.18443557e-01 -3.95552053e-01 -8.45725194e-05 1.26063273e+02] [ 9.18814637e-05 -4.66641004e-07 9.99999996e-01 -4.28786823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.63, Y:126.05, Z:-0.43 [[-3.98964062e-01 -9.16966522e-01 -2.74670116e-04 2.44628601e+02] [ 9.16966290e-01 -3.98964157e-01 6.51630459e-04 1.26051569e+02] [-7.07106846e-04 8.11389727e-06 9.99999750e-01 -4.27554892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.64, Y:126.03, Z:-0.43 [[-4.02168170e-01 -9.15565760e-01 -3.19770098e-04 2.44636189e+02] [ 9.15565446e-01 -4.02168297e-01 7.57866934e-04 1.26032784e+02] [-8.22478411e-04 1.20195053e-05 9.99999662e-01 -4.27618703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.07028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.64, Y:126.02, Z:-0.43 [[-4.08633753e-01 -9.12698414e-01 2.47721783e-04 2.44643233e+02] [ 9.12698226e-01 -4.08633828e-01 -5.85823412e-04 1.26018310e+02] [ 6.35907599e-04 -1.32919875e-05 9.99999798e-01 -4.29100218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.65, Y:126.01, Z:-0.43 [[-4.13111759e-01 -9.10680239e-01 4.20294128e-04 2.44651224e+02] [ 9.10679698e-01 -4.13111972e-01 -9.93351985e-04 1.26005687e+02] [ 1.07825456e-03 -2.76120567e-05 9.99999418e-01 -4.29607427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.130281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.65, Y:126.01, Z:-0.43 [[-4.14966535e-01 -9.09836590e-01 3.92496848e-04 2.44649611e+02] [ 9.09836118e-01 -4.14966720e-01 -9.26667194e-04 1.26014204e+02] [ 1.00598885e-03 -2.74280662e-05 9.99999494e-01 -4.29490645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.16028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.65, Y:126.01, Z:-0.43 [[-4.17011488e-01 -9.08901092e-01 4.74007706e-04 2.44654358e+02] [ 9.08900405e-01 -4.17011756e-01 -1.11809234e-03 1.26008767e+02] [ 1.21390213e-03 -3.54315537e-05 9.99999263e-01 -4.29510775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.66, Y:126.00, Z:-0.43 [[-4.19207505e-01 -9.07890318e-01 4.88885356e-04 2.44659126e+02] [ 9.07889587e-01 -4.19207788e-01 -1.15203228e-03 1.26004953e+02] [ 1.25086350e-03 -3.90866548e-05 9.99999217e-01 -4.29229313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.22028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.67, Y:125.98, Z:-0.43 [[-4.22742080e-01 -9.06249781e-01 6.84202236e-04 2.44674426e+02] [ 9.06248349e-01 -4.22742629e-01 -1.61230699e-03 1.25982870e+02] [ 1.75039431e-03 -6.15328650e-05 9.99998466e-01 -4.29234083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.250281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.68, Y:125.98, Z:-0.43 [[-4.22390866e-01 -9.06413147e-01 1.07865261e-03 2.44681840e+02] [ 9.06409596e-01 -4.22392233e-01 -2.53903927e-03 1.25978670e+02] [ 2.75703306e-03 -9.47659198e-05 9.99996195e-01 -4.29428080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.28028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.67, Y:126.00, Z:-0.43 [[-4.20996021e-01 -9.07061443e-01 1.37438134e-03 2.44673870e+02] [ 9.07055692e-01 -4.20998249e-01 -3.23205876e-03 1.26003233e+02] [ 3.51028802e-03 -1.14043462e-04 9.99993832e-01 -4.29254737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.310281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.67, Y:126.01, Z:-0.43 [[-4.19010469e-01 -9.07979728e-01 1.74369179e-03 2.44672832e+02] [ 9.07970497e-01 -4.19014076e-01 -4.09652360e-03 1.26010464e+02] [ 4.45019179e-03 -1.33265576e-04 9.99990089e-01 -4.29092994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.34028169299995 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:244.67, Y:126.03, Z:-0.43 [[-4.13606094e-01 -9.10453103e-01 2.26846060e-03 2.44666156e+02] [ 9.10437546e-01 -4.13612293e-01 -5.32407050e-03 1.26031164e+02] [ 5.78557970e-03 -1.36776309e-04 9.99983254e-01 -4.29985074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.66, Y:126.04, Z:-0.43 [[-4.11082216e-01 -9.11595769e-01 2.13680021e-03 2.44663195e+02] [ 9.11582010e-01 -4.11087754e-01 -5.00978851e-03 1.26040555e+02] [ 5.44531441e-03 -1.11566333e-04 9.99985168e-01 -4.29480710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.40028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.66, Y:126.04, Z:-0.43 [[-4.06071586e-01 -9.13840248e-01 1.36678508e-03 2.44663697e+02] [ 9.13834644e-01 -4.06073883e-01 -3.20087777e-03 1.26041956e+02] [ 3.48010666e-03 -5.07699596e-05 9.99993943e-01 -4.28739114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.430281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.66, Y:126.04, Z:-0.43 [[-4.04615643e-01 -9.14486108e-01 1.15795290e-03 2.44664922e+02] [ 9.14482096e-01 -4.04617298e-01 -2.70887215e-03 1.26039606e+02] [ 2.94575373e-03 -3.71248515e-05 9.99995661e-01 -4.29227952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.46028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.67, Y:126.04, Z:-0.43 [[-4.03586836e-01 -9.14940562e-01 1.19745520e-03 2.44666308e+02] [ 9.14936283e-01 -4.03588611e-01 -2.79836963e-03 1.26036752e+02] [ 3.04362117e-03 -3.37899389e-05 9.99995368e-01 -4.30066330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.490281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.66, Y:126.05, Z:-0.43 [[-4.01504789e-01 -9.15854971e-01 1.89132883e-03 2.44660196e+02] [ 9.15844327e-01 -4.01509242e-01 -4.41560655e-03 1.26052012e+02] [ 4.80344121e-03 -4.07243992e-05 9.99988463e-01 -4.31095000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.52028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.67, Y:126.04, Z:-0.43 [[-4.00771370e-01 -9.16174833e-01 2.44644627e-03 2.44667197e+02] [ 9.16157066e-01 -4.00778834e-01 -5.70577317e-03 1.26037383e+02] [ 6.20796966e-03 -4.53814920e-05 9.99980729e-01 -4.32390254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.550281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.67, Y:126.03, Z:-0.43 [[-4.00828928e-01 -9.16149363e-01 2.55259919e-03 2.44668611e+02] [ 9.16130061e-01 -4.00837054e-01 -5.94713805e-03 1.26034118e+02] [ 6.47164307e-03 -4.52721231e-05 9.99979058e-01 -4.32267587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.58028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.66, Y:126.04, Z:-0.43 [[-4.01386351e-01 -9.15904954e-01 2.66684443e-03 2.44664372e+02] [ 9.15883925e-01 -4.01395207e-01 -6.20679584e-03 1.26044120e+02] [ 6.75529364e-03 -4.88031883e-05 9.99977182e-01 -4.32299011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.610281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.67, Y:126.04, Z:-0.43 [[-4.01737775e-01 -9.15750859e-01 2.66922714e-03 2.44665430e+02] [ 9.15729833e-01 -4.01746639e-01 -6.20577159e-03 1.26041846e+02] [ 6.75529369e-03 -4.88019414e-05 9.99977182e-01 -4.32297369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.64028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.66, Y:126.05, Z:-0.43 [[-4.03121612e-01 -9.15142167e-01 2.78923606e-03 2.44664246e+02] [ 9.15119242e-01 -4.03131257e-01 -6.47793999e-03 1.26047430e+02] [ 7.05266428e-03 -5.89140174e-05 9.99975128e-01 -4.32364026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.67028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.67, Y:126.04, Z:-0.43 [[-4.03908179e-01 -9.14795491e-01 2.71887225e-03 2.44667647e+02] [ 9.14773746e-01 -4.03917325e-01 -6.30780414e-03 1.26044478e+02] [ 6.86855039e-03 -6.06207302e-05 9.99976409e-01 -4.32209720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.70028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.68, Y:126.02, Z:-0.43 [[-4.04527307e-01 -9.14522434e-01 2.52479720e-03 2.44680090e+02] [ 9.14503717e-01 -4.04535182e-01 -5.85135725e-03 1.26020331e+02] [ 6.37256677e-03 -5.80973733e-05 9.99979693e-01 -4.31259004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.73028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.67, Y:126.04, Z:-0.43 [[-4.04702323e-01 -9.14446267e-01 2.01353898e-03 2.44673434e+02] [ 9.14434387e-01 -4.04707329e-01 -4.66146135e-03 1.26042207e+02] [ 5.07754992e-03 -4.52549529e-05 9.99987108e-01 -4.30768796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.76028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.68, Y:126.04, Z:-0.43 [[-4.04786528e-01 -9.14409190e-01 1.92357927e-03 2.44678129e+02] [ 9.14398370e-01 -4.04791097e-01 -4.44846221e-03 1.26035071e+02] [ 4.84636248e-03 -4.17598274e-05 9.99988255e-01 -4.30662312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.68, Y:126.03, Z:-0.43 [[-4.04022525e-01 -9.14747084e-01 1.88976644e-03 2.44682178e+02] [ 9.14736667e-01 -4.04026943e-01 -4.36565338e-03 1.26034287e+02] [ 4.75698526e-03 -3.51836455e-05 9.99988685e-01 -4.30800421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.82028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.69, Y:126.03, Z:-0.43 [[-4.03632181e-01 -9.14919346e-01 1.91112818e-03 2.44686271e+02] [ 9.14908717e-01 -4.03636704e-01 -4.41037340e-03 1.26026395e+02] [ 4.80653742e-03 -3.16608039e-05 9.99988448e-01 -4.31531862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.85028169299994 meters Centerline goodness : 0.999762 Centerline is valid? [True, True] Translation: X:244.68, Y:126.04, Z:-0.43 [[-4.03356068e-01 -9.15041099e-01 1.91545508e-03 2.44679988e+02] [ 9.15030445e-01 -4.03360615e-01 -4.41569578e-03 1.26041787e+02] [ 4.81316226e-03 -2.83979786e-05 9.99988416e-01 -4.32386317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.880281693 meters Centerline goodness : 0.999679 Centerline is valid? [True, True] Translation: X:244.68, Y:126.05, Z:-0.43 [[-4.02776598e-01 -9.15296016e-01 2.05280902e-03 2.44679400e+02] [ 9.15283809e-01 -4.02781829e-01 -4.72733538e-03 1.26050081e+02] [ 5.15374542e-03 -2.51572038e-05 9.99986719e-01 -4.33340423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.91028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.69, Y:126.02, Z:-0.43 [[-4.03250767e-01 -9.15086346e-01 2.40794941e-03 2.44693683e+02] [ 9.15069580e-01 -4.03257955e-01 -5.53942326e-03 1.26022958e+02] [ 6.04007534e-03 -3.03354218e-05 9.99981758e-01 -4.33056933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.940281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.69, Y:126.03, Z:-0.43 [[-4.03774409e-01 -9.14854573e-01 2.70887006e-03 2.44690824e+02] [ 9.14833393e-01 -4.03783494e-01 -6.22521506e-03 1.26033630e+02] [ 6.78896348e-03 -3.54177455e-05 9.99976954e-01 -4.32751720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 383.97028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.69, Y:126.04, Z:-0.43 [[-4.03350536e-01 -9.15041484e-01 2.72553277e-03 2.44689829e+02] [ 9.15020092e-01 -4.03359743e-01 -6.25687614e-03 1.26038640e+02] [ 6.82467142e-03 -2.97970983e-05 9.99976711e-01 -4.31489912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.000281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.69, Y:126.05, Z:-0.43 [[-4.02903180e-01 -9.15239499e-01 2.38474762e-03 2.44687287e+02] [ 9.15223161e-01 -4.02910237e-01 -5.46864156e-03 1.26045481e+02] [ 5.96595599e-03 -2.07568233e-05 9.99982203e-01 -4.31655966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.03028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.70, Y:126.03, Z:-0.43 [[-4.01417376e-01 -9.15892218e-01 2.35291366e-03 2.44696707e+02] [ 9.15876358e-01 -4.01424272e-01 -5.38990721e-03 1.26029147e+02] [ 5.88109072e-03 -8.62440968e-06 9.99982706e-01 -4.32232826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.060281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.69, Y:126.06, Z:-0.43 [[-4.01396652e-01 -9.15900370e-01 2.69085550e-03 2.44685362e+02] [ 9.15879671e-01 -4.01405671e-01 -6.15755192e-03 1.26057541e+02] [ 6.71982874e-03 -7.12087848e-06 9.99977422e-01 -4.33354107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.09028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.69, Y:126.05, Z:-0.43 [[-4.01912012e-01 -9.15672851e-01 3.15676073e-03 2.44691041e+02] [ 9.15644417e-01 -4.01924409e-01 -7.21602843e-03 1.26046182e+02] [ 7.87630052e-03 -9.73816640e-06 9.99968981e-01 -4.33926220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.120281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:244.70, Y:126.03, Z:-0.43 [[-4.03440277e-01 -9.14998977e-01 3.57963002e-03 2.44700918e+02] [ 9.14962466e-01 -4.03456157e-01 -8.17406259e-03 1.26025759e+02] [ 8.92348269e-03 -2.25189697e-05 9.99960185e-01 -4.33984324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.15028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.70, Y:126.04, Z:-0.43 [[-4.04065043e-01 -9.14723932e-01 3.40137402e-03 2.44695529e+02] [ 9.14691027e-01 -4.04079359e-01 -7.75874039e-03 1.26041255e+02] [ 8.47153055e-03 -2.38294811e-05 9.99964116e-01 -4.34380949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.180281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.70, Y:126.03, Z:-0.43 [[-4.04257222e-01 -9.14641392e-01 2.68727212e-03 2.44702970e+02] [ 9.14620896e-01 -4.04266154e-01 -6.12316902e-03 1.26032229e+02] [ 6.68687700e-03 -1.75000653e-05 9.99977642e-01 -4.34018695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.21028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.70, Y:126.04, Z:-0.43 [[-4.04558570e-01 -9.14507981e-01 2.74150254e-03 2.44701211e+02] [ 9.14486692e-01 -4.04567858e-01 -6.24010442e-03 1.26038395e+02] [ 6.81574910e-03 -1.74201249e-05 9.99976772e-01 -4.33715173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.240281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.70, Y:126.03, Z:-0.43 [[-4.05046636e-01 -9.14291746e-01 2.79735451e-03 2.44704590e+02] [ 9.14269622e-01 -4.05056295e-01 -6.36046614e-03 1.26031452e+02] [ 6.94840774e-03 -1.87491628e-05 9.99975859e-01 -4.34513495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.27028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.71, Y:126.03, Z:-0.43 [[-4.06177783e-01 -9.13788625e-01 3.15567364e-03 2.44706054e+02] [ 9.13760514e-01 -4.06190040e-01 -7.16765146e-03 1.26030835e+02] [ 7.83152158e-03 -2.78108093e-05 9.99969333e-01 -4.34698894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.300281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.71, Y:126.03, Z:-0.43 [[-4.07133799e-01 -9.13362625e-01 3.28420697e-03 2.44707538e+02] [ 9.13332227e-01 -4.07147043e-01 -7.45169696e-03 1.26029608e+02] [ 8.14325665e-03 -3.42656243e-05 9.99966843e-01 -4.34711971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.33028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.71, Y:126.02, Z:-0.43 [[-4.08220538e-01 -9.12878299e-01 3.03377803e-03 2.44714498e+02] [ 9.12852403e-01 -4.08231809e-01 -6.87616053e-03 1.26017949e+02] [ 7.51558242e-03 -3.75983853e-05 9.99971757e-01 -4.34426151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.360281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.71, Y:126.02, Z:-0.43 [[-4.08810809e-01 -9.12614260e-01 2.98907296e-03 2.44713084e+02] [ 9.12589167e-01 -4.08821734e-01 -6.76767095e-03 1.26024259e+02] [ 7.39827101e-03 -3.89014301e-05 9.99972632e-01 -4.34333326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.39028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.72, Y:126.03, Z:-0.44 [[-4.09642312e-01 -9.12240344e-01 3.27577240e-03 2.44716130e+02] [ 9.12210258e-01 -4.09655407e-01 -7.40899026e-03 1.26027844e+02] [ 8.10071769e-03 -4.68427155e-05 9.99967188e-01 -4.35267040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.42028169299994 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:244.72, Y:126.03, Z:-0.44 [[-4.10112357e-01 -9.12028640e-01 3.40809884e-03 2.44717599e+02] [ 9.11996135e-01 -4.10126514e-01 -7.70010741e-03 1.26030703e+02] [ 8.42047018e-03 -4.97362248e-05 9.99964546e-01 -4.35873107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.45028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.72, Y:126.03, Z:-0.44 [[-4.10921405e-01 -9.11664345e-01 3.42368864e-03 2.44720037e+02] [ 9.11631599e-01 -4.10935664e-01 -7.72709761e-03 1.26030154e+02] [ 8.45143514e-03 -5.40870600e-05 9.99964285e-01 -4.36377920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.48028169299994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:244.72, Y:126.03, Z:-0.44 [[-4.11016994e-01 -9.11620329e-01 3.66142993e-03 2.44723348e+02] [ 9.11582955e-01 -4.11033299e-01 -8.25490709e-03 1.26031439e+02] [ 9.03031074e-03 -5.52099836e-05 9.99959224e-01 -4.35029009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.51028169299997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.73, Y:126.02, Z:-0.43 [[-4.09759672e-01 -9.12185529e-01 3.81726934e-03 2.44728963e+02] [ 9.12145016e-01 -4.09777450e-01 -8.59713908e-03 1.26023695e+02] [ 9.40641676e-03 -4.08576814e-05 9.99955758e-01 -4.34688845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.54028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.74, Y:126.02, Z:-0.43 [[-4.05195538e-01 -9.14222484e-01 3.71818991e-03 2.44735102e+02] [ 9.14184213e-01 -4.05212597e-01 -8.36512575e-03 1.26018746e+02] [ 9.15424344e-03 9.59888736e-06 9.99958099e-01 -4.34843905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.57028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.74, Y:126.01, Z:-0.43 [[-4.03493882e-01 -9.14974767e-01 3.72322694e-03 2.44741772e+02] [ 9.14936505e-01 -4.03511058e-01 -8.36766441e-03 1.26006517e+02] [ 9.15856504e-03 3.02148503e-05 9.99958059e-01 -4.34484780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.60028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:244.74, Y:126.01, Z:-0.43 [[-4.01556630e-01 -9.15827167e-01 3.58801045e-03 2.44740124e+02] [ 9.15791742e-01 -4.01572657e-01 -8.05529231e-03 1.26014269e+02] [ 8.81810242e-03 5.12143044e-05 9.99961119e-01 -4.34769385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.630281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:244.73, Y:126.05, Z:-0.44 [[-3.97552648e-01 -9.17574156e-01 3.09180815e-03 2.44726979e+02] [ 9.17547962e-01 -3.97564663e-01 -6.93376517e-03 1.26052567e+02] [ 7.59143739e-03 8.03455598e-05 9.99971181e-01 -4.35099315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.66028169299994 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.76, Y:125.98, Z:-0.43 [[-3.95658912e-01 -9.18392412e-01 3.06636656e-03 2.44761844e+02] [ 9.18366726e-01 -3.95670782e-01 -6.86946468e-03 1.25977851e+02] [ 7.52213589e-03 9.80840934e-05 9.99971704e-01 -4.34764631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.690281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:244.77, Y:125.96, Z:-0.43 [[-3.91439091e-01 -9.20197942e-01 3.34461234e-03 2.44770783e+02] [ 9.20167509e-01 -3.91453352e-01 -7.48528596e-03 1.25955162e+02] [ 8.19720444e-03 1.47570069e-04 9.99966391e-01 -4.34627426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.72028169299995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:244.76, Y:125.96, Z:-0.43 [[-3.89430244e-01 -9.21048828e-01 3.62523498e-03 2.44764837e+02] [ 9.21013182e-01 -3.89447075e-01 -8.10517641e-03 1.25964515e+02] [ 8.87710038e-03 1.82488379e-04 9.99960581e-01 -4.34236492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.750281693 meters Centerline goodness : 0.999655 Centerline is valid? [True, True] Translation: X:244.77, Y:125.94, Z:-0.43 [[-3.87794816e-01 -9.21737471e-01 3.90061275e-03 2.44773006e+02] [ 9.21696323e-01 -3.87814372e-01 -8.71212108e-03 1.25941831e+02] [ 9.54300214e-03 2.16665040e-04 9.99954441e-01 -4.34663852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.78028169299995 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:244.77, Y:125.93, Z:-0.43 [[-3.84675023e-01 -9.23043413e-01 3.99794658e-03 2.44771661e+02] [ 9.23000342e-01 -3.84695711e-01 -8.92063181e-03 1.25934357e+02] [ 9.77212334e-03 2.58561809e-04 9.99952218e-01 -4.33993026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.810281693 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:244.77, Y:125.92, Z:-0.43 [[-3.83973770e-01 -9.23336414e-01 3.74311798e-03 2.44773171e+02] [ 9.23298748e-01 -3.83991932e-01 -8.34370421e-03 1.25924319e+02] [ 9.14137303e-03 2.52252582e-04 9.99958185e-01 -4.34160532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.84028169299995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:244.77, Y:125.92, Z:-0.43 [[-3.83203964e-01 -9.23657463e-01 3.40774884e-03 2.44768155e+02] [ 9.23626321e-01 -3.83219041e-01 -7.58856467e-03 1.25921681e+02] [ 8.31514864e-03 2.39518453e-04 9.99965400e-01 -4.33668271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.870281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:244.76, Y:125.93, Z:-0.43 [[-3.83612284e-01 -9.23486322e-01 3.82464816e-03 2.44759505e+02] [ 9.23447164e-01 -3.83631256e-01 -8.50852022e-03 1.25933578e+02] [ 9.32475662e-03 2.67887617e-04 9.99956488e-01 -4.33696402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.90028169299995 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:244.76, Y:125.92, Z:-0.43 [[-3.84511368e-01 -9.23110951e-01 4.14482448e-03 2.44763476e+02] [ 9.23065032e-01 -3.84533602e-01 -9.21166121e-03 1.25916157e+02] [ 1.00972096e-02 2.83954092e-04 9.99948982e-01 -4.34164200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.930281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:244.75, Y:125.92, Z:-0.43 [[-3.86244857e-01 -9.22388420e-01 3.80960389e-03 2.44749347e+02] [ 9.22349672e-01 -3.86263565e-01 -8.45816997e-03 1.25924405e+02] [ 9.27322921e-03 2.46862245e-04 9.99956972e-01 -4.33898206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.96028169299996 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:244.75, Y:125.91, Z:-0.43 [[-3.87260357e-01 -9.21964122e-01 3.40199720e-03 2.44750257e+02] [ 9.21933269e-01 -3.87275240e-01 -7.54559390e-03 1.25910551e+02] [ 8.27427614e-03 2.14305013e-04 9.99965745e-01 -4.33665689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 384.990281693 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:244.74, Y:125.91, Z:-0.43 [[-3.88058350e-01 -9.21631060e-01 2.62797578e-03 2.44741744e+02] [ 9.21612680e-01 -3.88067214e-01 -5.82289115e-03 1.25909682e+02] [ 6.38638858e-03 1.62354272e-04 9.99979594e-01 -4.33141483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.02028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.74, Y:125.91, Z:-0.43 [[-3.88725389e-01 -9.21349929e-01 2.62321745e-03 2.44738728e+02] [ 9.21331645e-01 -3.88734207e-01 -5.80655379e-03 1.25907090e+02] [ 6.36960227e-03 1.59698371e-04 9.99979701e-01 -4.32822818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.050281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.73, Y:125.92, Z:-0.43 [[-3.89677485e-01 -9.20947613e-01 2.63666612e-03 2.44728745e+02] [ 9.20929170e-01 -3.89686374e-01 -5.83047015e-03 1.25919077e+02] [ 6.39703042e-03 1.56179797e-04 9.99979527e-01 -4.32521314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.08028169299996 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.72, Y:125.93, Z:-0.43 [[-3.93308064e-01 -9.19402281e-01 2.86570029e-03 2.44717026e+02] [ 9.19380498e-01 -3.93318477e-01 -6.33055879e-03 1.25925469e+02] [ 6.94746307e-03 1.44809139e-04 9.99975856e-01 -4.32854421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.110281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:244.71, Y:125.94, Z:-0.43 [[-3.96435347e-01 -9.18057867e-01 2.96122725e-03 2.44705230e+02] [ 9.18034617e-01 -3.96446386e-01 -6.53488400e-03 1.25943417e+02] [ 7.17336951e-03 1.27850123e-04 9.99974263e-01 -4.33276306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.14028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:244.71, Y:125.92, Z:-0.43 [[-3.99929267e-01 -9.16540748e-01 3.10455740e-03 2.44711291e+02] [ 9.16515164e-01 -3.99941302e-01 -6.84896349e-03 1.25922956e+02] [ 7.51899485e-03 1.06272994e-04 9.99971726e-01 -4.33446472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.17028169299994 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:244.69, Y:125.95, Z:-0.43 [[-4.07946687e-01 -9.12999837e-01 3.28617649e-03 2.44694882e+02] [ 9.12971117e-01 -4.07959920e-01 -7.24176630e-03 1.25952321e+02] [ 7.95235974e-03 4.59296451e-05 9.99968378e-01 -4.33464042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.20028169299997 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:244.70, Y:125.94, Z:-0.43 [[-4.11610170e-01 -9.11352874e-01 3.60661018e-03 2.44699532e+02] [ 9.11318288e-01 -4.11625970e-01 -7.93966830e-03 1.25942087e+02] [ 8.72041393e-03 1.87215975e-05 9.99961976e-01 -4.32958149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.23028169299994 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:244.70, Y:125.93, Z:-0.43 [[-4.16351100e-01 -9.09192171e-01 4.62151179e-03 2.44704829e+02] [ 9.09135362e-01 -4.16376748e-01 -1.01635265e-02 1.25933531e+02] [ 1.11648888e-02 -3.00156503e-05 9.99937670e-01 -4.33740240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.26028169299997 meters Centerline goodness : 0.999531 Centerline is valid? [True, True] Translation: X:244.71, Y:125.93, Z:-0.43 [[-4.17192678e-01 -9.08804404e-01 4.98242411e-03 2.44706809e+02] [ 9.08738484e-01 -4.17222427e-01 -1.09459713e-02 1.25930994e+02] [ 1.20265260e-02 -3.88585416e-05 9.99927678e-01 -4.34324405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.29028169299994 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:244.71, Y:125.92, Z:-0.43 [[-4.16819748e-01 -9.08975033e-01 5.06834757e-03 2.44710395e+02] [ 9.08906972e-01 -4.16850560e-01 -1.11232841e-02 1.25924326e+02] [ 1.22235310e-02 -2.97480213e-05 9.99925289e-01 -4.33764975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.32028169299997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:244.70, Y:125.95, Z:-0.43 [[-4.12985937e-01 -9.10726712e-01 4.41272263e-03 2.44699324e+02] [ 9.10675328e-01 -4.13009510e-01 -9.67426861e-03 1.25949079e+02] [ 1.06331113e-02 2.32207377e-05 9.99943467e-01 -4.32418844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.35028169299994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.70, Y:125.94, Z:-0.43 [[-4.10247422e-01 -9.11964698e-01 4.17634449e-03 2.44702480e+02] [ 9.11918833e-01 -4.10268675e-01 -9.14641084e-03 1.25942608e+02] [ 1.00546271e-02 5.61957212e-05 9.99949449e-01 -4.31690912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.380281693 meters Centerline goodness : 0.999342 Centerline is valid? [True, True] Translation: X:244.72, Y:125.91, Z:-0.43 [[-4.03222341e-01 -9.15088997e-01 4.88580183e-03 2.44715334e+02] [ 9.15026492e-01 -4.03251910e-01 -1.06965191e-02 1.25914737e+02] [ 1.17584758e-02 1.57562641e-04 9.99930854e-01 -4.32239605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.41028169299994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:244.72, Y:125.91, Z:-0.43 [[-3.99792607e-01 -9.16588565e-01 5.59222177e-03 2.44718025e+02] [ 9.16506997e-01 -3.99831647e-01 -1.22302455e-02 1.25907066e+02] [ 1.34460504e-02 2.35748661e-04 9.99909570e-01 -4.32775431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.440281693 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:244.72, Y:125.90, Z:-0.43 [[-3.96069974e-01 -9.18201019e-01 5.95517048e-03 2.44718528e+02] [ 9.18108888e-01 -3.96114616e-01 -1.30108056e-02 1.25903145e+02] [ 1.43054651e-02 3.14305506e-04 9.99897622e-01 -4.33003059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.47028169299995 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:244.72, Y:125.91, Z:-0.43 [[-3.92454283e-01 -9.19751355e-01 6.08934389e-03 2.44716228e+02] [ 9.19655407e-01 -3.92501333e-01 -1.32904050e-02 1.25905383e+02] [ 1.46139436e-02 3.84221659e-04 9.99893137e-01 -4.32869212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.500281693 meters Centerline goodness : 0.999050 Centerline is valid? [True, True] Translation: X:244.72, Y:125.90, Z:-0.43 [[-3.92809760e-01 -9.19599560e-01 6.09448147e-03 2.44717342e+02] [ 9.19503630e-01 -3.92856847e-01 -1.32880500e-02 1.25903130e+02] [ 1.46139437e-02 3.84222125e-04 9.99893137e-01 -4.32867570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.53028169299995 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:244.72, Y:125.88, Z:-0.43 [[-3.87480915e-01 -9.21859656e-01 5.77200947e-03 2.44722358e+02] [ 9.21773917e-01 -3.87523647e-01 -1.25805324e-02 1.25882932e+02] [ 1.38342754e-02 4.45771584e-04 9.99904203e-01 -4.33171144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.560281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:244.72, Y:125.87, Z:-0.43 [[-3.84353129e-01 -9.23171251e-01 5.24527241e-03 2.44720373e+02] [ 9.23100717e-01 -3.84388652e-01 -1.14206183e-02 1.25868617e+02] [ 1.25594097e-02 4.52364331e-04 9.99921025e-01 -4.32541474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.59028169299995 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:244.73, Y:125.84, Z:-0.43 [[-3.82926448e-01 -9.23766816e-01 4.71225032e-03 2.44729654e+02] [ 9.23709882e-01 -3.82955209e-01 -1.02646346e-02 1.25838936e+02] [ 1.12867096e-02 4.22152103e-04 9.99936214e-01 -4.32719320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.620281693 meters Centerline goodness : 0.999254 Centerline is valid? [True, True] Translation: X:244.72, Y:125.84, Z:-0.43 [[-3.82347651e-01 -9.24009242e-01 4.14663463e-03 2.44724306e+02] [ 9.23965265e-01 -3.82369946e-01 -9.02295672e-03 1.25842239e+02] [ 9.92284385e-03 3.81440055e-04 9.99950695e-01 -4.31769488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.65028169299995 meters Centerline goodness : 0.999285 Centerline is valid? [True, True] Translation: X:244.71, Y:125.86, Z:-0.43 [[-3.82584640e-01 -9.23913039e-01 3.69997200e-03 2.44710867e+02] [ 9.23878092e-01 -3.82602379e-01 -8.04301943e-03 1.25855386e+02] [ 8.84666861e-03 3.41187382e-04 9.99960809e-01 -4.31350491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.680281693 meters Centerline goodness : 0.999121 Centerline is valid? [True, True] Translation: X:244.71, Y:125.85, Z:-0.43 [[-3.84375040e-01 -9.23169218e-01 3.79789693e-03 2.44707255e+02] [ 9.23132425e-01 -3.84393656e-01 -8.24879981e-03 1.25854691e+02] [ 9.07492555e-03 3.35329048e-04 9.99958766e-01 -4.31895462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.71028169299996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:244.70, Y:125.85, Z:-0.43 [[-3.86646780e-01 -9.22218760e-01 4.10189120e-03 2.44703948e+02] [ 9.22175772e-01 -3.86668390e-01 -8.91079157e-03 1.25854479e+02] [ 9.80377083e-03 3.37335811e-04 9.99951885e-01 -4.32532528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.740281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:244.69, Y:125.86, Z:-0.43 [[-3.92764170e-01 -9.19627778e-01 4.58875787e-03 2.44694838e+02] [ 9.19573800e-01 -3.92790857e-01 -9.96835990e-03 1.25861972e+02] [ 1.09696028e-02 3.04486914e-04 9.99939786e-01 -4.33231996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.77028169299996 meters Centerline goodness : 0.999226 Centerline is valid? [True, True] Translation: X:244.69, Y:125.88, Z:-0.43 [[-3.96378330e-01 -9.18074391e-01 4.86126772e-03 2.44685900e+02] [ 9.18013826e-01 -3.96408038e-01 -1.05490816e-02 1.25877276e+02] [ 1.16118873e-02 2.81283639e-04 9.99932540e-01 -4.33483116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.800281693 meters Centerline goodness : 0.999031 Centerline is valid? [True, True] Translation: X:244.68, Y:125.89, Z:-0.43 [[-4.03930840e-01 -9.14773434e-01 5.42597812e-03 2.44675378e+02] [ 9.14697647e-01 -4.03967229e-01 -1.17767630e-02 1.25890293e+02] [ 1.29649873e-02 2.06131652e-04 9.99915930e-01 -4.33103128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.83028169299996 meters Centerline goodness : 0.998871 Centerline is valid? [True, True] Translation: X:244.67, Y:125.90, Z:-0.43 [[-4.07259606e-01 -9.13295689e-01 5.53150056e-03 2.44667355e+02] [ 9.13216747e-01 -4.07297137e-01 -1.20089779e-02 1.25903981e+02] [ 1.32207121e-02 1.60687338e-04 9.99912590e-01 -4.33347844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.860281693 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:244.67, Y:125.91, Z:-0.43 [[-4.10157192e-01 -9.11999496e-01 5.29118981e-03 2.44665878e+02] [ 9.11927097e-01 -4.10191305e-01 -1.14918554e-02 1.25905343e+02] [ 1.26509664e-02 1.11712222e-04 9.99919967e-01 -4.33121565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.89028169299996 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:244.67, Y:125.89, Z:-0.43 [[-4.15145068e-01 -9.09743305e-01 4.65741634e-03 2.44673084e+02] [ 9.09686947e-01 -4.15171191e-01 -1.01262216e-02 1.25889420e+02] [ 1.11458874e-02 3.29398910e-05 9.99937882e-01 -4.32268084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.92028169299994 meters Centerline goodness : 0.999262 Centerline is valid? [True, True] Translation: X:244.68, Y:125.87, Z:-0.43 [[-4.16854426e-01 -9.08961688e-01 4.58671913e-03 2.44681679e+02] [ 9.08906869e-01 -4.16879659e-01 -9.98264456e-03 1.25870160e+02] [ 1.09859514e-02 7.59096145e-06 9.99939653e-01 -4.31207826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.95028169299997 meters Centerline goodness : 0.999016 Centerline is valid? [True, True] Translation: X:244.68, Y:125.87, Z:-0.43 [[-4.20137003e-01 -9.07448953e-01 4.61485214e-03 2.44682660e+02] [ 9.07393330e-01 -4.20162346e-01 -1.00473099e-02 1.25870265e+02] [ 1.10564080e-02 -3.37606191e-05 9.99938876e-01 -4.30731938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 385.98028169299994 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:244.68, Y:125.88, Z:-0.43 [[-4.20921317e-01 -9.07084819e-01 4.73022986e-03 2.44678358e+02] [ 9.07026328e-01 -4.20947893e-01 -1.03010302e-02 1.25881776e+02] [ 1.13350884e-02 -4.54801713e-05 9.99935755e-01 -4.30547965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.01028169299997 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:244.69, Y:125.86, Z:-0.43 [[-4.21129080e-01 -9.06988803e-01 4.64850260e-03 2.44687110e+02] [ 9.06932192e-01 -4.21154732e-01 -1.01336877e-02 1.25863752e+02] [ 1.11488802e-02 -5.17139445e-05 9.99937848e-01 -4.30719429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.04028169299994 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:244.69, Y:125.87, Z:-0.43 [[-4.20858439e-01 -9.07114674e-01 4.59811118e-03 2.44685800e+02] [ 9.07059268e-01 -4.20883554e-01 -1.00259028e-02 1.25870148e+02] [ 1.10299129e-02 -4.87264186e-05 9.99939168e-01 -4.30636881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.07028169299997 meters Centerline goodness : 0.999464 Centerline is valid? [True, True] Translation: X:244.68, Y:125.89, Z:-0.43 [[-4.20686638e-01 -9.07194275e-01 4.61520283e-03 2.44678363e+02] [ 9.07138582e-01 -4.20711951e-01 -1.00522585e-02 1.25890089e+02] [ 1.10610224e-02 -4.22222857e-05 9.99938824e-01 -4.30669322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.10028169299994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:244.68, Y:125.88, Z:-0.43 [[-4.20249508e-01 -9.07398791e-01 4.21726493e-03 2.44682209e+02] [ 9.07352255e-01 -4.20270667e-01 -9.18981114e-03 1.25882762e+02] [ 1.01112163e-02 -3.54687714e-05 9.99948880e-01 -4.29857021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.130281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:244.68, Y:125.89, Z:-0.43 [[-4.19821785e-01 -9.07598219e-01 3.89132291e-03 2.44677723e+02] [ 9.07558587e-01 -4.19839818e-01 -8.48164642e-03 1.25889497e+02] [ 9.33165949e-03 -2.91764234e-05 9.99956459e-01 -4.29491208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.16028169299994 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:244.67, Y:125.90, Z:-0.43 [[-4.19137703e-01 -9.07914142e-01 3.93662327e-03 2.44671489e+02] [ 9.07873597e-01 -4.19156189e-01 -8.58023220e-03 1.25901307e+02] [ 9.44017416e-03 -2.23424921e-05 9.99955440e-01 -4.28977570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.190281693 meters Centerline goodness : 0.999486 Centerline is valid? [True, True] Translation: X:244.68, Y:125.88, Z:-0.43 [[-4.17103569e-01 -9.08848325e-01 4.39718425e-03 2.44678480e+02] [ 9.08797681e-01 -4.17126746e-01 -9.59443190e-03 1.25884844e+02] [ 1.05540665e-02 -5.72094229e-06 9.99944304e-01 -4.29329619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.22028169299995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:244.67, Y:125.91, Z:-0.43 [[-4.16255884e-01 -9.09236962e-01 4.38018051e-03 2.44666383e+02] [ 9.09186846e-01 -4.16278929e-01 -9.54635108e-03 1.25910662e+02] [ 1.05032721e-02 8.67769168e-06 9.99944839e-01 -4.29762845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.250281693 meters Centerline goodness : 0.999217 Centerline is valid? [True, True] Translation: X:244.68, Y:125.88, Z:-0.43 [[-4.13776288e-01 -9.10367025e-01 4.58946141e-03 2.44677816e+02] [ 9.10311948e-01 -4.13801738e-01 -1.00139209e-02 1.25879755e+02] [ 1.10154704e-02 3.43185544e-05 9.99939327e-01 -4.30012411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.28028169299995 meters Centerline goodness : 0.999000 Centerline is valid? [True, True] Translation: X:244.66, Y:125.92, Z:-0.43 [[-4.13270738e-01 -9.10593825e-01 5.11700183e-03 2.44659729e+02] [ 9.10525531e-01 -4.13302412e-01 -1.11522726e-02 1.25915329e+02] [ 1.22700597e-02 5.02529010e-05 9.99924719e-01 -4.29579911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.310281693 meters Centerline goodness : 0.999049 Centerline is valid? [True, True] Translation: X:244.67, Y:125.90, Z:-0.43 [[-4.12695711e-01 -9.10852897e-01 5.40839505e-03 2.44665946e+02] [ 9.10776451e-01 -4.12731145e-01 -1.18007665e-02 1.25897490e+02] [ 1.29809754e-02 5.57131428e-05 9.99915742e-01 -4.30128979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.34028169299995 meters Centerline goodness : 0.999048 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.43 [[-4.13289860e-01 -9.10583153e-01 5.46009893e-03 2.44657521e+02] [ 9.10505182e-01 -4.13325923e-01 -1.19161893e-02 1.25913088e+02] [ 1.31074816e-02 4.66081673e-05 9.99914092e-01 -4.30173845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.370281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:244.66, Y:125.90, Z:-0.43 [[-4.13616909e-01 -9.10436078e-01 5.21541367e-03 2.44663459e+02] [ 9.10364774e-01 -4.13649787e-01 -1.13943712e-02 1.25899840e+02] [ 1.25312014e-02 3.50243010e-05 9.99921481e-01 -4.30214836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.40028169299995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:244.66, Y:125.90, Z:-0.43 [[-4.15982563e-01 -9.09358816e-01 5.00521117e-03 2.44664984e+02] [ 9.09293019e-01 -4.16012674e-01 -1.09389893e-02 1.25897478e+02] [ 1.20296976e-02 7.74785745e-07 9.99927641e-01 -4.29338357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.430281693 meters Centerline goodness : 0.998935 Centerline is valid? [True, True] Translation: X:244.66, Y:125.90, Z:-0.43 [[-4.17241262e-01 -9.08781964e-01 5.00714747e-03 2.44664744e+02] [ 9.08716024e-01 -4.17271305e-01 -1.09474318e-02 1.25898696e+02] [ 1.20381675e-02 -1.76451166e-05 9.99927539e-01 -4.28925134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.46028169299996 meters Centerline goodness : 0.999118 Centerline is valid? [True, True] Translation: X:244.66, Y:125.90, Z:-0.43 [[-4.18326206e-01 -9.08283927e-01 4.84702473e-03 2.44662156e+02] [ 9.08222056e-01 -4.18354284e-01 -1.06014353e-02 1.25904433e+02] [ 1.16568868e-02 -3.26834367e-05 9.99932056e-01 -4.28636767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.490281693 meters Centerline goodness : 0.999057 Centerline is valid? [True, True] Translation: X:244.67, Y:125.89, Z:-0.43 [[-4.17712929e-01 -9.08567611e-01 4.56118851e-03 2.44666006e+02] [ 9.08512724e-01 -4.17737830e-01 -9.98679417e-03 1.25894363e+02] [ 1.09790587e-02 -2.77152471e-05 9.99939728e-01 -4.27675120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.52028169299996 meters Centerline goodness : 0.998929 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.43 [[-4.16176570e-01 -9.09271955e-01 4.64475922e-03 2.44659445e+02] [ 9.09215058e-01 -4.16202488e-01 -1.01719006e-02 1.25906425e+02] [ 1.11821843e-02 -1.02217047e-05 9.99937477e-01 -4.27369583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.550281693 meters Centerline goodness : 0.998912 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.43 [[-4.14351412e-01 -9.10103850e-01 4.88769223e-03 2.44655696e+02] [ 9.10040853e-01 -4.14380239e-01 -1.07081255e-02 1.25912974e+02] [ 1.17708693e-02 1.10726820e-05 9.99930721e-01 -4.27121677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.58028169299996 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:244.65, Y:125.93, Z:-0.43 [[-4.10764412e-01 -9.11725403e-01 5.42094003e-03 2.44646486e+02] [ 9.11648011e-01 -4.10800176e-01 -1.18793582e-02 1.25932444e+02] [ 1.30576358e-02 6.23715934e-05 9.99914744e-01 -4.27408662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.610281693 meters Centerline goodness : 0.998911 Centerline is valid? [True, True] Translation: X:244.65, Y:125.92, Z:-0.43 [[-4.09165552e-01 -9.12445802e-01 5.11962309e-03 2.44652597e+02] [ 9.12376681e-01 -4.09197573e-01 -1.12311426e-02 1.25918604e+02] [ 1.23427463e-02 7.56280602e-05 9.99923823e-01 -4.27079172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.64028169299996 meters Centerline goodness : 0.998914 Centerline is valid? [True, True] Translation: X:244.64, Y:125.93, Z:-0.43 [[-4.08095814e-01 -9.12930695e-01 3.91833180e-03 2.44644250e+02] [ 9.12890211e-01 -4.08114619e-01 -8.59772710e-03 1.25932795e+02] [ 9.44825747e-03 6.83103014e-05 9.99955362e-01 -4.26246440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.67028169299994 meters Centerline goodness : 0.998970 Centerline is valid? [True, True] Translation: X:244.65, Y:125.92, Z:-0.43 [[-4.07945917e-01 -9.12999361e-01 3.50646970e-03 2.44646682e+02] [ 9.12966872e-01 -4.07960982e-01 -7.70245978e-03 1.25924544e+02] [ 8.46284368e-03 5.91036563e-05 9.99964188e-01 -4.25523715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.70028169299997 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:244.65, Y:125.93, Z:-0.43 [[-4.07983436e-01 -9.12984100e-01 3.09010768e-03 2.44646392e+02] [ 9.12958851e-01 -4.07995135e-01 -6.79019380e-03 1.25925003e+02] [ 7.46008788e-03 5.08545570e-05 9.99972172e-01 -4.25358800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.73028169299994 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:244.65, Y:125.91, Z:-0.43 [[-4.09154846e-01 -9.12460323e-01 2.91061909e-03 2.44651346e+02] [ 9.12437859e-01 -4.09165197e-01 -6.40273763e-03 1.25912655e+02] [ 7.03316808e-03 3.60479245e-05 9.99975266e-01 -4.25532560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.76028169299997 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:244.65, Y:125.92, Z:-0.43 [[-4.09783212e-01 -9.12178035e-01 2.99207221e-03 2.44648584e+02] [ 9.12154273e-01 -4.09794134e-01 -6.58405702e-03 1.25917866e+02] [ 7.23196583e-03 3.11954182e-05 9.99973849e-01 -4.25592042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.79028169299994 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:244.65, Y:125.92, Z:-0.43 [[-4.11664074e-01 -9.11329180e-01 3.43733334e-03 2.44646886e+02] [ 9.11297767e-01 -4.11678424e-01 -7.56674295e-03 1.25922163e+02] [ 8.31086962e-03 1.74779660e-05 9.99965464e-01 -4.25112439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.82028169299997 meters Centerline goodness : 0.999252 Centerline is valid? [True, True] Translation: X:244.65, Y:125.91, Z:-0.43 [[-4.12685042e-01 -9.10865898e-01 3.79114041e-03 2.44651515e+02] [ 9.10827583e-01 -4.12702455e-01 -8.35446212e-03 1.25914127e+02] [ 9.17440759e-03 5.31370257e-06 9.99957914e-01 -4.25001440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.85028169299994 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.42 [[-4.13850005e-01 -9.10334980e-01 4.28922198e-03 2.44655031e+02] [ 9.10285809e-01 -4.13872231e-01 -9.46156869e-03 1.25907991e+02] [ 1.03883868e-02 -1.12523517e-05 9.99946039e-01 -4.24747319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.880281693 meters Centerline goodness : 0.999111 Centerline is valid? [True, True] Translation: X:244.65, Y:125.92, Z:-0.43 [[-4.16616389e-01 -9.09072413e-01 4.25817596e-03 2.44650925e+02] [ 9.09023865e-01 -4.16638148e-01 -9.39502634e-03 1.25923687e+02] [ 1.03148778e-02 -4.33383798e-05 9.99946799e-01 -4.25319003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.91028169299994 meters Centerline goodness : 0.999206 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.42 [[-4.17291402e-01 -9.08764340e-01 3.90655361e-03 2.44661083e+02] [ 9.08723378e-01 -4.17309684e-01 -8.62841929e-03 1.25906817e+02] [ 9.47144241e-03 -5.05885867e-05 9.99955144e-01 -4.24632321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.940281693 meters Centerline goodness : 0.999211 Centerline is valid? [True, True] Translation: X:244.66, Y:125.91, Z:-0.42 [[-4.17743144e-01 -9.08557589e-01 3.71119392e-03 2.44660885e+02] [ 9.08520589e-01 -4.17759625e-01 -8.19969265e-03 1.25913287e+02] [ 9.00027996e-03 -5.36692993e-05 9.99959495e-01 -4.23748796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 386.97028169299995 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:244.66, Y:125.92, Z:-0.42 [[-4.17574865e-01 -9.08630729e-01 4.62938480e-03 2.44659468e+02] [ 9.08573116e-01 -4.17600520e-01 -1.02322304e-02 1.25919438e+02] [ 1.12305525e-02 -6.65876703e-05 9.99936933e-01 -4.23127904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.000281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:244.66, Y:125.93, Z:-0.42 [[-4.16510114e-01 -9.09114371e-01 5.51238200e-03 2.44655785e+02] [ 9.09032663e-01 -4.16546584e-01 -1.21885129e-02 1.25925807e+02] [ 1.33769161e-02 -6.57036114e-05 9.99910523e-01 -4.23599707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.03028169299995 meters Centerline goodness : 0.998616 Centerline is valid? [True, True] Translation: X:244.65, Y:125.94, Z:-0.42 [[-4.12888403e-01 -9.10762817e-01 5.85307048e-03 2.44648237e+02] [ 9.10670816e-01 -4.12929887e-01 -1.29450317e-02 1.25940468e+02] [ 1.42067613e-02 -1.46329856e-05 9.99899079e-01 -4.24551233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.060281693 meters Centerline goodness : 0.999116 Centerline is valid? [True, True] Translation: X:244.64, Y:125.95, Z:-0.42 [[-4.10772168e-01 -9.11723184e-01 5.20216596e-03 2.44642208e+02] [ 9.11650567e-01 -4.10805107e-01 -1.15068689e-02 1.25954289e+02] [ 1.26281555e-02 1.58560570e-05 9.99920262e-01 -4.23318821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.09028169299995 meters Centerline goodness : 0.998957 Centerline is valid? [True, True] Translation: X:244.64, Y:125.95, Z:-0.42 [[-4.09144419e-01 -9.12458724e-01 4.46338429e-03 2.44642514e+02] [ 9.12405268e-01 -4.09168763e-01 -9.87675446e-03 1.25952295e+02] [ 1.08384082e-02 3.13963782e-05 9.99941262e-01 -4.21919743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.120281693 meters Centerline goodness : 0.999029 Centerline is valid? [True, True] Translation: X:244.63, Y:125.96, Z:-0.42 [[-4.07735287e-01 -9.13088161e-01 4.68463298e-03 2.44634051e+02] [ 9.13029270e-01 -4.07762195e-01 -1.03703884e-02 1.25959877e+02] [ 1.13792951e-02 4.88337263e-05 9.99935253e-01 -4.22014159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.15028169299995 meters Centerline goodness : 0.998926 Centerline is valid? [True, True] Translation: X:244.63, Y:125.96, Z:-0.42 [[-4.06972231e-01 -9.13426350e-01 5.08987741e-03 2.44630568e+02] [ 9.13356801e-01 -4.07004053e-01 -1.12718879e-02 1.25964033e+02] [ 1.23676401e-02 6.15288079e-05 9.99923516e-01 -4.22360734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.180281693 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:244.63, Y:125.96, Z:-0.42 [[-4.05400472e-01 -9.14124837e-01 5.12255090e-03 2.44629944e+02] [ 9.14054295e-01 -4.05432827e-01 -1.13564470e-02 1.25962585e+02] [ 1.24580606e-02 7.83806667e-05 9.99922392e-01 -4.22141956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.21028169299996 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:244.62, Y:125.98, Z:-0.42 [[-4.04770348e-01 -9.14405309e-01 4.88842262e-03 2.44619265e+02] [ 9.14341042e-01 -4.04799858e-01 -1.08413242e-02 1.25980188e+02] [ 1.18921971e-02 8.14388830e-05 9.99929282e-01 -4.21072082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.240281693 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:244.62, Y:125.97, Z:-0.42 [[-4.03821072e-01 -9.14826154e-01 4.65291126e-03 2.44621830e+02] [ 9.14767832e-01 -4.03847868e-01 -1.03302375e-02 1.25965484e+02] [ 1.13294398e-02 8.47659584e-05 9.99935816e-01 -4.20307046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.27028169299996 meters Centerline goodness : 0.998898 Centerline is valid? [True, True] Translation: X:244.61, Y:125.97, Z:-0.42 [[-4.01569458e-01 -9.15812677e-01 5.39555338e-03 2.44613606e+02] [ 9.15734175e-01 -4.01605684e-01 -1.19914471e-02 1.25972399e+02] [ 1.31488042e-02 1.25493695e-04 9.99913543e-01 -4.21038477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.300281693 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:244.61, Y:125.98, Z:-0.42 [[-4.00036938e-01 -9.16483077e-01 5.40530257e-03 2.44610759e+02] [ 9.16404187e-01 -4.00073429e-01 -1.20257296e-02 1.25977136e+02] [ 1.31838956e-02 1.42705852e-04 9.99913079e-01 -4.20724809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.33028169299996 meters Centerline goodness : 0.999174 Centerline is valid? [True, True] Translation: X:244.60, Y:126.00, Z:-0.42 [[-3.97250995e-01 -9.17698152e-01 4.66361528e-03 2.44597758e+02] [ 9.17639465e-01 -3.97278338e-01 -1.03794715e-02 1.25996615e+02] [ 1.13779751e-02 1.56262058e-04 9.99935257e-01 -4.19198535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.360281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:244.60, Y:125.98, Z:-0.42 [[-3.95399875e-01 -9.18500873e-01 3.88383156e-03 2.44601870e+02] [ 9.18460120e-01 -3.95418923e-01 -8.65357079e-03 1.25981521e+02] [ 9.48405282e-03 1.45523583e-04 9.99955015e-01 -4.18565808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.39028169299996 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:244.60, Y:125.99, Z:-0.42 [[-3.94064200e-01 -9.19076412e-01 3.45773315e-03 2.44595706e+02] [ 9.19044062e-01 -3.94079345e-01 -7.71239898e-03 1.25989640e+02] [ 8.45090520e-03 1.38628782e-04 9.99964281e-01 -4.18082448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.42028169299994 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:244.59, Y:125.99, Z:-0.42 [[-3.93700206e-01 -9.19232404e-01 3.45467796e-03 2.44594597e+02] [ 9.19200049e-01 -3.93715338e-01 -7.71376806e-03 1.25991931e+02] [ 8.45090526e-03 1.38628076e-04 9.99964281e-01 -4.18084092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.45028169299997 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:244.60, Y:125.98, Z:-0.42 [[-3.93446107e-01 -9.19340397e-01 3.66011861e-03 2.44597954e+02] [ 9.19304006e-01 -3.93463104e-01 -8.18106758e-03 1.25976206e+02] [ 8.96130755e-03 1.45952515e-04 9.99959836e-01 -4.18752589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.48028169299994 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:244.59, Y:125.98, Z:-0.42 [[-3.93803516e-01 -9.19186499e-01 3.86923942e-03 2.44593769e+02] [ 9.19145739e-01 -3.93822496e-01 -8.65753133e-03 1.25980561e+02] [ 9.48167944e-03 1.47028648e-04 9.99955037e-01 -4.19163467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.51028169299997 meters Centerline goodness : 0.999527 Centerline is valid? [True, True] Translation: X:244.59, Y:125.99, Z:-0.42 [[-3.96091928e-01 -9.18200667e-01 4.32670223e-03 2.44587909e+02] [ 9.18149532e-01 -3.96115536e-01 -9.69124929e-03 1.25986202e+02] [ 1.06123855e-02 1.33934011e-04 9.99943678e-01 -4.19058698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.54028169299994 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:244.58, Y:125.99, Z:-0.42 [[-3.97276821e-01 -9.17687619e-01 4.53453395e-03 2.44582862e+02] [ 9.17631300e-01 -3.97302680e-01 -1.01674985e-02 1.25994529e+02] [ 1.11321700e-02 1.21718797e-04 9.99938028e-01 -4.18510676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.57028169299997 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:244.59, Y:125.98, Z:-0.42 [[-3.97954001e-01 -9.17393693e-01 4.62876193e-03 2.44588380e+02] [ 9.17334865e-01 -3.97980904e-01 -1.03897188e-02 1.25978774e+02] [ 1.13736214e-02 1.11494522e-04 9.99935312e-01 -4.18826298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.60028169299994 meters Centerline goodness : 0.999230 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.42 [[-3.98914834e-01 -9.16978446e-01 4.18139566e-03 2.44593270e+02] [ 9.16930316e-01 -3.98936739e-01 -9.39538256e-03 1.25962750e+02] [ 1.02834757e-02 8.60909667e-05 9.99947120e-01 -4.18842120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.630281693 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.42 [[-3.99134684e-01 -9.16884648e-01 3.74786007e-03 2.44587661e+02] [ 9.16845896e-01 -3.99152273e-01 -8.43005889e-03 1.25974617e+02] [ 9.22535844e-03 7.14812308e-05 9.99957443e-01 -4.18161979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.66028169299994 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:244.58, Y:125.98, Z:-0.42 [[-3.99233249e-01 -9.16843730e-01 3.22286888e-03 2.44583076e+02] [ 9.16815013e-01 -3.99246253e-01 -7.25685726e-03 1.25978365e+02] [ 7.94012240e-03 5.75958695e-05 9.99968475e-01 -4.15246848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.690281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.42 [[-3.98908960e-01 -9.16984877e-01 3.22124106e-03 2.44585117e+02] [ 9.16956133e-01 -3.98921962e-01 -7.26073956e-03 1.25967511e+02] [ 7.94301218e-03 5.73626862e-05 9.99968452e-01 -4.15175988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.72028169299995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.42 [[-3.99190357e-01 -9.16860810e-01 3.64878613e-03 2.44586910e+02] [ 9.16823848e-01 -3.99207029e-01 -8.23283778e-03 1.25959241e+02] [ 9.00498738e-03 5.88246854e-05 9.99959453e-01 -4.16502935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.750281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:244.58, Y:125.98, Z:-0.42 [[-4.00370370e-01 -9.16345185e-01 3.88176948e-03 2.44578410e+02] [ 9.16303242e-01 -4.00389184e-01 -8.76756520e-03 1.25979620e+02] [ 9.58833468e-03 4.66046356e-05 9.99954030e-01 -4.16895386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.78028169299995 meters Centerline goodness : 0.999506 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.42 [[-4.02197552e-01 -9.15543305e-01 4.19352632e-03 2.44585255e+02] [ 9.15494208e-01 -4.02219412e-01 -9.48150145e-03 1.25966933e+02] [ 1.03674429e-02 2.57123856e-05 9.99946256e-01 -4.17685350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.810281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:244.58, Y:125.97, Z:-0.42 [[-4.04528965e-01 -9.14513218e-01 4.67873769e-03 2.44583856e+02] [ 9.14451907e-01 -4.04556021e-01 -1.05894142e-02 1.25971649e+02] [ 1.15769707e-02 -5.24414835e-06 9.99932985e-01 -4.17535766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.84028169299995 meters Centerline goodness : 0.999207 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.42 [[-4.09030937e-01 -9.12504550e-01 5.39803021e-03 2.44591773e+02] [ 9.12422594e-01 -4.09066548e-01 -1.22298430e-02 1.25955069e+02] [ 1.33679409e-02 -7.70994057e-05 9.99910642e-01 -4.17170752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.870281693 meters Centerline goodness : 0.999290 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.42 [[-4.10693269e-01 -9.11756453e-01 5.58660641e-03 2.44589981e+02] [ 9.11668423e-01 -4.10731249e-01 -1.26699736e-02 1.25958157e+02] [ 1.38465240e-02 -1.10340221e-04 9.99904126e-01 -4.16344853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.90028169299995 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.42 [[-4.12896868e-01 -9.10760656e-01 5.58604532e-03 2.44585193e+02] [ 9.10672372e-01 -4.12934626e-01 -1.26816802e-02 1.25966944e+02] [ 1.38566469e-02 -1.49168904e-04 9.99903981e-01 -4.16119422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.930281693 meters Centerline goodness : 0.999530 Centerline is valid? [True, True] Translation: X:244.60, Y:125.94, Z:-0.42 [[-4.13306323e-01 -9.10575857e-01 5.43070383e-03 2.44595228e+02] [ 9.10492230e-01 -4.13341971e-01 -1.23415729e-02 1.25942894e+02] [ 1.34826762e-02 -1.56236490e-04 9.99909092e-01 -4.16209452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.96028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.42 [[-4.13840589e-01 -9.10334944e-01 5.12408850e-03 2.44586820e+02] [ 9.10260325e-01 -4.13872279e-01 -1.16566137e-02 1.25961154e+02] [ 1.27321410e-02 -1.59725422e-04 9.99918930e-01 -4.16267928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 387.990281693 meters Centerline goodness : 0.999590 Centerline is valid? [True, True] Translation: X:244.59, Y:125.95, Z:-0.41 [[-4.15224439e-01 -9.09708778e-01 4.31326041e-03 2.44594556e+02] [ 9.09655765e-01 -4.15246812e-01 -9.82213842e-03 1.25947380e+02] [ 1.07263532e-02 -1.54809716e-04 9.99942459e-01 -4.14613698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.02028169299996 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.41 [[-4.15549410e-01 -9.09560896e-01 4.20297542e-03 2.44592792e+02] [ 9.09510450e-01 -4.15570634e-01 -9.58068125e-03 1.25955092e+02] [ 1.04608462e-02 -1.58596367e-04 9.99945271e-01 -4.14453569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.050281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:244.60, Y:125.93, Z:-0.41 [[-4.15716294e-01 -9.09484909e-01 4.14286405e-03 2.44604152e+02] [ 9.09435795e-01 -4.15736905e-01 -9.45312844e-03 1.25930973e+02] [ 1.03198191e-02 -1.62150663e-04 9.99946736e-01 -4.13199892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.08028169299996 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.41 [[-4.15408200e-01 -9.09625977e-01 4.07552164e-03 2.44589613e+02] [ 9.09578421e-01 -4.15428162e-01 -9.30262851e-03 1.25963907e+02] [ 1.01549990e-02 -1.57381629e-04 9.99948424e-01 -4.13240525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.110281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:244.59, Y:125.95, Z:-0.41 [[-4.14507290e-01 -9.10037157e-01 4.00999584e-03 2.44594936e+02] [ 9.09991040e-01 -4.14526659e-01 -9.16270392e-03 1.25952581e+02] [ 1.00006512e-02 -1.48947285e-04 9.99949981e-01 -4.12957078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.14028169299996 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:244.59, Y:125.96, Z:-0.41 [[-4.12258738e-01 -9.11059162e-01 3.73303271e-03 2.44594279e+02] [ 9.11019158e-01 -4.12275622e-01 -8.53848123e-03 1.25955507e+02] [ 9.31809993e-03 -1.19199183e-04 9.99956578e-01 -4.12444343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.17028169299994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.41 [[-4.10750264e-01 -9.11740750e-01 3.60918185e-03 2.44588638e+02] [ 9.11703306e-01 -4.10766107e-01 -8.26357070e-03 1.25965927e+02] [ 9.01676373e-03 -1.03760820e-04 9.99959343e-01 -4.12343708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.20028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:244.58, Y:125.98, Z:-0.41 [[-4.08983017e-01 -9.12534540e-01 3.68848870e-03 2.44582823e+02] [ 9.12495386e-01 -4.08999640e-01 -8.45374402e-03 1.25976261e+02] [ 9.22292396e-03 -9.17088137e-05 9.99957464e-01 -4.12052134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.23028169299994 meters Centerline goodness : 0.999575 Centerline is valid? [True, True] Translation: X:244.58, Y:125.98, Z:-0.41 [[-4.06298524e-01 -9.13733383e-01 3.57957776e-03 2.44578193e+02] [ 9.13696478e-01 -4.06314287e-01 -8.21255970e-03 1.25983962e+02] [ 8.95852355e-03 -6.61032896e-05 9.99959869e-01 -4.13067854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.26028169299997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.59, Y:125.97, Z:-0.41 [[-4.05880664e-01 -9.13919603e-01 3.44177743e-03 2.44585775e+02] [ 9.13885422e-01 -4.05895252e-01 -7.90448131e-03 1.25965759e+02] [ 8.62106154e-03 -6.28859066e-05 9.99962836e-01 -4.12921668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.29028169299994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:244.58, Y:125.98, Z:-0.41 [[-4.07308357e-01 -9.13285488e-01 3.08553057e-03 2.44576603e+02] [ 9.13257942e-01 -4.07320038e-01 -7.09359086e-03 1.25981865e+02] [ 7.73527202e-03 -7.13935381e-05 9.99970080e-01 -4.12451118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.32028169299997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.58, Y:125.96, Z:-0.41 [[-4.08426026e-01 -9.12785612e-01 3.25697077e-03 2.44583774e+02] [ 9.12754842e-01 -4.08439003e-01 -7.49530653e-03 1.25963252e+02] [ 8.17188185e-03 -8.84624153e-05 9.99966606e-01 -4.11772538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.35028169299994 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:244.58, Y:125.97, Z:-0.41 [[-4.09642598e-01 -9.12238977e-01 3.60421535e-03 2.44580363e+02] [ 9.12201200e-01 -4.09658437e-01 -8.30274423e-03 1.25970786e+02] [ 9.05058413e-03 -1.13388151e-04 9.99959036e-01 -4.11142668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.380281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:244.58, Y:125.96, Z:-0.41 [[-4.12131779e-01 -9.11115524e-01 3.98727393e-03 2.44583638e+02] [ 9.11069145e-01 -4.12151037e-01 -9.19438248e-03 1.25963997e+02] [ 1.00205037e-02 -1.56614963e-04 9.99949781e-01 -4.11317367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.41028169299994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:244.57, Y:125.99, Z:-0.41 [[-4.11916929e-01 -9.11213891e-01 3.69969560e-03 2.44571549e+02] [ 9.11173883e-01 -4.11933518e-01 -8.53997225e-03 1.25990873e+02] [ 9.30576997e-03 -1.46693141e-04 9.99956690e-01 -4.11383869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.440281693 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:244.57, Y:125.99, Z:-0.41 [[-4.09322488e-01 -9.12383926e-01 3.26702934e-03 2.44570772e+02] [ 9.12352701e-01 -4.09335511e-01 -7.54908453e-03 1.25994521e+02] [ 8.22497450e-03 -1.09327018e-04 9.99966168e-01 -4.11251516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.47028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.58, Y:125.97, Z:-0.41 [[-4.07380400e-01 -9.13252504e-01 3.32771597e-03 2.44583724e+02] [ 9.13220072e-01 -4.07393980e-01 -7.69712234e-03 1.25968955e+02] [ 8.38510771e-03 -9.67197645e-05 9.99964840e-01 -4.11161354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.500281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.57, Y:125.99, Z:-0.41 [[-4.05519881e-01 -9.14079191e-01 3.58587909e-03 2.44574554e+02] [ 9.14041488e-01 -4.05535725e-01 -8.30264172e-03 1.25994889e+02] [ 9.04347411e-03 -8.92440212e-05 9.99959103e-01 -4.11583818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.53028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:244.57, Y:126.01, Z:-0.41 [[-4.02097673e-01 -9.15589140e-01 3.74002260e-03 2.44570831e+02] [ 9.15548107e-01 -4.02115061e-01 -8.66844596e-03 1.26008964e+02] [ 9.44065440e-03 -6.13913408e-05 9.99955434e-01 -4.11366204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.560281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.57, Y:126.02, Z:-0.41 [[-3.99819155e-01 -9.16586312e-01 3.76501890e-03 2.44566965e+02] [ 9.16544686e-01 -3.99836879e-01 -8.73544773e-03 1.26020422e+02] [ 9.51218523e-03 -4.17912644e-05 9.99954757e-01 -4.11303355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.59028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:244.56, Y:126.03, Z:-0.41 [[-3.97510271e-01 -9.17589398e-01 3.90899306e-03 2.44563536e+02] [ 9.17544482e-01 -3.97529490e-01 -9.07896598e-03 1.26032064e+02] [ 9.88470295e-03 -2.23072133e-05 9.99951145e-01 -4.11531835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.620281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.93101796e-01 -9.19486769e-01 3.88066569e-03 2.44559273e+02] [ 9.19442499e-01 -3.93120950e-01 -9.02270419e-03 1.26046928e+02] [ 9.82182810e-03 2.12077426e-05 9.99951764e-01 -4.10898973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.65028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.90728753e-01 -9.20498217e-01 3.75156671e-03 2.44557270e+02] [ 9.20456802e-01 -3.90746760e-01 -8.73183354e-03 1.26049506e+02] [ 9.50354975e-03 4.13766700e-05 9.99954839e-01 -4.10280742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.680281693 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.55, Y:126.07, Z:-0.41 [[-3.87279842e-01 -9.21955651e-01 3.47869882e-03 2.44548742e+02] [ 9.21920023e-01 -3.87295460e-01 -8.10544470e-03 1.26067809e+02] [ 8.82014480e-03 6.80067529e-05 9.99961099e-01 -4.10276797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.71028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.55, Y:126.06, Z:-0.41 [[-3.86361821e-01 -9.22341681e-01 3.21977508e-03 2.44550892e+02] [ 9.22311106e-01 -3.86375231e-01 -7.51026437e-03 1.26063655e+02] [ 8.17107120e-03 6.79548981e-05 9.99966614e-01 -4.10509904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.740281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:244.55, Y:126.06, Z:-0.41 [[-3.86375715e-01 -9.22337037e-01 2.86311966e-03 2.44554309e+02] [ 9.22312808e-01 -3.86386319e-01 -6.68555584e-03 1.26055932e+02] [ 7.27260603e-03 5.75555169e-05 9.99973553e-01 -4.10134040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.77028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.87462065e-01 -9.21882946e-01 2.23188063e-03 2.44556242e+02] [ 9.21868184e-01 -3.87468491e-01 -5.21724548e-03 1.26050003e+02] [ 5.67447306e-03 3.60150361e-05 9.99983899e-01 -4.08732313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.800281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.55, Y:126.06, Z:-0.41 [[-3.87609891e-01 -9.21821140e-01 2.08767699e-03 2.44552558e+02] [ 9.21808195e-01 -3.87615512e-01 -4.88537598e-03 1.26058188e+02] [ 5.31265884e-03 3.08177043e-05 9.99985887e-01 -4.08837524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.83028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.88582065e-01 -9.21411843e-01 2.04807953e-03 2.44557080e+02] [ 9.21399352e-01 -3.88587461e-01 -4.79780028e-03 1.26046595e+02] [ 5.21660802e-03 2.27600155e-05 9.99986393e-01 -4.08310613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.860281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.56, Y:126.04, Z:-0.41 [[-3.89327817e-01 -9.21097270e-01 1.91567159e-03 2.44558817e+02] [ 9.21086315e-01 -3.89332530e-01 -4.49237402e-03 1.26040023e+02] [ 4.88374671e-03 1.54927173e-05 9.99988074e-01 -4.07602915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.89028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.55, Y:126.05, Z:-0.41 [[-3.90320119e-01 -9.20677619e-01 1.71060973e-03 2.44553551e+02] [ 9.20668861e-01 -3.90323867e-01 -4.01577442e-03 1.26049993e+02] [ 4.36492544e-03 7.46755917e-06 9.99990474e-01 -4.07654657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.92028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.56, Y:126.03, Z:-0.41 [[-3.93006290e-01 -9.19533906e-01 1.85812035e-03 2.44562467e+02] [ 9.19523538e-01 -3.93010683e-01 -4.36657307e-03 1.26031314e+02] [ 4.74547313e-03 -7.50528760e-06 9.99988740e-01 -4.07760791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.94091314e-01 -9.19068854e-01 2.11608642e-03 2.44556502e+02] [ 9.19055373e-01 -3.94096995e-01 -4.97789630e-03 1.26048796e+02] [ 5.40897274e-03 -1.69451013e-05 9.99985371e-01 -4.08561787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 388.98028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.56, Y:126.04, Z:-0.41 [[-3.94985890e-01 -9.18684119e-01 2.37405508e-03 2.44560942e+02] [ 9.18667109e-01 -3.94993023e-01 -5.59051227e-03 1.26040912e+02] [ 6.07365003e-03 -2.72071446e-05 9.99981555e-01 -4.08739608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.01028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.55, Y:126.06, Z:-0.41 [[-3.94732768e-01 -9.18792747e-01 2.43510799e-03 2.44554841e+02] [ 9.18774816e-01 -3.94740278e-01 -5.74028295e-03 1.26059018e+02] [ 6.23536555e-03 -2.85618813e-05 9.99980560e-01 -4.07303769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.04028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.93778360e-01 -9.19203237e-01 2.00302690e-03 2.44560196e+02] [ 9.19191084e-01 -3.93783453e-01 -4.72681154e-03 1.26047984e+02] [ 5.13365932e-03 -2.01516262e-05 9.99986823e-01 -4.07115930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.07028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.56, Y:126.05, Z:-0.41 [[-3.91074678e-01 -9.20356574e-01 2.09136228e-03 2.44559699e+02] [ 9.20343314e-01 -3.91080270e-01 -4.94040449e-03 1.26053348e+02] [ 5.36482428e-03 -7.29580148e-06 9.99985609e-01 -4.06419897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.55, Y:126.07, Z:-0.41 [[-3.88645085e-01 -9.21383449e-01 2.74561021e-03 2.44552929e+02] [ 9.21360573e-01 -3.88654783e-01 -6.49257730e-03 1.26071021e+02] [ 7.04924780e-03 6.38874734e-06 9.99975154e-01 -4.07356056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.130281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.55, Y:126.09, Z:-0.41 [[-3.85932470e-01 -9.22520439e-01 3.48824740e-03 2.44547279e+02] [ 9.22483484e-01 -3.85948232e-01 -8.25733913e-03 1.26085735e+02] [ 8.96384704e-03 3.10753283e-05 9.99959823e-01 -4.08152640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.16028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.54, Y:126.11, Z:-0.41 [[-3.82995816e-01 -9.23742434e-01 3.75778485e-03 2.44538016e+02] [ 9.23699574e-01 -3.83014245e-01 -8.89857095e-03 1.26110869e+02] [ 9.65927272e-03 6.29488250e-05 9.99953346e-01 -4.08733401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.53, Y:126.12, Z:-0.41 [[-3.77024529e-01 -9.26199620e-01 2.60156045e-03 2.44532256e+02] [ 9.26179087e-01 -3.77033495e-01 -6.16783957e-03 1.26122744e+02] [ 6.69352609e-03 8.40840762e-05 9.99977595e-01 -4.06869053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.22028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.53, Y:126.13, Z:-0.41 [[-3.73636346e-01 -9.27573258e-01 1.93200645e-03 2.44529319e+02] [ 9.27561926e-01 -3.73641332e-01 -4.58567297e-03 1.26126993e+02] [ 4.97542508e-03 7.86815314e-05 9.99987619e-01 -4.05511677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.250281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.53, Y:126.12, Z:-0.41 [[-3.68248678e-01 -9.29724794e-01 2.17224473e-03 2.44532077e+02] [ 9.29710474e-01 -3.68255065e-01 -5.16147487e-03 1.26118417e+02] [ 5.59869129e-03 1.18852382e-04 9.99984320e-01 -4.05737531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.53, Y:126.13, Z:-0.41 [[-3.66463725e-01 -9.30428711e-01 2.59835556e-03 2.44528755e+02] [ 9.30408195e-01 -3.66472905e-01 -6.18061363e-03 1.26126536e+02] [ 6.70284729e-03 1.52560614e-04 9.99977524e-01 -4.06470881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.53, Y:126.13, Z:-0.41 [[-3.66097437e-01 -9.30572903e-01 2.59592179e-03 2.44527699e+02] [ 9.30552383e-01 -3.66106609e-01 -6.18163629e-03 1.26128854e+02] [ 6.70284735e-03 1.52560004e-04 9.99977524e-01 -4.06472525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.34028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.52, Y:126.14, Z:-0.41 [[-3.65177776e-01 -9.30933843e-01 2.71510355e-03 2.44524279e+02] [ 9.30911356e-01 -3.65187832e-01 -6.47256215e-03 1.26135411e+02] [ 7.01704994e-03 1.63884883e-04 9.99975367e-01 -4.06385162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.370281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.53, Y:126.11, Z:-0.41 [[-3.64714423e-01 -9.31117391e-01 1.94793461e-03 2.44532479e+02] [ 9.31105792e-01 -3.64719605e-01 -4.64897317e-03 1.26109111e+02] [ 5.03918971e-03 1.18185637e-04 9.99987296e-01 -4.05663632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.40028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.52, Y:126.13, Z:-0.41 [[-3.64048623e-01 -9.31378907e-01 1.38975134e-03 2.44524865e+02] [ 9.31372992e-01 -3.64051266e-01 -3.32060778e-03 1.26125227e+02] [ 3.59868478e-03 8.55141734e-05 9.99993521e-01 -4.05423361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.53, Y:126.11, Z:-0.41 [[-3.62793510e-01 -9.31869047e-01 9.74006729e-04 2.44528805e+02] [ 9.31866136e-01 -3.62794812e-01 -2.32998646e-03 1.26114988e+02] [ 2.52460685e-03 6.23399212e-05 9.99996811e-01 -4.05170653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.52, Y:126.12, Z:-0.41 [[-3.60185221e-01 -9.32879752e-01 1.40524848e-03 2.44523413e+02] [ 9.32873689e-01 -3.60187948e-01 -3.36495952e-03 1.26121657e+02] [ 3.64525617e-03 9.89106413e-05 9.99993351e-01 -4.05379644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.490281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.52, Y:126.12, Z:-0.41 [[-3.58047808e-01 -9.33701557e-01 1.78044581e-03 2.44518230e+02] [ 9.33691812e-01 -3.58052209e-01 -4.26788224e-03 1.26122825e+02] [ 4.62242085e-03 1.34281798e-04 9.99989308e-01 -4.05274179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.52028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.52, Y:126.13, Z:-0.41 [[-3.57273284e-01 -9.33998392e-01 1.67486173e-03 2.44515893e+02] [ 9.33989753e-01 -3.57277187e-01 -4.01922412e-03 1.26126073e+02] [ 4.35233875e-03 1.28342293e-04 9.99990520e-01 -4.05200461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.550281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.51, Y:126.13, Z:-0.41 [[-3.56960741e-01 -9.34118042e-01 1.58559391e-03 2.44513530e+02] [ 9.34110283e-01 -3.56964242e-01 -3.80921588e-03 1.26130010e+02] [ 4.12425760e-03 1.21379051e-04 9.99991488e-01 -4.05283371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.58028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.51, Y:126.13, Z:-0.41 [[-3.57924205e-01 -9.33748838e-01 1.83588212e-03 2.44513582e+02] [ 9.33738409e-01 -3.57928888e-01 -4.41523431e-03 1.26125031e+02] [ 4.77983515e-03 1.33914425e-04 9.99988568e-01 -4.05639427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.610281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.51, Y:126.14, Z:-0.41 [[-3.58432906e-01 -9.33553600e-01 1.87838748e-03 2.44506069e+02] [ 9.33542655e-01 -3.58437803e-01 -4.52241230e-03 1.26139602e+02] [ 4.89519936e-03 1.32573450e-04 9.99988010e-01 -4.05667183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.64028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.50, Y:126.15, Z:-0.40 [[-3.60504528e-01 -9.32756395e-01 1.41148281e-03 2.44500220e+02] [ 9.32750195e-01 -3.60507280e-01 -3.40222570e-03 1.26145280e+02] [ 3.68229761e-03 9.00430960e-05 9.99993216e-01 -4.04572994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.67028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.50, Y:126.15, Z:-0.40 [[-3.61181233e-01 -9.32494844e-01 1.21751259e-03 2.44495921e+02] [ 9.32490219e-01 -3.61183278e-01 -2.93804042e-03 1.26150397e+02] [ 3.17945273e-03 7.41535239e-05 9.99994943e-01 -4.03746950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.50, Y:126.14, Z:-0.40 [[-3.61812234e-01 -9.32250484e-01 9.70705406e-04 2.44498984e+02] [ 9.32247536e-01 -3.61813532e-01 -2.34518719e-03 1.26137581e+02] [ 2.53751624e-03 5.64203060e-05 9.99996779e-01 -4.03438140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.49, Y:126.15, Z:-0.40 [[-3.64336369e-01 -9.31267158e-01 7.00577512e-04 2.44491751e+02] [ 9.31265617e-01 -3.64337041e-01 -1.69462742e-03 1.26148562e+02] [ 1.83339720e-03 3.50093498e-05 9.99998319e-01 -4.03431391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.50, Y:126.14, Z:-0.40 [[-3.65908055e-01 -9.30650770e-01 6.63883713e-04 2.44497163e+02] [ 9.30649381e-01 -3.65908656e-01 -1.60767693e-03 1.26135074e+02] [ 1.73910657e-03 2.95810278e-05 9.99998487e-01 -4.03555160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.79028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.49, Y:126.15, Z:-0.40 [[-3.66957468e-01 -9.30237383e-01 7.92534777e-04 2.44492333e+02] [ 9.30235400e-01 -3.66958322e-01 -1.92120753e-03 1.26145896e+02] [ 2.07800630e-03 3.22424541e-05 9.99997840e-01 -4.03521788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.82028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.50, Y:126.13, Z:-0.41 [[-3.69910513e-01 -9.29065969e-01 1.62420218e-03 2.44496745e+02] [ 9.29057612e-01 -3.69914075e-01 -3.94091454e-03 1.26134035e+02] [ 4.26218483e-03 5.11916744e-05 9.99990916e-01 -4.05006233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.85028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.50, Y:126.13, Z:-0.41 [[-3.72021694e-01 -9.28222031e-01 1.92871072e-03 2.44496469e+02] [ 9.28210211e-01 -3.72026690e-01 -4.68476036e-03 1.26133609e+02] [ 5.06602964e-03 4.74165044e-05 9.99987166e-01 -4.05465901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.880281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.50, Y:126.12, Z:-0.41 [[-3.76460197e-01 -9.26430614e-01 2.00929356e-03 2.44502499e+02] [ 9.26417731e-01 -3.76465559e-01 -4.88576795e-03 1.26119684e+02] [ 5.28275482e-03 2.21480175e-05 9.99986046e-01 -4.05714960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.49, Y:126.14, Z:-0.41 [[-3.77696970e-01 -9.25926833e-01 2.12106898e-03 2.44494178e+02] [ 9.25912438e-01 -3.77702926e-01 -5.16314992e-03 1.26144749e+02] [ 5.58183301e-03 1.38180739e-05 9.99984421e-01 -4.05731466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.940281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.50, Y:126.14, Z:-0.41 [[-3.78339049e-01 -9.25664191e-01 2.31734134e-03 2.44499399e+02] [ 9.25646966e-01 -3.78346145e-01 -5.64705451e-03 1.26139942e+02] [ 6.10403331e-03 8.53875147e-06 9.99981370e-01 -4.05171874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 389.97028169299995 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:244.51, Y:126.13, Z:-0.40 [[-3.78338868e-01 -9.25664359e-01 2.27948814e-03 2.44506098e+02] [ 9.25647655e-01 -3.78345735e-01 -5.56087007e-03 1.26131368e+02] [ 6.00993384e-03 6.10956207e-06 9.99981940e-01 -4.01344326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.50, Y:126.14, Z:-0.40 [[-3.77208602e-01 -9.26126989e-01 1.57205917e-03 2.44504366e+02] [ 9.26119030e-01 -3.77211877e-01 -3.83946007e-03 1.26144073e+02] [ 4.14882699e-03 7.63654605e-06 9.99991394e-01 -4.02870915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.03028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.51, Y:126.14, Z:-0.40 [[-3.75997683e-01 -9.26619542e-01 1.40219454e-03 2.44508337e+02] [ 9.26613200e-01 -3.76000297e-01 -3.42840563e-03 1.26139995e+02] [ 3.70405322e-03 1.02193947e-05 9.99993140e-01 -4.03242505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.060281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.50, Y:126.17, Z:-0.40 [[-3.74090124e-01 -9.27390968e-01 1.60388623e-03 2.44501790e+02] [ 9.27382672e-01 -3.74093562e-01 -3.92267082e-03 1.26170281e+02] [ 4.23785300e-03 1.99838795e-05 9.99991020e-01 -4.04364022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.51, Y:126.15, Z:-0.40 [[-3.72088365e-01 -9.28195850e-01 1.64690850e-03 2.44510907e+02] [ 9.28187090e-01 -3.72092009e-01 -4.03273995e-03 1.26152299e+02] [ 4.35597398e-03 2.81035941e-05 9.99990512e-01 -4.04850594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.18, Z:-0.40 [[-3.70123369e-01 -9.28981057e-01 1.69927251e-03 2.44500464e+02] [ 9.28971733e-01 -3.70127268e-01 -4.16225997e-03 1.26179285e+02] [ 4.49560775e-03 3.80264494e-05 9.99989894e-01 -4.04292817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.50, Y:126.17, Z:-0.40 [[-3.65631762e-01 -9.30757425e-01 2.00766750e-03 2.44504704e+02] [ 9.30744405e-01 -3.65637268e-01 -4.92349909e-03 1.26174643e+02] [ 5.31666139e-03 6.84376438e-05 9.99985864e-01 -4.04002194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.180281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.50, Y:126.19, Z:-0.40 [[-3.63882782e-01 -9.31441638e-01 2.40751739e-03 2.44501887e+02] [ 9.31422889e-01 -3.63890735e-01 -5.91051185e-03 1.26186209e+02] [ 6.38137011e-03 9.16833112e-05 9.99979635e-01 -4.04294958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.50, Y:126.19, Z:-0.40 [[-3.63034232e-01 -9.31772437e-01 2.50435711e-03 2.44500773e+02] [ 9.31752112e-01 -3.63042857e-01 -6.15511852e-03 1.26192707e+02] [ 6.64435874e-03 9.89213076e-05 9.99977921e-01 -4.03923375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.50, Y:126.19, Z:-0.40 [[-3.63308311e-01 -9.31667263e-01 1.78397978e-03 2.44499610e+02] [ 9.31656924e-01 -3.63312685e-01 -4.38971777e-03 1.26193631e+02] [ 4.73789882e-03 6.72361645e-05 9.99988774e-01 -4.03876923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.27028169299996 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.50, Y:126.18, Z:-0.40 [[-3.63306707e-01 -9.31668410e-01 1.48684928e-03 2.44503061e+02] [ 9.31661212e-01 -3.63309745e-01 -3.66278474e-03 1.26183743e+02] [ 3.95268767e-03 5.45255423e-05 9.99992187e-01 -4.03137688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.300281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.18, Z:-0.40 [[-3.63467348e-01 -9.31606139e-01 1.22016768e-03 2.44501365e+02] [ 9.31601280e-01 -3.63469393e-01 -3.00928714e-03 1.26184345e+02] [ 3.24696398e-03 4.29321607e-05 9.99994728e-01 -4.03225496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.49, Y:126.20, Z:-0.40 [[-3.63902325e-01 -9.31436494e-01 1.07505788e-03 2.44494275e+02] [ 9.31432712e-01 -3.63903911e-01 -2.65445408e-03 1.26200377e+02] [ 2.86367317e-03 3.53820659e-05 9.99995899e-01 -4.03034093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.360281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.50, Y:126.19, Z:-0.40 [[-3.64676079e-01 -9.31133983e-01 9.28886076e-04 2.44499172e+02] [ 9.31131152e-01 -3.64677261e-01 -2.29619354e-03 1.26185709e+02] [ 2.47680746e-03 2.75479069e-05 9.99996932e-01 -4.02607207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.39028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.50, Y:126.19, Z:-0.40 [[-3.66125928e-01 -9.30565111e-01 6.15020782e-04 2.44495748e+02] [ 9.30563866e-01 -3.66126445e-01 -1.52223563e-03 1.26185710e+02] [ 1.64171474e-03 1.49861843e-05 9.99998652e-01 -4.01274929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.42028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.50, Y:126.18, Z:-0.40 [[-3.66454113e-01 -9.30435996e-01 4.90640056e-04 2.44497537e+02] [ 9.30435201e-01 -3.66454442e-01 -1.21585778e-03 1.26175949e+02] [ 1.31107507e-03 1.09526947e-05 9.99999141e-01 -4.01414454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.45028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.49, Y:126.18, Z:-0.40 [[-3.67136710e-01 -9.30166755e-01 6.67052452e-04 2.44493745e+02] [ 9.30165283e-01 -3.67137315e-01 -1.65460579e-03 1.26178494e+02] [ 1.78395914e-03 1.30025077e-05 9.99998409e-01 -4.02255003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.49, Y:126.18, Z:-0.40 [[-3.67349743e-01 -9.30082466e-01 8.78586216e-04 2.44491094e+02] [ 9.30079908e-01 -3.67350794e-01 -2.18150788e-03 1.26182945e+02] [ 2.35173157e-03 1.57790288e-05 9.99997235e-01 -4.01977037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.51028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.49, Y:126.17, Z:-0.40 [[-3.67653957e-01 -9.29962219e-01 9.15630753e-04 2.44493455e+02] [ 9.29959434e-01 -3.67655097e-01 -2.27596497e-03 1.26174200e+02] [ 2.45319775e-03 1.47319301e-05 9.99996991e-01 -4.02249808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.54028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.49, Y:126.18, Z:-0.40 [[-3.68609359e-01 -9.29584154e-01 6.63530904e-04 2.44490815e+02] [ 9.29582688e-01 -3.68609956e-01 -1.65131877e-03 1.26175834e+02] [ 1.77962386e-03 8.11528725e-06 9.99998416e-01 -4.01950832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.57028169299997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.49, Y:126.19, Z:-0.40 [[-3.68722111e-01 -9.29539276e-01 8.59540245e-04 2.44486089e+02] [ 9.29536810e-01 -3.68723112e-01 -2.14128968e-03 1.26186647e+02] [ 2.30734522e-03 9.43344589e-06 9.99997338e-01 -4.01596664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.60028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.49, Y:126.18, Z:-0.40 [[-3.67391729e-01 -9.30065106e-01 1.48895859e-03 2.44488672e+02] [ 9.30057695e-01 -3.67394746e-01 -3.71290268e-03 1.26179209e+02] [ 4.00027678e-03 2.07276644e-05 9.99991999e-01 -4.00960267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.630281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.49, Y:126.18, Z:-0.40 [[-3.66004462e-01 -9.30611239e-01 1.85907249e-03 2.44488760e+02] [ 9.30599668e-01 -3.66009182e-01 -4.64075305e-03 1.26178407e+02] [ 4.99917455e-03 3.15159224e-05 9.99987504e-01 -4.00864413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.66028169299994 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.48, Y:126.20, Z:-0.40 [[-3.64683249e-01 -9.31129071e-01 2.18669540e-03 2.44481701e+02] [ 9.31113037e-01 -3.64689802e-01 -5.46451264e-03 1.26197182e+02] [ 5.88563209e-03 4.32443732e-05 9.99982679e-01 -4.01317023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.690281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.48, Y:126.20, Z:-0.40 [[-3.63124765e-01 -9.31738101e-01 2.12535973e-03 2.44483081e+02] [ 9.31722930e-01 -3.63130981e-01 -5.31716187e-03 1.26195572e+02] [ 5.72598627e-03 4.94532393e-05 9.99983605e-01 -4.01333846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.72028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.48, Y:126.19, Z:-0.40 [[-3.61806875e-01 -9.32251781e-01 1.55004386e-03 2.44484210e+02] [ 9.32243698e-01 -3.61810193e-01 -3.88233562e-03 1.26194101e+02] [ 4.18013596e-03 4.03629007e-05 9.99991262e-01 -4.00532089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.48, Y:126.21, Z:-0.40 [[-3.59548320e-01 -9.33125905e-01 1.02509066e-03 2.44478399e+02] [ 9.33122365e-01 -3.59549780e-01 -2.57059521e-03 1.26208839e+02] [ 2.76726011e-03 3.22818353e-05 9.99996171e-01 -3.99109230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.78028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.47, Y:126.23, Z:-0.40 [[-3.54946239e-01 -9.34886240e-01 9.41112844e-04 2.44470889e+02] [ 9.34883255e-01 -3.54947484e-01 -2.36272883e-03 1.26226636e+02] [ 2.54292831e-03 4.11889268e-05 9.99996766e-01 -3.98447900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.810281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.48, Y:126.21, Z:-0.40 [[-3.53079262e-01 -9.35592595e-01 1.23721503e-03 2.44476428e+02] [ 9.35587430e-01 -3.53081425e-01 -3.10939814e-03 1.26210251e+02] [ 3.34596752e-03 5.96588257e-05 9.99994400e-01 -3.99382629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.84028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.46, Y:126.24, Z:-0.40 [[-3.50471087e-01 -9.36572821e-01 1.16990474e-03 2.44462518e+02] [ 9.36568197e-01 -3.50473033e-01 -2.94359565e-03 1.26236787e+02] [ 3.16691175e-03 6.40504088e-05 9.99994983e-01 -4.00226286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.870281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.46, Y:126.24, Z:-0.40 [[-3.49575501e-01 -9.36907686e-01 9.77928616e-04 2.44461072e+02] [ 9.36904449e-01 -3.49576865e-01 -2.46349540e-03 1.26237696e+02] [ 2.64992900e-03 5.50480308e-05 9.99996487e-01 -3.99637419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.90028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.45, Y:126.25, Z:-0.40 [[-3.49956048e-01 -9.36765840e-01 7.25145394e-04 2.44454442e+02] [ 9.36764055e-01 -3.49956797e-01 -1.82899229e-03 1.26252532e+02] [ 1.96710706e-03 3.92232267e-05 9.99998065e-01 -3.98634164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.930281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.46, Y:126.24, Z:-0.40 [[-3.51552143e-01 -9.36167738e-01 1.02786260e-03 2.44461177e+02] [ 9.36164143e-01 -3.51553642e-01 -2.59519760e-03 1.26235080e+02] [ 2.79088911e-03 4.99008370e-05 9.99996104e-01 -3.98851400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.96028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.46, Y:126.24, Z:-0.40 [[-3.53332829e-01 -9.35496805e-01 1.28083064e-03 2.44458508e+02] [ 9.35491205e-01 -3.53335146e-01 -3.23741578e-03 1.26241371e+02] [ 3.48115460e-03 5.43205279e-05 9.99993939e-01 -3.99171090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 390.990281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.47, Y:126.22, Z:-0.40 [[-3.57473702e-01 -9.33922303e-01 1.29774554e-03 2.44467598e+02] [ 9.33916530e-01 -3.57476056e-01 -3.28386187e-03 1.26215446e+02] [ 3.53078480e-03 3.80917532e-05 9.99993766e-01 -3.99370323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.02028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.46, Y:126.22, Z:-0.40 [[-3.58566937e-01 -9.33503289e-01 1.16697478e-03 2.44463961e+02] [ 9.33498608e-01 -3.58568835e-01 -2.95633065e-03 1.26224041e+02] [ 3.17818517e-03 2.93269064e-05 9.99994949e-01 -3.99375521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.050281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.47, Y:126.22, Z:-0.40 [[-3.59409437e-01 -9.33179505e-01 9.31146487e-04 2.44466576e+02] [ 9.33176517e-01 -3.59410643e-01 -2.36168378e-03 1.26218080e+02] [ 2.53853886e-03 2.01125957e-05 9.99996778e-01 -3.97764510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.08028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.46, Y:126.22, Z:-0.40 [[-3.59212305e-01 -9.33255445e-01 8.91132636e-04 2.44464875e+02] [ 9.33252702e-01 -3.59213410e-01 -2.26275233e-03 1.26220563e+02] [ 2.43183273e-03 1.88434608e-05 9.99997043e-01 -3.98097893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.110281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.46, Y:126.22, Z:-0.40 [[-3.58686065e-01 -9.33457809e-01 9.08115973e-04 2.44464013e+02] [ 9.33454955e-01 -3.58687214e-01 -2.30844207e-03 1.26219130e+02] [ 2.48056287e-03 1.96793502e-05 9.99996923e-01 -3.97918187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.14028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.46, Y:126.22, Z:-0.40 [[-3.57680891e-01 -9.33843018e-01 1.26424369e-03 2.44461076e+02] [ 9.33837477e-01 -3.57683124e-01 -3.21704694e-03 1.26219125e+02] [ 3.45641545e-03 2.99219227e-05 9.99994026e-01 -3.98094074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.17028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.46, Y:126.23, Z:-0.40 [[-3.57521781e-01 -9.33903569e-01 1.51656758e-03 2.44455065e+02] [ 9.33895579e-01 -3.57524996e-01 -3.86331662e-03 1.26229961e+02] [ 4.15017600e-03 3.50959212e-05 9.99991387e-01 -3.98568030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.20028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.45, Y:126.23, Z:-0.40 [[-3.57523176e-01 -9.33902442e-01 1.84588665e-03 2.44454596e+02] [ 9.33890579e-01 -3.57527939e-01 -4.70736417e-03 1.26225559e+02] [ 5.05617494e-03 4.08643599e-05 9.99987217e-01 -3.98595613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.23028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.45, Y:126.23, Z:-0.40 [[-3.57167196e-01 -9.34038647e-01 1.84409281e-03 2.44453594e+02] [ 9.34026782e-01 -3.57171954e-01 -4.70806724e-03 1.26227910e+02] [ 5.05617498e-03 4.08648969e-05 9.99987217e-01 -3.98597257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.26028169299997 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.45, Y:126.23, Z:-0.40 [[-3.57039512e-01 -9.34087568e-01 1.78952813e-03 2.44452057e+02] [ 9.34076370e-01 -3.57043995e-01 -4.57391126e-03 1.26229469e+02] [ 4.91137391e-03 3.84888921e-05 9.99987938e-01 -3.98786782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.29028169299994 meters Centerline goodness : 0.999848 Centerline is valid? [True, True] Translation: X:244.45, Y:126.24, Z:-0.40 [[-3.57093348e-01 -9.34067406e-01 1.55618034e-03 2.44446867e+02] [ 9.34058919e-01 -3.57096737e-01 -3.98206677e-03 1.26240372e+02] [ 4.27522570e-03 3.15945759e-05 9.99990861e-01 -3.99147405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.32028169299997 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.45, Y:126.22, Z:-0.40 [[-3.57700253e-01 -9.33835313e-01 1.46173054e-03 2.44451951e+02] [ 9.33827806e-01 -3.57703239e-01 -3.74462518e-03 1.26223342e+02] [ 4.01972897e-03 2.55512516e-05 9.99991921e-01 -3.98647320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.35028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.44, Y:126.24, Z:-0.40 [[-3.59303730e-01 -9.33219839e-01 1.24979562e-03 2.44441283e+02] [ 9.33214334e-01 -3.59305903e-01 -3.20539804e-03 1.26244764e+02] [ 3.44039998e-03 1.46157176e-05 9.99994082e-01 -3.98565742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.45, Y:126.22, Z:-0.40 [[-3.60550331e-01 -9.32739604e-01 5.38959541e-04 2.44451655e+02] [ 9.32738577e-01 -3.60550734e-01 -1.38422810e-03 1.26217957e+02] [ 1.48544663e-03 3.62445365e-06 9.99998897e-01 -3.96866330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.41028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.45, Y:126.22, Z:-0.40 [[-3.59830270e-01 -9.33017585e-01 6.02300322e-04 2.44450324e+02] [ 9.33016300e-01 -3.59830774e-01 -1.54853749e-03 1.26219229e+02] [ 1.66153890e-03 4.74535541e-06 9.99998620e-01 -3.96303040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.440281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.44, Y:126.25, Z:-0.40 [[-3.58479554e-01 -9.33536998e-01 1.04028327e-03 2.44435793e+02] [ 9.33533160e-01 -3.58481064e-01 -2.67713400e-03 1.26253280e+02] [ 2.87212549e-03 1.14411244e-05 9.99995875e-01 -3.96909618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.47028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.44, Y:126.24, Z:-0.40 [[-3.56849017e-01 -9.34160861e-01 1.50513109e-03 2.44438633e+02] [ 9.34152814e-01 -3.56852190e-01 -3.87749733e-03 1.26243022e+02] [ 4.15931557e-03 2.23413350e-05 9.99991350e-01 -3.97632279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.500281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.44, Y:126.23, Z:-0.40 [[-3.54941954e-01 -9.34887085e-01 1.53238404e-03 2.44441833e+02] [ 9.34878731e-01 -3.54945261e-01 -3.95212512e-03 1.26232436e+02] [ 4.23870318e-03 2.98182287e-05 9.99991016e-01 -3.97926997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.53028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.44, Y:126.24, Z:-0.40 [[-3.54718234e-01 -9.34972552e-01 1.14132120e-03 2.44440407e+02] [ 9.34967907e-01 -3.54720069e-01 -2.94701796e-03 1.26236874e+02] [ 3.16023044e-03 2.17376926e-05 9.99995006e-01 -3.97350595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.560281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.44, Y:126.24, Z:-0.40 [[-3.56799831e-01 -9.34180473e-01 8.51234743e-04 2.44443335e+02] [ 9.34177881e-01 -3.56800846e-01 -2.20062048e-03 1.26237326e+02] [ 2.35949796e-03 1.00236528e-05 9.99997216e-01 -3.96424080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.59028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.44, Y:126.25, Z:-0.40 [[-3.58376319e-01 -9.33576711e-01 9.69093700e-04 2.44440398e+02] [ 9.33573342e-01 -3.58377629e-01 -2.50803862e-03 1.26252564e+02] [ 2.68874794e-03 5.89839719e-06 9.99996385e-01 -3.97487746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.620281693 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:244.45, Y:126.25, Z:-0.40 [[-3.59931743e-01 -9.32977859e-01 1.20609245e-03 2.44445472e+02] [ 9.32972627e-01 -3.59933763e-01 -3.12475133e-03 1.26246376e+02] [ 3.34943720e-03 5.54049913e-07 9.99994391e-01 -3.97568628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.65028169299995 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.45, Y:126.24, Z:-0.40 [[-3.61925660e-01 -9.32205650e-01 1.56275058e-03 2.44451149e+02] [ 9.32196839e-01 -3.61929033e-01 -4.05311145e-03 1.26239448e+02] [ 4.34393820e-03 -1.01338852e-05 9.99990565e-01 -3.96883217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.680281693 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.44, Y:126.27, Z:-0.40 [[-3.62406225e-01 -9.32018532e-01 1.78427885e-03 2.44442932e+02] [ 9.32007018e-01 -3.62410617e-01 -4.63278434e-03 1.26266233e+02] [ 4.96448246e-03 -1.59894791e-05 9.99987677e-01 -3.96782105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.71028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:244.46, Y:126.24, Z:-0.40 [[-3.63341519e-01 -9.31654385e-01 1.74565527e-03 2.44458648e+02] [ 9.31643335e-01 -3.63345712e-01 -4.53761960e-03 1.26243097e+02] [ 4.86176955e-03 -2.23774989e-05 9.99988181e-01 -3.97327433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.740281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:244.46, Y:126.25, Z:-0.40 [[-3.64251004e-01 -9.31299868e-01 1.32715926e-03 2.44459936e+02] [ 9.31293464e-01 -3.64253422e-01 -3.45379606e-03 1.26247602e+02] [ 3.69994212e-03 -2.20739397e-05 9.99993155e-01 -3.96613178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.77028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.46, Y:126.25, Z:-0.40 [[-3.65210829e-01 -9.30924358e-01 9.43229706e-04 2.44461443e+02] [ 9.30921114e-01 -3.65212047e-01 -2.45759735e-03 1.26250469e+02] [ 2.63231608e-03 -1.94687164e-05 9.99996535e-01 -3.96352000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.800281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.47, Y:126.24, Z:-0.40 [[-3.67033084e-01 -9.30207379e-01 9.73078107e-04 2.44470465e+02] [ 9.30203917e-01 -3.67034373e-01 -2.53816046e-03 1.26239802e+02] [ 2.71816871e-03 -2.64277962e-05 9.99996305e-01 -3.95627819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.83028169299996 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.47, Y:126.24, Z:-0.40 [[-3.67432967e-01 -9.30049062e-01 1.32540576e-03 2.44472658e+02] [ 9.30042624e-01 -3.67435356e-01 -3.46073743e-03 1.26240880e+02] [ 3.70565654e-03 -3.89051727e-05 9.99993133e-01 -3.95362084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.860281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.47, Y:126.26, Z:-0.39 [[-3.67340056e-01 -9.30085330e-01 1.60043677e-03 2.44469385e+02] [ 9.30075924e-01 -3.67343539e-01 -4.18337412e-03 1.26260154e+02] [ 4.47880500e-03 -4.81931779e-05 9.99989969e-01 -3.94964810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.89028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.47, Y:126.27, Z:-0.39 [[-3.66590946e-01 -9.30381229e-01 1.35909891e-03 2.44467744e+02] [ 9.30374432e-01 -3.66593463e-01 -3.55663723e-03 1.26269845e+02] [ 3.80726529e-03 -3.93601279e-05 9.99992752e-01 -3.94440029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.48, Y:126.26, Z:-0.39 [[-3.65764923e-01 -9.30706576e-01 1.13623243e-03 2.44475004e+02] [ 9.30701816e-01 -3.65766686e-01 -2.97685636e-03 1.26259429e+02] [ 3.18617576e-03 -3.13360564e-05 9.99994924e-01 -3.94828149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.95028169299997 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:244.47, Y:126.29, Z:-0.40 [[-3.64230652e-01 -9.31308198e-01 1.03509877e-03 2.44471751e+02] [ 9.31304249e-01 -3.64232122e-01 -2.71220784e-03 1.26291808e+02] [ 2.90291761e-03 -2.38773501e-05 9.99995786e-01 -3.95281778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 391.98028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.48, Y:126.29, Z:-0.39 [[-3.63412862e-01 -9.31627519e-01 1.12138871e-03 2.44477087e+02] [ 9.31622874e-01 -3.63414591e-01 -2.94214967e-03 1.26286860e+02] [ 3.14851661e-03 -2.45036552e-05 9.99995043e-01 -3.94582793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.01028169299997 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.48, Y:126.29, Z:-0.39 [[-3.61516159e-01 -9.32364672e-01 1.47846039e-03 2.44482207e+02] [ 9.32356599e-01 -3.61519181e-01 -3.87999106e-03 1.26290519e+02] [ 4.15205838e-03 -2.42271651e-05 9.99991380e-01 -3.94792904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.04028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.48, Y:126.31, Z:-0.40 [[-3.60395833e-01 -9.32798079e-01 1.60884473e-03 2.44479147e+02] [ 9.32788518e-01 -3.60399423e-01 -4.22325827e-03 1.26308670e+02] [ 4.51927391e-03 -2.13327944e-05 9.99989788e-01 -3.95423246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.07028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.48, Y:126.31, Z:-0.40 [[-3.59300801e-01 -9.33220193e-01 1.73375231e-03 2.44482034e+02] [ 9.33209085e-01 -3.59304984e-01 -4.55318642e-03 1.26310417e+02] [ 4.87207135e-03 -1.80101195e-05 9.99988131e-01 -3.95172721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.10028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.48, Y:126.32, Z:-0.39 [[-3.56107427e-01 -9.34443610e-01 1.62489489e-03 2.44482042e+02] [ 9.34433861e-01 -3.56111134e-01 -4.26845937e-03 1.26321854e+02] [ 4.56727774e-03 -1.67328143e-06 9.99989570e-01 -3.94037210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.130281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:244.48, Y:126.33, Z:-0.39 [[-3.54175457e-01 -9.35177731e-01 1.53528401e-03 2.44483083e+02] [ 9.35169026e-01 -3.54178785e-01 -4.03491222e-03 1.26325328e+02] [ 4.31712508e-03 6.68317690e-06 9.99990681e-01 -3.93885833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.16028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.48, Y:126.35, Z:-0.39 [[-3.52860184e-01 -9.35674936e-01 1.45087776e-03 2.44478815e+02] [ 9.35667188e-01 -3.52863167e-01 -3.80769358e-03 1.26345034e+02] [ 4.07472477e-03 1.39552580e-05 9.99991698e-01 -3.93535694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.190281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.49, Y:126.34, Z:-0.39 [[-3.52057561e-01 -9.35977431e-01 1.31223025e-03 2.44485040e+02] [ 9.35971087e-01 -3.52060006e-01 -3.44625363e-03 1.26341741e+02] [ 3.68759941e-03 1.49299259e-05 9.99993201e-01 -3.94006969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.22028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:244.49, Y:126.34, Z:-0.39 [[-3.53107931e-01 -9.35581501e-01 1.42941818e-03 2.44493375e+02] [ 9.35573966e-01 -3.53110824e-01 -3.75499377e-03 1.26335553e+02] [ 4.01784574e-03 1.14083538e-05 9.99991928e-01 -3.94178567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.250281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:244.50, Y:126.33, Z:-0.39 [[-3.54046358e-01 -9.35226604e-01 1.54110489e-03 2.44497926e+02] [ 9.35217866e-01 -3.54049712e-01 -4.04281682e-03 1.26333911e+02] [ 4.32657759e-03 9.92425358e-06 9.99990640e-01 -3.93759880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.28028169299995 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.50, Y:126.33, Z:-0.39 [[-3.54592844e-01 -9.35019377e-01 1.63697424e-03 2.44501566e+02] [ 9.35009538e-01 -3.54596622e-01 -4.28940294e-03 1.26331735e+02] [ 4.59114040e-03 9.59493563e-06 9.99989461e-01 -3.93448080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.310281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:244.50, Y:126.34, Z:-0.39 [[-3.54913632e-01 -9.34897682e-01 1.62412604e-03 2.44500459e+02] [ 9.34888018e-01 -3.54917348e-01 -4.25081332e-03 1.26336516e+02] [ 4.55050603e-03 9.70438376e-06 9.99989646e-01 -3.92660275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.34028169299995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:244.50, Y:126.33, Z:-0.39 [[-3.54553027e-01 -9.35034979e-01 1.31908222e-03 2.44502865e+02] [ 9.35028620e-01 -3.54555480e-01 -3.44829652e-03 1.26333027e+02] [ 3.69196569e-03 1.07756654e-05 9.99993185e-01 -3.92205763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.50, Y:126.34, Z:-0.39 [[-3.54429050e-01 -9.35082549e-01 8.21650598e-04 2.44502831e+02] [ 9.35080088e-01 -3.54430002e-01 -2.14517463e-03 1.26337270e+02] [ 2.29713299e-03 7.99690582e-06 9.99997362e-01 -3.91825478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.40028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.51, Y:126.32, Z:-0.39 [[-3.55318120e-01 -9.34745436e-01 -5.41256004e-05 2.44509469e+02] [ 9.34745426e-01 -3.55318124e-01 1.41898460e-04 1.26324182e+02] [-1.51870744e-04 -1.74563496e-07 9.99999989e-01 -3.89901382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.430281693 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:244.51, Y:126.32, Z:-0.39 [[-3.57035966e-01 -9.34090625e-01 -1.54620582e-04 2.44512780e+02] [ 9.34090538e-01 -3.57035999e-01 4.03587738e-04 1.26315273e+02] [-4.32192636e-04 -3.34284992e-07 9.99999907e-01 -3.89592526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.46028169299996 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:244.51, Y:126.33, Z:-0.39 [[-3.59106035e-01 -9.33296756e-01 1.43164252e-04 2.44510006e+02] [ 9.33296682e-01 -3.59106063e-01 -3.71911865e-04 1.26325448e+02] [ 3.98515288e-04 5.89264645e-08 9.99999921e-01 -3.90236288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.490281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:244.52, Y:126.32, Z:-0.39 [[-3.64957727e-01 -9.31023731e-01 8.19061940e-04 2.44517954e+02] [ 9.31021297e-01 -3.64958646e-01 -2.12860385e-03 1.26320937e+02] [ 2.28070443e-03 -1.42863115e-05 9.99997399e-01 -3.92177644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.52028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:244.53, Y:126.30, Z:-0.39 [[-3.70409213e-01 -9.28868256e-01 8.82352945e-04 2.44530724e+02] [ 9.28865427e-01 -3.70410263e-01 -2.29260533e-03 1.26299580e+02] [ 2.45636090e-03 -2.96149919e-05 9.99996983e-01 -3.91860690e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.550281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:244.53, Y:126.29, Z:-0.39 [[-3.72013792e-01 -9.28226545e-01 1.10430219e-03 2.44534803e+02] [ 9.28222122e-01 -3.72015429e-01 -2.86570027e-03 1.26293146e+02] [ 3.07083651e-03 -4.10423005e-05 9.99995284e-01 -3.91675011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.58028169299996 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.54, Y:126.28, Z:-0.39 [[-3.73156340e-01 -9.27767469e-01 1.36738501e-03 2.44540272e+02] [ 9.27760699e-01 -3.73158842e-01 -3.54460311e-03 1.26282372e+02] [ 3.79881926e-03 -5.40850486e-05 9.99992783e-01 -3.91666610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.610281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:244.54, Y:126.29, Z:-0.39 [[-3.73275382e-01 -9.27719280e-01 1.55744711e-03 2.44538356e+02] [ 9.27710517e-01 -3.73278627e-01 -4.03286263e-03 1.26293582e+02] [ 4.32272613e-03 -6.05082793e-05 9.99990655e-01 -3.91422607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.64028169299996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.54, Y:126.31, Z:-0.39 [[-3.72552250e-01 -9.28010084e-01 1.45102873e-03 2.44535540e+02] [ 9.28002496e-01 -3.72555073e-01 -3.75298812e-03 1.26313193e+02] [ 4.02339894e-03 -5.16258904e-05 9.99991905e-01 -3.91083717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.67028169299994 meters Centerline goodness : 0.999354 Centerline is valid? [True, True] Translation: X:244.54, Y:126.31, Z:-0.39 [[-3.71412878e-01 -9.28466829e-01 1.34982463e-03 2.44540411e+02] [ 9.28460281e-01 -3.71415329e-01 -3.48718973e-03 1.26313488e+02] [ 3.73908555e-03 -4.19286176e-05 9.99993009e-01 -3.85511419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.70028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.54, Y:126.32, Z:-0.39 [[-3.71599453e-01 -9.28392407e-01 1.17684197e-03 2.44541465e+02] [ 9.28387441e-01 -3.71601315e-01 -3.03673176e-03 1.26316871e+02] [ 3.25659473e-03 -3.58825614e-05 9.99994697e-01 -3.91838774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.73028169299994 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:244.55, Y:126.31, Z:-0.39 [[-3.72215824e-01 -9.28145435e-01 1.19641729e-03 2.44548469e+02] [ 9.28140313e-01 -3.72217745e-01 -3.08373124e-03 1.26308886e+02] [ 3.30747882e-03 -3.73704443e-05 9.99994530e-01 -3.92047105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.76028169299997 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.55, Y:126.31, Z:-0.39 [[-3.73667614e-01 -9.27561380e-01 1.54919152e-03 2.44553726e+02] [ 9.27552806e-01 -3.73670821e-01 -3.98865563e-03 1.26310998e+02] [ 4.27861059e-03 -5.34744886e-05 9.99990845e-01 -3.91948368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.79028169299994 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:244.56, Y:126.30, Z:-0.39 [[-3.73725012e-01 -9.27538212e-01 1.57482162e-03 2.44561760e+02] [ 9.27529372e-01 -3.73728326e-01 -4.05006398e-03 1.26296253e+02] [ 4.34514456e-03 -5.29169069e-05 9.99990558e-01 -3.91915638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.82028169299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:244.56, Y:126.31, Z:-0.39 [[-3.72152856e-01 -9.28170377e-01 1.41560608e-03 2.44562675e+02] [ 9.28163254e-01 -3.72155546e-01 -3.63640954e-03 1.26307837e+02] [ 3.90203327e-03 -3.93866456e-05 9.99992386e-01 -3.91818549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.85028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.57, Y:126.31, Z:-0.39 [[-3.71381316e-01 -9.28479523e-01 1.30137884e-03 2.44567688e+02] [ 9.28473519e-01 -3.71383595e-01 -3.33912836e-03 1.26305214e+02] [ 3.58362306e-03 -3.17940916e-05 9.99993578e-01 -3.92049167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.880281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.57, Y:126.32, Z:-0.39 [[-3.71046784e-01 -9.28613200e-01 1.34511996e-03 2.44567049e+02] [ 9.28606801e-01 -3.71049221e-01 -3.44744611e-03 1.26318141e+02] [ 3.70044967e-03 -3.00762529e-05 9.99993153e-01 -3.92166233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.91028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.58, Y:126.31, Z:-0.39 [[-3.69534831e-01 -9.29215515e-01 1.59260175e-03 2.44578949e+02] [ 9.29206570e-01 -3.69538262e-01 -4.07720033e-03 1.26305958e+02] [ 4.37712508e-03 -2.68115271e-05 9.99990420e-01 -3.92635962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.940281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.57, Y:126.32, Z:-0.39 [[-3.68179831e-01 -9.29753266e-01 1.57370230e-03 2.44574691e+02] [ 9.29744557e-01 -3.68183194e-01 -4.02420325e-03 1.26324556e+02] [ 4.32092685e-03 -1.84893239e-05 9.99990665e-01 -3.91860493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 392.97028169299995 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:244.58, Y:126.34, Z:-0.39 [[-3.63644902e-01 -9.31536836e-01 1.22857209e-03 2.44577137e+02] [ 9.31531551e-01 -3.63646977e-01 -3.13785935e-03 1.26336689e+02] [ 3.36979809e-03 3.38710882e-06 9.99994322e-01 -3.91825525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.000281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.59, Y:126.32, Z:-0.39 [[-3.61399653e-01 -9.32410483e-01 9.91231000e-04 2.44589441e+02] [ 9.32407054e-01 -3.61401012e-01 -2.52862491e-03 1.26316141e+02] [ 2.71594826e-03 1.03866123e-05 9.99996312e-01 -3.92047970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.03028169299995 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.59, Y:126.31, Z:-0.39 [[-3.59507597e-01 -9.33141720e-01 9.04284947e-04 2.44594711e+02] [ 9.33138875e-01 -3.59508734e-01 -2.30414447e-03 1.26309561e+02] [ 2.47519167e-03 1.54659977e-05 9.99996937e-01 -3.91779643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.060281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.61, Y:126.28, Z:-0.39 [[-3.54104046e-01 -9.35205111e-01 1.31321741e-03 2.44606624e+02] [ 9.35199139e-01 -3.54106478e-01 -3.34267196e-03 1.26284474e+02] [ 3.59110270e-03 4.44661207e-05 9.99993551e-01 -3.92615789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.09028169299995 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:244.61, Y:126.28, Z:-0.39 [[-3.50936501e-01 -9.36398142e-01 1.44614136e-03 2.44609463e+02] [ 9.36390925e-01 -3.50939475e-01 -3.67699527e-03 1.26280530e+02] [ 3.95063963e-03 6.37617951e-05 9.99992194e-01 -3.92670286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.120281693 meters Centerline goodness : 0.999651 Centerline is valid? [True, True] Translation: X:244.61, Y:126.28, Z:-0.39 [[-3.51291248e-01 -9.36265114e-01 1.44753420e-03 2.44610444e+02] [ 9.36257898e-01 -3.51294225e-01 -3.67644722e-03 1.26278239e+02] [ 3.95063968e-03 6.37615941e-05 9.99992194e-01 -3.92668644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.15028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.62, Y:126.25, Z:-0.39 [[-3.44397192e-01 -9.38822770e-01 1.54305071e-03 2.44622837e+02] [ 9.38814613e-01 -3.44400634e-01 -3.91478621e-03 1.26249191e+02] [ 4.20671808e-03 1.00397175e-04 9.99991147e-01 -3.92829262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.180281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:244.62, Y:126.24, Z:-0.39 [[-3.42332055e-01 -9.39577822e-01 1.51033493e-03 2.44623779e+02] [ 9.39570031e-01 -3.42335370e-01 -3.82761772e-03 1.26244238e+02] [ 4.11338579e-03 1.08749200e-04 9.99991534e-01 -3.92463434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.21028169299996 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:244.62, Y:126.24, Z:-0.39 [[-3.39471006e-01 -9.40615878e-01 1.09840939e-03 2.44620221e+02] [ 9.40611772e-01 -3.39472772e-01 -2.78048301e-03 1.26241797e+02] [ 2.98824655e-03 8.92834338e-05 9.99995531e-01 -3.92714435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.240281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:244.62, Y:126.23, Z:-0.39 [[-3.38677404e-01 -9.40902088e-01 9.36167574e-04 2.44622187e+02] [ 9.40899114e-01 -3.38678689e-01 -2.36713265e-03 1.26229899e+02] [ 2.54430006e-03 7.91449001e-05 9.99996760e-01 -3.92492218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.27028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.62, Y:126.23, Z:-0.39 [[-3.38120974e-01 -9.41102226e-01 8.97937434e-04 2.44618312e+02] [ 9.41099497e-01 -3.38122158e-01 -2.26799219e-03 1.26231065e+02] [ 2.43802504e-03 7.81927374e-05 9.99997025e-01 -3.91691923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.300281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.61, Y:126.22, Z:-0.39 [[-3.37157095e-01 -9.41447883e-01 9.88613893e-04 2.44612807e+02] [ 9.41444582e-01 -3.37158533e-01 -2.49439433e-03 1.26222953e+02] [ 2.68166187e-03 8.97224465e-05 9.99996400e-01 -3.91434850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.33028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.61, Y:126.21, Z:-0.39 [[-3.37750446e-01 -9.41235217e-01 9.50464923e-04 2.44613521e+02] [ 9.41232172e-01 -3.37751772e-01 -2.39554699e-03 1.26209096e+02] [ 2.57579441e-03 8.55110999e-05 9.99996679e-01 -3.91542304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.360281693 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:244.60, Y:126.23, Z:-0.39 [[-3.40622302e-01 -9.40199661e-01 1.02251536e-03 2.44596744e+02] [ 9.40196140e-01 -3.40623826e-01 -2.57441049e-03 1.26229595e+02] [ 2.76875297e-03 8.44633671e-05 9.99996163e-01 -3.92189699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.39028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.60, Y:126.22, Z:-0.39 [[-3.43016191e-01 -9.39328907e-01 1.04750982e-03 2.44595381e+02] [ 9.39325216e-01 -3.43017781e-01 -2.63448452e-03 1.26222750e+02] [ 2.83396196e-03 8.02815470e-05 9.99995981e-01 -3.92634968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.42028169299994 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:244.59, Y:126.22, Z:-0.39 [[-3.45299921e-01 -9.38491761e-01 1.08540267e-03 2.44590884e+02] [ 9.38487803e-01 -3.45301619e-01 -2.72684420e-03 1.26223156e+02] [ 2.93391212e-03 7.70580743e-05 9.99995693e-01 -3.93097194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.58, Y:126.23, Z:-0.39 [[-3.50233409e-01 -9.36661589e-01 1.27532237e-03 2.44579165e+02] [ 9.36656124e-01 -3.50235723e-01 -3.20058754e-03 1.26231555e+02] [ 3.44453086e-03 7.35858225e-05 9.99994065e-01 -3.93482341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.48028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.57, Y:126.24, Z:-0.39 [[-3.53243768e-01 -9.35530223e-01 1.42887209e-03 2.44570877e+02] [ 9.35523368e-01 -3.53246651e-01 -3.58205295e-03 1.26244122e+02] [ 3.85586308e-03 7.14053452e-05 9.99992564e-01 -3.93114081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.51028169299997 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.56, Y:126.26, Z:-0.39 [[-3.58219681e-01 -9.33636299e-01 1.38595495e-03 2.44558825e+02] [ 9.33629850e-01 -3.58222359e-01 -3.47055066e-03 1.26257286e+02] [ 3.73671212e-03 5.07493654e-05 9.99993017e-01 -3.91177040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.54028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.56, Y:126.25, Z:-0.39 [[-3.60226889e-01 -9.32864001e-01 1.15947334e-03 2.44556620e+02] [ 9.32859494e-01 -3.60228753e-01 -2.90003717e-03 1.26254819e+02] [ 3.12301591e-03 3.69543439e-05 9.99995123e-01 -3.90521420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.57028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.55, Y:126.27, Z:-0.39 [[-3.62047228e-01 -9.32159372e-01 8.42635836e-04 2.44549148e+02] [ 9.32156995e-01 -3.62048208e-01 -2.10499828e-03 1.26265595e+02] [ 2.26726867e-03 2.33600966e-05 9.99997430e-01 -3.90597637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.60028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.55, Y:126.26, Z:-0.39 [[-3.63812868e-01 -9.31471898e-01 5.48583350e-04 2.44549979e+02] [ 9.31470892e-01 -3.63813281e-01 -1.36862478e-03 1.26258190e+02] [ 1.47441743e-03 1.30661153e-05 9.99998913e-01 -3.90885562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.630281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.55, Y:126.25, Z:-0.39 [[-3.68368256e-01 -9.29679763e-01 6.06022030e-04 2.44553518e+02] [ 9.29678536e-01 -3.68368754e-01 -1.51029590e-03 1.26245397e+02] [ 1.62733111e-03 7.06060881e-06 9.99998676e-01 -3.92356862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.66028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.55, Y:126.25, Z:-0.39 [[-3.71621283e-01 -9.28384042e-01 8.32664434e-04 2.44551203e+02] [ 9.28381727e-01 -3.71622216e-01 -2.07303916e-03 1.26252969e+02] [ 2.23401308e-03 2.64497179e-06 9.99997505e-01 -3.92935017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.690281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:244.56, Y:126.24, Z:-0.39 [[-3.79625270e-01 -9.25139290e-01 1.39619375e-03 2.44558340e+02] [ 9.25132773e-01 -3.79627836e-01 -3.47257386e-03 1.26243061e+02] [ 3.74264853e-03 -2.66121926e-05 9.99992996e-01 -3.93807509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.72028169299995 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.57, Y:126.21, Z:-0.39 [[-3.83502450e-01 -9.23538627e-01 1.50863155e-03 2.44574969e+02] [ 9.23531003e-01 -3.83505414e-01 -3.75296279e-03 1.26208926e+02] [ 4.04457447e-03 -4.60024192e-05 9.99991820e-01 -3.94126044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.750281693 meters Centerline goodness : 0.999720 Centerline is valid? [True, True] Translation: X:244.57, Y:126.23, Z:-0.39 [[-3.89808352e-01 -9.20895208e-01 1.21050960e-03 2.44572398e+02] [ 9.20890299e-01 -3.89810227e-01 -3.00735723e-03 1.26230453e+02] [ 3.24132989e-03 -5.75464167e-05 9.99994745e-01 -3.93337094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.59, Y:126.20, Z:-0.39 [[-3.91515828e-01 -9.20170818e-01 1.01111825e-03 2.44589045e+02] [ 9.20167392e-01 -3.91517130e-01 -2.51127410e-03 1.26197065e+02] [ 2.70667126e-03 -5.28055113e-05 9.99996336e-01 -3.92575947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.810281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.59, Y:126.20, Z:-0.39 [[-3.92986374e-01 -9.19543863e-01 8.90827573e-04 2.44591411e+02] [ 9.19541210e-01 -3.92987380e-01 -2.20968101e-03 1.26200126e+02] [ 2.38198261e-03 -4.92218627e-05 9.99997162e-01 -3.92444262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.84028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.60, Y:126.20, Z:-0.39 [[-3.94628989e-01 -9.18840114e-01 8.97722755e-04 2.44599999e+02] [ 9.18837423e-01 -3.94630006e-01 -2.22437737e-03 1.26199032e+02] [ 2.39811550e-03 -5.29425299e-05 9.99997123e-01 -3.93330713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.61, Y:126.19, Z:-0.39 [[-3.95623814e-01 -9.18412273e-01 8.33461439e-04 2.44606133e+02] [ 9.18409958e-01 -3.95624688e-01 -2.06287676e-03 1.26193680e+02] [ 2.22430926e-03 -5.06638862e-05 9.99997525e-01 -3.93783789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.90028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.62, Y:126.19, Z:-0.39 [[-3.95859821e-01 -9.18310544e-01 8.64009547e-04 2.44616013e+02] [ 9.18308061e-01 -3.95860761e-01 -2.13621481e-03 1.26188259e+02] [ 2.30373606e-03 -5.22146818e-05 9.99997345e-01 -3.93801159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.930281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.61, Y:126.20, Z:-0.39 [[-3.95263537e-01 -9.18567165e-01 1.04848098e-03 2.44614357e+02] [ 9.18563517e-01 -3.95264923e-01 -2.58965386e-03 1.26202295e+02] [ 2.79319876e-03 -6.04993750e-05 9.99996097e-01 -3.93992652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.61, Y:126.22, Z:-0.39 [[-3.94709738e-01 -9.18804902e-01 1.33229150e-03 2.44611055e+02] [ 9.18799024e-01 -3.94711980e-01 -3.28722014e-03 1.26218926e+02] [ 3.54618539e-03 -7.33896666e-05 9.99993710e-01 -3.94600304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 393.990281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.62, Y:126.22, Z:-0.40 [[-3.93455219e-01 -9.19341686e-01 1.96345225e-03 2.44616607e+02] [ 9.19328953e-01 -3.93460106e-01 -4.83950292e-03 1.26219200e+02] [ 5.22169691e-03 -9.90691803e-05 9.99986362e-01 -3.95897165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.02028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.62, Y:126.21, Z:-0.40 [[-3.93229581e-01 -9.19437993e-01 2.06733542e-03 2.44622308e+02] [ 9.19423909e-01 -3.93235002e-01 -5.09001612e-03 1.26210833e+02] [ 5.49290285e-03 -1.00787291e-04 9.99984909e-01 -3.95874571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.050281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.63, Y:126.20, Z:-0.40 [[-3.92991496e-01 -9.19540426e-01 1.75783440e-03 2.44628523e+02] [ 9.19530267e-01 -3.92995418e-01 -4.32318734e-03 1.26204346e+02] [ 4.66616640e-03 -8.25939208e-05 9.99989110e-01 -3.95481968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.08028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.40 [[-3.93219245e-01 -9.19443398e-01 1.56987861e-03 2.44628813e+02] [ 9.19435312e-01 -3.93222372e-01 -3.85666830e-03 1.26206625e+02] [ 4.16329960e-03 -7.31143701e-05 9.99991331e-01 -3.95070969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.110281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.63, Y:126.22, Z:-0.39 [[-3.93354346e-01 -9.19385780e-01 1.46501824e-03 2.44625759e+02] [ 9.19378754e-01 -3.93357068e-01 -3.59508322e-03 1.26216031e+02] [ 3.88154367e-03 -6.72349674e-05 9.99992465e-01 -3.94645729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.39 [[-3.93206943e-01 -9.19449168e-01 1.23611473e-03 2.44629729e+02] [ 9.19444177e-01 -3.93208882e-01 -3.02993773e-03 1.26212512e+02] [ 3.27192501e-03 -5.48540585e-05 9.99994646e-01 -3.93896399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.17028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.39 [[-3.93865051e-01 -9.19167494e-01 1.20017184e-03 2.44630932e+02] [ 9.19162798e-01 -3.93866875e-01 -2.93859807e-03 1.26211852e+02] [ 3.17377175e-03 -5.42577687e-05 9.99994962e-01 -3.93806577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.20028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.64, Y:126.19, Z:-0.39 [[-3.95263594e-01 -9.18567039e-01 1.13372824e-03 2.44640323e+02] [ 9.18562856e-01 -3.95265216e-01 -2.77286508e-03 1.26191901e+02] [ 2.99518581e-03 -5.46119649e-05 9.99995513e-01 -3.94459979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.23028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.64, Y:126.20, Z:-0.39 [[-3.95864256e-01 -9.18308290e-01 1.17233475e-03 2.44637369e+02] [ 9.18303825e-01 -3.95865988e-01 -2.86421045e-03 1.26200150e+02] [ 3.09431566e-03 -5.72790557e-05 9.99995211e-01 -3.94020555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.64, Y:126.20, Z:-0.39 [[-3.95954616e-01 -9.18269472e-01 1.05786173e-03 2.44638309e+02] [ 9.18265844e-01 -3.95956026e-01 -2.58166307e-03 1.26197258e+02] [ 2.78952911e-03 -5.08231113e-05 9.99996108e-01 -3.94162787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.29028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.39 [[-3.95069260e-01 -9.18650391e-01 1.31869648e-03 2.44630533e+02] [ 9.18644767e-01 -3.95071457e-01 -3.21486279e-03 1.26210889e+02] [ 3.47431430e-03 -5.86798492e-05 9.99993963e-01 -3.93138619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.32028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.63, Y:126.21, Z:-0.39 [[-3.94932383e-01 -9.18709140e-01 1.38889095e-03 2.44629341e+02] [ 9.18702916e-01 -3.94934820e-01 -3.38230076e-03 1.26209996e+02] [ 3.65587202e-03 -5.98019340e-05 9.99993316e-01 -3.93372227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.35028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.64, Y:126.18, Z:-0.39 [[-3.93687279e-01 -9.19243842e-01 1.04220965e-03 2.44639118e+02] [ 9.19240347e-01 -3.93688656e-01 -2.53512562e-03 1.26180552e+02] [ 2.74070473e-03 -4.00055460e-05 9.99996243e-01 -3.94197094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.380281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.64, Y:126.19, Z:-0.39 [[-3.93071359e-01 -9.19507474e-01 9.55535851e-04 2.44635130e+02] [ 9.19504543e-01 -3.93072519e-01 -2.32173650e-03 1.26187282e+02] [ 2.51044895e-03 -3.39885672e-05 9.99996848e-01 -3.94169160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.41028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.63, Y:126.20, Z:-0.39 [[-3.92717749e-01 -9.19658465e-01 1.03789565e-03 2.44630174e+02] [ 9.19655016e-01 -3.92719119e-01 -2.51916025e-03 1.26196775e+02] [ 2.72436852e-03 -3.48129979e-05 9.99996288e-01 -3.94115839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.440281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.63, Y:126.19, Z:-0.40 [[-3.92832207e-01 -9.19609082e-01 1.41153391e-03 2.44632266e+02] [ 9.19602715e-01 -3.92834741e-01 -3.42255411e-03 1.26185310e+02] [ 3.70191141e-03 -4.64390738e-05 9.99993147e-01 -3.95193569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.47028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.63, Y:126.18, Z:-0.40 [[-3.93612601e-01 -9.19275424e-01 1.34723926e-03 2.44633924e+02] [ 9.19269634e-01 -3.93614904e-01 -3.26309572e-03 1.26178313e+02] [ 3.52997715e-03 -4.59194493e-05 9.99993769e-01 -3.95940105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.64, Y:126.17, Z:-0.40 [[-3.95480566e-01 -9.18473664e-01 1.11825146e-03 2.44635889e+02] [ 9.18469681e-01 -3.95482144e-01 -2.70544349e-03 1.26172818e+02] [ 2.92712708e-03 -4.28702629e-05 9.99995715e-01 -3.96178871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.53028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.63, Y:126.19, Z:-0.40 [[-3.96712442e-01 -9.17942374e-01 1.01779694e-03 2.44630603e+02] [ 9.17939080e-01 -3.96713746e-01 -2.45967873e-03 1.26187795e+02] [ 2.66161737e-03 -4.15095752e-05 9.99996457e-01 -3.95971488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.64, Y:126.18, Z:-0.40 [[-3.98177032e-01 -9.17308164e-01 8.85577100e-04 2.44636699e+02] [ 9.17305674e-01 -3.98178015e-01 -2.13773780e-03 1.26175813e+02] [ 2.31358167e-03 -3.88531923e-05 9.99997323e-01 -3.95836854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.65, Y:126.16, Z:-0.40 [[-4.01038470e-01 -9.16061126e-01 3.98009794e-04 2.44645039e+02] [ 9.16060624e-01 -4.01038667e-01 -9.59386746e-04 1.26164185e+02] [ 1.03847422e-03 -2.01498924e-05 9.99999461e-01 -3.95951178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.620281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.40 [[-4.02433747e-01 -9.15448992e-01 4.71098680e-04 2.44655124e+02] [ 9.15448290e-01 -4.02434022e-01 -1.13448280e-03 1.26145365e+02] [ 1.22814727e-03 -2.52876823e-05 9.99999246e-01 -3.96237894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.65028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.65, Y:126.16, Z:-0.40 [[-4.03957487e-01 -9.14776884e-01 1.26543919e-03 2.44653843e+02] [ 9.14771818e-01 -4.03959462e-01 -3.04523050e-03 1.26159328e+02] [ 3.29689261e-03 -7.25555490e-05 9.99994563e-01 -3.95769167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.680281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.40 [[-4.04119745e-01 -9.14705166e-01 1.30032533e-03 2.44658926e+02] [ 9.14699828e-01 -4.04121830e-01 -3.12586680e-03 1.26152059e+02] [ 3.38473636e-03 -7.38171343e-05 9.99994269e-01 -3.95199012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.66, Y:126.15, Z:-0.40 [[-4.03375977e-01 -9.15033558e-01 1.18683178e-03 2.44664281e+02] [ 9.15029122e-01 -4.03377718e-01 -2.84995893e-03 1.26149083e+02] [ 3.08654956e-03 -6.36193297e-05 9.99995235e-01 -3.95561591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.740281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.67, Y:126.15, Z:-0.40 [[-4.03575565e-01 -9.14945277e-01 1.37931083e-03 2.44665536e+02] [ 9.14939298e-01 -4.03577916e-01 -3.30875450e-03 1.26150755e+02] [ 3.58398870e-03 -7.33467880e-05 9.99993575e-01 -3.96752541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.77028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.66, Y:126.18, Z:-0.40 [[-4.03991292e-01 -9.14761426e-01 1.60278261e-03 2.44655558e+02] [ 9.14753367e-01 -4.03994462e-01 -3.84079508e-03 1.26180617e+02] [ 4.16092648e-03 -8.54969747e-05 9.99991340e-01 -3.97021189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.800281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.67, Y:126.16, Z:-0.40 [[-4.06481770e-01 -9.13657343e-01 1.68242770e-03 2.44670039e+02] [ 9.13648472e-01 -4.06485240e-01 -4.02732999e-03 1.26164189e+02] [ 4.36348165e-03 -9.98887243e-05 9.99990475e-01 -3.97838896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.68, Y:126.15, Z:-0.40 [[-4.08451348e-01 -9.12779191e-01 1.28284925e-03 2.44680611e+02] [ 9.12774040e-01 -4.08453354e-01 -3.06741566e-03 1.26151058e+02] [ 3.32385726e-03 -8.19385678e-05 9.99994473e-01 -3.97568973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.860281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.68, Y:126.17, Z:-0.40 [[-4.11094375e-01 -9.11592517e-01 7.05544069e-04 2.44682507e+02] [ 9.11590961e-01 -4.11094978e-01 -1.68493594e-03 1.26166962e+02] [ 1.82602061e-03 -4.95000895e-05 9.99998332e-01 -3.96801250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.89028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.69, Y:126.15, Z:-0.40 [[-4.11651521e-01 -9.11340959e-01 8.25283081e-04 2.44692692e+02] [ 9.11338834e-01 -4.11652344e-01 -1.96889839e-03 1.26150735e+02] [ 2.13406747e-03 -5.83874979e-05 9.99997721e-01 -3.96892957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.92028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.70, Y:126.15, Z:-0.40 [[-4.10883192e-01 -9.11687124e-01 1.26146305e-03 2.44697618e+02] [ 9.11682170e-01 -4.10885119e-01 -3.00665587e-03 1.26154296e+02] [ 3.25944584e-03 -8.53309846e-05 9.99994684e-01 -3.96846534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.95028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.70, Y:126.16, Z:-0.40 [[-4.09050584e-01 -9.12510833e-01 1.26477274e-03 2.44697829e+02] [ 9.12505867e-01 -4.09052532e-01 -3.01133867e-03 1.26159471e+02] [ 3.26523765e-03 -7.76772901e-05 9.99994666e-01 -3.96252345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 394.98028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.70, Y:126.15, Z:-0.40 [[-4.06906303e-01 -9.13469351e-01 1.00298951e-03 2.44704242e+02] [ 9.13466238e-01 -4.06907535e-01 -2.38538693e-03 1.26147104e+02] [ 2.58710184e-03 -5.44319251e-05 9.99996652e-01 -3.96096333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.01028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.70, Y:126.17, Z:-0.40 [[-4.01715914e-01 -9.15764292e-01 2.92168279e-04 2.44698019e+02] [ 9.15764030e-01 -4.01716020e-01 -6.93662969e-04 1.26166561e+02] [ 7.52600456e-04 -1.10982528e-05 9.99999717e-01 -3.95915656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.04028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.70, Y:126.16, Z:-0.40 [[-4.02067291e-01 -9.15610074e-01 2.92436364e-04 2.44699048e+02] [ 9.15609811e-01 -4.02067398e-01 -6.93550044e-04 1.26164307e+02] [ 7.52600535e-04 -1.10961839e-05 9.99999717e-01 -3.95914015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.07028169299997 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:244.70, Y:126.17, Z:-0.40 [[-4.00370406e-01 -9.16353360e-01 2.39252500e-04 2.44697644e+02] [ 9.16353185e-01 -4.00370478e-01 -5.66687824e-04 1.26171752e+02] [ 6.15075930e-04 -7.64524412e-06 9.99999811e-01 -3.96165600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.10028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.70, Y:126.18, Z:-0.40 [[-3.98820120e-01 -9.17028999e-01 5.71846977e-04 2.44696531e+02] [ 9.17028000e-01 -3.98820530e-01 -1.35388682e-03 1.26184147e+02] [ 1.46961779e-03 -1.55576144e-05 9.99998920e-01 -3.96820100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.130281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.70, Y:126.17, Z:-0.40 [[-3.98996518e-01 -9.16952234e-01 6.15814826e-04 2.44704187e+02] [ 9.16951077e-01 -3.98996993e-01 -1.45645395e-03 1.26169496e+02] [ 1.58120697e-03 -1.64479877e-05 9.99998750e-01 -3.97540871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.16028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.70, Y:126.19, Z:-0.40 [[-3.99476179e-01 -9.16743270e-01 7.47902033e-04 2.44697087e+02] [ 9.16741567e-01 -3.99476878e-01 -1.76706788e-03 1.26187714e+02] [ 1.91871716e-03 -2.02686426e-05 9.99998159e-01 -3.98006343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.190281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.70, Y:126.19, Z:-0.40 [[-4.00924168e-01 -9.16110606e-01 1.08152014e-03 2.44697064e+02] [ 9.16107050e-01 -4.00925625e-01 -2.55279059e-03 1.26190581e+02] [ 2.77224767e-03 -3.26872207e-05 9.99996157e-01 -3.98956152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.22028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:244.70, Y:126.18, Z:-0.40 [[-4.02070079e-01 -9.15608021e-01 1.26663908e-03 2.44704634e+02] [ 9.15603151e-01 -4.02072072e-01 -2.98659166e-03 1.26175699e+02] [ 3.24382748e-03 -4.10804129e-05 9.99994738e-01 -3.99319874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.250281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.71, Y:126.18, Z:-0.40 [[-4.03701774e-01 -9.14889684e-01 1.32085090e-03 2.44707516e+02] [ 9.14884395e-01 -4.03703932e-01 -3.11106729e-03 1.26175252e+02] [ 3.37951607e-03 -4.75175087e-05 9.99994288e-01 -3.99782170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.28028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.71, Y:126.17, Z:-0.40 [[-4.04552874e-01 -9.14513990e-01 1.06523732e-03 2.44712237e+02] [ 9.14510557e-01 -4.04554274e-01 -2.50616508e-03 1.26169724e+02] [ 2.72286934e-03 -3.97055074e-05 9.99996292e-01 -3.99436895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.310281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.71, Y:126.18, Z:-0.40 [[-4.05337744e-01 -9.14166528e-01 9.33918514e-04 2.44712297e+02] [ 9.14163894e-01 -4.05338819e-01 -2.19475090e-03 1.26175950e+02] [ 2.38492123e-03 -3.58607933e-05 9.99997155e-01 -3.99523179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.34028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.71, Y:126.19, Z:-0.40 [[-4.05690164e-01 -9.14009660e-01 1.35392191e-03 2.44712770e+02] [ 9.14004134e-01 -4.05692419e-01 -3.17859058e-03 1.26188773e+02] [ 3.45453835e-03 -5.20327044e-05 9.99994032e-01 -3.99804408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.370281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.73, Y:126.17, Z:-0.40 [[-4.04397894e-01 -9.14580813e-01 2.06884672e-03 2.44726029e+02] [ 9.14567945e-01 -4.04403179e-01 -4.85207964e-03 1.26165902e+02] [ 5.27426714e-03 -7.00698915e-05 9.99986089e-01 -4.00343207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.40028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.72, Y:126.19, Z:-0.40 [[-4.03250276e-01 -9.15087464e-01 2.03653438e-03 2.44715815e+02] [ 9.15075029e-01 -4.03255414e-01 -4.77108117e-03 1.26192990e+02] [ 5.18720008e-03 -6.03580480e-05 9.99986545e-01 -4.00899144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.430281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.72, Y:126.19, Z:-0.40 [[-4.01533555e-01 -9.15842426e-01 1.85879401e-03 2.44719906e+02] [ 9.15832097e-01 -4.01537855e-01 -4.34982767e-03 1.26186983e+02] [ 4.73013288e-03 -4.42585546e-05 9.99988812e-01 -4.00676059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.46028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.73, Y:126.17, Z:-0.40 [[-3.99438156e-01 -9.16759040e-01 1.42202990e-03 2.44728604e+02] [ 9.16753014e-01 -3.99440686e-01 -3.32396281e-03 1.26169972e+02] [ 3.61528956e-03 -2.40673767e-05 9.99993465e-01 -4.00004971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.490281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.74, Y:126.14, Z:-0.40 [[-3.94654685e-01 -9.18829502e-01 1.61127630e-04 2.44740974e+02] [ 9.18829425e-01 -3.94654718e-01 -3.75659267e-04 1.26144146e+02] [ 4.08756596e-04 -2.06881630e-07 9.99999916e-01 -3.98275970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.52028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.74, Y:126.15, Z:-0.40 [[-3.91202712e-01 -9.20304410e-01 -4.80502772e-04 2.44738530e+02] [ 9.20303727e-01 -3.91203007e-01 1.12162534e-03 1.26148223e+02] [-1.22021088e-03 -3.42561676e-06 9.99999256e-01 -3.98421100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.550281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.74, Y:126.14, Z:-0.40 [[-3.90780841e-01 -9.20483624e-01 -4.81201191e-04 2.44742421e+02] [ 9.20482940e-01 -3.90781138e-01 1.12206088e-03 1.26138709e+02] [-1.22088301e-03 -4.45759321e-06 9.99999255e-01 -3.98121410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.58028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.75, Y:126.12, Z:-0.40 [[-3.90940359e-01 -9.20415923e-01 -4.04933023e-04 2.44750270e+02] [ 9.20415440e-01 -3.90940569e-01 9.43321223e-04 1.26119134e+02] [-1.02655262e-03 -3.92426900e-06 9.99999473e-01 -3.97477490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.610281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.75, Y:126.12, Z:-0.40 [[-3.92324682e-01 -9.19826650e-01 -5.28023988e-04 2.44745230e+02] [ 9.19825829e-01 -3.92325037e-01 1.22858894e-03 1.26122669e+02] [-1.33724588e-03 -3.68433892e-06 9.99999106e-01 -3.96861191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.64028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.74, Y:126.12, Z:-0.40 [[-3.93545275e-01 -9.19304969e-01 -6.99804461e-04 2.44743547e+02] [ 9.19303531e-01 -3.93545897e-01 1.62637120e-03 1.26120746e+02] [-1.77053630e-03 -3.28201126e-06 9.99998433e-01 -3.97146699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.67028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.74, Y:126.11, Z:-0.40 [[-3.94808296e-01 -9.18763438e-01 -3.93623428e-04 2.44744261e+02] [ 9.18762983e-01 -3.94808492e-01 9.14111460e-04 1.26111251e+02] [-9.95258060e-04 -7.47847084e-07 9.99999505e-01 -3.97894646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.70028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.74, Y:126.12, Z:-0.40 [[-3.95401467e-01 -9.18508363e-01 -2.58628695e-04 2.44740348e+02] [ 9.18508167e-01 -3.95401552e-01 6.00199975e-04 1.26116028e+02] [-6.53550884e-04 -2.32617222e-07 9.99999786e-01 -3.98244993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.73028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.74, Y:126.11, Z:-0.40 [[-3.95790962e-01 -9.18340606e-01 -2.14498354e-04 2.44739105e+02] [ 9.18340471e-01 -3.95791020e-01 4.97373257e-04 1.26114058e+02] [-5.41654581e-04 -1.26679884e-07 9.99999853e-01 -3.98744116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.74, Y:126.10, Z:-0.40 [[-3.96186071e-01 -9.18170212e-01 -2.43012144e-04 2.44739960e+02] [ 9.18170040e-01 -3.96186145e-01 5.62815759e-04 1.26102436e+02] [-6.13038710e-04 -1.46705267e-07 9.99999812e-01 -3.99313204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.72, Y:126.15, Z:-0.40 [[-3.96708316e-01 -9.17944032e-01 -1.12498876e-03 2.44717340e+02] [ 9.17944152e-01 -3.96706407e-01 -1.59985006e-03 1.26154732e+02] [ 1.02228257e-03 -1.66735067e-03 9.99998087e-01 -3.99539743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.73, Y:126.11, Z:-0.40 [[-3.96776720e-01 -9.17912411e-01 2.24509543e-03 2.44733438e+02] [ 9.17913308e-01 -3.96779643e-01 -1.03670910e-03 1.26110982e+02] [ 1.84241631e-03 1.64946093e-03 9.99996942e-01 -4.00329597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.85028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.74, Y:126.10, Z:-0.40 [[-3.97556849e-01 -9.17577103e-01 9.01103835e-04 2.44739403e+02] [ 9.17574748e-01 -3.97557870e-01 -2.07905444e-03 1.26097642e+02] [ 2.26593367e-03 2.87793043e-07 9.99997433e-01 -4.00563164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.73, Y:126.11, Z:-0.40 [[-3.98716105e-01 -9.17073985e-01 8.79151514e-04 2.44734397e+02] [ 9.17071747e-01 -3.98717074e-01 -2.02626357e-03 1.26109172e+02] [ 2.20876632e-03 -1.65890334e-06 9.99997561e-01 -4.00348079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.91028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.74, Y:126.10, Z:-0.40 [[-3.98881806e-01 -9.17001984e-01 8.15765719e-04 2.44739426e+02] [ 9.17000061e-01 -3.98882640e-01 -1.87815196e-03 1.26098611e+02] [ 2.04766385e-03 -1.10343010e-06 9.99997904e-01 -3.99590384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.940281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.74, Y:126.10, Z:-0.40 [[-3.98692537e-01 -9.17084308e-01 7.96143376e-04 2.44739850e+02] [ 9.17082480e-01 -3.98693332e-01 -1.83104586e-03 1.26096554e+02] [ 1.99664048e-03 1.04822719e-07 9.99998007e-01 -3.99598489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 395.97028169299995 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.73, Y:126.11, Z:-0.40 [[-3.95527418e-01 -9.18452858e-01 1.55234348e-03 2.44730888e+02] [ 9.18445931e-01 -3.95530464e-01 -3.56706763e-03 1.26109166e+02] [ 3.89018259e-03 1.48704988e-05 9.99992433e-01 -4.00194263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.000281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.74, Y:126.09, Z:-0.40 [[-3.93226056e-01 -9.19439611e-01 2.01773350e-03 2.44738719e+02] [ 9.19427945e-01 -3.93231231e-01 -4.63179354e-03 1.26086489e+02] [ 5.05209028e-03 3.38186599e-05 9.99987238e-01 -4.00931885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.03028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.74, Y:126.07, Z:-0.40 [[-3.88890993e-01 -9.21280992e-01 2.26492365e-03 2.44741963e+02] [ 9.21266353e-01 -3.88897582e-01 -5.19393092e-03 1.26070778e+02] [ 5.66589316e-03 6.67249989e-05 9.99983947e-01 -4.01281410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.060281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:244.74, Y:126.07, Z:-0.40 [[-3.87791520e-01 -9.21744943e-01 1.99919151e-03 2.44739750e+02] [ 9.21733568e-01 -3.87796668e-01 -4.57975327e-03 1.26072061e+02] [ 4.99664422e-03 6.67324356e-05 9.99987515e-01 -4.01474109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.09028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.74, Y:126.07, Z:-0.40 [[-3.87697203e-01 -9.21785621e-01 1.46567971e-03 2.44738600e+02] [ 9.21779520e-01 -3.87699970e-01 -3.35394560e-03 1.26071318e+02] [ 3.65986280e-03 5.07182171e-05 9.99993301e-01 -4.01172008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.120281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.75, Y:126.05, Z:-0.40 [[-3.88613906e-01 -9.21400333e-01 8.11095880e-04 2.44745465e+02] [ 9.21398469e-01 -3.88614752e-01 -1.85386702e-03 1.26051480e+02] [ 2.02335752e-03 2.69039965e-05 9.99997953e-01 -4.00269402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.15028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.74, Y:126.06, Z:-0.40 [[-3.89715845e-01 -9.20934728e-01 8.87357171e-04 2.44742485e+02] [ 9.20932499e-01 -3.89716854e-01 -2.02615923e-03 1.26056903e+02] [ 2.21177844e-03 2.75697012e-05 9.99997554e-01 -4.00160161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.180281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.74, Y:126.07, Z:-0.40 [[-3.91083161e-01 -9.20354456e-01 1.27921328e-03 2.44735692e+02] [ 9.20349831e-01 -3.91085251e-01 -2.91816910e-03 1.26065302e+02] [ 3.18603139e-03 3.60769319e-05 9.99994924e-01 -4.00972687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.21028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.74, Y:126.05, Z:-0.40 [[-3.91402319e-01 -9.20218700e-01 1.33036513e-03 2.44739468e+02] [ 9.20213706e-01 -3.91404578e-01 -3.03175982e-03 1.26050975e+02] [ 3.31059308e-03 3.75824047e-05 9.99994519e-01 -4.01096159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.240281693 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:244.73, Y:126.07, Z:-0.40 [[-3.92398136e-01 -9.19794409e-01 1.39559230e-03 2.44727125e+02] [ 9.19788923e-01 -3.92400616e-01 -3.17714188e-03 1.26074240e+02] [ 3.46994862e-03 3.69457914e-05 9.99993979e-01 -4.01994115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.27028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.73, Y:126.06, Z:-0.40 [[-3.95815928e-01 -9.18328979e-01 1.27933521e-03 2.44731760e+02] [ 9.18324371e-01 -3.95817995e-01 -2.90938789e-03 1.26062673e+02] [ 3.17815911e-03 2.32626342e-05 9.99994949e-01 -4.01035846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.73, Y:126.08, Z:-0.40 [[-4.00990354e-01 -9.16082039e-01 6.57978780e-04 2.44727858e+02] [ 9.16080820e-01 -4.00990894e-01 -1.49446983e-03 1.26076094e+02] [ 1.63290047e-03 3.49375397e-06 9.99998667e-01 -4.00559571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.33028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.73, Y:126.09, Z:-0.40 [[-4.04057334e-01 -9.14733581e-01 3.82986120e-04 2.44725038e+02] [ 9.14733168e-01 -4.04057516e-01 -8.68692347e-04 1.26085875e+02] [ 9.49370481e-04 -6.71406920e-07 9.99999549e-01 -4.00647321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.360281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.72, Y:126.09, Z:-0.40 [[-4.06945008e-01 -9.13452655e-01 8.43728423e-05 2.44723926e+02] [ 9.13452635e-01 -4.06945017e-01 -1.90672331e-04 1.26092413e+02] [ 2.08505254e-04 -5.22558022e-07 9.99999978e-01 -4.00380259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.74, Y:126.07, Z:-0.40 [[-4.09637753e-01 -9.12248218e-01 -3.16276678e-04 2.44736813e+02] [ 9.12247936e-01 -4.09637875e-01 7.17024541e-04 1.26068255e+02] [-7.83663266e-04 5.19757531e-06 9.99999693e-01 -3.99588196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.74, Y:126.08, Z:-0.40 [[-4.13267105e-01 -9.10609759e-01 -4.09351751e-04 2.44736562e+02] [ 9.10609287e-01 -4.13267307e-01 9.26870386e-04 1.26082268e+02] [-1.01318891e-03 1.02855347e-05 9.99999487e-01 -3.99291108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.45028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.74, Y:126.09, Z:-0.40 [[-4.13793113e-01 -9.10370890e-01 3.18924269e-04 2.44738892e+02] [ 9.10370605e-01 -4.13793236e-01 -7.20226298e-04 1.26090726e+02] [ 7.87641761e-04 -7.68540167e-06 9.99999690e-01 -4.00998506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.74, Y:126.09, Z:-0.40 [[-4.13481323e-01 -9.10512126e-01 9.29275821e-04 2.44741716e+02] [ 9.10509710e-01 -4.13482367e-01 -2.09757212e-03 1.26090673e+02] [ 2.29410401e-03 -2.11922363e-05 9.99997368e-01 -4.00919207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.51028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.74, Y:126.09, Z:-0.40 [[-4.12590357e-01 -9.10915881e-01 1.20618073e-03 2.44744972e+02] [ 9.10911821e-01 -4.12592119e-01 -2.71990571e-03 1.26088758e+02] [ 2.97526597e-03 -2.34825875e-05 9.99995574e-01 -4.00985277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.54028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.75, Y:126.08, Z:-0.40 [[-4.10461840e-01 -9.11876588e-01 1.47199203e-03 2.44754192e+02] [ 9.11870559e-01 -4.10464479e-01 -3.31594562e-03 1.26075158e+02] [ 3.62793362e-03 -1.88029473e-05 9.99993419e-01 -3.99630542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.57028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.75, Y:126.08, Z:-0.40 [[-4.09799519e-01 -9.12174422e-01 1.47568810e-03 2.44754119e+02] [ 9.12168378e-01 -4.09802176e-01 -3.32078284e-03 1.26078329e+02] [ 3.63387336e-03 -1.47791883e-05 9.99993397e-01 -3.99356916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.60028169299994 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.76, Y:126.07, Z:-0.40 [[-4.07940689e-01 -9.13007653e-01 1.19195050e-03 2.44759328e+02] [ 9.13003721e-01 -4.07942430e-01 -2.67933822e-03 1.26074396e+02] [ 2.93250348e-03 -4.75584045e-06 9.99995700e-01 -3.99119881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.630281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.77, Y:126.06, Z:-0.40 [[-4.07340200e-01 -9.13276220e-01 7.12614507e-04 2.44766687e+02] [ 9.13274818e-01 -4.07340823e-01 -1.59993641e-03 1.26059061e+02] [ 1.75146086e-03 -9.05534855e-07 9.99998466e-01 -3.99083332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.66028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.77, Y:126.06, Z:-0.40 [[-4.06258557e-01 -9.13758116e-01 3.01109043e-04 2.44768391e+02] [ 9.13757867e-01 -4.06258668e-01 -6.74980011e-04 1.26055003e+02] [ 7.39096622e-04 9.24351978e-07 9.99999727e-01 -3.99046851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.77, Y:126.04, Z:-0.40 [[-4.02599442e-01 -9.15376254e-01 5.82230339e-05 2.44774493e+02] [ 9.15376245e-01 -4.02599446e-01 -1.29881980e-04 1.26039356e+02] [ 1.42331441e-04 1.00556965e-06 9.99999990e-01 -3.99261161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.72028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.78, Y:126.03, Z:-0.40 [[-4.00332144e-01 -9.16370108e-01 -1.83455031e-07 2.44778139e+02] [ 9.16370108e-01 -4.00332144e-01 1.02541785e-06 1.26032376e+02] [-1.01310513e-06 2.42395022e-07 1.00000000e+00 -3.99157959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.750281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.79, Y:126.01, Z:-0.40 [[-3.96377905e-01 -9.18087444e-01 -3.59161039e-05 2.44788993e+02] [ 9.18087440e-01 -3.96377907e-01 8.09468164e-05 1.26007378e+02] [-8.85526057e-05 -8.88594372e-07 9.99999996e-01 -3.99040629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.78028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.79, Y:126.01, Z:-0.40 [[-3.95309360e-01 -9.18548029e-01 1.64881075e-04 2.44787458e+02] [ 9.18547956e-01 -3.95309395e-01 -3.67843911e-04 1.26008932e+02] [ 4.03061338e-04 6.03903369e-06 9.99999919e-01 -3.99544287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.810281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.79, Y:126.01, Z:-0.40 [[-3.94369926e-01 -9.18951672e-01 4.31533030e-04 2.44787440e+02] [ 9.18951168e-01 -3.94370162e-01 -9.62742324e-04 1.26007067e+02] [ 1.05489742e-03 1.68811622e-05 9.99999443e-01 -3.99077191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.79, Y:126.00, Z:-0.40 [[-3.93195128e-01 -9.19454808e-01 6.69845651e-04 2.44788650e+02] [ 9.19453595e-01 -3.93195697e-01 -1.49325153e-03 1.25999208e+02] [ 1.63635773e-03 2.87527660e-05 9.99998661e-01 -3.98714216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.870281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:244.78, Y:126.01, Z:-0.40 [[-3.93319063e-01 -9.19401860e-01 5.78861652e-04 2.44780809e+02] [ 9.19400957e-01 -3.93319488e-01 -1.28904549e-03 1.26012037e+02] [ 1.41282839e-03 2.51997914e-05 9.99999002e-01 -3.98850250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.90028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.79, Y:125.99, Z:-0.40 [[-3.93330608e-01 -9.19396929e-01 5.65967950e-04 2.44787202e+02] [ 9.19396067e-01 -3.93331014e-01 -1.25905919e-03 1.25985058e+02] [ 1.38018790e-03 2.51221920e-05 9.99999047e-01 -3.98709323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.930281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.79, Y:125.98, Z:-0.40 [[-3.93671674e-01 -9.19250941e-01 5.66433045e-04 2.44788286e+02] [ 9.19250079e-01 -3.93672081e-01 -1.25885007e-03 1.25982829e+02] [ 1.38018798e-03 2.51200078e-05 9.99999047e-01 -3.98707665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.96028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.78, Y:126.00, Z:-0.40 [[-3.93490779e-01 -9.19328332e-01 6.52373332e-04 2.44779876e+02] [ 9.19327191e-01 -3.93491319e-01 -1.44848423e-03 1.25998211e+02] [ 1.58833583e-03 2.97793548e-05 9.99998738e-01 -3.98775207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 396.990281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.78, Y:126.00, Z:-0.40 [[-3.91806688e-01 -9.20047103e-01 9.20877691e-04 2.44778000e+02] [ 9.20044836e-01 -3.91807768e-01 -2.04284097e-03 1.25995153e+02] [ 2.24031695e-03 4.68500076e-05 9.99997489e-01 -3.98590267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.02028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.79, Y:125.97, Z:-0.40 [[-3.90730365e-01 -9.20504475e-01 1.13696424e-03 2.44787542e+02] [ 9.20501028e-01 -3.90732015e-01 -2.51983830e-03 1.25967807e+02] [ 2.76377076e-03 6.19994137e-05 9.99996179e-01 -3.98428798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.050281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:244.78, Y:125.97, Z:-0.40 [[-3.89511983e-01 -9.21020576e-01 1.23018696e-03 2.44782758e+02] [ 9.21016551e-01 -3.89513919e-01 -2.72380772e-03 1.25970607e+02] [ 2.98785790e-03 7.20668090e-05 9.99995534e-01 -3.98460714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.78, Y:125.96, Z:-0.40 [[-3.86753346e-01 -9.22182245e-01 1.32511212e-03 2.44781506e+02] [ 9.22177591e-01 -3.86755606e-01 -2.93114146e-03 1.25955236e+02] [ 3.21554116e-03 8.83599366e-05 9.99994826e-01 -3.98236685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.110281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.77, Y:125.97, Z:-0.40 [[-3.85762334e-01 -9.22597294e-01 1.28637478e-03 2.44769683e+02] [ 9.22592919e-01 -3.85764468e-01 -2.84262384e-03 1.25970186e+02] [ 3.11883474e-03 9.02230555e-05 9.99995132e-01 -3.98342068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.14028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.77, Y:125.95, Z:-0.40 [[-3.85353185e-01 -9.22768778e-01 8.39152574e-04 2.44767207e+02] [ 9.22766921e-01 -3.85354094e-01 -1.85231089e-03 1.25952577e+02] [ 2.03262554e-03 6.05483340e-05 9.99997932e-01 -3.99907478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.17028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.76, Y:125.95, Z:-0.40 [[-3.86421204e-01 -9.22322288e-01 4.99589579e-04 2.44763950e+02] [ 9.22321631e-01 -3.86421526e-01 -1.10144843e-03 1.25949895e+02] [ 1.20894260e-03 3.51592486e-05 9.99999269e-01 -4.00095954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.20028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.75, Y:125.97, Z:-0.40 [[-3.91372852e-01 -9.20232178e-01 -1.71691224e-04 2.44749169e+02] [ 9.20232100e-01 -3.91372890e-01 3.78952378e-04 1.25966244e+02] [-4.15919462e-04 -9.68410246e-06 9.99999913e-01 -4.00198503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.23028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.75, Y:125.97, Z:-0.40 [[-3.94761023e-01 -9.18783805e-01 2.35240838e-04 2.44745978e+02] [ 9.18783659e-01 -3.94761092e-01 -5.17278158e-04 1.25966151e+02] [ 5.68130725e-04 1.19341831e-05 9.99999839e-01 -3.99508024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.75, Y:125.96, Z:-0.40 [[-3.98279580e-01 -9.17263692e-01 8.33467963e-04 2.44745206e+02] [ 9.17261863e-01 -3.98280451e-01 -1.83242857e-03 1.25961206e+02] [ 2.01277420e-03 3.46894935e-05 9.99997974e-01 -3.99608932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.72, Y:126.01, Z:-0.40 [[-4.04501913e-01 -9.14535073e-01 1.95012784e-03 2.44716045e+02] [ 9.14525041e-01 -4.04506611e-01 -4.28387148e-03 1.26012700e+02] [ 4.70659032e-03 5.06065384e-05 9.99988923e-01 -3.99952659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.32028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:244.72, Y:126.01, Z:-0.40 [[-4.07373767e-01 -9.13259391e-01 1.97429509e-03 2.44716188e+02] [ 9.13249116e-01 -4.07378550e-01 -4.33241529e-03 1.26007009e+02] [ 4.76090442e-03 3.81109062e-05 9.99988666e-01 -4.00374482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.35028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.72, Y:125.99, Z:-0.40 [[-4.11153247e-01 -9.11565890e-01 7.97160857e-04 2.44723555e+02] [ 9.11564216e-01 -4.11154019e-01 -1.74711661e-03 1.25985022e+02] [ 1.92036780e-03 8.33064384e-06 9.99998156e-01 -3.99655410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.380281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.72, Y:125.99, Z:-0.40 [[-4.12888548e-01 -9.10781480e-01 3.78085181e-04 2.44719289e+02] [ 9.10781104e-01 -4.12888721e-01 -8.27459268e-04 1.25993930e+02] [ 9.09741684e-04 2.70438322e-06 9.99999586e-01 -3.99250654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.41028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.72, Y:125.99, Z:-0.40 [[-4.14914968e-01 -9.09860165e-01 2.23542021e-04 2.44722735e+02] [ 9.09860033e-01 -4.14915029e-01 -4.88472666e-04 1.25986783e+02] [ 5.37192764e-04 7.17329608e-07 9.99999856e-01 -3.99148659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.73, Y:125.97, Z:-0.40 [[-4.20538389e-01 -9.07274710e-01 2.53868341e-04 2.44732138e+02] [ 9.07274540e-01 -4.20538466e-01 -5.54260858e-04 1.25968965e+02] [ 6.09628262e-04 -2.75968625e-06 9.99999814e-01 -3.98575153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.47028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.73, Y:125.98, Z:-0.40 [[-4.23735367e-01 -9.05785983e-01 3.04216918e-04 2.44728275e+02] [ 9.05785739e-01 -4.23735476e-01 -6.63627548e-04 1.25980724e+02] [ 7.30012032e-04 -5.64711649e-06 9.99999734e-01 -3.98577575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.500281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.75, Y:125.95, Z:-0.40 [[-4.28425312e-01 -9.03577025e-01 5.59086691e-04 2.44746731e+02] [ 9.03576203e-01 -4.28425677e-01 -1.21888627e-03 1.25949799e+02] [ 1.34088473e-03 -1.70243026e-05 9.99999101e-01 -3.98810653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.75, Y:125.95, Z:-0.40 [[-4.29648050e-01 -9.02996229e-01 6.02497216e-04 2.44748740e+02] [ 9.02995276e-01 -4.29648472e-01 -1.31226339e-03 1.25949860e+02] [ 1.44383090e-03 -1.97592652e-05 9.99998958e-01 -3.98403401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.560281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.75, Y:125.95, Z:-0.40 [[-4.29726784e-01 -9.02958849e-01 4.55487979e-04 2.44749135e+02] [ 9.02958306e-01 -4.29727025e-01 -9.90925899e-04 1.25952196e+02] [ 1.09050080e-03 -1.45407459e-05 9.99999405e-01 -3.97822900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.59028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.75, Y:125.96, Z:-0.40 [[-4.27244465e-01 -9.04136045e-01 -4.23046885e-04 2.44746057e+02] [ 9.04135576e-01 -4.27244675e-01 9.20583213e-04 1.25963279e+02] [-1.01307699e-03 1.08223437e-05 9.99999487e-01 -3.96476506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.620281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.74, Y:125.97, Z:-0.40 [[-4.21681417e-01 -9.06744048e-01 1.19028749e-04 2.44741623e+02] [ 9.06744011e-01 -4.21681434e-01 -2.57969778e-04 1.25974419e+02] [ 2.84104775e-04 -8.52456222e-07 9.99999960e-01 -3.97233290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.65028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.74, Y:125.99, Z:-0.40 [[-4.18472943e-01 -9.08228675e-01 1.03437939e-03 2.44735746e+02] [ 9.08225902e-01 -4.18474221e-01 -2.24417691e-03 1.25985918e+02] [ 2.47108693e-03 3.22836481e-07 9.99996947e-01 -3.98512978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.680281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.74, Y:125.97, Z:-0.40 [[-4.15146951e-01 -9.09752190e-01 1.99046859e-03 2.44739920e+02] [ 9.09741959e-01 -4.15151722e-01 -4.31460285e-03 1.25974794e+02] [ 4.75156586e-03 1.96185754e-05 9.99988711e-01 -3.98626319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.71028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.75, Y:125.96, Z:-0.40 [[-4.09528480e-01 -9.12294935e-01 2.09183501e-03 2.44745962e+02] [ 9.12283691e-01 -4.09533819e-01 -4.52972616e-03 1.25957367e+02] [ 4.98912342e-03 5.32950934e-05 9.99987553e-01 -3.98872183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.740281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.75, Y:125.94, Z:-0.40 [[-4.08053138e-01 -9.12956694e-01 1.64664781e-03 2.44752356e+02] [ 9.12949747e-01 -4.08056457e-01 -3.56197478e-03 1.25942178e+02] [ 3.92385399e-03 4.98317203e-05 9.99992300e-01 -3.98787328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.77028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:244.75, Y:125.94, Z:-0.40 [[-4.06402981e-01 -9.13693925e-01 1.68711725e-04 2.44753637e+02] [ 9.13693853e-01 -4.06403016e-01 -3.64046270e-04 1.25936969e+02] [ 4.01191819e-04 6.20137670e-06 9.99999920e-01 -3.98429627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.800281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.76, Y:125.92, Z:-0.40 [[-4.06151086e-01 -9.13805892e-01 -2.94406443e-04 2.44761532e+02] [ 9.13805671e-01 -4.06151193e-01 6.36280964e-04 1.25919639e+02] [-7.01010822e-04 -1.06040725e-05 9.99999754e-01 -3.97948098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.83028169299996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:244.76, Y:125.93, Z:-0.40 [[-4.06611490e-01 -9.13601160e-01 -1.28186255e-04 2.44757995e+02] [ 9.13601118e-01 -4.06611510e-01 2.77100155e-04 1.25926823e+02] [-3.05281030e-04 -4.43899955e-06 9.99999953e-01 -3.97740767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.860281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.76, Y:125.93, Z:-0.40 [[-4.07733332e-01 -9.13100560e-01 9.47206856e-04 2.44756548e+02] [ 9.13098281e-01 -4.07734431e-01 -2.04054246e-03 1.25933057e+02] [ 2.24942931e-03 3.28957752e-05 9.99997470e-01 -3.98470614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.89028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.76, Y:125.92, Z:-0.40 [[-4.08098166e-01 -9.12937136e-01 1.29333002e-03 2.44763528e+02] [ 9.12932893e-01 -4.08100213e-01 -2.78362599e-03 1.25918244e+02] [ 3.06908380e-03 4.47308540e-05 9.99995289e-01 -3.98987967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.92028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.76, Y:125.92, Z:-0.40 [[-4.08091301e-01 -9.12939602e-01 1.66532126e-03 2.44759647e+02] [ 9.12932581e-01 -4.08094694e-01 -3.58086426e-03 1.25924727e+02] [ 3.94872156e-03 5.90064774e-05 9.99992202e-01 -3.98905701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.95028169299997 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:244.77, Y:125.91, Z:-0.40 [[-4.08347315e-01 -9.12825373e-01 1.51945158e-03 2.44765696e+02] [ 9.12819539e-01 -4.08350139e-01 -3.26390460e-03 1.25913363e+02] [ 3.59984320e-03 5.41784038e-05 9.99993519e-01 -3.99094119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 397.98028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.76, Y:125.93, Z:-0.40 [[-4.09024604e-01 -9.12522489e-01 1.25749224e-03 2.44761092e+02] [ 9.12518500e-01 -4.09026535e-01 -2.69839841e-03 1.25927321e+02] [ 2.97669692e-03 4.37735898e-05 9.99995569e-01 -3.98452119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.01028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.76, Y:125.94, Z:-0.40 [[-4.09803228e-01 -9.12173130e-01 1.22246955e-03 2.44759394e+02] [ 9.12169367e-01 -4.09805049e-01 -2.62058069e-03 1.25936990e+02] [ 2.89139749e-03 4.11768525e-05 9.99995819e-01 -3.98164298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.04028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:244.76, Y:125.93, Z:-0.40 [[-4.10130481e-01 -9.12025915e-01 1.31100615e-03 2.44762816e+02] [ 9.12021595e-01 -4.10132574e-01 -2.80758014e-03 1.25931659e+02] [ 3.09827217e-03 4.41917303e-05 9.99995199e-01 -3.98518011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.07028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:244.77, Y:125.92, Z:-0.40 [[-4.09386826e-01 -9.12360076e-01 1.23184297e-03 2.44769958e+02] [ 9.12356271e-01 -4.09388677e-01 -2.63536956e-03 1.25919731e+02] [ 2.90870854e-03 4.49940778e-05 9.99995769e-01 -3.98142915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.10028169299994 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:244.77, Y:125.91, Z:-0.40 [[-4.08578105e-01 -9.12722453e-01 1.28661182e-03 2.44774989e+02] [ 9.12718312e-01 -4.08580128e-01 -2.74983259e-03 1.25909659e+02] [ 3.03551797e-03 5.07927832e-05 9.99995392e-01 -3.97412537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.130281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:244.78, Y:125.90, Z:-0.40 [[-4.07935311e-01 -9.13009976e-01 1.25150296e-03 2.44778465e+02] [ 9.13006067e-01 -4.07937227e-01 -2.67213834e-03 1.25900914e+02] [ 2.95022361e-03 5.25702088e-05 9.99995647e-01 -3.98011021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.16028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.77, Y:125.91, Z:-0.40 [[-4.07649281e-01 -9.13138295e-01 7.19996975e-04 2.44774557e+02] [ 9.13137004e-01 -4.07649916e-01 -1.53552534e-03 1.25907813e+02] [ 1.69565370e-03 3.15000799e-05 9.99998562e-01 -3.97742072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.190281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.78, Y:125.90, Z:-0.40 [[-4.08635793e-01 -9.12697474e-01 3.32249809e-04 2.44780650e+02] [ 9.12697199e-01 -4.08635928e-01 -7.07565044e-04 1.25896566e+02] [ 7.81562037e-04 1.41070672e-05 9.99999695e-01 -3.97167558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.22028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:244.79, Y:125.90, Z:-0.40 [[-4.11765906e-01 -9.11289650e-01 1.10593340e-04 2.44785742e+02] [ 9.11289620e-01 -4.11765920e-01 -2.34898674e-04 1.25895464e+02] [ 2.59599299e-04 4.05929752e-06 9.99999966e-01 -3.97427028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.250281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:244.78, Y:125.91, Z:-0.40 [[-4.13476972e-01 -9.10514391e-01 5.81142114e-04 2.44782463e+02] [ 9.10513553e-01 -4.13477380e-01 -1.23561109e-03 1.25906923e+02] [ 1.36533079e-03 1.82410405e-05 9.99999068e-01 -3.97932013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.28028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.78, Y:125.91, Z:-0.40 [[-4.14860862e-01 -9.09883675e-01 1.47083129e-03 2.44784581e+02] [ 9.09878309e-01 -4.14863467e-01 -3.12503838e-03 1.25908440e+02] [ 3.45361557e-03 4.18213717e-05 9.99994035e-01 -3.99601625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.310281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.79, Y:125.89, Z:-0.40 [[-4.15145047e-01 -9.09753687e-01 1.67906750e-03 2.44792716e+02] [ 9.09746707e-01 -4.15148439e-01 -3.56403004e-03 1.25894167e+02] [ 3.93945172e-03 4.79367074e-05 9.99992239e-01 -3.99250134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.34028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:244.80, Y:125.89, Z:-0.40 [[-4.15286968e-01 -9.09688739e-01 1.76968533e-03 2.44795218e+02] [ 9.09681000e-01 -4.15290736e-01 -3.75271674e-03 1.25892669e+02] [ 4.14873808e-03 5.13947684e-05 9.99991393e-01 -3.99257861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.370281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:244.80, Y:125.89, Z:-0.40 [[-4.15087531e-01 -9.09779503e-01 1.89691594e-03 2.44797181e+02] [ 9.09770629e-01 -4.15091861e-01 -4.01860507e-03 1.25889945e+02] [ 4.44343889e-03 5.76855545e-05 9.99990126e-01 -3.99272307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.40028169299995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:244.80, Y:125.89, Z:-0.40 [[-4.14231869e-01 -9.10168979e-01 2.09473664e-03 2.44797206e+02] [ 9.10158184e-01 -4.14237160e-01 -4.43338182e-03 1.25892750e+02] [ 4.90284437e-03 7.00936610e-05 9.99987979e-01 -3.99363516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.430281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.81, Y:125.88, Z:-0.40 [[-4.11808469e-01 -9.11268868e-01 1.68388030e-03 2.44806841e+02] [ 9.11261916e-01 -4.11811906e-01 -3.56022445e-03 1.25878445e+02] [ 3.93776366e-03 6.83254060e-05 9.99992245e-01 -3.99309384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.46028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.81, Y:125.86, Z:-0.40 [[-4.10848731e-01 -9.11702582e-01 1.31258518e-03 2.44814300e+02] [ 9.11698368e-01 -4.10850824e-01 -2.77238402e-03 1.25863513e+02] [ 3.06686637e-03 5.76513114e-05 9.99995296e-01 -3.98730585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.490281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.81, Y:125.87, Z:-0.40 [[-4.09042677e-01 -9.12514660e-01 1.04077873e-03 2.44808895e+02] [ 9.12512019e-01 -4.09043998e-01 -2.19604157e-03 1.25869518e+02] [ 2.42964442e-03 5.14483820e-05 9.99997047e-01 -3.98586523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.52028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.82, Y:125.85, Z:-0.40 [[-4.08725319e-01 -9.12656644e-01 1.21018680e-03 2.44815611e+02] [ 9.12653080e-01 -4.08727106e-01 -2.55112758e-03 1.25849129e+02] [ 2.82293968e-03 6.17702733e-05 9.99996014e-01 -3.98988978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.550281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:244.81, Y:125.86, Z:-0.40 [[-4.08417106e-01 -9.12794485e-01 1.30218717e-03 2.44807521e+02] [ 9.12790368e-01 -4.08419176e-01 -2.74247134e-03 1.25860742e+02] [ 3.03515093e-03 6.85516968e-05 9.99995392e-01 -3.99358984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.58028169299996 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:244.80, Y:125.86, Z:-0.40 [[-4.08184135e-01 -9.12897929e-01 1.75583492e-03 2.44803370e+02] [ 9.12890458e-01 -4.08187900e-01 -3.69448560e-03 1.25863443e+02] [ 4.08939882e-03 9.48545315e-05 9.99991634e-01 -3.99863613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.610281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:244.80, Y:125.86, Z:-0.40 [[-4.09233690e-01 -9.12427305e-01 2.04960052e-03 2.44803888e+02] [ 9.12417139e-01 -4.09238808e-01 -4.30850952e-03 1.25860960e+02] [ 4.76997780e-03 1.06903397e-04 9.99988618e-01 -3.99306805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.64028169299996 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:244.80, Y:125.86, Z:-0.40 [[-4.11979893e-01 -9.11190219e-01 2.22528361e-03 2.44801881e+02] [ 9.11178241e-01 -4.11985890e-01 -4.67331951e-03 1.25860642e+02] [ 5.17506848e-03 1.02316334e-04 9.99986604e-01 -3.98658243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.67028169299994 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:244.80, Y:125.85, Z:-0.40 [[-4.13765536e-01 -9.10381259e-01 2.01099172e-03 2.44804518e+02] [ 9.10371487e-01 -4.13770414e-01 -4.21913056e-03 1.25853937e+02] [ 4.67310627e-03 8.50187070e-05 9.99989077e-01 -3.98475956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.70028169299997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.80, Y:125.87, Z:-0.40 [[-4.16678966e-01 -9.09052956e-01 1.16750363e-03 2.44797457e+02] [ 9.09049664e-01 -4.16680600e-01 -2.44683151e-03 1.25867658e+02] [ 2.71077553e-03 4.17755609e-05 9.99996325e-01 -3.97151966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.73028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.80, Y:125.85, Z:-0.40 [[-4.17567432e-01 -9.08645518e-01 8.73596791e-04 2.44803844e+02] [ 9.08643677e-01 -4.17568345e-01 -1.82893481e-03 1.25852118e+02] [ 2.02663978e-03 3.00845886e-05 9.99997946e-01 -3.96701834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.76028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.79, Y:125.87, Z:-0.40 [[-4.18399472e-01 -9.08262712e-01 8.52653583e-04 2.44791671e+02] [ 9.08260962e-01 -4.18400340e-01 -1.78332486e-03 1.25872781e+02] [ 1.97647802e-03 2.82897842e-05 9.99998046e-01 -3.97625269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.79028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.79, Y:125.87, Z:-0.40 [[-4.18811671e-01 -9.08072086e-01 1.36789412e-03 2.44794818e+02] [ 9.08067588e-01 -4.18813902e-01 -2.85847420e-03 1.25867300e+02] [ 3.16859370e-03 4.49779571e-05 9.99994979e-01 -3.98651378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.82028169299997 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.80, Y:125.87, Z:-0.40 [[-4.19191057e-01 -9.07895923e-01 1.96234342e-03 2.44795181e+02] [ 9.07886682e-01 -4.19195645e-01 -4.09689859e-03 1.25870071e+02] [ 4.54216334e-03 6.42022049e-05 9.99989682e-01 -3.99054462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.85028169299994 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:244.80, Y:125.87, Z:-0.40 [[-4.19540574e-01 -9.07734460e-01 1.96392107e-03 2.44796325e+02] [ 9.07725220e-01 -4.19545166e-01 -4.09614260e-03 1.25867855e+02] [ 4.54216338e-03 6.42026712e-05 9.99989682e-01 -3.99052803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.880281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.81, Y:125.85, Z:-0.40 [[-4.19560299e-01 -9.07723891e-01 2.54828260e-03 2.44807405e+02] [ 9.07708364e-01 -4.19568029e-01 -5.30990997e-03 1.25850398e+02] [ 5.88911005e-03 8.52700110e-05 9.99982655e-01 -3.98490326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.91028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:244.80, Y:125.85, Z:-0.40 [[-4.19146107e-01 -9.07916183e-01 2.17846094e-03 2.44804823e+02] [ 9.07904861e-01 -4.19151761e-01 -4.53479279e-03 1.25854820e+02] [ 5.03031749e-03 7.70945310e-05 9.99987345e-01 -3.97789790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.940281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:244.81, Y:125.84, Z:-0.40 [[-4.16632507e-01 -9.09074776e-01 6.37305160e-04 2.44807882e+02] [ 9.09073811e-01 -4.16632993e-01 -1.32494232e-03 1.25844927e+02] [ 1.46999400e-03 2.73433905e-05 9.99998919e-01 -3.96916708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 398.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:244.82, Y:125.82, Z:-0.40 [[-4.14697673e-01 -9.09959175e-01 -3.74451879e-04 2.44819894e+02] [ 9.09958842e-01 -4.14697842e-01 7.78639141e-04 1.25819298e+02] [-8.63814216e-04 -1.78359582e-05 9.99999627e-01 -3.96231706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.000281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:244.83, Y:125.80, Z:-0.39 [[-4.08022122e-01 -9.12971226e-01 -1.22013017e-03 2.44826264e+02] [ 9.12967714e-01 -4.08023938e-01 2.53344781e-03 1.25799843e+02] [-2.81080726e-03 -8.02367010e-05 9.99996046e-01 -3.94882582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.03028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.83, Y:125.79, Z:-0.39 [[-4.04185905e-01 -9.14676155e-01 -1.13361990e-03 2.44829448e+02] [ 9.14673136e-01 -4.04187485e-01 2.35164641e-03 1.25788057e+02] [-2.60918988e-03 -8.63893334e-05 9.99996592e-01 -3.94820790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.060281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.83, Y:125.78, Z:-0.40 [[-4.00881004e-01 -9.16129879e-01 -6.82612324e-04 2.44829399e+02] [ 9.16128788e-01 -4.00881581e-01 1.41494767e-03 1.25782388e+02] [-1.56992255e-03 -5.81351570e-05 9.99998766e-01 -3.95215679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.09028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.83, Y:125.77, Z:-0.40 [[-3.96603438e-01 -9.17989811e-01 6.47519254e-04 2.44832874e+02] [ 9.17988836e-01 -3.96603962e-01 -1.33988435e-03 1.25765736e+02] [ 1.48680889e-03 6.30127042e-05 9.99998893e-01 -3.97364195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.120281693 meters Centerline goodness : 0.999621 Centerline is valid? [True, True] Translation: X:244.83, Y:125.77, Z:-0.40 [[-3.96450355e-01 -9.18055178e-01 1.34381759e-03 2.44827885e+02] [ 9.18050983e-01 -3.96452610e-01 -2.77872413e-03 1.25770660e+02] [ 3.08378207e-03 1.32066888e-04 9.99995236e-01 -3.98216110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.15028169299995 meters Centerline goodness : 0.999573 Centerline is valid? [True, True] Translation: X:244.83, Y:125.76, Z:-0.40 [[-3.97884596e-01 -9.17432523e-01 2.32697214e-03 2.44827513e+02] [ 9.17419953e-01 -3.97891339e-01 -4.80761882e-03 1.25761685e+02] [ 5.33654793e-03 2.21933200e-04 9.99985736e-01 -3.99623627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.180281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:244.82, Y:125.77, Z:-0.40 [[-3.99300414e-01 -9.16817135e-01 2.34939609e-03 2.44823756e+02] [ 9.16804336e-01 -3.99307266e-01 -4.84945289e-03 1.25767946e+02] [ 5.38419244e-03 2.17547980e-04 9.99985482e-01 -3.99403468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.21028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:244.82, Y:125.77, Z:-0.40 [[-4.01115868e-01 -9.16025378e-01 1.88855069e-03 2.44820920e+02] [ 9.16017115e-01 -4.01120279e-01 -3.89446372e-03 1.25773415e+02] [ 4.32496359e-03 1.67813560e-04 9.99990633e-01 -3.99518725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.240281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.81, Y:125.78, Z:-0.40 [[-4.05654556e-01 -9.14026185e-01 7.16659275e-04 2.44814314e+02] [ 9.14024995e-01 -4.05655185e-01 -1.47611998e-03 1.25781946e+02] [ 1.63992886e-03 5.62496962e-05 9.99998654e-01 -3.97468373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.27028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.82, Y:125.77, Z:-0.40 [[-4.08216400e-01 -9.12884958e-01 6.50462124e-04 2.44815725e+02] [ 9.12883978e-01 -4.08216916e-01 -1.33845826e-03 1.25773561e+02] [ 1.48738806e-03 4.74158378e-05 9.99998893e-01 -3.97265104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.300281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:244.80, Y:125.80, Z:-0.40 [[-4.12051469e-01 -9.11159415e-01 1.45163531e-03 2.44800034e+02] [ 9.11154531e-01 -4.12054015e-01 -2.98487868e-03 1.25800655e+02] [ 3.31785247e-03 9.27404484e-05 9.99994492e-01 -3.98948835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.33028169299996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:244.80, Y:125.79, Z:-0.40 [[-4.13568670e-01 -9.10470956e-01 1.89558938e-03 2.44804509e+02] [ 9.10462635e-01 -4.13572998e-01 -3.89417534e-03 1.25793221e+02] [ 4.32949813e-03 1.15354385e-04 9.99990621e-01 -3.99563578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.360281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:244.80, Y:125.80, Z:-0.40 [[-4.15779357e-01 -9.09462635e-01 2.28954083e-03 2.44803978e+02] [ 9.09450504e-01 -4.15785641e-01 -4.69909550e-03 1.25796714e+02] [ 5.22560998e-03 1.28437158e-04 9.99986338e-01 -3.99410540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.39028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:244.80, Y:125.81, Z:-0.40 [[-4.20665268e-01 -9.07212362e-01 2.54217384e-03 2.44798896e+02] [ 9.07197394e-01 -4.20672934e-01 -5.21262058e-03 1.25812766e+02] [ 5.79837755e-03 1.13485050e-04 9.99983183e-01 -3.98779926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.42028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.80, Y:125.81, Z:-0.40 [[-4.24832331e-01 -9.05270890e-01 1.45127567e-03 2.44802351e+02] [ 9.05266011e-01 -4.24834807e-01 -2.97263688e-03 1.25811120e+02] [ 3.30759405e-03 5.09182787e-05 9.99994529e-01 -3.98673879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.45028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:244.81, Y:125.80, Z:-0.40 [[-4.25916664e-01 -9.04761628e-01 1.17987765e-03 2.44808972e+02] [ 9.04758407e-01 -4.25918297e-01 -2.41428992e-03 1.25800466e+02] [ 2.68688836e-03 3.92179107e-05 9.99996390e-01 -3.98783186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.48028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:244.80, Y:125.82, Z:-0.40 [[-4.26462777e-01 -9.04504109e-01 1.34814269e-03 2.44801847e+02] [ 9.04499911e-01 -4.26464905e-01 -2.75599764e-03 1.25817625e+02] [ 3.06774673e-03 4.40645386e-05 9.99995294e-01 -3.98469186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.51028169299997 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:244.81, Y:125.80, Z:-0.40 [[-4.25806338e-01 -9.04812064e-01 2.02246738e-03 2.44811032e+02] [ 9.04802638e-01 -4.25811136e-01 -4.13077739e-03 1.25802935e+02] [ 4.59876635e-03 7.10226223e-05 9.99989423e-01 -3.98734709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.54028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:244.82, Y:125.80, Z:-0.40 [[-4.25213462e-01 -9.05090920e-01 1.98457643e-03 2.44815609e+02] [ 9.05081864e-01 -4.25218087e-01 -4.04947068e-03 1.25795183e+02] [ 4.50901693e-03 7.43146829e-05 9.99989832e-01 -3.98580892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.57028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.82, Y:125.79, Z:-0.40 [[-4.24074381e-01 -9.05625916e-01 1.61885464e-03 2.44819675e+02] [ 9.05619906e-01 -4.24077465e-01 -3.29994718e-03 1.25792041e+02] [ 3.67503746e-03 6.66439311e-05 9.99993245e-01 -3.99296433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.60028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.82, Y:125.79, Z:-0.40 [[-4.24441844e-01 -9.05454225e-01 1.32930678e-03 2.44823917e+02] [ 9.05450180e-01 -4.24443922e-01 -2.70702248e-03 1.25785774e+02] [ 3.01530113e-03 5.46474534e-05 9.99995453e-01 -3.99434469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.630281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:244.83, Y:125.78, Z:-0.40 [[-4.25501925e-01 -9.04956579e-01 1.30477413e-03 2.44827016e+02] [ 9.04952687e-01 -4.25503922e-01 -2.65451859e-03 1.25780030e+02] [ 2.95741057e-03 5.12560843e-05 9.99995626e-01 -3.99436982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.66028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.82, Y:125.79, Z:-0.40 [[-4.28096067e-01 -9.03731083e-01 1.97164856e-03 2.44821770e+02] [ 9.03722199e-01 -4.28100602e-01 -4.00769738e-03 1.25790352e+02] [ 4.46594462e-03 6.61430867e-05 9.99990025e-01 -3.99191964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.690281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:244.81, Y:125.82, Z:-0.40 [[-4.29781974e-01 -9.02930503e-01 1.99014035e-03 2.44809044e+02] [ 9.02921461e-01 -4.29786578e-01 -4.04134553e-03 1.25816575e+02] [ 4.50438976e-03 6.00429694e-05 9.99989853e-01 -3.98996008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.72028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.82, Y:125.80, Z:-0.40 [[-4.32324853e-01 -9.01716873e-01 1.37935258e-03 2.44815829e+02] [ 9.01712532e-01 -4.32327052e-01 -2.79810345e-03 1.25804595e+02] [ 3.11942852e-03 3.40898463e-05 9.99995134e-01 -3.97057828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.750281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:244.81, Y:125.81, Z:-0.40 [[-4.33683248e-01 -9.01064746e-01 1.07895942e-03 2.44814605e+02] [ 9.01062093e-01 -4.33684590e-01 -2.18647458e-03 1.25806478e+02] [ 2.43808323e-03 2.39720324e-05 9.99997028e-01 -3.96803470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.78028169299995 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:244.81, Y:125.81, Z:-0.40 [[-4.36306643e-01 -8.99797516e-01 9.70893057e-04 2.44812905e+02] [ 8.99795370e-01 -4.36307723e-01 -1.96549411e-03 1.25808805e+02] [ 2.19215485e-03 1.60469412e-05 9.99997597e-01 -3.97480600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.810281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:244.82, Y:125.79, Z:-0.40 [[-4.38203789e-01 -8.98874981e-01 1.09946486e-03 2.44820430e+02] [ 8.98872230e-01 -4.38205168e-01 -2.22368272e-03 1.25794166e+02] [ 2.48060394e-03 1.38522367e-05 9.99996923e-01 -3.97432430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.84028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:244.81, Y:125.81, Z:-0.40 [[-4.40243020e-01 -8.97877930e-01 1.14265176e-03 2.44811269e+02] [ 8.97874962e-01 -4.40244503e-01 -2.30878709e-03 1.25813052e+02] [ 2.57605513e-03 9.53099932e-06 9.99996682e-01 -3.97271338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.870281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:244.82, Y:125.80, Z:-0.40 [[-4.44984168e-01 -8.95537811e-01 1.05818113e-03 2.44819464e+02] [ 8.95535264e-01 -4.44985426e-01 -2.13596616e-03 1.25798156e+02] [ 2.38371364e-03 -2.83260420e-06 9.99997159e-01 -3.96618705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.90028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:244.82, Y:125.80, Z:-0.40 [[-4.47420443e-01 -8.94323023e-01 1.13061512e-03 2.44820180e+02] [ 8.94320116e-01 -4.47421872e-01 -2.27998711e-03 1.25799948e+02] [ 2.54490689e-03 -8.98099384e-06 9.99996762e-01 -3.96470933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.930281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.82, Y:125.80, Z:-0.40 [[-4.51304377e-01 -8.92368737e-01 1.54780633e-03 2.44824726e+02] [ 8.92363289e-01 -4.51307031e-01 -3.11845442e-03 1.25796146e+02] [ 3.48134711e-03 -2.61665790e-05 9.99993940e-01 -3.96639507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.83, Y:125.80, Z:-0.40 [[-4.52597457e-01 -8.91713616e-01 1.53936413e-03 2.44825773e+02] [ 8.91708233e-01 -4.52600074e-01 -3.09841556e-03 1.25795048e+02] [ 3.45961566e-03 -2.96713327e-05 9.99994015e-01 -3.96720210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 399.990281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.84, Y:125.77, Z:-0.40 [[-4.53660721e-01 -8.91173496e-01 1.32297912e-03 2.44837012e+02] [ 8.91169526e-01 -4.53662649e-01 -2.66022477e-03 1.25773379e+02] [ 2.97090802e-03 -2.78408143e-05 9.99995586e-01 -3.96696848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.83, Y:125.79, Z:-0.40 [[-4.55575215e-01 -8.90197277e-01 1.77036604e-04 2.44833136e+02] [ 8.90197206e-01 -4.55575250e-01 -3.55145261e-04 1.25787795e+02] [ 3.96802839e-04 -4.19788883e-06 9.99999921e-01 -3.96794719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.84, Y:125.78, Z:-0.40 [[-4.58179436e-01 -8.88859527e-01 5.88258089e-04 2.44841997e+02] [ 8.88858743e-01 -4.58179813e-01 -1.18025621e-03 1.25780036e+02] [ 1.31860996e-03 -1.78907811e-05 9.99999131e-01 -3.96232196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.08028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.84, Y:125.79, Z:-0.40 [[-4.59529740e-01 -8.88161383e-01 1.33252753e-03 2.44838998e+02] [ 8.88157366e-01 -4.59531670e-01 -2.67165659e-03 1.25790954e+02] [ 2.98520081e-03 -4.42115110e-05 9.99995543e-01 -3.96728112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.11028169299993 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:244.84, Y:125.79, Z:-0.40 [[-4.60717886e-01 -8.87544461e-01 1.96453639e-03 2.44842301e+02] [ 8.87535740e-01 -4.60722069e-01 -3.93523931e-03 1.25788953e+02] [ 4.39780512e-03 -6.94388723e-05 9.99990327e-01 -3.97268526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.14028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:244.85, Y:125.79, Z:-0.40 [[-4.62080912e-01 -8.86834131e-01 2.54077289e-03 2.44847386e+02] [ 8.86819559e-01 -4.62087887e-01 -5.08473975e-03 1.25789106e+02] [ 5.68338113e-03 -9.63540863e-05 9.99983845e-01 -3.98877164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.17028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:244.85, Y:125.79, Z:-0.40 [[-4.62463132e-01 -8.86634710e-01 2.59675591e-03 2.44848724e+02] [ 8.86619515e-01 -4.62470412e-01 -5.19172529e-03 1.25793285e+02] [ 5.80408662e-03 -9.86470730e-05 9.99983151e-01 -3.99050010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.20028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.86, Y:125.79, Z:-0.40 [[-4.61635219e-01 -8.87065308e-01 2.83975169e-03 2.44857550e+02] [ 8.87047179e-01 -4.61643943e-01 -5.67207811e-03 1.25787380e+02] [ 6.34245788e-03 -9.94372995e-05 9.99979882e-01 -3.97884124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.23028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.86, Y:125.79, Z:-0.40 [[-4.60921977e-01 -8.87436206e-01 2.81271637e-03 2.44859382e+02] [ 8.87418462e-01 -4.60930550e-01 -5.61261748e-03 1.25788287e+02] [ 6.27730686e-03 -9.09223118e-05 9.99980293e-01 -3.97895120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.26028169299997 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:244.86, Y:125.79, Z:-0.40 [[-4.57827807e-01 -8.89036824e-01 2.68788946e-03 2.44861867e+02] [ 8.89020679e-01 -4.57835693e-01 -5.35828646e-03 1.25791720e+02] [ 5.99432571e-03 -6.35832296e-05 9.99982032e-01 -3.97255279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.86, Y:125.79, Z:-0.40 [[-4.55438980e-01 -8.90263622e-01 2.45343679e-03 2.44862606e+02] [ 8.90250215e-01 -4.55445586e-01 -4.88608242e-03 1.25794611e+02] [ 5.46730839e-03 -4.11397592e-05 9.99985053e-01 -3.97181251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.32028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.87, Y:125.79, Z:-0.40 [[-4.52854207e-01 -8.91582033e-01 2.13186605e-03 2.44869045e+02] [ 8.91571945e-01 -4.52859225e-01 -4.24145737e-03 1.25785712e+02] [ 4.74704240e-03 -2.00498523e-05 9.99988733e-01 -3.96172205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.35028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:244.87, Y:125.78, Z:-0.39 [[-4.48533348e-01 -8.93765595e-01 9.47167612e-04 2.44873104e+02] [ 8.93763613e-01 -4.48534349e-01 -1.88229448e-03 1.25784457e+02] [ 2.10716725e-03 2.27210305e-06 9.99997780e-01 -3.94713965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.89, Y:125.76, Z:-0.40 [[-4.46178902e-01 -8.94943090e-01 1.11912082e-03 2.44887118e+02] [ 8.94940332e-01 -4.46180305e-01 -2.22198461e-03 1.25763691e+02] [ 2.48787944e-03 1.01437043e-05 9.99996905e-01 -3.96309634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:125.78, Z:-0.40 [[-4.45606242e-01 -8.95228175e-01 1.26156470e-03 2.44883232e+02] [ 8.95224678e-01 -4.45608027e-01 -2.50247546e-03 1.25776426e+02] [ 2.80244990e-03 1.42651667e-05 9.99996073e-01 -3.96858993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:125.75, Z:-0.40 [[-4.45493354e-01 -8.95284753e-01 9.39331684e-04 2.44896388e+02] [ 8.95282818e-01 -4.45494345e-01 -1.86136281e-03 1.25754186e+02] [ 2.08491669e-03 1.17427568e-05 9.99997827e-01 -3.97043021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.90, Y:125.75, Z:-0.40 [[-4.44312150e-01 -8.95871818e-01 6.32493042e-04 2.44900465e+02] [ 8.95870943e-01 -4.44312600e-01 -1.25197224e-03 1.25752601e+02] [ 1.40263127e-03 1.03656616e-05 9.99999016e-01 -3.95004319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:125.76, Z:-0.40 [[-4.43916277e-01 -8.96068000e-01 6.92091473e-04 2.44898067e+02] [ 8.96066954e-01 -4.43916817e-01 -1.36869282e-03 1.25760706e+02] [ 1.53367288e-03 1.25752763e-05 9.99998824e-01 -3.95237024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.53028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.91, Y:125.74, Z:-0.39 [[-4.41737876e-01 -8.97143360e-01 1.20046044e-03 2.44909724e+02] [ 8.97140224e-01 -4.41739506e-01 -2.37221725e-03 1.25744301e+02] [ 2.65850976e-03 2.90831362e-05 9.99996466e-01 -3.94516584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.91, Y:125.73, Z:-0.39 [[-4.39616937e-01 -8.98184701e-01 1.09181911e-03 2.44914498e+02] [ 8.98182115e-01 -4.39618292e-01 -2.15546477e-03 1.25734415e+02] [ 2.41598913e-03 3.30735751e-05 9.99997081e-01 -3.94223451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.59028169299995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.92, Y:125.73, Z:-0.39 [[-4.36394867e-01 -8.99755085e-01 5.54531318e-04 2.44916606e+02] [ 8.99754421e-01 -4.36395219e-01 -1.09346484e-03 1.25727433e+02] [ 1.22584536e-03 2.17595621e-05 9.99999248e-01 -3.94109763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.93, Y:125.70, Z:-0.39 [[-4.28194706e-01 -9.03686498e-01 -8.71221199e-05 2.44925031e+02] [ 9.03686481e-01 -4.28194715e-01 1.72263183e-04 1.25699713e+02] [-1.92977144e-04 -4.96889884e-06 9.99999981e-01 -3.94765655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:125.67, Z:-0.39 [[-4.23861582e-01 -9.05726954e-01 2.11664545e-04 2.44935143e+02] [ 9.05726858e-01 -4.23861634e-01 -4.16290554e-04 1.25674175e+02] [ 4.66762055e-04 1.52606908e-05 9.99999891e-01 -3.94985685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.94, Y:125.66, Z:-0.40 [[-4.17088786e-01 -9.08864662e-01 1.40376663e-03 2.44936915e+02] [ 9.08860476e-01 -4.17091130e-01 -2.76138914e-03 1.25657914e+02] [ 3.09522762e-03 1.24083565e-04 9.99995202e-01 -3.95407767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.93, Y:125.67, Z:-0.40 [[-4.15879340e-01 -9.09417665e-01 1.97124648e-03 2.44929286e+02] [ 9.09409430e-01 -4.15883972e-01 -3.87444819e-03 1.25665188e+02] [ 4.34330144e-03 1.81367180e-04 9.99990551e-01 -3.95246075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.740281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.93, Y:125.66, Z:-0.40 [[-4.16208536e-01 -9.09267047e-01 1.97264989e-03 2.44930479e+02] [ 9.09258814e-01 -4.16213171e-01 -3.87373389e-03 1.25663006e+02] [ 4.34330144e-03 1.81368187e-04 9.99990551e-01 -3.95244417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.77028169299996 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:244.93, Y:125.65, Z:-0.40 [[-4.15912143e-01 -9.09402365e-01 2.10404899e-03 2.44929105e+02] [ 9.09393017e-01 -4.15917419e-01 -4.12811977e-03 1.25646892e+02] [ 4.62923251e-03 1.96472317e-04 9.99989266e-01 -3.95672038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.800281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.92, Y:125.66, Z:-0.40 [[-4.16957340e-01 -9.08924279e-01 1.79771406e-03 2.44916036e+02] [ 9.08917463e-01 -4.16961183e-01 -3.52386187e-03 1.25662676e+02] [ 3.95250059e-03 1.64673631e-04 9.99992175e-01 -3.95519272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:125.66, Z:-0.40 [[-4.19694968e-01 -9.07663784e-01 1.60921288e-03 2.44909800e+02] [ 9.07658323e-01 -4.19698030e-01 -3.15146282e-03 1.25657535e+02] [ 3.53585214e-03 1.37962375e-04 9.99993739e-01 -3.95335145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.86028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.91, Y:125.66, Z:-0.40 [[-4.21343343e-01 -9.06899855e-01 1.56245610e-03 2.44905147e+02] [ 9.06894711e-01 -4.21346220e-01 -3.05711768e-03 1.25658093e+02] [ 3.43083455e-03 1.28886990e-04 9.99994106e-01 -3.96274889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.90, Y:125.67, Z:-0.40 [[-4.23167581e-01 -9.06049604e-01 1.82042651e-03 2.44896395e+02] [ 9.06042626e-01 -4.23171472e-01 -3.55871554e-03 1.25666172e+02] [ 3.99472537e-03 1.43450967e-04 9.99992011e-01 -3.95796536e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.92028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.89, Y:125.66, Z:-0.40 [[-4.26840898e-01 -9.04323533e-01 2.40750501e-03 2.44893953e+02] [ 9.04311323e-01 -4.26847653e-01 -4.70227126e-03 1.25656300e+02] [ 5.28001242e-03 1.70012356e-04 9.99986046e-01 -3.95703870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.88, Y:125.67, Z:-0.40 [[-4.29197023e-01 -9.03206178e-01 2.91820622e-03 2.44883364e+02] [ 9.03188246e-01 -4.29206901e-01 -5.69465582e-03 1.25671743e+02] [ 6.39596257e-03 1.91560229e-04 9.99979527e-01 -3.96088960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 400.98028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.87, Y:125.69, Z:-0.40 [[-4.34295928e-01 -9.00764399e-01 3.24727981e-03 2.44868907e+02] [ 9.00742167e-01 -4.34308032e-01 -6.33098325e-03 1.25688672e+02] [ 7.11304403e-03 1.75441612e-04 9.99974687e-01 -3.96207503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.87, Y:125.68, Z:-0.40 [[-4.36867749e-01 -8.99520956e-01 2.93587176e-03 2.44871269e+02] [ 8.99502791e-01 -4.36877590e-01 -5.71845189e-03 1.25678659e+02] [ 6.42648389e-03 1.42617636e-04 9.99979340e-01 -3.95664221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.04028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.86, Y:125.69, Z:-0.39 [[-4.40632352e-01 -8.97684341e-01 2.44016186e-03 2.44864814e+02] [ 8.97671788e-01 -4.40639098e-01 -4.74837379e-03 1.25686993e+02] [ 5.33777151e-03 9.81773492e-05 9.99985749e-01 -3.94321079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:125.70, Z:-0.39 [[-4.42628964e-01 -8.96701989e-01 2.26804878e-03 2.44856015e+02] [ 8.96691152e-01 -4.42634767e-01 -4.40923058e-03 1.25703562e+02] [ 4.95768308e-03 8.20861107e-05 9.99987707e-01 -3.94790334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:125.70, Z:-0.39 [[-4.44959731e-01 -8.95548002e-01 2.14808713e-03 2.44859109e+02] [ 8.95538286e-01 -4.44964911e-01 -4.17201170e-03 1.25695983e+02] [ 4.69206015e-03 6.73170657e-05 9.99988990e-01 -3.94759549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.86, Y:125.70, Z:-0.39 [[-4.50304226e-01 -8.92871931e-01 2.41222127e-03 2.44857981e+02] [ 8.92859664e-01 -4.50310684e-01 -4.68062589e-03 1.25698908e+02] [ 5.26544849e-03 4.60694500e-05 9.99986136e-01 -3.93973392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.16028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.86, Y:125.71, Z:-0.39 [[-4.53624387e-01 -8.91190619e-01 2.04845613e-03 2.44855928e+02] [ 8.91181773e-01 -4.53629011e-01 -3.97089373e-03 1.25707347e+02] [ 4.46806237e-03 2.42525288e-05 9.99990018e-01 -3.93292042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.86, Y:125.70, Z:-0.39 [[-4.59463365e-01 -8.88196501e-01 6.26133089e-04 2.44862511e+02] [ 8.88195674e-01 -4.59463791e-01 -1.21219365e-03 1.25703632e+02] [ 1.36435164e-03 -8.29874560e-07 9.99999069e-01 -3.92434280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.87, Y:125.70, Z:-0.39 [[-4.62002048e-01 -8.86878817e-01 2.68893727e-04 2.44866564e+02] [ 8.86878664e-01 -4.62002126e-01 -5.19763039e-04 1.25697070e+02] [ 5.85196303e-04 -1.65547939e-06 9.99999829e-01 -3.92491817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.250281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.87, Y:125.69, Z:-0.39 [[-4.65175901e-01 -8.85217753e-01 9.54678304e-04 2.44869395e+02] [ 8.85215830e-01 -4.65176880e-01 -1.84503256e-03 1.25694099e+02] [ 2.07734985e-03 -1.31683364e-05 9.99997842e-01 -3.94326249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.87, Y:125.69, Z:-0.39 [[-4.66594252e-01 -8.84470237e-01 1.48481773e-03 2.44874457e+02] [ 8.84465590e-01 -4.66596614e-01 -2.86717857e-03 1.25688617e+02] [ 3.22874503e-03 -2.45388550e-05 9.99994787e-01 -3.94400323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.88, Y:125.69, Z:-0.39 [[-4.67904884e-01 -8.83777548e-01 1.50515666e-03 2.44876080e+02] [ 8.83772778e-01 -4.67907304e-01 -2.90370347e-03 1.25691565e+02] [ 3.27050172e-03 -2.84405557e-05 9.99994652e-01 -3.93952812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.88, Y:125.69, Z:-0.39 [[-4.69974076e-01 -8.82679779e-01 8.80262372e-04 2.44882710e+02] [ 8.82678150e-01 -4.69974900e-01 -1.69633560e-03 1.25687860e+02] [ 1.91102236e-03 -2.02453972e-05 9.99998174e-01 -3.92933712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.370281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.88, Y:125.71, Z:-0.39 [[-4.70567390e-01 -8.82363649e-01 8.49411149e-04 2.44875483e+02] [ 8.82362134e-01 -4.70568156e-01 -1.63529731e-03 1.25706853e+02] [ 1.84263274e-03 -2.00293540e-05 9.99998302e-01 -3.92892636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.69, Z:-0.39 [[-4.70365244e-01 -8.82471071e-01 1.16046791e-03 2.44888735e+02] [ 8.82468248e-01 -4.70366675e-01 -2.23221838e-03 1.25689089e+02] [ 2.51571357e-03 -2.58818591e-05 9.99996835e-01 -3.92694003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.430281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.89, Y:125.68, Z:-0.39 [[-4.69749242e-01 -8.82798467e-01 1.58605473e-03 2.44892334e+02] [ 8.82793205e-01 -4.69751919e-01 -3.04817740e-03 1.25684925e+02] [ 3.43597859e-03 -3.17206842e-05 9.99994097e-01 -3.92955494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.90, Y:125.68, Z:-0.39 [[-4.69064852e-01 -8.83161802e-01 1.84287897e-03 2.44895586e+02] [ 8.83154714e-01 -4.69068471e-01 -3.53850417e-03 1.25680897e+02] [ 3.98950814e-03 -3.22406862e-05 9.99992041e-01 -3.93233043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.90, Y:125.68, Z:-0.39 [[-4.68734750e-01 -8.83337427e-01 1.65061534e-03 2.44895325e+02] [ 8.83331752e-01 -4.68737656e-01 -3.16628850e-03 1.25683480e+02] [ 3.57060669e-03 -2.61085107e-05 9.99993625e-01 -3.92920089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.90, Y:125.68, Z:-0.39 [[-4.66787128e-01 -8.84368912e-01 1.18524068e-03 2.44898890e+02] [ 8.84365995e-01 -4.66788633e-01 -2.27128097e-03 1.25678568e+02] [ 2.56190716e-03 -1.20181664e-05 9.99996718e-01 -3.93016383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.69, Z:-0.39 [[-4.65553680e-01 -8.85018483e-01 1.43391560e-03 2.44891017e+02] [ 8.85014225e-01 -4.65555888e-01 -2.74532137e-03 1.25693022e+02] [ 3.09722800e-03 -9.05876098e-06 9.99995204e-01 -3.93658109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.69, Z:-0.39 [[-4.64394674e-01 -8.85626034e-01 2.02851765e-03 2.44893070e+02] [ 8.85617533e-01 -4.64399105e-01 -3.88024209e-03 1.25688605e+02] [ 4.37848519e-03 -5.47296613e-06 9.99990414e-01 -3.94339765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.69, Z:-0.39 [[-4.63389852e-01 -8.86147573e-01 3.51057740e-03 2.44889716e+02] [ 8.86122174e-01 -4.63403150e-01 -6.70917736e-03 1.25693946e+02] [ 7.57213386e-03 1.83577409e-06 9.99971331e-01 -3.94674782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.89, Y:125.68, Z:-0.40 [[-4.64008230e-01 -8.85822521e-01 3.85025306e-03 2.44894131e+02] [ 8.85792016e-01 -4.64024204e-01 -7.35135959e-03 1.25684402e+02] [ 8.29861049e-03 -5.67931071e-07 9.99965566e-01 -3.95031266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.69, Z:-0.39 [[-4.65934740e-01 -8.84814420e-01 2.87407139e-03 2.44886869e+02] [ 8.84797437e-01 -4.65943604e-01 -5.48212063e-03 1.25692435e+02] [ 6.18981457e-03 -1.13394580e-05 9.99980843e-01 -3.93834423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.89, Y:125.68, Z:-0.39 [[-4.67275012e-01 -8.84109963e-01 1.90714471e-03 2.44891535e+02] [ 8.84102494e-01 -4.67278904e-01 -3.63408968e-03 1.25682189e+02] [ 4.10410338e-03 -1.20079070e-05 9.99991578e-01 -3.92750144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.89, Y:125.68, Z:-0.39 [[-4.68966819e-01 -8.83214921e-01 1.23510694e-03 2.44890905e+02] [ 8.83211792e-01 -4.68968446e-01 -2.35106632e-03 1.25683462e+02] [ 2.65572304e-03 -1.17110843e-05 9.99996474e-01 -3.92218757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.89, Y:125.68, Z:-0.39 [[-4.72405010e-01 -8.81381432e-01 5.26828780e-04 2.44892276e+02] [ 8.81380863e-01 -4.72405303e-01 -1.00155416e-03 1.25683392e+02] [ 1.13162795e-03 -8.80240028e-06 9.99999360e-01 -3.91845663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:125.66, Z:-0.39 [[-4.75224875e-01 -8.79864201e-01 5.53129359e-04 2.44906820e+02] [ 8.79863574e-01 -4.75225197e-01 -1.05058864e-03 1.25660884e+02] [ 1.18723634e-03 -1.25874784e-05 9.99999295e-01 -3.92424636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.91, Y:125.65, Z:-0.39 [[-4.76420309e-01 -8.79216943e-01 1.12056846e-03 2.44912362e+02] [ 8.79214371e-01 -4.76421626e-01 -2.12693259e-03 1.25654943e+02] [ 2.40389822e-03 -2.80939925e-05 9.99997110e-01 -3.93170159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.91, Y:125.66, Z:-0.39 [[-4.77178940e-01 -8.78804145e-01 1.88022564e-03 2.44909831e+02] [ 8.78796911e-01 -4.77182641e-01 -3.56583887e-03 1.25664828e+02] [ 4.03088502e-03 -4.92067264e-05 9.99991875e-01 -3.93453712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.880281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.92, Y:125.65, Z:-0.39 [[-4.76759637e-01 -8.79029925e-01 2.57693119e-03 2.44919832e+02] [ 8.79016366e-01 -4.76766597e-01 -4.88274751e-03 1.25653386e+02] [ 5.52067589e-03 -6.27322393e-05 9.99984759e-01 -3.93402016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:125.67, Z:-0.39 [[-4.75893052e-01 -8.79499656e-01 2.48174077e-03 2.44915146e+02] [ 8.79487110e-01 -4.75899520e-01 -4.69793665e-03 1.25666821e+02] [ 5.31289291e-03 -5.30563886e-05 9.99985885e-01 -3.93600437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.92, Y:125.67, Z:-0.39 [[-4.73877028e-01 -8.80589128e-01 1.83034049e-03 2.44922276e+02] [ 8.80582325e-01 -4.73880562e-01 -3.46141258e-03 1.25665210e+02] [ 3.91544506e-03 -2.85184213e-05 9.99992334e-01 -3.92857442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 401.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.92, Y:125.67, Z:-0.39 [[-4.73008546e-01 -8.81057067e-01 1.16671634e-03 2.44924897e+02] [ 8.81054310e-01 -4.73009984e-01 -2.20412800e-03 1.25666442e+02] [ 2.49383103e-03 -1.46309173e-05 9.99996890e-01 -3.92326361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.000281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.93, Y:125.67, Z:-0.39 [[-4.70865671e-01 -8.82204524e-01 8.35675353e-04 2.44929506e+02] [ 8.82203114e-01 -4.70866413e-01 -1.57708556e-03 1.25666586e+02] [ 1.78480347e-03 -5.36005196e-06 9.99998407e-01 -3.92207580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.94, Y:125.66, Z:-0.39 [[-4.69883399e-01 -8.82727381e-01 1.40075615e-03 2.44936700e+02] [ 8.82723429e-01 -4.69885487e-01 -2.64138904e-03 1.25657033e+02] [ 2.98982141e-03 -4.66459011e-06 9.99995530e-01 -3.92973354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.060281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.94, Y:125.66, Z:-0.39 [[-4.67663530e-01 -8.83902749e-01 2.59861138e-03 2.44940610e+02] [ 8.83889189e-01 -4.67670750e-01 -4.89603712e-03 1.25660675e+02] [ 5.54291521e-03 7.18650159e-06 9.99984638e-01 -3.93574557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.95, Y:125.64, Z:-0.39 [[-4.67099768e-01 -8.84200507e-01 2.69637589e-03 2.44952236e+02] [ 8.84185940e-01 -4.67107550e-01 -5.07551351e-03 1.25643890e+02] [ 5.74726916e-03 1.33264705e-05 9.99983484e-01 -3.93470440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.96, Y:125.64, Z:-0.39 [[-4.65610615e-01 -8.84987092e-01 2.14531594e-03 2.44956791e+02] [ 8.84977896e-01 -4.65615557e-01 -4.03437722e-03 1.25642103e+02] [ 4.56926424e-03 2.01083259e-05 9.99989561e-01 -3.93613126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.15028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.96, Y:125.63, Z:-0.39 [[-4.65210595e-01 -8.85197679e-01 2.04213553e-03 2.44964825e+02] [ 8.85189365e-01 -4.65215077e-01 -3.83677485e-03 1.25631251e+02] [ 4.34633643e-03 2.27683355e-05 9.99990554e-01 -3.93866130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.97, Y:125.62, Z:-0.39 [[-4.64695717e-01 -8.85467692e-01 2.20387093e-03 2.44973221e+02] [ 8.85458029e-01 -4.64700942e-01 -4.13690402e-03 1.25620627e+02] [ 4.68723576e-03 2.90336340e-05 9.99989014e-01 -3.94370576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.21028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:244.97, Y:125.63, Z:-0.40 [[-4.64382775e-01 -8.85629712e-01 2.94151299e-03 2.44972636e+02] [ 8.85612531e-01 -4.64392089e-01 -5.51666588e-03 1.25630144e+02] [ 6.25173857e-03 4.31961587e-05 9.99980457e-01 -3.95002024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.96, Y:125.65, Z:-0.39 [[-4.64539214e-01 -8.85547082e-01 3.11195382e-03 2.44964227e+02] [ 8.85527886e-01 -4.64549635e-01 -5.83094488e-03 1.25648016e+02] [ 6.60923323e-03 4.70193409e-05 9.99978158e-01 -3.94810848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.27028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.98, Y:125.63, Z:-0.40 [[-4.64042132e-01 -8.85808756e-01 2.78341555e-03 2.44976302e+02] [ 8.85793433e-01 -4.64050477e-01 -5.21046954e-03 1.25630074e+02] [ 5.90712485e-03 4.76538279e-05 9.99982552e-01 -3.95964423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.300281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.99, Y:125.62, Z:-0.40 [[-4.63945170e-01 -8.85860370e-01 2.50683745e-03 2.44985214e+02] [ 8.85847964e-01 -4.63951940e-01 -4.68838571e-03 1.25617213e+02] [ 5.31630719e-03 4.55229445e-05 9.99985867e-01 -3.95487360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:125.61, Z:-0.39 [[-4.63812173e-01 -8.85931348e-01 1.97874212e-03 2.44989328e+02] [ 8.85923634e-01 -4.63816392e-01 -3.69724831e-03 1.25613771e+02] [ 4.19328121e-03 3.81856369e-05 9.99991207e-01 -3.94593421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.36028169299993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.98, Y:125.62, Z:-0.39 [[-4.63608087e-01 -8.86038185e-01 1.96901693e-03 2.44984256e+02] [ 8.86030561e-01 -4.63612267e-01 -3.67571789e-03 1.25622429e+02] [ 4.16968681e-03 4.05166373e-05 9.99991306e-01 -3.94619403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.39028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.99, Y:125.61, Z:-0.39 [[-4.63203723e-01 -8.86248099e-01 2.57269661e-03 2.44989439e+02] [ 8.86235110e-01 -4.63210864e-01 -4.79843549e-03 1.25611494e+02] [ 5.44430535e-03 5.73608824e-05 9.99985178e-01 -3.94714949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.42028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:244.99, Y:125.61, Z:-0.39 [[-4.63237798e-01 -8.86230317e-01 2.56280427e-03 2.44989308e+02] [ 8.86217452e-01 -4.63244883e-01 -4.77563423e-03 1.25612906e+02] [ 5.41951780e-03 5.89475839e-05 9.99985313e-01 -3.94806187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.99, Y:125.60, Z:-0.39 [[-4.62104600e-01 -8.86823547e-01 1.82616670e-03 2.44994070e+02] [ 8.86817032e-01 -4.62108205e-01 -3.39971220e-03 1.25604366e+02] [ 3.85883145e-03 4.84530899e-05 9.99992554e-01 -3.93479219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.59, Z:-0.39 [[-4.60795323e-01 -8.87505516e-01 1.27665728e-03 2.45002238e+02] [ 8.87502340e-01 -4.60797090e-01 -2.37441645e-03 1.25586818e+02] [ 2.69558765e-03 3.89163253e-05 9.99996366e-01 -3.92973339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.51028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.58, Z:-0.39 [[-4.58513096e-01 -8.88686658e-01 1.32850427e-03 2.45003018e+02] [ 8.88683230e-01 -4.58515018e-01 -2.46866256e-03 1.25581553e+02] [ 2.80300664e-03 4.87053519e-05 9.99996070e-01 -3.92180119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.00, Y:125.57, Z:-0.39 [[-4.52577953e-01 -8.91723368e-01 1.62200761e-03 2.45003343e+02] [ 8.91718287e-01 -4.52580852e-01 -3.01149511e-03 1.25568684e+02] [ 3.41951015e-03 8.34375561e-05 9.99994150e-01 -3.92147886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.01, Y:125.54, Z:-0.39 [[-4.49350847e-01 -8.93354140e-01 1.48233542e-03 2.45013454e+02] [ 8.93349912e-01 -4.49353284e-01 -2.74971729e-03 1.25544507e+02] [ 3.12256361e-03 8.86564253e-05 9.99995121e-01 -3.91913821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.60028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.01, Y:125.54, Z:-0.39 [[-4.44009836e-01 -8.96021770e-01 5.02506679e-04 2.45010687e+02] [ 8.96021287e-01 -4.44010119e-01 -9.30999793e-04 1.25541284e+02] [ 1.05731413e-03 3.68836163e-05 9.99999440e-01 -3.91946419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.630281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.02, Y:125.52, Z:-0.39 [[-4.43197647e-01 -8.96423915e-01 1.02238257e-04 2.45019778e+02] [ 8.96423895e-01 -4.43197659e-01 -1.88855000e-04 1.25520453e+02] [ 2.14605895e-04 7.94872480e-06 9.99999977e-01 -3.91330808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.66028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.02, Y:125.52, Z:-0.39 [[-4.43519562e-01 -8.96264686e-01 1.02304592e-04 2.45021024e+02] [ 8.96264666e-01 -4.43519574e-01 -1.88819121e-04 1.25518303e+02] [ 2.14605999e-04 7.94701698e-06 9.99999977e-01 -3.91329149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.690281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.02, Y:125.52, Z:-0.39 [[-4.45187049e-01 -8.95437591e-01 1.04528983e-04 2.45018764e+02] [ 8.95437571e-01 -4.45187062e-01 -1.92769337e-04 1.25516031e+02] [ 2.19147861e-04 7.78076641e-06 9.99999976e-01 -3.91561982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.72028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.00, Y:125.54, Z:-0.39 [[-4.47398587e-01 -8.94334569e-01 4.27456680e-04 2.45004381e+02] [ 8.94334222e-01 -4.47398790e-01 -7.89149276e-04 1.25543063e+02] [ 8.97007080e-04 2.92248667e-05 9.99999597e-01 -3.92290134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.750281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.00, Y:125.55, Z:-0.39 [[-4.50424673e-01 -8.92814142e-01 7.21894536e-04 2.45001030e+02] [ 8.92813150e-01 -4.50425249e-01 -1.33188990e-03 1.25550444e+02] [ 1.51428966e-03 4.46008628e-05 9.99998853e-01 -3.93054621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.00, Y:125.55, Z:-0.39 [[-4.55040878e-01 -8.90469559e-01 1.32785383e-03 2.45002737e+02] [ 8.90466197e-01 -4.55042811e-01 -2.44813981e-03 1.25548698e+02] [ 2.78422432e-03 6.84052567e-05 9.99996122e-01 -3.92663405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.55, Z:-0.39 [[-4.57862478e-01 -8.89022278e-01 1.15754277e-03 2.45002630e+02] [ 8.89019723e-01 -4.57863938e-01 -2.13218534e-03 1.25549252e+02] [ 2.42555736e-03 5.28306931e-05 9.99997057e-01 -3.92851541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.00, Y:125.56, Z:-0.39 [[-4.59148169e-01 -8.88359301e-01 8.43750263e-04 2.44996183e+02] [ 8.88357945e-01 -4.59148943e-01 -1.55265456e-03 1.25562510e+02] [ 1.76672216e-03 3.66537503e-05 9.99998439e-01 -3.92696266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.870281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.56, Z:-0.39 [[-4.59883577e-01 -8.87979080e-01 4.98876692e-04 2.45000493e+02] [ 8.87978607e-01 -4.59883847e-01 -9.16989788e-04 1.25557224e+02] [ 1.04369308e-03 2.12832871e-05 9.99999455e-01 -3.93046322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.55, Z:-0.39 [[-4.60533772e-01 -8.87641293e-01 1.25686981e-03 2.45001482e+02] [ 8.87638291e-01 -4.60535485e-01 -2.30898926e-03 1.25553217e+02] [ 2.62838736e-03 5.22782345e-05 9.99996544e-01 -3.93330094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.930281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.99, Y:125.56, Z:-0.39 [[-4.60018450e-01 -8.87906460e-01 2.26789278e-03 2.44994587e+02] [ 8.87896706e-01 -4.60024030e-01 -4.16302073e-03 1.25557511e+02] [ 4.73965818e-03 9.85881810e-05 9.99988763e-01 -3.93360030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.96028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.00, Y:125.54, Z:-0.39 [[-4.60086405e-01 -8.87870863e-01 2.41468756e-03 2.45001837e+02] [ 8.87859825e-01 -4.60092729e-01 -4.42856137e-03 1.25540905e+02] [ 5.04297080e-03 1.06383196e-04 9.99987279e-01 -3.92901152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 402.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.00, Y:125.54, Z:-0.39 [[-4.60530475e-01 -8.87640405e-01 2.48844912e-03 2.44999094e+02] [ 8.87628700e-01 -4.60537185e-01 -4.55980376e-03 1.25541954e+02] [ 5.19348941e-03 1.08890273e-04 9.99986508e-01 -3.92469385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.02028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:244.95, Y:125.61, Z:-0.39 [[-4.63207004e-01 -8.86243988e-01 3.29619845e-03 2.44952405e+02] [ 8.86245470e-01 -4.63213416e-01 -1.51575499e-03 1.25614877e+02] [ 2.87017209e-03 2.21913261e-03 9.99993419e-01 -3.92350450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.050281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:244.98, Y:125.56, Z:-0.39 [[-4.64962790e-01 -8.85329938e-01 -7.09854450e-04 2.44983368e+02] [ 8.85326826e-01 -4.64958636e-01 -3.14312885e-03 1.25558852e+02] [ 2.45265312e-03 -2.08989115e-03 9.99994808e-01 -3.92405849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.08028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:244.98, Y:125.56, Z:-0.39 [[-4.71652774e-01 -8.81784286e-01 3.66329634e-04 2.44980898e+02] [ 8.81784032e-01 -4.71652916e-01 -6.69449912e-04 1.25560296e+02] [ 7.63090853e-04 7.27571331e-06 9.99999709e-01 -3.91952757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.98, Y:125.56, Z:-0.39 [[-4.76388894e-01 -8.79234529e-01 5.14512331e-04 2.44979314e+02] [ 8.79234027e-01 -4.76389172e-01 -9.39595069e-04 1.25562393e+02] [ 1.07123253e-03 4.76409325e-06 9.99999426e-01 -3.92328864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.14028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:244.97, Y:125.58, Z:-0.39 [[-4.85790112e-01 -8.74074921e-01 9.99990291e-04 2.44971071e+02] [ 8.74073015e-01 -4.85791142e-01 -1.82496729e-03 1.25579097e+02] [ 2.08094456e-03 -1.24865351e-05 9.99997835e-01 -3.92999055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.17028169299994 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:244.97, Y:125.59, Z:-0.39 [[-4.90182042e-01 -8.71619258e-01 1.19743802e-03 2.44966263e+02] [ 8.71616524e-01 -4.90183504e-01 -2.18336586e-03 1.25592241e+02] [ 2.49002809e-03 -2.65399667e-05 9.99996900e-01 -3.93672825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.98, Y:125.57, Z:-0.39 [[-4.93753121e-01 -8.69600156e-01 1.85042234e-03 2.44983738e+02] [ 8.69593623e-01 -4.93756585e-01 -3.37115542e-03 1.25566359e+02] [ 3.84521550e-03 -5.54030470e-05 9.99992606e-01 -3.93347911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.23028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.99, Y:125.56, Z:-0.39 [[-4.98129484e-01 -8.67097730e-01 2.92295670e-03 2.44992737e+02] [ 8.67081414e-01 -4.98138046e-01 -5.32057462e-03 1.25559651e+02] [ 6.06949411e-03 -1.15893662e-04 9.99981574e-01 -3.93871840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.99, Y:125.57, Z:-0.39 [[-4.99216496e-01 -8.66474312e-01 2.27071446e-03 2.44993810e+02] [ 8.66464477e-01 -4.99221652e-01 -4.12942147e-03 1.25570727e+02] [ 4.71162745e-03 -9.39819018e-05 9.99988896e-01 -3.94448226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:125.56, Z:-0.39 [[-4.99362218e-01 -8.66391723e-01 1.66067859e-03 2.45006975e+02] [ 8.66386472e-01 -4.99364975e-01 -3.01714352e-03 1.25557034e+02] [ 3.44331289e-03 -6.78580186e-05 9.99994070e-01 -3.93167967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:125.57, Z:-0.39 [[-4.99245675e-01 -8.66459642e-01 1.20186847e-03 2.45005719e+02] [ 8.66456897e-01 -4.99247120e-01 -2.18143921e-03 1.25568712e+02] [ 2.49015841e-03 -4.77068663e-05 9.99996898e-01 -3.92568524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.01, Y:125.57, Z:-0.39 [[-4.99078076e-01 -8.66555129e-01 1.81191713e-03 2.45012967e+02] [ 8.66548901e-01 -4.99081360e-01 -3.28594706e-03 1.25570517e+02] [ 3.75174834e-03 -6.98293394e-05 9.99992960e-01 -3.92834965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.02, Y:125.57, Z:-0.39 [[-4.98926822e-01 -8.66641788e-01 2.00950615e-03 2.45018600e+02] [ 8.66634142e-01 -4.98930863e-01 -3.64100011e-03 1.25569172e+02] [ 4.15804749e-03 -7.50859788e-05 9.99991352e-01 -3.93249956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.02, Y:125.58, Z:-0.39 [[-4.96136481e-01 -8.68243601e-01 1.28103472e-03 2.45018856e+02] [ 8.68240506e-01 -4.96138134e-01 -2.31876876e-03 1.25584297e+02] [ 2.64882631e-03 -3.81795378e-05 9.99996491e-01 -3.91915532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.440281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.02, Y:125.58, Z:-0.39 [[-4.93986252e-01 -8.69469485e-01 6.29772186e-04 2.45022889e+02] [ 8.69468740e-01 -4.93986653e-01 -1.13861748e-03 1.25581027e+02] [ 1.30109221e-03 -1.48941543e-05 9.99999154e-01 -3.90846169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.02, Y:125.58, Z:-0.39 [[-4.91171286e-01 -8.71062915e-01 4.06904444e-04 2.45023317e+02] [ 8.71062605e-01 -4.91171454e-01 -7.34813670e-04 1.25582279e+02] [ 8.39928785e-04 -6.48013020e-06 9.99999647e-01 -3.90498081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.500281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.04, Y:125.55, Z:-0.39 [[-4.84432332e-01 -8.74828585e-01 5.13103892e-04 2.45041951e+02] [ 8.74828095e-01 -4.84432604e-01 -9.25890832e-04 1.25550753e+02] [ 1.05856002e-03 3.46245258e-07 9.99999440e-01 -3.90493501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.53028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.04, Y:125.55, Z:-0.39 [[-4.81419472e-01 -8.76489910e-01 8.53940103e-04 2.45043662e+02] [ 8.76488558e-01 -4.81420229e-01 -1.53988451e-03 1.25548903e+02] [ 1.76079727e-03 7.13834337e-06 9.99998450e-01 -3.90906591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.05, Y:125.54, Z:-0.39 [[-4.76537763e-01 -8.79152742e-01 1.48900627e-03 2.45048126e+02] [ 8.79148648e-01 -4.76540088e-01 -2.68305144e-03 1.25535037e+02] [ 3.06838321e-03 3.04825204e-05 9.99995292e-01 -3.92340753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.59028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.05, Y:125.53, Z:-0.39 [[-4.74621934e-01 -8.80188494e-01 1.49483079e-03 2.45050641e+02] [ 8.80184381e-01 -4.74624286e-01 -2.69115370e-03 1.25527265e+02] [ 3.07820552e-03 3.84461392e-05 9.99995262e-01 -3.92937418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.05, Y:125.53, Z:-0.39 [[-4.72449859e-01 -8.81355817e-01 1.74798158e-03 2.45048214e+02] [ 8.81350210e-01 -4.72453089e-01 -3.14418580e-03 1.25530617e+02] [ 3.59698575e-03 5.51137977e-05 9.99993529e-01 -3.92736810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.65028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.05, Y:125.52, Z:-0.39 [[-4.72768091e-01 -8.81184726e-01 1.95195347e-03 2.45051866e+02] [ 8.81177746e-01 -4.72772116e-01 -3.50801496e-03 1.25522337e+02] [ 4.01403838e-03 6.15404237e-05 9.99991942e-01 -3.92311912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.680281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.04, Y:125.54, Z:-0.39 [[-4.73315613e-01 -8.80890201e-01 2.18738060e-03 2.45040164e+02] [ 8.80881447e-01 -4.73320662e-01 -3.92765937e-03 1.25539289e+02] [ 4.49516909e-03 6.78004874e-05 9.99989894e-01 -3.92399354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.04, Y:125.53, Z:-0.39 [[-4.73806638e-01 -8.80627603e-01 1.51486107e-03 2.45043079e+02] [ 8.80623411e-01 -4.73809058e-01 -2.71748503e-03 1.25525355e+02] [ 3.11084722e-03 4.64596730e-05 9.99995160e-01 -3.92691492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.740281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.05, Y:125.51, Z:-0.39 [[-4.72374619e-01 -8.81397835e-01 2.73855236e-04 2.45049006e+02] [ 8.81397699e-01 -4.72374699e-01 -4.90419810e-04 1.25511307e+02] [ 5.61617244e-04 9.71350395e-06 9.99999842e-01 -3.91695935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.77028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.05, Y:125.50, Z:-0.39 [[-4.71835467e-01 -8.81686473e-01 5.05090723e-04 2.45052575e+02] [ 8.81686010e-01 -4.71835737e-01 -9.04141136e-04 1.25502772e+02] [ 1.03548886e-03 1.87255690e-05 9.99999464e-01 -3.91946771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.05, Y:125.50, Z:-0.39 [[-4.71406146e-01 -8.81915203e-01 1.34917751e-03 2.45054402e+02] [ 8.81911901e-01 -4.71408074e-01 -2.41380800e-03 1.25496066e+02] [ 2.76478715e-03 5.19717757e-05 9.99996177e-01 -3.92217401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.83028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.05, Y:125.50, Z:-0.39 [[-4.69518575e-01 -8.82919154e-01 2.46472956e-03 2.45050198e+02] [ 8.82908166e-01 -4.69525032e-01 -4.40616524e-03 1.25498170e+02] [ 5.04753991e-03 1.07353433e-04 9.99987255e-01 -3.92794508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.86028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.06, Y:125.48, Z:-0.39 [[-4.68763214e-01 -8.83320393e-01 2.47632973e-03 2.45058038e+02] [ 8.83309327e-01 -4.68769741e-01 -4.42302862e-03 1.25480517e+02] [ 5.06777983e-03 1.14012030e-04 9.99987152e-01 -3.92587257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.89028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.05, Y:125.48, Z:-0.39 [[-4.66559972e-01 -8.84487710e-01 1.81197801e-03 2.45052531e+02] [ 8.84481805e-01 -4.66563481e-01 -3.23346733e-03 1.25476970e+02] [ 3.70536488e-03 9.40551558e-05 9.99993131e-01 -3.92779602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.92028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.06, Y:125.46, Z:-0.39 [[-4.65927772e-01 -8.84821337e-01 1.58534259e-03 2.45057665e+02] [ 8.84816826e-01 -4.65930462e-01 -2.82652583e-03 1.25460601e+02] [ 3.23962976e-03 8.57809119e-05 9.99994749e-01 -3.92733677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.95028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.04, Y:125.47, Z:-0.39 [[-4.65114799e-01 -8.85247381e-01 2.30192192e-03 2.45044858e+02] [ 8.85237892e-01 -4.65120476e-01 -4.10077880e-03 1.25472539e+02] [ 4.70087472e-03 1.30415607e-04 9.99988942e-01 -3.92328574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 403.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.04, Y:125.47, Z:-0.39 [[-4.65452382e-01 -8.85068449e-01 2.81447921e-03 2.45042438e+02] [ 8.85054286e-01 -4.65460864e-01 -5.00959982e-03 1.25471022e+02] [ 5.74386867e-03 1.59236717e-04 9.99983491e-01 -3.91996627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.01028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.04, Y:125.48, Z:-0.39 [[-4.66484371e-01 -8.84524619e-01 2.92050979e-03 2.45035800e+02] [ 8.84509385e-01 -4.66493485e-01 -5.19378028e-03 1.25476414e+02] [ 5.95642532e-03 1.60400991e-04 9.99982248e-01 -3.92142488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.04028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.03, Y:125.47, Z:-0.39 [[-4.69541413e-01 -8.82907576e-01 2.25262091e-03 2.45033078e+02] [ 8.82898511e-01 -4.69546803e-01 -4.00238461e-03 1.25465701e+02] [ 4.59144664e-03 1.09550324e-04 9.99989453e-01 -3.91755957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.02, Y:125.48, Z:-0.39 [[-4.71397138e-01 -8.81919300e-01 1.75684084e-03 2.45024108e+02] [ 8.81913789e-01 -4.71400405e-01 -3.11863500e-03 1.25476292e+02] [ 3.57855988e-03 7.92665467e-05 9.99993594e-01 -3.91715737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.10028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.02, Y:125.47, Z:-0.39 [[-4.75701643e-01 -8.79605299e-01 1.56995346e-03 2.45024033e+02] [ 8.79600894e-01 -4.75704231e-01 -2.78436283e-03 1.25467674e+02] [ 3.19597380e-03 5.64064900e-05 9.99994891e-01 -3.91419641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.130281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:245.02, Y:125.47, Z:-0.39 [[-4.78194109e-01 -8.78251912e-01 1.99322282e-03 2.45017895e+02] [ 8.78244812e-01 -4.78198259e-01 -3.53204346e-03 1.25473422e+02] [ 4.05517960e-03 6.15352297e-05 9.99991776e-01 -3.91895534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.16028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.00, Y:125.49, Z:-0.39 [[-4.82761990e-01 -8.75747996e-01 2.51167933e-03 2.45001301e+02] [ 8.75736707e-01 -4.82768521e-01 -4.44688217e-03 1.25494289e+02] [ 5.10690786e-03 5.27841033e-05 9.99986958e-01 -3.92623004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.50, Z:-0.39 [[-4.85639346e-01 -8.74156841e-01 2.05972425e-03 2.44998152e+02] [ 8.74149250e-01 -4.85643713e-01 -3.64328634e-03 1.25498364e+02] [ 4.18509581e-03 3.11832109e-05 9.99991242e-01 -3.92092939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:244.99, Y:125.50, Z:-0.39 [[-4.91731024e-01 -8.70747150e-01 7.11683926e-07 2.44993965e+02] [ 8.70747150e-01 -4.91731024e-01 -7.46925364e-07 1.25502150e+02] [ 1.00034028e-06 2.52410380e-07 1.00000000e+00 -3.90336356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.99, Y:125.50, Z:-0.39 [[-4.94178707e-01 -8.69360037e-01 -7.29344177e-04 2.44994093e+02] [ 8.69359082e-01 -4.94179245e-01 1.28840772e-03 1.25499088e+02] [-1.48051693e-03 2.64167523e-06 9.99998904e-01 -3.90004591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.00, Y:125.49, Z:-0.39 [[-4.95439159e-01 -8.68642486e-01 -5.20156888e-04 2.44995021e+02] [ 8.68642001e-01 -4.95439432e-01 9.18176515e-04 1.25494551e+02] [-1.05527336e-03 3.07048028e-06 9.99999443e-01 -3.90268026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.310281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.99, Y:125.50, Z:-0.39 [[-4.95200724e-01 -8.68777514e-01 1.36918151e-03 2.44990712e+02] [ 8.68774163e-01 -4.95202617e-01 -2.41279443e-03 1.25495851e+02] [ 2.77420381e-03 -5.30803436e-06 9.99996152e-01 -3.91891515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.34028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:244.99, Y:125.49, Z:-0.39 [[-4.93282164e-01 -8.69864168e-01 3.00593839e-03 2.44992445e+02] [ 8.69848065e-01 -4.93291323e-01 -5.29287003e-03 1.25486057e+02] [ 6.08688131e-03 3.83131068e-06 9.99981475e-01 -3.92108489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:244.99, Y:125.49, Z:-0.39 [[-4.92419111e-01 -8.70353743e-01 2.78944709e-03 2.44990967e+02] [ 8.70339910e-01 -4.92427011e-01 -4.90714175e-03 1.25485777e+02] [ 5.64454828e-03 1.13967505e-05 9.99984069e-01 -3.91948663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.40028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.00, Y:125.48, Z:-0.39 [[-4.91821241e-01 -8.70693386e-01 2.21249724e-03 2.44995231e+02] [ 8.70684703e-01 -4.91826217e-01 -3.88852582e-03 1.25476036e+02] [ 4.47387786e-03 1.39279126e-05 9.99989992e-01 -3.91183502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.430281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.00, Y:125.47, Z:-0.39 [[-4.90613080e-01 -8.71376291e-01 1.47166784e-03 2.44995678e+02] [ 8.71372460e-01 -4.90615287e-01 -2.58397929e-03 1.25470502e+02] [ 2.97364103e-03 1.46367884e-05 9.99995579e-01 -3.91391868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.46028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.00, Y:125.47, Z:-0.39 [[-4.90353878e-01 -8.71522171e-01 1.47671796e-03 2.44996924e+02] [ 8.71518321e-01 -4.90356101e-01 -2.59049772e-03 1.25466276e+02] [ 2.98179386e-03 1.67261511e-05 9.99995554e-01 -3.91566387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.490281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:244.99, Y:125.47, Z:-0.39 [[-4.90045179e-01 -8.71696336e-01 1.10503024e-03 2.44992550e+02] [ 8.71694185e-01 -4.90046424e-01 -1.93658317e-03 1.25471622e+02] [ 2.22962857e-03 1.42351881e-05 9.99997514e-01 -3.91029216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.99, Y:125.47, Z:-0.39 [[-4.90490459e-01 -8.71446017e-01 9.74463966e-04 2.44992051e+02] [ 8.71444347e-01 -4.90491427e-01 -1.70614345e-03 1.25471256e+02] [ 1.96477813e-03 1.23440302e-05 9.99998070e-01 -3.90558049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.550281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:244.99, Y:125.47, Z:-0.39 [[-4.90833271e-01 -8.71252976e-01 9.75135419e-04 2.44993356e+02] [ 8.71251307e-01 -4.90834240e-01 -1.70575983e-03 1.25469121e+02] [ 1.96477818e-03 1.23443305e-05 9.99998070e-01 -3.90556436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:244.99, Y:125.47, Z:-0.39 [[-4.92062774e-01 -8.70559180e-01 9.69940946e-04 2.44993310e+02] [ 8.70557530e-01 -4.92063730e-01 -1.69512001e-03 1.25470645e+02] [ 1.95297504e-03 1.02839416e-05 9.99998093e-01 -3.91185373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:125.45, Z:-0.39 [[-4.93286577e-01 -8.69866161e-01 1.10223223e-03 2.45003445e+02] [ 8.69864032e-01 -4.93287809e-01 -1.92464019e-03 1.25454054e+02] [ 2.21789709e-03 9.39299499e-06 9.99997540e-01 -3.91900215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.00, Y:125.47, Z:-0.39 [[-4.94815476e-01 -8.68997102e-01 1.29656659e-03 2.44997084e+02] [ 8.68994158e-01 -4.94817175e-01 -2.26200470e-03 1.25467541e+02] [ 2.60723895e-03 7.43386212e-06 9.99996601e-01 -3.92125983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.00, Y:125.46, Z:-0.39 [[-4.98295357e-01 -8.67006016e-01 1.51850666e-03 2.45004263e+02] [ 8.67001975e-01 -4.98297671e-01 -2.64687104e-03 1.25463265e+02] [ 3.05152145e-03 -2.37527445e-06 9.99995344e-01 -3.92250563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.01, Y:125.46, Z:-0.39 [[-5.02094462e-01 -8.64810812e-01 1.84701045e-03 2.45013144e+02] [ 8.64804830e-01 -5.02097859e-01 -3.21666795e-03 1.25456140e+02] [ 3.70918922e-03 -1.77676027e-05 9.99993121e-01 -3.92343237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.02, Y:125.44, Z:-0.39 [[-5.03559417e-01 -8.63958508e-01 1.90013083e-03 2.45022007e+02] [ 8.63952182e-01 -5.03563002e-01 -3.30621852e-03 1.25443856e+02] [ 3.81327120e-03 -2.32552996e-05 9.99992729e-01 -3.92783502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.02, Y:125.45, Z:-0.39 [[-5.04714228e-01 -8.63283708e-01 2.18821759e-03 2.45019443e+02] [ 8.63275327e-01 -5.04718971e-01 -3.80414042e-03 1.25452122e+02] [ 4.38848738e-03 -3.09695460e-05 9.99990370e-01 -3.92910674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.02, Y:125.45, Z:-0.39 [[-5.06424389e-01 -8.62280598e-01 2.55101872e-03 2.45024880e+02] [ 8.62269215e-01 -5.06430812e-01 -4.43093366e-03 1.25453726e+02] [ 5.11262261e-03 -4.42679626e-05 9.99986930e-01 -3.92862086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.03, Y:125.46, Z:-0.39 [[-5.07408179e-01 -8.61701539e-01 2.71973404e-03 2.45025196e+02] [ 8.61688615e-01 -5.07415466e-01 -4.71973729e-03 1.25457991e+02] [ 5.44704001e-03 -5.12694461e-05 9.99985163e-01 -3.92466403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.85028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.03, Y:125.46, Z:-0.39 [[-5.07492620e-01 -8.61651159e-01 2.91890521e-03 2.45029042e+02] [ 8.61636299e-01 -5.07501012e-01 -5.06081058e-03 1.25460160e+02] [ 5.84200065e-03 -5.32893421e-05 9.99982934e-01 -3.93273539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.880281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.04, Y:125.45, Z:-0.39 [[-5.07370032e-01 -8.61722621e-01 3.12645240e-03 2.45037857e+02] [ 8.61705604e-01 -5.07379662e-01 -5.41579210e-03 1.25450290e+02] [ 6.25320892e-03 -5.37290548e-05 9.99980447e-01 -3.93450254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.03, Y:125.47, Z:-0.39 [[-5.06824142e-01 -8.62042348e-01 3.50410806e-03 2.45032691e+02] [ 8.62021017e-01 -5.06836253e-01 -6.06453384e-03 1.25469083e+02] [ 7.00389399e-03 -5.30373711e-05 9.99975471e-01 -3.93270759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.04, Y:125.47, Z:-0.39 [[-5.06267663e-01 -8.62370774e-01 3.11487079e-03 2.45035655e+02] [ 8.62353956e-01 -5.06277244e-01 -5.38589373e-03 1.25468085e+02] [ 6.22162554e-03 -4.05826848e-05 9.99980645e-01 -3.92612358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 404.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.04, Y:125.46, Z:-0.39 [[-5.05620328e-01 -8.62753112e-01 2.26978074e-03 2.45044055e+02] [ 8.62744203e-01 -5.05625422e-01 -3.92094812e-03 1.25456635e+02] [ 4.53046904e-03 -2.42709022e-05 9.99989737e-01 -3.92427748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.05, Y:125.46, Z:-0.39 [[-5.02582638e-01 -8.64528683e-01 9.21163825e-04 2.45047818e+02] [ 8.64527222e-01 -5.02583482e-01 -1.58953014e-03 1.25457826e+02] [ 1.83715612e-03 -2.49904716e-06 9.99998312e-01 -3.90717915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.05, Y:125.45, Z:-0.39 [[-4.98789252e-01 -8.66722529e-01 1.15738567e-03 2.45054804e+02] [ 8.66720232e-01 -4.98790595e-01 -1.99547220e-03 1.25449819e+02] [ 2.30681380e-03 7.80948769e-06 9.99997339e-01 -3.90256965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.06, Y:125.44, Z:-0.39 [[-4.97030959e-01 -8.67731108e-01 1.71780916e-03 2.45061920e+02] [ 8.67726062e-01 -4.97033927e-01 -2.95929950e-03 1.25437540e+02] [ 3.42168567e-03 1.97243102e-05 9.99994146e-01 -3.90973545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.07, Y:125.43, Z:-0.39 [[-4.95432675e-01 -8.68643246e-01 2.31837836e-03 2.45068721e+02] [ 8.68634081e-01 -4.95438098e-01 -3.99053794e-03 1.25425424e+02] [ 4.61496680e-03 3.67795707e-05 9.99989350e-01 -3.91859490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.120281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:245.07, Y:125.42, Z:-0.39 [[-4.92365545e-01 -8.70384255e-01 2.72372469e-03 2.45070365e+02] [ 8.70371653e-01 -4.92373074e-01 -4.68418826e-03 1.25422362e+02] [ 5.41813241e-03 6.43198528e-05 9.99985320e-01 -3.93105721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.15028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.08, Y:125.41, Z:-0.39 [[-4.90922961e-01 -8.71199681e-01 2.40056586e-03 2.45077411e+02] [ 8.71189919e-01 -4.90928826e-01 -4.12474059e-03 1.25409463e+02] [ 4.77197966e-03 6.64189128e-05 9.99988612e-01 -3.93165554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.08, Y:125.40, Z:-0.39 [[-4.87175585e-01 -8.73303117e-01 1.27132440e-03 2.45078324e+02] [ 8.73300391e-01 -4.87177241e-01 -2.18229939e-03 1.25403161e+02] [ 2.52516917e-03 4.70851175e-05 9.99996811e-01 -3.91361398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.21028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.09, Y:125.37, Z:-0.39 [[-4.85478348e-01 -8.74248273e-01 8.54797138e-04 2.45093057e+02] [ 8.74247045e-01 -4.85479099e-01 -1.46588727e-03 1.25374273e+02] [ 1.69653555e-03 3.56473435e-05 9.99998560e-01 -3.90707313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.09, Y:125.38, Z:-0.39 [[-4.84248686e-01 -8.74929932e-01 9.08471270e-04 2.45086226e+02] [ 8.74928548e-01 -4.84249536e-01 -1.55662917e-03 1.25382167e+02] [ 1.80186825e-03 4.10518184e-05 9.99998376e-01 -3.90924608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.08, Y:125.38, Z:-0.39 [[-4.82911435e-01 -8.75667090e-01 1.92183509e-03 2.45078559e+02] [ 8.75660912e-01 -4.82915250e-01 -3.29066792e-03 1.25384875e+02] [ 3.80961307e-03 9.37746975e-05 9.99992739e-01 -3.93551938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.300281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.08, Y:125.39, Z:-0.39 [[-4.83683444e-01 -8.75239643e-01 2.42745589e-03 2.45075600e+02] [ 8.75229798e-01 -4.83689522e-01 -4.15293447e-03 1.25385375e+02] [ 4.80894786e-03 1.15876077e-04 9.99988430e-01 -3.94256425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.33028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.08, Y:125.37, Z:-0.39 [[-4.86390369e-01 -8.73737908e-01 2.54492192e-03 2.45083848e+02] [ 8.73727085e-01 -4.86397015e-01 -4.35016625e-03 1.25365608e+02] [ 5.03874759e-03 1.07688245e-04 9.99987300e-01 -3.92962722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.36028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.08, Y:125.38, Z:-0.39 [[-4.88177773e-01 -8.72741057e-01 2.34709695e-03 2.45075431e+02] [ 8.72731856e-01 -4.88183407e-01 -4.00851878e-03 1.25377366e+02] [ 4.64421271e-03 9.15165042e-05 9.99989211e-01 -3.91376542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.39028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.07, Y:125.38, Z:-0.39 [[-4.91418754e-01 -8.70922936e-01 9.20571190e-04 2.45071109e+02] [ 8.70921521e-01 -4.91419615e-01 -1.57054935e-03 1.25378506e+02] [ 1.82021419e-03 2.99478563e-05 9.99998343e-01 -3.89536041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.07, Y:125.38, Z:-0.39 [[-4.93226571e-01 -8.69900842e-01 2.73294618e-04 2.45068436e+02] [ 8.69900717e-01 -4.93226647e-01 -4.65510788e-04 1.25380072e+02] [ 5.39744415e-04 8.13689396e-06 9.99999854e-01 -3.89721039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.45028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.06, Y:125.39, Z:-0.39 [[-4.95646510e-01 -8.68523863e-01 9.14725520e-04 2.45059226e+02] [ 8.68522466e-01 -4.95647354e-01 -1.55783813e-03 1.25389243e+02] [ 1.80640088e-03 2.23226296e-05 9.99998368e-01 -3.91815109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.48028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.06, Y:125.39, Z:-0.39 [[-4.96123845e-01 -8.68249804e-01 1.84615092e-03 2.45059122e+02] [ 8.68244120e-01 -4.96127278e-01 -3.14183404e-03 1.25386141e+02] [ 3.64382262e-03 4.41708991e-05 9.99993360e-01 -3.91593632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.51028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.05, Y:125.39, Z:-0.39 [[-4.96298459e-01 -8.68148732e-01 2.37028222e-03 2.45054478e+02] [ 8.68139378e-01 -4.96304116e-01 -4.03038917e-03 1.25385984e+02] [ 4.67535807e-03 5.74593984e-05 9.99989069e-01 -3.91468781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.54028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.05, Y:125.39, Z:-0.39 [[-4.96797560e-01 -8.67863576e-01 2.23567692e-03 2.45049167e+02] [ 8.67855267e-01 -4.96802587e-01 -3.79810174e-03 1.25392349e+02] [ 4.40692423e-03 5.33563154e-05 9.99990288e-01 -3.91280488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.57028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.05, Y:125.38, Z:-0.39 [[-4.98885877e-01 -8.66665697e-01 1.85756960e-03 2.45052901e+02] [ 8.66659963e-01 -4.98889334e-01 -3.15286250e-03 1.25382816e+02] [ 3.65919944e-03 3.69626298e-05 9.99993304e-01 -3.91482713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.60028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.04, Y:125.40, Z:-0.39 [[-5.00568255e-01 -8.65695024e-01 1.88341791e-03 2.45044623e+02] [ 8.65689133e-01 -5.00571797e-01 -3.19388971e-03 1.25395142e+02] [ 3.70772032e-03 3.16946218e-05 9.99993126e-01 -3.91936373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.630281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.05, Y:125.39, Z:-0.39 [[-5.02649802e-01 -8.64488020e-01 1.90793381e-03 2.45046220e+02] [ 8.64481976e-01 -5.02653423e-01 -3.23256870e-03 1.25390003e+02] [ 3.75354638e-03 2.45243756e-05 9.99992955e-01 -3.91817701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.05, Y:125.39, Z:-0.39 [[-5.07941075e-01 -8.61389911e-01 1.81262065e-03 2.45047338e+02] [ 8.61384446e-01 -5.07944309e-01 -3.06831015e-03 1.25387355e+02] [ 3.56372175e-03 2.84248244e-06 9.99993650e-01 -3.91451497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.690281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.06, Y:125.38, Z:-0.39 [[-5.11165237e-01 -8.59480350e-01 1.90491823e-03 2.45055244e+02] [ 8.59474312e-01 -5.11168787e-01 -3.22170258e-03 1.25376956e+02] [ 3.74272480e-03 -9.59407504e-06 9.99992996e-01 -3.90908388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.07, Y:125.36, Z:-0.39 [[-5.16874234e-01 -8.56059362e-01 1.84275141e-03 2.45070315e+02] [ 8.56053699e-01 -5.16877518e-01 -3.11381195e-03 1.25356581e+02] [ 3.61808464e-03 -3.19550034e-05 9.99993454e-01 -3.89805021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.05, Y:125.39, Z:-0.39 [[-5.18995264e-01 -8.54774204e-01 2.23068169e-03 2.45048909e+02] [ 8.54774204e-01 -5.18998540e-01 -1.25548006e-03 1.25392700e+02] [ 2.23087251e-03 1.25514096e-03 9.99996724e-01 -3.89381442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.78028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.07, Y:125.36, Z:-0.39 [[-5.21420462e-01 -8.53299723e-01 5.32669144e-04 2.45072079e+02] [ 8.53294055e-01 -5.21419104e-01 -3.37261723e-03 1.25361200e+02] [ 3.15559722e-03 -1.30402822e-03 9.99994171e-01 -3.89585365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.810281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.08, Y:125.35, Z:-0.39 [[-5.22823831e-01 -8.52438052e-01 2.14696000e-03 2.45080096e+02] [ 8.52430375e-01 -5.22828236e-01 -3.61833870e-03 1.25351191e+02] [ 4.20690090e-03 -6.16197892e-05 9.99991149e-01 -3.90318777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.09, Y:125.35, Z:-0.39 [[-5.25588681e-01 -8.50733500e-01 3.00857096e-03 2.45085539e+02] [ 8.50718421e-01 -5.25597281e-01 -5.06622965e-03 1.25348882e+02] [ 5.89130800e-03 -1.03306221e-04 9.99982641e-01 -3.90983221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.09, Y:125.35, Z:-0.39 [[-5.26727459e-01 -8.50029215e-01 2.91836115e-03 2.45089543e+02] [ 8.50015041e-01 -5.26735533e-01 -4.91005011e-03 1.25345402e+02] [ 5.71089056e-03 -1.05607350e-04 9.99983687e-01 -3.90369091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:125.35, Z:-0.39 [[-5.27643134e-01 -8.49463717e-01 2.02870805e-03 2.45090798e+02] [ 8.49456876e-01 -5.27647029e-01 -3.41012750e-03 1.25353099e+02] [ 3.96722136e-03 -7.60303588e-05 9.99992128e-01 -3.89459824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.10, Y:125.34, Z:-0.39 [[-5.27825833e-01 -8.49350652e-01 1.83305163e-03 2.45101833e+02] [ 8.49345075e-01 -5.27829012e-01 -3.07852855e-03 1.25339539e+02] [ 3.58228806e-03 -6.80335229e-05 9.99993581e-01 -3.89087906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.96028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.10, Y:125.35, Z:-0.39 [[-5.27512494e-01 -8.49545190e-01 1.88112850e-03 2.45099780e+02] [ 8.49539328e-01 -5.27515844e-01 -3.15655159e-03 1.25349925e+02] [ 3.67395830e-03 -6.70277587e-05 9.99993249e-01 -3.90280407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 405.990281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.09, Y:125.37, Z:-0.39 [[-5.27104597e-01 -8.49798306e-01 1.89288668e-03 2.45087487e+02] [ 8.49792383e-01 -5.27107992e-01 -3.17349000e-03 1.25373301e+02] [ 3.69458212e-03 -6.42004842e-05 9.99993173e-01 -3.90781482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.02028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.10, Y:125.35, Z:-0.39 [[-5.26497595e-01 -8.50174984e-01 1.66698124e-03 2.45103020e+02] [ 8.50170400e-01 -5.26500232e-01 -2.79223933e-03 1.25349556e+02] [ 3.25155804e-03 -5.28891884e-05 9.99994712e-01 -3.89850065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.09, Y:125.37, Z:-0.39 [[-5.22882273e-01 -8.52404269e-01 1.04433063e-03 2.45092313e+02] [ 8.52402478e-01 -5.22883315e-01 -1.74756669e-03 1.25370887e+02] [ 2.03569637e-03 -2.35816207e-05 9.99997928e-01 -3.88886399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.08028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.09, Y:125.38, Z:-0.39 [[-5.20539388e-01 -8.53836752e-01 1.24367705e-03 2.45086119e+02] [ 8.53834220e-01 -5.20540873e-01 -2.07937998e-03 1.25381538e+02] [ 2.42283579e-03 -2.05051616e-05 9.99997065e-01 -3.88475018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.09, Y:125.37, Z:-0.39 [[-5.15353259e-01 -8.56975011e-01 2.20217949e-03 2.45090850e+02] [ 8.56967114e-01 -5.15357964e-01 -3.67904569e-03 1.25373456e+02] [ 4.28776095e-03 -8.81278498e-06 9.99990808e-01 -3.89638568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.10, Y:125.37, Z:-0.39 [[-5.13573299e-01 -8.58042429e-01 2.37835719e-03 2.45095557e+02] [ 8.58033246e-01 -5.13578806e-01 -3.96988426e-03 1.25366524e+02] [ 4.62780298e-03 1.88297991e-06 9.99989292e-01 -3.90186650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:125.37, Z:-0.39 [[-5.12056218e-01 -8.58950655e-01 1.48379334e-03 2.45096058e+02] [ 8.58947091e-01 -5.12058368e-01 -2.47432341e-03 1.25367934e+02] [ 2.88511050e-03 7.50728449e-06 9.99995838e-01 -3.89482646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.10, Y:125.37, Z:-0.39 [[-5.11613563e-01 -8.59215067e-01 1.01502441e-03 2.45096793e+02] [ 8.59213403e-01 -5.11614570e-01 -1.69096104e-03 1.25366805e+02] [ 1.97220048e-03 7.00397021e-06 9.99998055e-01 -3.90044035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.23028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.11, Y:125.35, Z:-0.39 [[-5.11195318e-01 -8.59463627e-01 1.27286516e-03 2.45105171e+02] [ 8.59461016e-01 -5.11196903e-01 -2.11875720e-03 1.25352854e+02] [ 2.47167948e-03 1.08792244e-05 9.99996945e-01 -3.90258098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.26028169299997 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.11, Y:125.35, Z:-0.39 [[-5.10527200e-01 -8.59859785e-01 1.76890982e-03 2.45106921e+02] [ 8.59854752e-01 -5.10530264e-01 -2.94205467e-03 1.25350276e+02] [ 3.43283649e-03 1.90065825e-05 9.99994108e-01 -3.90227438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.11, Y:125.35, Z:-0.39 [[-5.07781144e-01 -8.61484113e-01 1.85266269e-03 2.45108585e+02] [ 8.61478613e-01 -5.07784523e-01 -3.07867215e-03 1.25345400e+02] [ 3.59298059e-03 3.27376126e-05 9.99993545e-01 -3.88387428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.11, Y:125.33, Z:-0.39 [[-5.06381652e-01 -8.62308530e-01 1.27334967e-03 2.45113498e+02] [ 8.62305939e-01 -5.06383253e-01 -2.11400121e-03 1.25331952e+02] [ 2.46772423e-03 2.75255598e-05 9.99996955e-01 -3.88029543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.35028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.12, Y:125.31, Z:-0.39 [[-5.03060188e-01 -8.64251309e-01 3.49863801e-04 2.45123184e+02] [ 8.64251115e-01 -5.03060309e-01 -5.79999354e-04 1.25306068e+02] [ 6.77267793e-04 1.05955965e-05 9.99999771e-01 -3.88349540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.380281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.12, Y:125.31, Z:-0.39 [[-5.01842847e-01 -8.64958564e-01 6.63056990e-04 2.45117313e+02] [ 8.64957866e-01 -5.01843285e-01 -1.09868967e-03 1.25312791e+02] [ 1.28307174e-03 2.21468071e-05 9.99999177e-01 -3.89018708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.41028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.11, Y:125.32, Z:-0.39 [[-4.99778051e-01 -8.66150446e-01 2.30341001e-03 2.45106846e+02] [ 8.66142050e-01 -4.99783351e-01 -3.81462407e-03 1.25320381e+02] [ 4.45524431e-03 8.86148925e-05 9.99990071e-01 -3.89300229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.440281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.12, Y:125.30, Z:-0.39 [[-4.99805451e-01 -8.66134071e-01 2.50654398e-03 2.45116307e+02] [ 8.66124146e-01 -4.99811727e-01 -4.14749667e-03 1.25297423e+02] [ 4.84508825e-03 9.80368191e-05 9.99988258e-01 -3.89592027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.12, Y:125.30, Z:-0.39 [[-5.00133131e-01 -8.65944894e-01 2.50811147e-03 2.45117662e+02] [ 8.65934972e-01 -5.00139411e-01 -4.14654901e-03 1.25295324e+02] [ 4.84508834e-03 9.80348946e-05 9.99988258e-01 -3.89590417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.11, Y:125.30, Z:-0.39 [[-5.02498544e-01 -8.64577026e-01 1.33357132e-03 2.45107384e+02] [ 8.64574222e-01 -5.02500312e-01 -2.20262302e-03 1.25299816e+02] [ 2.57445726e-03 4.61565241e-05 9.99996685e-01 -3.89186059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.04669758e-01 -8.63312187e-01 7.09640093e-04 2.45101974e+02] [ 8.63311393e-01 -5.04670256e-01 -1.17085719e-03 1.25305309e+02] [ 1.36894952e-03 2.17441646e-05 9.99999063e-01 -3.88736632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.560281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.11, Y:125.30, Z:-0.39 [[-5.07013939e-01 -8.61937771e-01 3.79130776e-04 2.45105997e+02] [ 8.61937545e-01 -5.07014081e-01 -6.24778094e-04 1.25296841e+02] [ 7.30744480e-04 1.00158478e-05 9.99999733e-01 -3.88414665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.59028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.12333477e-01 -8.58786579e-01 1.41125855e-04 2.45096479e+02] [ 8.58786548e-01 -5.12333496e-01 -2.32063604e-04 1.25310257e+02] [ 2.71596612e-04 2.30303303e-06 9.99999963e-01 -3.88781596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.620281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.09, Y:125.32, Z:-0.39 [[-5.14935993e-01 -8.57228630e-01 2.83241971e-06 2.45093499e+02] [ 8.57228630e-01 -5.14935993e-01 -4.18329665e-06 1.25315953e+02] [ 5.04455660e-06 2.73901256e-07 1.00000000e+00 -3.88417718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.65028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:245.09, Y:125.32, Z:-0.39 [[-5.17813327e-01 -8.55493586e-01 -2.89444112e-04 2.45092294e+02] [ 8.55493453e-01 -5.17813408e-01 4.76572670e-04 1.25321349e+02] [-5.57582904e-04 -8.41863404e-07 9.99999845e-01 -3.87625729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.680281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.18401593e-01 -8.55137267e-01 2.07733985e-04 2.45100226e+02] [ 8.55137199e-01 -5.18401635e-01 -3.40907826e-04 1.25309901e+02] [ 3.99212624e-04 9.13898477e-07 9.99999920e-01 -3.87294327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.71028169299996 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.17589228e-01 -8.55626961e-01 1.97343658e-03 2.45102612e+02] [ 8.55620828e-01 -5.17592990e-01 -3.23981947e-03 1.25306901e+02] [ 3.79351383e-03 1.16177834e-05 9.99992805e-01 -3.88527832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.740281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.16755984e-01 -8.56129314e-01 2.41907929e-03 2.45101597e+02] [ 8.56120118e-01 -5.16761645e-01 -3.96806245e-03 1.25310000e+02] [ 4.64726197e-03 2.05024367e-05 9.99989201e-01 -3.89723390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.77028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.10, Y:125.32, Z:-0.39 [[-5.14547087e-01 -8.57458313e-01 2.55680342e-03 2.45097872e+02] [ 8.57448075e-01 -5.14553438e-01 -4.19029775e-03 1.25319712e+02] [ 4.90861763e-03 3.62206754e-05 9.99987952e-01 -3.89777009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.800281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.10, Y:125.31, Z:-0.39 [[-5.13620786e-01 -8.58013890e-01 2.41920569e-03 2.45102944e+02] [ 8.58004747e-01 -5.13626482e-01 -3.96125788e-03 1.25312678e+02] [ 4.64138239e-03 4.11055783e-05 9.99989228e-01 -3.89245771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.83028169299996 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.12, Y:125.29, Z:-0.39 [[-5.11069999e-01 -8.59537481e-01 1.66569741e-03 2.45118123e+02] [ 8.59533163e-01 -5.11072712e-01 -2.72492088e-03 1.25288494e+02] [ 3.19346412e-03 3.90968509e-05 9.99994900e-01 -3.88984044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.86028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.12, Y:125.28, Z:-0.39 [[-5.09504125e-01 -8.60466942e-01 1.47955409e-03 2.45124629e+02] [ 8.60463544e-01 -5.09506271e-01 -2.41827844e-03 1.25275469e+02] [ 2.83469074e-03 4.09795182e-05 9.99995981e-01 -3.89207828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.89028169299996 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:245.12, Y:125.28, Z:-0.39 [[-5.05176810e-01 -8.63012186e-01 2.52155352e-03 2.45117443e+02] [ 8.63002365e-01 -5.05183094e-01 -4.11817886e-03 1.25278369e+02] [ 4.82788475e-03 9.56981890e-05 9.99988341e-01 -3.90750334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.92028169299994 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:245.12, Y:125.26, Z:-0.39 [[-5.03395514e-01 -8.64050533e-01 3.10355002e-03 2.45124190e+02] [ 8.64035701e-01 -5.03405064e-01 -5.06445318e-03 1.25263803e+02] [ 5.93828627e-03 1.32155002e-04 9.99982360e-01 -3.91025453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.95028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.12, Y:125.26, Z:-0.39 [[-5.01055665e-01 -8.65411572e-01 2.45612663e-03 2.45122514e+02] [ 8.65402315e-01 -5.01061670e-01 -4.00445661e-03 1.25259623e+02] [ 4.69617400e-03 1.19082001e-04 9.99988966e-01 -3.89599342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 406.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.13, Y:125.24, Z:-0.39 [[-5.00600960e-01 -8.65676411e-01 1.74074793e-03 2.45129074e+02] [ 8.65671771e-01 -5.00603979e-01 -2.83556672e-03 1.25243550e+02] [ 3.32610856e-03 8.74289156e-05 9.99994465e-01 -3.88464605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.01028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.13, Y:125.23, Z:-0.39 [[-5.00016935e-01 -8.66014664e-01 1.29074569e-03 2.45127878e+02] [ 8.66012119e-01 -5.00018597e-01 -2.10065596e-03 1.25233920e+02] [ 2.46459571e-03 6.74378556e-05 9.99996961e-01 -3.89183147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.04028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.13, Y:125.23, Z:-0.39 [[-5.00250960e-01 -8.65879607e-01 1.21799655e-03 2.45127652e+02] [ 8.65877344e-01 -5.00252438e-01 -1.98056862e-03 1.25230494e+02] [ 2.32423973e-03 6.38542613e-05 9.99997297e-01 -3.89816570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.07028169299997 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.07, Y:125.31, Z:-0.39 [[-5.00727851e-01 -8.65599268e-01 3.08649980e-03 2.45074207e+02] [ 8.65603942e-01 -5.00729124e-01 4.01112279e-04 1.25307688e+02] [ 1.19829785e-03 2.87253448e-03 9.99995156e-01 -3.90385216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.10028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.08, Y:125.30, Z:-0.39 [[-5.00775730e-01 -8.65574727e-01 2.01500749e-03 2.45078113e+02] [ 8.65577072e-01 -5.00774270e-01 1.20960111e-03 1.25296943e+02] [-3.79362487e-05 2.34988316e-03 9.99997238e-01 -3.89310810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.130281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.04, Y:125.35, Z:-0.39 [[-4.99783702e-01 -8.66147377e-01 -2.22998476e-03 2.45042212e+02] [ 8.66141924e-01 -4.99765956e-01 -5.67071222e-03 1.25349550e+02] [ 3.79720205e-03 -4.76561284e-03 9.99981435e-01 -3.89018059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.16028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.11, Y:125.24, Z:-0.39 [[-4.98553046e-01 -8.66856686e-01 2.08481763e-03 2.45106377e+02] [ 8.66849683e-01 -4.98557400e-01 -3.48521967e-03 1.25235264e+02] [ 4.06058724e-03 6.96566195e-05 9.99991753e-01 -3.89624433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.190281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.11, Y:125.22, Z:-0.39 [[-4.98006519e-01 -8.67170252e-01 2.29372596e-03 2.45111637e+02] [ 8.67162277e-01 -4.98011783e-01 -3.72144066e-03 1.25216611e+02] [ 4.36942519e-03 1.35730915e-04 9.99990445e-01 -3.90514000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.22028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.11, Y:125.22, Z:-0.39 [[-4.98454352e-01 -8.66914366e-01 1.65572956e-03 2.45108843e+02] [ 8.66910217e-01 -4.98457092e-01 -2.68397848e-03 1.25216103e+02] [ 3.15208964e-03 9.75281186e-05 9.99995027e-01 -3.90154318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.250281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.10, Y:125.21, Z:-0.39 [[-5.00728330e-01 -8.65604426e-01 3.41458984e-04 2.45104925e+02] [ 8.65604250e-01 -5.00728446e-01 -5.52787946e-04 1.25213951e+02] [ 6.49473919e-04 1.87717624e-05 9.99999789e-01 -3.88426832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.10, Y:125.21, Z:-0.39 [[-5.03220683e-01 -8.64157935e-01 8.22309707e-05 2.45103830e+02] [ 8.64157925e-01 -5.03220690e-01 -1.32763259e-04 1.25212296e+02] [ 1.56108750e-04 4.25132696e-06 9.99999988e-01 -3.88289956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.09, Y:125.23, Z:-0.39 [[-5.07942147e-01 -8.61390822e-01 7.91765953e-04 2.45092469e+02] [ 8.61389872e-01 -5.07942763e-01 -1.28004558e-03 1.25226112e+02] [ 1.50479130e-03 3.18300718e-05 9.99998867e-01 -3.90268537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.09, Y:125.23, Z:-0.39 [[-5.09933317e-01 -8.60212660e-01 1.48063855e-03 2.45089959e+02] [ 8.60209336e-01 -5.09935463e-01 -2.39197281e-03 1.25228644e+02] [ 2.81263540e-03 5.39124796e-05 9.99996043e-01 -3.91144766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.370281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.08, Y:125.24, Z:-0.39 [[-5.12676346e-01 -8.58576819e-01 2.96814639e-03 2.45082205e+02] [ 8.58563455e-01 -5.12684930e-01 -4.79123068e-03 1.25237670e+02] [ 5.63536352e-03 9.19913752e-05 9.99984117e-01 -3.91281005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.40028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.08, Y:125.24, Z:-0.39 [[-5.13925010e-01 -8.57829128e-01 3.20495846e-03 2.45080550e+02] [ 8.57813559e-01 -5.13934995e-01 -5.16902327e-03 1.25238439e+02] [ 6.08127904e-03 9.27664894e-05 9.99981505e-01 -3.91040743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.430281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.08, Y:125.24, Z:-0.39 [[-5.15005825e-01 -8.57183792e-01 2.22428253e-03 2.45075758e+02] [ 8.57176301e-01 -5.15010625e-01 -3.58413023e-03 1.25243202e+02] [ 4.21778748e-03 6.07543231e-05 9.99991103e-01 -3.91440886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.08, Y:125.24, Z:-0.39 [[-5.15018117e-01 -8.57178008e-01 1.48405632e-03 2.45078263e+02] [ 8.57174679e-01 -5.15020254e-01 -2.38915064e-03 1.25237388e+02] [ 2.81224645e-03 4.16396388e-05 9.99996045e-01 -3.91682682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.490281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.13438675e-01 -8.58125541e-01 1.13216255e-03 2.45078020e+02] [ 8.58123610e-01 -5.13439922e-01 -1.82097210e-03 1.25234736e+02] [ 2.14392012e-03 3.65779116e-05 9.99997701e-01 -3.91392337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.52028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.13315147e-01 -8.58199070e-01 1.38441497e-03 2.45081229e+02] [ 8.58196187e-01 -5.13317012e-01 -2.22483000e-03 1.25228474e+02] [ 2.61999079e-03 4.60607116e-05 9.99996567e-01 -3.92201655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.15072070e-01 -8.57143041e-01 2.56324085e-03 2.45080662e+02] [ 8.57133162e-01 -5.15078442e-01 -4.11596619e-03 1.25228835e+02] [ 4.84824189e-03 7.70195137e-05 9.99988244e-01 -3.92566376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.58028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.16943781e-01 -8.56013645e-01 3.12512108e-03 2.45082168e+02] [ 8.55998965e-01 -5.16953221e-01 -5.01391541e-03 1.25225766e+02] [ 5.90752141e-03 8.31880244e-05 9.99982547e-01 -3.92801768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.61028169299993 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.07, Y:125.24, Z:-0.39 [[-5.20411033e-01 -8.53908201e-01 3.62510306e-03 2.45073232e+02] [ 8.53888431e-01 -5.20423654e-01 -5.81103748e-03 1.25236149e+02] [ 6.84868194e-03 7.13055414e-05 9.99976545e-01 -3.93289075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.64028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.21378436e-01 -8.53318455e-01 3.48434189e-03 2.45077470e+02] [ 8.53300167e-01 -5.21390075e-01 -5.58703502e-03 1.25227955e+02] [ 6.58422137e-03 6.02299303e-05 9.99978322e-01 -3.92855066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.67028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.08, Y:125.22, Z:-0.39 [[-5.22993354e-01 -8.52334014e-01 2.16332842e-03 2.45080557e+02] [ 8.52326958e-01 -5.22997828e-01 -3.46835871e-03 1.25223305e+02] [ 4.08761616e-03 2.99345765e-05 9.99991645e-01 -3.93238520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.70028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.08, Y:125.23, Z:-0.39 [[-5.24356116e-01 -8.51497946e-01 1.38258273e-03 2.45078153e+02] [ 8.51495067e-01 -5.24357939e-01 -2.21438141e-03 1.25227870e+02] [ 2.61050946e-03 1.61379387e-05 9.99996593e-01 -3.92352923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.73028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.08, Y:125.22, Z:-0.39 [[-5.25009703e-01 -8.51096073e-01 5.34677912e-04 2.45084027e+02] [ 8.51095642e-01 -5.25009975e-01 -8.56755999e-04 1.25218668e+02] [ 1.00989290e-03 5.25682864e-06 9.99999490e-01 -3.92070033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.76028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.26058048e-01 -8.50448432e-01 6.28038997e-04 2.45088643e+02] [ 8.50447837e-01 -5.26058423e-01 -1.00655773e-03 1.25207301e+02] [ 1.18641065e-03 4.60661145e-06 9.99999296e-01 -3.91242074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.26566325e-01 -8.50133022e-01 1.32288477e-03 2.45086147e+02] [ 8.50130384e-01 -5.26567987e-01 -2.11785353e-03 1.25210434e+02] [ 2.49704599e-03 9.43419167e-06 9.99996882e-01 -3.91508990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.82028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.26140128e-01 -8.50394764e-01 2.30469972e-03 2.45085662e+02] [ 8.50386773e-01 -5.26145175e-01 -3.68673547e-03 1.25210813e+02] [ 4.34778717e-03 2.01466877e-05 9.99990548e-01 -3.91533611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.85028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.08, Y:125.21, Z:-0.39 [[-5.25499437e-01 -8.50791060e-01 2.21668116e-03 2.45083258e+02] [ 8.50783684e-01 -5.25504111e-01 -3.54285136e-03 1.25212837e+02] [ 4.17910133e-03 2.41497706e-05 9.99991267e-01 -3.91261672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.08, Y:125.21, Z:-0.39 [[-5.25138752e-01 -8.51014536e-01 1.88423459e-03 2.45083744e+02] [ 8.51009206e-01 -5.25142132e-01 -3.01216325e-03 1.25209867e+02] [ 3.55288568e-03 2.16973322e-05 9.99993688e-01 -3.91169527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.91028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.08, Y:125.21, Z:-0.39 [[-5.24718680e-01 -8.51274904e-01 1.15929815e-03 2.45084098e+02] [ 8.51272888e-01 -5.24719961e-01 -1.85300296e-03 1.25208264e+02] [ 2.18572180e-03 1.45738199e-05 9.99997611e-01 -3.91421573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.09, Y:125.19, Z:-0.39 [[-5.23356475e-01 -8.52113839e-01 -6.87650227e-05 2.45091606e+02] [ 8.52113832e-01 -5.23356480e-01 1.09825982e-04 1.25194545e+02] [-1.29572859e-04 -1.11748825e-06 9.99999992e-01 -3.90760255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 407.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.08, Y:125.20, Z:-0.39 [[-5.22377044e-01 -8.52714531e-01 3.90220337e-04 2.45081077e+02] [ 8.52714303e-01 -5.22377190e-01 -6.23071079e-04 1.25204568e+02] [ 7.35143966e-04 7.26843441e-06 9.99999730e-01 -3.91848814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.08, Y:125.21, Z:-0.39 [[-5.22426927e-01 -8.52683625e-01 8.60899707e-04 2.45076038e+02] [ 8.52682518e-01 -5.22427636e-01 -1.37400965e-03 1.25209846e+02] [ 1.62135333e-03 1.62544910e-05 9.99998686e-01 -3.92390219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.08, Y:125.20, Z:-0.39 [[-5.24570676e-01 -8.51366369e-01 9.54816308e-04 2.45083102e+02] [ 8.51365003e-01 -5.24571545e-01 -1.52484824e-03 1.25198761e+02] [ 1.79907398e-03 1.30065166e-05 9.99998382e-01 -3.92463943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.08, Y:125.20, Z:-0.39 [[-5.26697123e-01 -8.50052768e-01 6.56914088e-04 2.45081987e+02] [ 8.50052121e-01 -5.26697533e-01 -1.04900989e-03 1.25202095e+02] [ 1.23770879e-03 5.90072131e-06 9.99999234e-01 -3.92285157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.09028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.09, Y:125.20, Z:-0.39 [[-5.28762405e-01 -8.48769640e-01 6.45908627e-04 2.45086425e+02] [ 8.48769013e-01 -5.28762799e-01 -1.03189424e-03 1.25196231e+02] [ 1.21737296e-03 2.60034579e-06 9.99999259e-01 -3.91906434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.120281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.10, Y:125.19, Z:-0.39 [[-5.32513798e-01 -8.46420046e-01 1.47007428e-03 2.45097150e+02] [ 8.46416786e-01 -5.32515827e-01 -2.34916209e-03 1.25185501e+02] [ 2.77121571e-03 -6.66567919e-06 9.99996160e-01 -3.93053532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.15028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.35142197e-01 -8.44759389e-01 2.09835002e-03 2.45089129e+02] [ 8.44752748e-01 -5.35146310e-01 -3.34977805e-03 1.25206519e+02] [ 3.95268073e-03 -2.00206365e-05 9.99992188e-01 -3.93240345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.180281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:245.10, Y:125.20, Z:-0.39 [[-5.34979745e-01 -8.44862168e-01 2.14258932e-03 2.45095351e+02] [ 8.44855239e-01 -5.34984035e-01 -3.42155206e-03 1.25197717e+02] [ 4.03699097e-03 -2.02832342e-05 9.99991851e-01 -3.93442302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.21028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.08, Y:125.22, Z:-0.39 [[-5.32561005e-01 -8.46387505e-01 2.63945039e-03 2.45079871e+02] [ 8.46377030e-01 -5.32567546e-01 -4.21093658e-03 1.25222335e+02] [ 4.96976972e-03 -8.61043669e-06 9.99987651e-01 -3.93238312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.240281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.30628191e-01 -8.47599871e-01 2.86028185e-03 2.45086494e+02] [ 8.47587580e-01 -5.30635900e-01 -4.56468214e-03 1.25213194e+02] [ 5.38679223e-03 2.19034272e-06 9.99985491e-01 -3.93086962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.27028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.08, Y:125.22, Z:-0.39 [[-5.28988201e-01 -8.48624118e-01 2.93087670e-03 2.45082093e+02] [ 8.48611252e-01 -5.28996320e-01 -4.67286513e-03 1.25223335e+02] [ 5.51592904e-03 1.52844305e-05 9.99984787e-01 -3.93147938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.300281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.28846896e-01 -8.48713126e-01 2.64385389e-03 2.45089329e+02] [ 8.48702652e-01 -5.28853505e-01 -4.21654811e-03 1.25212483e+02] [ 4.97685112e-03 1.39374264e-05 9.99987615e-01 -3.92922054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.33028169299996 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.30601444e-01 -8.47619982e-01 1.57294214e-03 2.45092246e+02] [ 8.47616277e-01 -5.30603776e-01 -2.50606240e-03 1.25209637e+02] [ 2.95879760e-03 3.53103384e-06 9.99995623e-01 -3.93507313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.36028169299993 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.09, Y:125.21, Z:-0.39 [[-5.30930165e-01 -8.47414115e-01 1.57391401e-03 2.45093650e+02] [ 8.47410411e-01 -5.30932498e-01 -2.50545218e-03 1.25207539e+02] [ 2.95879764e-03 3.53097403e-06 9.99995623e-01 -3.93506168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.39028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.10, Y:125.20, Z:-0.39 [[-5.32301179e-01 -8.46553739e-01 1.49095725e-03 2.45101056e+02] [ 8.46550411e-01 -5.32303267e-01 -2.37341597e-03 1.25198925e+02] [ 2.80286558e-03 -1.20164375e-06 9.99996072e-01 -3.94146722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.42028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.10, Y:125.20, Z:-0.39 [[-5.36232163e-01 -8.44069111e-01 1.55049653e-03 2.45102967e+02] [ 8.44065509e-01 -5.36234404e-01 -2.46579660e-03 1.25202540e+02] [ 2.91273233e-03 -1.35188046e-05 9.99995758e-01 -3.94265487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.45028169299997 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:245.12, Y:125.18, Z:-0.39 [[-5.37624799e-01 -8.43182986e-01 1.42367026e-03 2.45116830e+02] [ 8.43179944e-01 -5.37626684e-01 -2.26525184e-03 1.25183554e+02] [ 2.67542493e-03 -1.74453552e-05 9.99996421e-01 -3.93173832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.48028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.12, Y:125.19, Z:-0.39 [[-5.39736123e-01 -8.41832252e-01 1.83754374e-03 2.45119867e+02] [ 8.41827186e-01 -5.39739250e-01 -2.92083743e-03 1.25185614e+02] [ 3.45064963e-03 -2.95871965e-05 9.99994046e-01 -3.92264741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.51028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.12, Y:125.19, Z:-0.39 [[-5.40968568e-01 -8.41039638e-01 2.30981991e-03 2.45117306e+02] [ 8.41031639e-01 -5.40973497e-01 -3.66851385e-03 1.25194146e+02] [ 4.33491692e-03 -4.19190590e-05 9.99990603e-01 -3.92831525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.54028169299994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:245.13, Y:125.18, Z:-0.39 [[-5.43317735e-01 -8.39523837e-01 2.35902847e-03 2.45133229e+02] [ 8.39515483e-01 -5.43322854e-01 -3.74569800e-03 1.25179382e+02] [ 4.42631684e-03 -5.46632248e-05 9.99990202e-01 -3.93013548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.57028169299997 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:245.14, Y:125.18, Z:-0.39 [[-5.45122633e-01 -8.38354195e-01 1.88651111e-03 2.45135687e+02] [ 8.38348855e-01 -5.45125895e-01 -2.99269294e-03 1.25181723e+02] [ 3.53732274e-03 -4.98302251e-05 9.99993742e-01 -3.92986708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.60028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.15, Y:125.18, Z:-0.39 [[-5.49836593e-01 -8.35272194e-01 2.88949030e-04 2.45148461e+02] [ 8.35272069e-01 -5.49836668e-01 -4.57723075e-04 1.25175149e+02] [ 5.41198129e-04 -1.03218420e-05 9.99999854e-01 -3.91540878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.630281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.16, Y:125.17, Z:-0.39 [[-5.54818831e-01 -8.31970952e-01 -6.32778815e-04 2.45160329e+02] [ 8.31970348e-01 -5.54819191e-01 1.00257295e-03 1.25174247e+02] [-1.18518940e-03 2.97931392e-05 9.99999297e-01 -3.90878279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.66028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.18, Y:125.15, Z:-0.39 [[-5.56946722e-01 -8.30547902e-01 -7.28526606e-04 2.45181122e+02] [ 8.30547102e-01 -5.56947198e-01 1.15367111e-03 1.25149927e+02] [-1.36392997e-03 3.74576826e-05 9.99999069e-01 -3.91212296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.690281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.18, Y:125.15, Z:-0.39 [[-5.58767023e-01 -8.29324540e-01 -4.71781646e-04 2.45184471e+02] [ 8.29324204e-01 -5.58767221e-01 7.46726862e-04 1.25153601e+02] [-8.82895030e-04 2.59864082e-05 9.99999610e-01 -3.91569421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.72028169299995 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:245.18, Y:125.18, Z:-0.39 [[-5.60591525e-01 -8.28092197e-01 6.74159943e-04 2.45178871e+02] [ 8.28091513e-01 -5.60591929e-01 -1.06540769e-03 1.25177835e+02] [ 1.26018442e-03 -3.89923953e-05 9.99999205e-01 -3.92213410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.750281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.19, Y:125.16, Z:-0.39 [[-5.60656908e-01 -8.28047175e-01 1.30703570e-03 2.45192677e+02] [ 8.28044605e-01 -5.60658426e-01 -2.06416500e-03 1.25163798e+02] [ 2.44202658e-03 -7.50045032e-05 9.99997015e-01 -3.92086425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.78028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.19, Y:125.18, Z:-0.39 [[-5.59122927e-01 -8.29080208e-01 2.74994444e-03 2.45192735e+02] [ 8.29068863e-01 -5.59129670e-01 -4.33968330e-03 1.25179557e+02] [ 5.13552105e-03 -1.46523119e-04 9.99986802e-01 -3.93458924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.810281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:245.20, Y:125.19, Z:-0.39 [[-5.57494930e-01 -8.30172118e-01 3.69559121e-03 2.45196789e+02] [ 8.30151686e-01 -5.57507149e-01 -5.82727264e-03 1.25187683e+02] [ 6.89795779e-03 -1.80773675e-04 9.99976193e-01 -3.93524188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.84028169299995 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:245.20, Y:125.18, Z:-0.39 [[-5.56674983e-01 -8.30724284e-01 3.18245111e-03 2.45203250e+02] [ 8.30709166e-01 -5.56684060e-01 -5.01393137e-03 1.25184265e+02] [ 5.93681435e-03 -1.47438851e-04 9.99982366e-01 -3.93739510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.870281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:245.19, Y:125.21, Z:-0.39 [[-5.55698426e-01 -8.31380647e-01 2.34075775e-03 2.45194142e+02] [ 8.31372488e-01 -5.55703346e-01 -3.68467552e-03 1.25205602e+02] [ 4.36413483e-03 -1.01526796e-04 9.99990472e-01 -3.93158765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.90028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.21, Y:125.19, Z:-0.39 [[-5.53560229e-01 -8.32808636e-01 9.21278705e-04 2.45213500e+02] [ 8.32807377e-01 -5.53560994e-01 -1.44880985e-03 1.25188376e+02] [ 1.71656531e-03 -3.47558102e-05 9.99998526e-01 -3.92157416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.930281693 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:245.21, Y:125.20, Z:-0.39 [[-5.52801725e-01 -8.33312340e-01 8.92842764e-04 2.45208188e+02] [ 8.33311160e-01 -5.52802445e-01 -1.40290886e-03 1.25201813e+02] [ 1.66262693e-03 -3.15146002e-05 9.99998617e-01 -3.92042617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.96028169299996 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:245.20, Y:125.22, Z:-0.39 [[-5.51176357e-01 -8.34387892e-01 1.21223576e-03 2.45199675e+02] [ 8.34385722e-01 -5.51177689e-01 -1.90326011e-03 1.25223957e+02] [ 2.25621450e-03 -3.75597692e-05 9.99997454e-01 -3.92822444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 408.990281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.20, Y:125.23, Z:-0.39 [[-5.50349433e-01 -8.34932712e-01 1.69332525e-03 2.45196258e+02] [ 8.34928488e-01 -5.50352036e-01 -2.65642912e-03 1.25232873e+02] [ 3.14986457e-03 -4.81587718e-05 9.99995038e-01 -3.93146709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.02028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:245.21, Y:125.22, Z:-0.39 [[-5.47623709e-01 -8.36719675e-01 2.90839311e-03 2.45210952e+02] [ 8.36707257e-01 -5.47631429e-01 -4.55891156e-03 1.25217337e+02] [ 5.40725847e-03 -6.30944352e-05 9.99985379e-01 -3.93617418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.050281693 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:245.20, Y:125.24, Z:-0.39 [[-5.46686043e-01 -8.37331089e-01 3.31920200e-03 2.45197027e+02] [ 8.37314955e-01 -5.46696116e-01 -5.19842025e-03 1.25243177e+02] [ 6.16739373e-03 -6.26863244e-05 9.99980980e-01 -3.94002580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.08028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.21, Y:125.23, Z:-0.39 [[-5.46816272e-01 -8.37247824e-01 2.83662213e-03 2.45211251e+02] [ 8.37236059e-01 -5.46823627e-01 -4.43872362e-03 1.25229608e+02] [ 5.26744369e-03 -5.22439632e-05 9.99986126e-01 -3.93929784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.11028169299993 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:245.21, Y:125.24, Z:-0.39 [[-5.47640260e-01 -8.36711402e-01 2.04313314e-03 2.45205217e+02] [ 8.36705306e-01 -5.47644070e-01 -3.19421732e-03 1.25244444e+02] [ 3.79154780e-03 -3.97816614e-05 9.99992811e-01 -3.93865610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.14028169299996 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:245.21, Y:125.25, Z:-0.39 [[-5.48311623e-01 -8.36273578e-01 9.30946920e-04 2.45209149e+02] [ 8.36272314e-01 -5.48312413e-01 -1.45398152e-03 1.25246913e+02] [ 1.72637608e-03 -1.87098294e-05 9.99998510e-01 -3.92458414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.17028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:245.22, Y:125.24, Z:-0.39 [[-5.47712844e-01 -8.36665947e-01 8.56911913e-04 2.45216008e+02] [ 8.36664878e-01 -5.47713514e-01 -1.33715976e-03 1.25241205e+02] [ 1.58809827e-03 -1.54314729e-05 9.99998739e-01 -3.92572910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.20028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.23, Y:125.23, Z:-0.39 [[-5.45119344e-01 -8.38358155e-01 7.11129494e-04 2.45228950e+02] [ 8.38357422e-01 -5.45119807e-01 -1.10866198e-03 1.25230161e+02] [ 1.31710658e-03 -8.17240073e-06 9.99999133e-01 -3.91823115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.23028169299994 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:245.23, Y:125.23, Z:-0.39 [[-5.43552827e-01 -8.39374861e-01 4.08430022e-04 2.45228892e+02] [ 8.39374620e-01 -5.43552981e-01 -6.36060685e-04 1.25233741e+02] [ 7.55896705e-04 -2.90678934e-06 9.99999714e-01 -3.91447541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.26028169299997 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:245.25, Y:125.21, Z:-0.39 [[-5.39322954e-01 -8.42098822e-01 5.71437833e-04 2.45249061e+02] [ 8.42098352e-01 -5.39323256e-01 -8.89294096e-04 1.25205076e+02] [ 1.05706322e-03 1.59013957e-06 9.99999441e-01 -3.91723058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.29028169299994 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:245.25, Y:125.21, Z:-0.39 [[-5.37186821e-01 -8.43462702e-01 9.94863651e-04 2.45247508e+02] [ 8.43461283e-01 -5.37187743e-01 -1.54718424e-03 1.25208784e+02] [ 1.83942076e-03 8.00198853e-06 9.99998308e-01 -3.92184029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.32028169299997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:245.25, Y:125.21, Z:-0.39 [[-5.33709877e-01 -8.45664007e-01 2.48097320e-03 2.45250211e+02] [ 8.45655219e-01 -5.33715641e-01 -3.85556133e-03 1.25205587e+02] [ 4.58464365e-03 4.02967718e-05 9.99989490e-01 -3.92939725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.35028169299994 meters Centerline goodness : 0.999636 Centerline is valid? [True, True] Translation: X:245.25, Y:125.20, Z:-0.39 [[-5.33452319e-01 -8.45824853e-01 2.99023520e-03 2.45253600e+02] [ 8.45812110e-01 -5.33460697e-01 -4.64313153e-03 1.25200167e+02] [ 5.52244899e-03 5.22878613e-05 9.99984750e-01 -3.93394962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.380281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:245.27, Y:125.18, Z:-0.39 [[-5.35390842e-01 -8.44599443e-01 2.90286853e-03 2.45266077e+02] [ 8.44587436e-01 -5.35398710e-01 -4.50370202e-03 1.25180478e+02] [ 5.35801628e-03 4.04854709e-05 9.99985645e-01 -3.93242639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.41028169299994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.23, Y:125.23, Z:-0.39 [[-5.37233565e-01 -8.43424218e-01 3.96050329e-03 2.45232168e+02] [ 8.43426972e-01 -5.37241972e-01 -1.41659847e-03 1.25230959e+02] [ 3.32254205e-03 2.57935105e-03 9.99991154e-01 -3.92684121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.440281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.26, Y:125.19, Z:-0.39 [[-5.38881578e-01 -8.42381502e-01 2.25212634e-04 2.45262179e+02] [ 8.42370397e-01 -5.38875810e-01 -4.99759058e-03 1.25186930e+02] [ 4.33123950e-03 -2.50339704e-03 9.99987487e-01 -3.91092415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.47028169299995 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:245.21, Y:125.26, Z:-0.39 [[-5.39542795e-01 -8.41952083e-01 3.20355889e-03 2.45210554e+02] [ 8.41951823e-01 -5.39549600e-01 -1.83207642e-03 1.25262150e+02] [ 3.27099948e-03 1.70875861e-03 9.99993190e-01 -3.91245661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.500281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.21, Y:125.25, Z:-0.39 [[-5.38745017e-01 -8.42464715e-01 2.64759889e-03 2.45212519e+02] [ 8.42466549e-01 -5.38748255e-01 -6.57164411e-04 1.25252259e+02] [ 1.98002711e-03 1.87646945e-03 9.99996279e-01 -3.91085706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.53028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.39343100e-01 -8.42085409e-01 -1.08859715e-03 2.45250676e+02] [ 8.42078872e-01 -5.39332651e-01 -4.84410345e-03 1.25191008e+02] [ 3.49203285e-03 -3.52931843e-03 9.99987675e-01 -3.90710155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.560281693 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:245.24, Y:125.20, Z:-0.39 [[-5.40553803e-01 -8.41307353e-01 1.87696349e-03 2.45243696e+02] [ 8.41302358e-01 -5.40557062e-01 -2.89911462e-03 1.25196143e+02] [ 3.45365232e-03 1.19663753e-05 9.99994036e-01 -3.91109657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.59028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.42650849e-01 -8.39956381e-01 1.82588682e-03 2.45249587e+02] [ 8.39951655e-01 -5.42653921e-01 -2.81782062e-03 1.25185583e+02] [ 3.35767106e-03 4.56390588e-06 9.99994363e-01 -3.90719007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.620281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.24, Y:125.20, Z:-0.39 [[-5.43505784e-01 -8.39403772e-01 1.66442286e-03 2.45240549e+02] [ 8.39399849e-01 -5.43508333e-01 -2.56641988e-03 1.25200353e+02] [ 3.05889022e-03 2.25224390e-06 9.99995322e-01 -3.90418156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.65028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.45575472e-01 -8.38060123e-01 1.62321184e-03 2.45251029e+02] [ 8.38056392e-01 -5.45577887e-01 -2.50073244e-03 1.25186746e+02] [ 2.98135262e-03 -3.99522020e-06 9.99995556e-01 -3.89211505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.680281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.46855318e-01 -8.37225735e-01 1.52642079e-03 2.45250461e+02] [ 8.37222438e-01 -5.46857448e-01 -2.34959866e-03 1.25188360e+02] [ 2.80187904e-03 -6.93679205e-06 9.99996075e-01 -3.89009029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.71028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.47352582e-01 -8.36900947e-01 1.39839807e-03 2.45250201e+02] [ 8.36898184e-01 -5.47354368e-01 -2.15067192e-03 1.25188732e+02] [ 2.56531866e-03 -6.85902427e-06 9.99996710e-01 -3.88271909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.740281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.46167875e-01 -8.37674085e-01 1.66737858e-03 2.45251857e+02] [ 8.37670166e-01 -5.46170420e-01 -2.56223805e-03 1.25187136e+02] [ 3.05699327e-03 -2.69881366e-06 9.99995327e-01 -3.88186398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.77028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:245.25, Y:125.19, Z:-0.39 [[-5.44261028e-01 -8.38912696e-01 2.32849192e-03 2.45250275e+02] [ 8.38905078e-01 -5.44266009e-01 -3.57525495e-03 1.25188988e+02] [ 4.26664577e-03 7.51176491e-06 9.99990898e-01 -3.88396733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.800281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.26, Y:125.17, Z:-0.39 [[-5.43402932e-01 -8.39468929e-01 2.27398946e-03 2.45259265e+02] [ 8.39461680e-01 -5.43407690e-01 -3.48859840e-03 1.25173112e+02] [ 4.16427332e-03 1.32124137e-05 9.99991329e-01 -3.88737620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.83028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:245.26, Y:125.17, Z:-0.39 [[-5.42617164e-01 -8.39977614e-01 2.05476288e-03 2.45257577e+02] [ 8.39971709e-01 -5.42621054e-01 -3.14957886e-03 1.25173462e+02] [ 3.76053334e-03 1.69271435e-05 9.99992929e-01 -3.89459131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.86028169299993 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.27, Y:125.15, Z:-0.39 [[-5.40747953e-01 -8.41181442e-01 2.33092539e-03 2.45272148e+02] [ 8.41173867e-01 -5.40752976e-01 -3.56994411e-03 1.25149411e+02] [ 4.26342557e-03 3.02735533e-05 9.99990911e-01 -3.89339980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.89028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:245.27, Y:125.16, Z:-0.39 [[-5.40209141e-01 -8.41525813e-01 2.89661439e-03 2.45267949e+02] [ 8.41514139e-01 -5.40216905e-01 -4.43272268e-03 1.25155796e+02] [ 5.29505061e-03 4.29446558e-05 9.99985980e-01 -3.89328817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.92028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.27, Y:125.14, Z:-0.39 [[-5.38307352e-01 -8.42742118e-01 3.30431039e-03 2.45273837e+02] [ 8.42726975e-01 -5.38317489e-01 -5.05246887e-03 1.25142038e+02] [ 6.03669639e-03 6.48503611e-05 9.99981777e-01 -3.88508522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.95028169299997 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:245.27, Y:125.14, Z:-0.39 [[-5.37357151e-01 -8.43350744e-01 2.61036931e-03 2.45273785e+02] [ 8.43341317e-01 -5.37363488e-01 -3.98802022e-03 1.25136694e+02] [ 4.76601698e-03 5.84411041e-05 9.99988641e-01 -3.88483879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 409.98028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.27, Y:125.13, Z:-0.39 [[-5.34891153e-01 -8.44919929e-01 1.33005077e-03 2.45269890e+02] [ 8.44917491e-01 -5.34892805e-01 -2.03014508e-03 1.25133718e+02] [ 2.42674462e-03 3.78765175e-05 9.99997055e-01 -3.88475683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.28, Y:125.12, Z:-0.39 [[-5.33655068e-01 -8.45700859e-01 1.52476624e-03 2.45279288e+02] [ 8.45697664e-01 -5.33657244e-01 -2.32549218e-03 1.25116024e+02] [ 2.78037328e-03 4.84805640e-05 9.99996134e-01 -3.88105409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.04028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.28, Y:125.11, Z:-0.39 [[-5.32075633e-01 -8.46693129e-01 2.50299495e-03 2.45275618e+02] [ 8.46684541e-01 -5.32081513e-01 -3.81454098e-03 1.25113612e+02] [ 4.56154297e-03 8.96228210e-05 9.99989592e-01 -3.89699300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.07028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.28, Y:125.10, Z:-0.39 [[-5.33033872e-01 -8.46089833e-01 2.62387816e-03 2.45280602e+02] [ 8.46080404e-01 -5.33040323e-01 -3.99552075e-03 1.25104434e+02] [ 4.77920234e-03 9.02639981e-05 9.99988576e-01 -3.89653807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.10028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.28, Y:125.10, Z:-0.39 [[-5.34608002e-01 -8.45096394e-01 2.52358464e-03 2.45281647e+02] [ 8.45087675e-01 -5.34613953e-01 -3.83966080e-03 1.25102623e+02] [ 4.59402705e-03 7.99368868e-05 9.99989444e-01 -3.89362861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.130281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:245.27, Y:125.12, Z:-0.39 [[-5.38124082e-01 -8.42863756e-01 1.77791977e-03 2.45268290e+02] [ 8.42859424e-01 -5.38127017e-01 -2.70279871e-03 1.25120472e+02] [ 3.23483773e-03 4.40953552e-05 9.99994767e-01 -3.88134290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.16028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:245.27, Y:125.12, Z:-0.39 [[-5.40028579e-01 -8.41646360e-01 7.34637895e-04 2.45265903e+02] [ 8.41645620e-01 -5.40029078e-01 -1.11566423e-03 1.25118109e+02] [ 1.33572057e-03 1.58141964e-05 9.99999108e-01 -3.87290625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.190281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:245.27, Y:125.11, Z:-0.39 [[-5.40579376e-01 -8.41292828e-01 5.62107072e-04 2.45268698e+02] [ 8.41292395e-01 -5.40579669e-01 -8.52859665e-04 1.25112489e+02] [ 1.02136837e-03 1.18580597e-05 9.99999478e-01 -3.87660654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.22028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.27, Y:125.12, Z:-0.39 [[-5.41469251e-01 -8.40718795e-01 1.71971588e-03 2.45266842e+02] [ 8.40714751e-01 -5.41471981e-01 -2.60781508e-03 1.25116224e+02] [ 3.12361711e-03 3.37388288e-05 9.99995121e-01 -3.88562129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.250281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.26, Y:125.12, Z:-0.39 [[-5.41936422e-01 -8.40415832e-01 2.47861082e-03 2.45262231e+02] [ 8.40407442e-01 -5.41942088e-01 -3.75564305e-03 1.25124346e+02] [ 4.49956540e-03 4.77232231e-05 9.99989876e-01 -3.88915990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.28028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.26, Y:125.12, Z:-0.39 [[-5.42259732e-01 -8.40207256e-01 2.48005639e-03 2.45263663e+02] [ 8.40198868e-01 -5.42265401e-01 -3.75468866e-03 1.25122311e+02] [ 4.49956543e-03 4.77241071e-05 9.99989876e-01 -3.88914701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.310281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.26, Y:125.13, Z:-0.39 [[-5.43208623e-01 -8.39593225e-01 2.75850477e-03 2.45260208e+02] [ 8.39582857e-01 -5.43215624e-01 -4.17277885e-03 1.25130216e+02] [ 5.00189974e-03 4.93038696e-05 9.99987489e-01 -3.88522233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.34028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.26, Y:125.13, Z:-0.39 [[-5.43773348e-01 -8.39228723e-01 2.38679149e-03 2.45258689e+02] [ 8.39220971e-01 -5.43778584e-01 -3.60738823e-03 1.25134286e+02] [ 4.32530992e-03 4.14438988e-05 9.99990645e-01 -3.87696743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.370281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.27, Y:125.12, Z:-0.39 [[-5.44152220e-01 -8.38984894e-01 1.64591615e-03 2.45270425e+02] [ 8.38981213e-01 -5.44154709e-01 -2.48542888e-03 1.25117785e+02] [ 2.98087031e-03 2.84410853e-05 9.99995557e-01 -3.87053379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.40028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.28, Y:125.11, Z:-0.39 [[-5.44347859e-01 -8.38859492e-01 4.03023309e-04 2.45276690e+02] [ 8.38859271e-01 -5.44348008e-01 -6.07814398e-04 1.25106466e+02] [ 7.29255813e-04 7.21737344e-06 9.99999734e-01 -3.86905031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.430281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.27, Y:125.11, Z:-0.39 [[-5.44687206e-01 -8.38639242e-01 2.61955748e-04 2.45274182e+02] [ 8.38639149e-01 -5.44687269e-01 -3.94613040e-04 1.25109780e+02] [ 4.73621942e-04 4.74567185e-06 9.99999888e-01 -3.86422534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.46028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.28, Y:125.10, Z:-0.39 [[-5.46647641e-01 -8.37362596e-01 4.88691353e-04 2.45283397e+02] [ 8.37362273e-01 -5.46647860e-01 -7.35867226e-04 1.25098846e+02] [ 8.83329773e-04 6.95161827e-06 9.99999610e-01 -3.87771617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.490281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.28, Y:125.11, Z:-0.39 [[-5.47695387e-01 -8.36677138e-01 1.06321728e-03 2.45278598e+02] [ 8.36675608e-01 -5.47696419e-01 -1.60007125e-03 1.25109250e+02] [ 1.92106333e-03 1.32163243e-05 9.99998155e-01 -3.87811306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.52028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.28, Y:125.11, Z:-0.39 [[-5.47955836e-01 -8.36506124e-01 1.38052610e-03 2.45281145e+02] [ 8.36503548e-01 -5.47957575e-01 -2.07597228e-03 1.25107903e+02] [ 2.49303326e-03 1.72738597e-05 9.99996892e-01 -3.88488895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.28, Y:125.12, Z:-0.39 [[-5.46164130e-01 -8.37675214e-01 2.23115946e-03 2.45277757e+02] [ 8.37668506e-01 -5.46168686e-01 -3.35252830e-03 1.25115143e+02] [ 4.02691929e-03 3.79413067e-05 9.99991891e-01 -3.89243881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.58028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.29, Y:125.10, Z:-0.39 [[-5.44741315e-01 -8.38599825e-01 2.68961636e-03 2.45287910e+02] [ 8.38590104e-01 -5.44747952e-01 -4.03810526e-03 1.25100092e+02] [ 4.85151737e-03 5.57628961e-05 9.99988230e-01 -3.89746759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.61028169299993 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.32, Y:125.06, Z:-0.39 [[-5.40046443e-01 -8.41631440e-01 2.52157545e-03 2.45317867e+02] [ 8.41622943e-01 -5.40052324e-01 -3.78271834e-03 1.25055780e+02] [ 4.54543737e-03 7.93721696e-05 9.99989666e-01 -3.88053617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.64028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.30, Y:125.08, Z:-0.39 [[-5.37436296e-01 -8.43301770e-01 2.08635385e-03 2.45301802e+02] [ 8.43295975e-01 -5.37440340e-01 -3.12723922e-03 1.25078756e+02] [ 3.75849709e-03 7.87219432e-05 9.99992934e-01 -3.87535002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.67028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:245.31, Y:125.06, Z:-0.39 [[-5.34507697e-01 -8.45161253e-01 1.99431947e-03 2.45311917e+02] [ 8.45155980e-01 -5.34511411e-01 -2.98684710e-03 1.25061279e+02] [ 3.59035395e-03 8.90182559e-05 9.99993551e-01 -3.86834439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.70028169299997 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:245.32, Y:125.05, Z:-0.39 [[-5.28786404e-01 -8.48752660e-01 1.96514880e-03 2.45315591e+02] [ 8.48747572e-01 -5.28790044e-01 -2.94079394e-03 1.25047656e+02] [ 3.53515780e-03 1.12863423e-04 9.99993745e-01 -3.88773586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.73028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.32, Y:125.03, Z:-0.39 [[-5.26547334e-01 -8.50142675e-01 2.31030656e-03 2.45324582e+02] [ 8.50135668e-01 -5.26552382e-01 -3.45463012e-03 1.25029206e+02] [ 4.15342591e-03 1.45047737e-04 9.99991364e-01 -3.89248071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.76028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.33, Y:125.01, Z:-0.39 [[-5.23188829e-01 -8.52211340e-01 3.04646200e-03 2.45326788e+02] [ 8.52199211e-01 -5.23197654e-01 -4.55194188e-03 1.25014304e+02] [ 5.47311826e-03 2.14667367e-04 9.99984999e-01 -3.88575155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.79028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.32, Y:125.02, Z:-0.39 [[-5.22491687e-01 -8.52638840e-01 3.07331805e-03 2.45319771e+02] [ 8.52626523e-01 -5.22500678e-01 -4.58846415e-03 1.25019136e+02] [ 5.51811352e-03 2.22958105e-04 9.99984750e-01 -3.88044473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.82028169299997 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:245.33, Y:125.00, Z:-0.39 [[-5.22274803e-01 -8.52771185e-01 3.21491078e-03 2.45326984e+02] [ 8.52757731e-01 -5.22284644e-01 -4.79611149e-03 1.25003839e+02] [ 5.76908421e-03 2.36651841e-04 9.99983331e-01 -3.87965143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.85028169299994 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.31, Y:125.02, Z:-0.39 [[-5.23424996e-01 -8.52064395e-01 3.54125859e-03 2.45310319e+02] [ 8.52048081e-01 -5.23436913e-01 -5.27883863e-03 1.25021742e+02] [ 6.35153591e-03 2.54246499e-04 9.99979797e-01 -3.89401485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.880281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.31, Y:125.01, Z:-0.39 [[-5.24845132e-01 -8.51191365e-01 3.29360121e-03 2.45313497e+02] [ 8.51177259e-01 -5.24855416e-01 -4.90574430e-03 1.25012593e+02] [ 5.90439162e-03 2.28682434e-04 9.99982543e-01 -3.89171551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.91028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.31, Y:125.01, Z:-0.39 [[-5.26151688e-01 -8.50387994e-01 2.15895233e-03 2.45307872e+02] [ 8.50381937e-01 -5.26156097e-01 -3.21304890e-03 1.25009679e+02] [ 3.86828414e-03 1.45382963e-04 9.99992508e-01 -3.87462897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.940281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.31, Y:125.00, Z:-0.39 [[-5.26438035e-01 -8.50211921e-01 1.63842247e-03 2.45311554e+02] [ 8.50208438e-01 -5.26440573e-01 -2.43636607e-03 1.24999464e+02] [ 2.93395954e-03 1.10404843e-04 9.99995690e-01 -3.86322356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 410.97028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.31, Y:125.00, Z:-0.39 [[-5.26559851e-01 -8.50136942e-01 1.37967885e-03 2.45310139e+02] [ 8.50134476e-01 -5.26561650e-01 -2.04993976e-03 1.24997551e+02] [ 2.46921549e-03 9.34965835e-05 9.99996947e-01 -3.86012942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.000281693 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:245.31, Y:124.99, Z:-0.39 [[-5.25679905e-01 -8.50678625e-01 2.55226733e-03 2.45310457e+02] [ 8.50670203e-01 -5.25686071e-01 -3.78948276e-03 1.24989182e+02] [ 4.56532337e-03 1.79082825e-04 9.99989563e-01 -3.86909793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.03028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.31, Y:124.99, Z:-0.39 [[-5.25560257e-01 -8.50751195e-01 2.96982434e-03 2.45305136e+02] [ 8.50739812e-01 -5.25568606e-01 -4.40603189e-03 1.24992053e+02] [ 5.30928334e-03 2.10912543e-04 9.99985883e-01 -3.87298278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.060281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.30, Y:124.99, Z:-0.39 [[-5.25568865e-01 -8.50745752e-01 3.00567007e-03 2.45300158e+02] [ 8.50734111e-01 -5.25577415e-01 -4.45569022e-03 1.24989755e+02] [ 5.37037183e-03 2.15254005e-04 9.99985556e-01 -3.86468639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.09028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.29, Y:125.00, Z:-0.39 [[-5.26358936e-01 -8.50257130e-01 3.01389019e-03 2.45292794e+02] [ 8.50245436e-01 -5.26367522e-01 -4.46432425e-03 1.24995940e+02] [ 5.38223743e-03 2.12709422e-04 9.99985493e-01 -3.86264755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.120281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.30, Y:124.99, Z:-0.39 [[-5.27541904e-01 -8.49524130e-01 2.87952343e-03 2.45295303e+02] [ 8.49513463e-01 -5.27549726e-01 -4.26188195e-03 1.24988276e+02] [ 5.13966335e-03 1.97872604e-04 9.99986772e-01 -3.86190363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.15028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.29, Y:124.99, Z:-0.39 [[-5.30479362e-01 -8.47695030e-01 2.18669178e-03 2.45287314e+02] [ 8.47688874e-01 -5.30483851e-01 -3.23378271e-03 1.24992926e+02] [ 3.90126621e-03 1.38179302e-04 9.99992381e-01 -3.86185535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.180281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.28, Y:125.00, Z:-0.39 [[-5.32903476e-01 -8.46175258e-01 1.14817699e-03 2.45280009e+02] [ 8.46173560e-01 -5.32904709e-01 -1.69645070e-03 1.24997840e+02] [ 2.04736353e-03 6.75125406e-05 9.99997902e-01 -3.85180819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.21028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.28, Y:125.00, Z:-0.38 [[-5.33706961e-01 -8.45669399e-01 3.83522986e-04 2.45277921e+02] [ 8.45669210e-01 -5.33707099e-01 -5.65975868e-04 1.24996568e+02] [ 6.83317412e-04 2.22683192e-05 9.99999766e-01 -3.84580757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.240281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.29, Y:124.97, Z:-0.38 [[-5.33899405e-01 -8.45547997e-01 9.95737377e-05 2.45291039e+02] [ 8.45547985e-01 -5.33899414e-01 -1.46861718e-04 1.24971484e+02] [ 1.77340992e-04 5.78498929e-06 9.99999984e-01 -3.83981934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.27028169299996 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.28, Y:124.98, Z:-0.38 [[-5.33479528e-01 -8.45812823e-01 5.11091630e-04 2.45276480e+02] [ 8.45812488e-01 -5.33479772e-01 -7.53521727e-04 1.24983447e+02] [ 9.09995386e-04 3.02992686e-05 9.99999586e-01 -3.84049209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.300281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.28, Y:124.97, Z:-0.38 [[-5.33794128e-01 -8.45614090e-01 7.99682120e-04 2.45282536e+02] [ 8.45613270e-01 -5.33794725e-01 -1.17824648e-03 1.24972469e+02] [ 1.42320792e-03 4.72807600e-05 9.99998986e-01 -3.84707632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.33028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.27, Y:124.99, Z:-0.39 [[-5.36615446e-01 -8.43825823e-01 1.35824359e-03 2.45265893e+02] [ 8.43823456e-01 -5.36617160e-01 -1.99984789e-03 1.24993365e+02] [ 2.41638011e-03 7.29685343e-05 9.99997078e-01 -3.85303365e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.36028169299993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.26, Y:124.99, Z:-0.39 [[-5.38527277e-01 -8.42605962e-01 1.88823623e-03 2.45264070e+02] [ 8.42601387e-01 -5.38530579e-01 -2.77805803e-03 1.24993629e+02] [ 3.35768121e-03 9.49704437e-05 9.99994358e-01 -3.85714008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.39028169299996 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.26, Y:124.99, Z:-0.39 [[-5.40278767e-01 -8.41482311e-01 2.52465734e-03 2.45264688e+02] [ 8.41474135e-01 -5.40284652e-01 -3.71147199e-03 1.24990138e+02] [ 4.48717164e-03 1.19204341e-04 9.99989926e-01 -3.86079803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.42028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.25, Y:125.00, Z:-0.39 [[-5.42726043e-01 -8.39901630e-01 3.70043262e-03 2.45253270e+02] [ 8.39884056e-01 -5.42738635e-01 -5.43565312e-03 1.25002360e+02] [ 6.57378167e-03 1.57863847e-04 9.99978380e-01 -3.86080739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.45028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.25, Y:125.00, Z:-0.39 [[-5.44332671e-01 -8.38860938e-01 3.77743858e-03 2.45250589e+02] [ 8.38842631e-01 -5.44345757e-01 -5.54417478e-03 1.25002338e+02] [ 6.70702432e-03 1.50801048e-04 9.99977496e-01 -3.85342957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.48028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.24, Y:125.00, Z:-0.39 [[-5.47272936e-01 -8.36949918e-01 2.67738122e-03 2.45244255e+02] [ 8.36940714e-01 -5.47279477e-01 -3.92623818e-03 1.25004676e+02] [ 4.75134052e-03 9.20854494e-05 9.99988708e-01 -3.85130043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.51028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.24, Y:125.01, Z:-0.38 [[-5.48995941e-01 -8.35821289e-01 2.49610113e-03 2.45237815e+02] [ 8.35813291e-01 -5.49001610e-01 -3.65730468e-03 1.25012958e+02] [ 4.42721665e-03 7.84290722e-05 9.99990197e-01 -3.84916604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.54028169299994 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:245.24, Y:125.01, Z:-0.39 [[-5.51939807e-01 -8.33877452e-01 3.29314941e-03 2.45235244e+02] [ 8.33863519e-01 -5.51949624e-01 -4.82118776e-03 1.25012249e+02] [ 5.83793235e-03 8.50317168e-05 9.99982956e-01 -3.85170097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.57028169299997 meters Centerline goodness : 0.999827 Centerline is valid? [True, True] Translation: X:245.24, Y:125.01, Z:-0.38 [[-5.52960583e-01 -8.33199659e-01 3.59469223e-03 2.45235012e+02] [ 8.33183071e-01 -5.52972260e-01 -5.25823702e-03 1.25010199e+02] [ 6.36892637e-03 8.74389054e-05 9.99979714e-01 -3.84672711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.60028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.24, Y:125.00, Z:-0.38 [[-5.53068120e-01 -8.33131045e-01 2.88364745e-03 2.45237861e+02] [ 8.33120386e-01 -5.53075633e-01 -4.21500603e-03 1.25001635e+02] [ 5.10652752e-03 7.12400110e-05 9.99986959e-01 -3.83658929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.630281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:245.24, Y:125.00, Z:-0.38 [[-5.53259985e-01 -8.33006091e-01 2.05950338e-03 2.45237009e+02] [ 8.33000663e-01 -5.53263816e-01 -3.00769793e-03 1.24999494e+02] [ 3.64487940e-03 5.15287661e-05 9.99993356e-01 -3.82091235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.66028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.24, Y:124.99, Z:-0.38 [[-5.53351586e-01 -8.32946724e-01 1.33300404e-03 2.45235919e+02] [ 8.32944454e-01 -5.53353191e-01 -1.94495785e-03 1.24994804e+02] [ 2.35766831e-03 3.40728093e-05 9.99997220e-01 -3.81851202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.690281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.23, Y:124.99, Z:-0.38 [[-5.51083277e-01 -8.34448869e-01 1.51861586e-03 2.45232224e+02] [ 8.34445926e-01 -5.51085368e-01 -2.21673838e-03 1.24987031e+02] [ 2.68664182e-03 4.55953709e-05 9.99996390e-01 -3.83156697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.72028169299995 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.23, Y:124.99, Z:-0.38 [[-5.50104370e-01 -8.35093458e-01 2.02473289e-03 2.45229004e+02] [ 8.35088229e-01 -5.50108092e-01 -2.95575639e-03 1.24987848e+02] [ 3.58215477e-03 6.48560984e-05 9.99993582e-01 -3.84202306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.750281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:245.22, Y:125.00, Z:-0.38 [[-5.49242875e-01 -8.35659574e-01 2.31103067e-03 2.45217749e+02] [ 8.35652781e-01 -5.49247731e-01 -3.37045625e-03 1.24995024e+02] [ 4.08588239e-03 8.00201260e-05 9.99991650e-01 -3.83734309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.78028169299995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:245.22, Y:124.99, Z:-0.38 [[-5.48838861e-01 -8.35926190e-01 1.81929708e-03 2.45218925e+02] [ 8.35921978e-01 -5.48841872e-01 -2.65455956e-03 1.24985841e+02] [ 3.21752227e-03 6.38649665e-05 9.99994822e-01 -3.82832732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.810281693 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:245.21, Y:124.99, Z:-0.38 [[-5.48848951e-01 -8.35919798e-01 1.70883688e-03 2.45210229e+02] [ 8.35916080e-01 -5.48851608e-01 -2.49387391e-03 1.24991256e+02] [ 3.02257645e-03 5.96841481e-05 9.99995430e-01 -3.82673310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.84028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.20, Y:125.00, Z:-0.38 [[-5.50030702e-01 -8.35139808e-01 2.77985332e-03 2.45199649e+02] [ 8.35129953e-01 -5.50037719e-01 -4.05820023e-03 1.24996666e+02] [ 4.91818874e-03 8.94040564e-05 9.99987902e-01 -3.84270730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.870281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.20, Y:124.99, Z:-0.38 [[-5.50684447e-01 -8.34708005e-01 3.03084567e-03 2.45199433e+02] [ 8.34696262e-01 -5.50692780e-01 -4.42857529e-03 1.24992478e+02] [ 5.36563207e-03 9.10880154e-05 9.99985601e-01 -3.84580867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.90028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.20, Y:124.98, Z:-0.38 [[-5.53074839e-01 -8.33126745e-01 2.83731638e-03 2.45197576e+02] [ 8.33116415e-01 -5.53082112e-01 -4.14931431e-03 1.24984781e+02] [ 5.02617366e-03 6.89335015e-05 9.99987366e-01 -3.83987519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.930281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:245.20, Y:124.98, Z:-0.38 [[-5.54838431e-01 -8.31955295e-01 2.16834890e-03 2.45199949e+02] [ 8.31949243e-01 -5.54842667e-01 -3.17375095e-03 1.24978201e+02] [ 3.84351139e-03 4.30372269e-05 9.99992613e-01 -3.83396321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.96028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.21, Y:124.96, Z:-0.38 [[-5.60772079e-01 -8.27969548e-01 1.04966339e-03 2.45214288e+02] [ 8.27968120e-01 -5.60773062e-01 -1.53781167e-03 1.24957397e+02] [ 1.86188419e-03 6.72597345e-06 9.99998267e-01 -3.83465056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 411.990281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.22, Y:124.95, Z:-0.38 [[-5.64449685e-01 -8.25467110e-01 7.76461825e-04 2.45220948e+02] [ 8.25466325e-01 -5.64450220e-01 -1.13857073e-03 1.24949449e+02] [ 1.37812674e-03 -1.72280097e-06 9.99999050e-01 -3.83631772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.02028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.22, Y:124.95, Z:-0.38 [[-5.67982943e-01 -8.23040145e-01 5.43458187e-04 2.45221294e+02] [ 8.23039759e-01 -5.67983203e-01 -7.97652584e-04 1.24951381e+02] [ 9.65175221e-04 -5.76536689e-06 9.99999534e-01 -3.83805645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.050281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.23, Y:124.94, Z:-0.38 [[-5.73874800e-01 -8.18942826e-01 6.01514545e-04 2.45232134e+02] [ 8.18942349e-01 -5.73875115e-01 -8.83537411e-04 1.24942699e+02] [ 1.06876085e-03 -1.44341205e-05 9.99999429e-01 -3.83630737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.08028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.24, Y:124.93, Z:-0.38 [[-5.77267471e-01 -8.16553335e-01 1.70810187e-03 2.45244453e+02] [ 8.16549478e-01 -5.77269996e-01 -2.51031880e-03 1.24930201e+02] [ 3.03584514e-03 -5.43756955e-05 9.99995390e-01 -3.84308014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.11028169299993 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.24, Y:124.93, Z:-0.38 [[-5.78034790e-01 -8.16009154e-01 2.20041442e-03 2.45244162e+02] [ 8.16002747e-01 -5.78038973e-01 -3.23450470e-03 1.24932226e+02] [ 3.91131073e-03 -7.41120291e-05 9.99992348e-01 -3.84548229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.14028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.25, Y:124.93, Z:-0.38 [[-5.78456166e-01 -8.15710179e-01 2.31701997e-03 2.45245243e+02] [ 8.15703068e-01 -5.78460801e-01 -3.40691781e-03 1.24931730e+02] [ 4.11936276e-03 -8.07523192e-05 9.99991512e-01 -3.84364183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.17028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.24, Y:124.93, Z:-0.38 [[-5.78343271e-01 -8.15790227e-01 2.31654854e-03 2.45243857e+02] [ 8.15783116e-01 -5.78347905e-01 -3.40723839e-03 1.24933828e+02] [ 4.11936277e-03 -8.07522051e-05 9.99991512e-01 -3.84365468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.20028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.24, Y:124.94, Z:-0.38 [[-5.76955761e-01 -8.16773456e-01 1.78087221e-03 2.45240183e+02] [ 8.16769256e-01 -5.76958506e-01 -2.61985820e-03 1.24944606e+02] [ 3.16732001e-03 -5.69806133e-05 9.99994982e-01 -3.82182872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.23028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.23, Y:124.96, Z:-0.38 [[-5.75503726e-01 -8.17798332e-01 1.16167884e-03 2.45232520e+02] [ 8.17796548e-01 -5.75504897e-01 -1.70868974e-03 1.24957299e+02] [ 2.06591548e-03 -3.33403672e-05 9.99997865e-01 -3.81551681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.26028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.24, Y:124.95, Z:-0.38 [[-5.71719811e-01 -8.20448755e-01 5.46212310e-04 2.45236903e+02] [ 8.20448361e-01 -5.71720072e-01 -8.03802779e-04 1.24950476e+02] [ 9.71759531e-04 -1.14109782e-05 9.99999528e-01 -3.82652443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.23, Y:124.97, Z:-0.38 [[-5.70091713e-01 -8.21580740e-01 7.25589198e-04 2.45226269e+02] [ 8.21580047e-01 -5.70092175e-01 -1.06655618e-03 1.24965308e+02] [ 1.28991474e-03 -1.19052297e-05 9.99999168e-01 -3.83587482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.23, Y:124.96, Z:-0.38 [[-5.68564266e-01 -8.22638098e-01 1.11164116e-03 2.45230026e+02] [ 8.22636471e-01 -5.68565352e-01 -1.63613407e-03 1.24957316e+02] [ 1.97798686e-03 -1.57708033e-05 9.99998044e-01 -3.83143472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.35028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.22, Y:124.97, Z:-0.38 [[-5.66675293e-01 -8.23940676e-01 9.34780372e-04 2.45216197e+02] [ 8.23939528e-01 -5.66676064e-01 -1.37554011e-03 1.24971336e+02] [ 1.66308111e-03 -9.28209701e-06 9.99998617e-01 -3.81646856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.22, Y:124.97, Z:-0.38 [[-5.65769088e-01 -8.24563676e-01 2.87191921e-04 2.45217096e+02] [ 8.24563568e-01 -5.65769161e-01 -4.23293306e-04 1.24966652e+02] [ 5.11516617e-04 -2.67827306e-06 9.99999869e-01 -3.80876479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.21, Y:124.97, Z:-0.38 [[-5.64617233e-01 -8.25352370e-01 -9.19136144e-04 2.45207443e+02] [ 8.25351260e-01 -5.64617981e-01 1.35390230e-03 1.24974994e+02] [-1.63640727e-03 5.82639905e-06 9.99998661e-01 -3.81400744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.440281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.22, Y:124.96, Z:-0.38 [[-5.63283371e-01 -8.26263316e-01 -8.80873702e-04 2.45216537e+02] [ 8.26262296e-01 -5.63284060e-01 1.29837261e-03 1.24957158e+02] [-1.56897977e-03 3.51897347e-06 9.99998769e-01 -3.82187925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.47028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.20, Y:124.98, Z:-0.38 [[-5.61664834e-01 -8.27364647e-01 5.95831536e-04 2.45196752e+02] [ 8.27364181e-01 -5.61665150e-01 -8.78728162e-04 1.24976604e+02] [ 1.06168643e-03 -5.81035871e-07 9.99999436e-01 -3.84112754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.500281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.20, Y:124.97, Z:-0.38 [[-5.61156267e-01 -8.27708780e-01 1.34916920e-03 2.45195958e+02] [ 8.27706384e-01 -5.61157889e-01 -1.99152061e-03 1.24972635e+02] [ 2.40549603e-03 -8.38311666e-07 9.99997107e-01 -3.84982035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.53028169299995 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.19, Y:124.97, Z:-0.38 [[-5.61052942e-01 -8.27778359e-01 1.60764825e-03 2.45191789e+02] [ 8.27774952e-01 -5.61055246e-01 -2.37493162e-03 1.24974135e+02] [ 2.86789648e-03 -1.69142339e-06 9.99995888e-01 -3.84788293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.560281693 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:245.19, Y:124.97, Z:-0.39 [[-5.62298213e-01 -8.26932583e-01 1.79519524e-03 2.45192631e+02] [ 8.26928324e-01 -5.62301078e-01 -2.65410632e-03 1.24968982e+02] [ 3.20420721e-03 -7.90144416e-06 9.99994867e-01 -3.85398046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.59028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.19, Y:124.98, Z:-0.39 [[-5.64302653e-01 -8.25565964e-01 1.83147786e-03 2.45187532e+02] [ 8.25561522e-01 -5.64305625e-01 -2.70835728e-03 1.24977101e+02] [ 3.26944085e-03 -1.63355485e-05 9.99994655e-01 -3.85817635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.620281693 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:245.21, Y:124.94, Z:-0.39 [[-5.70381852e-01 -8.21378630e-01 1.29958505e-03 2.45212160e+02] [ 8.21376378e-01 -5.70383332e-01 -1.92359619e-03 1.24944705e+02] [ 2.32126245e-03 -2.97359010e-05 9.99997305e-01 -3.86292156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.65028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.21, Y:124.96, Z:-0.39 [[-5.73927405e-01 -8.18905738e-01 8.51774735e-04 2.45205127e+02] [ 8.18904768e-01 -5.73928036e-01 -1.26104615e-03 1.24958696e+02] [ 1.52153533e-03 -2.62265529e-05 9.99998842e-01 -3.86410045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.680281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.22, Y:124.93, Z:-0.39 [[-5.76875677e-01 -8.16831744e-01 5.96194505e-04 2.45224837e+02] [ 8.16831267e-01 -5.76875984e-01 -8.83604767e-04 1.24934871e+02] [ 1.06568671e-03 -2.27397856e-05 9.99999432e-01 -3.86023612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.71028169299996 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.23, Y:124.94, Z:-0.39 [[-5.80780839e-01 -8.14059802e-01 5.05794557e-04 2.45228615e+02] [ 8.14059457e-01 -5.80781059e-01 -7.49686770e-04 1.24942950e+02] [ 9.04045762e-04 -2.36568693e-05 9.99999591e-01 -3.85788488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.740281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.24, Y:124.94, Z:-0.39 [[-5.81686467e-01 -8.13412969e-01 4.42333052e-04 2.45235734e+02] [ 8.13412705e-01 -5.81686635e-01 -6.56356891e-04 1.24938734e+02] [ 7.91188432e-04 -2.19945967e-05 9.99999687e-01 -3.86107464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.77028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.24, Y:124.94, Z:-0.39 [[-5.83326806e-01 -8.12237303e-01 6.33352065e-04 2.45239339e+02] [ 8.12236760e-01 -5.83327149e-01 -9.39726500e-04 1.24944852e+02] [ 1.13273237e-03 -3.37358286e-05 9.99999358e-01 -3.85426076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.24, Y:124.95, Z:-0.39 [[-5.83764700e-01 -8.11922241e-01 1.02463666e-03 2.45243172e+02] [ 8.11920819e-01 -5.83765597e-01 -1.52065718e-03 1.24945800e+02] [ 1.83280302e-03 -5.57821467e-05 9.99998319e-01 -3.85605128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.83028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.24, Y:124.96, Z:-0.39 [[-5.84971663e-01 -8.11053104e-01 1.00812139e-03 2.45243837e+02] [ 8.11051729e-01 -5.84972529e-01 -1.49452803e-03 1.24961799e+02] [ 1.80186492e-03 -5.66179563e-05 9.99998375e-01 -3.85070146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.86028169299993 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.25, Y:124.96, Z:-0.38 [[-5.85219001e-01 -8.10875125e-01 5.02120365e-04 2.45253403e+02] [ 8.10874783e-01 -5.85219216e-01 -7.44896305e-04 1.24956579e+02] [ 8.97868371e-04 -2.87707302e-05 9.99999597e-01 -3.84633932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.89028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.26, Y:124.96, Z:-0.38 [[-5.85275136e-01 -8.10834694e-01 -3.36429696e-04 2.45260789e+02] [ 8.10834541e-01 -5.85275233e-01 4.98952624e-04 1.24960541e+02] [-6.01472067e-04 1.92357471e-05 9.99999819e-01 -3.83231257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.92028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.27, Y:124.96, Z:-0.38 [[-5.84980422e-01 -8.11047349e-01 -3.20627858e-04 2.45267668e+02] [ 8.11047210e-01 -5.84980510e-01 4.75163422e-04 1.24956099e+02] [-5.72941082e-04 1.79169695e-05 9.99999836e-01 -3.82751896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.95028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.26, Y:124.97, Z:-0.38 [[-5.84153458e-01 -8.11643208e-01 -2.02095894e-04 2.45259882e+02] [ 8.11643153e-01 -5.84153493e-01 2.99391661e-04 1.24972756e+02] [-3.61054230e-04 1.08609249e-05 9.99999935e-01 -3.82479226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 412.98028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.26, Y:124.98, Z:-0.38 [[-5.80388507e-01 -8.14339698e-01 -1.92999467e-04 2.45259141e+02] [ 8.14339648e-01 -5.80388539e-01 2.85709244e-04 1.24983876e+02] [-3.44679058e-04 8.65524310e-06 9.99999941e-01 -3.83122938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.01028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.26, Y:124.99, Z:-0.38 [[-5.78614821e-01 -8.15600733e-01 -5.77330177e-04 2.45260433e+02] [ 8.15600287e-01 -5.78615109e-01 8.53316236e-04 1.24987383e+02] [-1.03001731e-03 2.28707637e-05 9.99999469e-01 -3.83184220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.04028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.25, Y:125.01, Z:-0.38 [[-5.75044512e-01 -8.18121286e-01 -1.17075466e-03 2.45248796e+02] [ 8.18119460e-01 -5.75045703e-01 1.72868922e-03 1.25014991e+02] [-2.08751489e-03 3.62560774e-05 9.99997821e-01 -3.81953380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.73860326e-01 -8.18952355e-01 -1.16880786e-03 2.45263076e+02] [ 8.18950540e-01 -5.73861516e-01 1.72442491e-03 1.24998138e+02] [-2.08295569e-03 3.23832083e-05 9.99997830e-01 -3.81310709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.26, Y:125.01, Z:-0.38 [[-5.73134210e-01 -8.19461044e-01 -8.79718885e-04 2.45258465e+02] [ 8.19460018e-01 -5.73134885e-01 1.29695119e-03 1.25008027e+02] [-1.56699856e-03 2.24326399e-05 9.99998772e-01 -3.81323302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.26, Y:125.02, Z:-0.38 [[-5.71049637e-01 -8.20915421e-01 4.28716814e-04 2.45255371e+02] [ 8.20915179e-01 -5.71049798e-01 -6.31024757e-04 1.25018384e+02] [ 7.62836604e-04 -8.40631819e-06 9.99999709e-01 -3.82169430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.16028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.70077110e-01 -8.21591002e-01 5.59590223e-04 2.45252517e+02] [ 8.21590590e-01 -5.70077385e-01 -8.23084523e-04 1.25024862e+02] [ 9.95248569e-04 -9.46758485e-06 9.99999505e-01 -3.82766176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.190281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.26, Y:125.02, Z:-0.38 [[-5.66766878e-01 -8.23878182e-01 2.16802568e-04 2.45258071e+02] [ 8.23878121e-01 -5.66766919e-01 -3.18414628e-04 1.25017921e+02] [ 3.85211389e-04 -1.84797274e-06 9.99999926e-01 -3.82345861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.65072336e-01 -8.25041363e-01 6.26645032e-05 2.45253365e+02] [ 8.25041358e-01 -5.65072340e-01 -9.17118788e-05 1.25024225e+02] [ 1.11076071e-04 -1.23038841e-07 9.99999994e-01 -3.82209263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.250281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.62616982e-01 -8.26717683e-01 6.95012382e-05 2.45253103e+02] [ 8.26717677e-01 -5.62616986e-01 -1.01670256e-04 1.25022481e+02] [ 1.23155175e-04 2.56489749e-07 9.99999992e-01 -3.82678213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.62253986e-01 -8.26964564e-01 -2.53432678e-04 2.45251528e+02] [ 8.26964481e-01 -5.62254044e-01 3.72048924e-04 1.25024006e+02] [-4.50164824e-04 -3.93832037e-07 9.99999899e-01 -3.82465493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.24, Y:125.04, Z:-0.38 [[-5.62295750e-01 -8.26936049e-01 -5.11077791e-04 2.45242854e+02] [ 8.26935709e-01 -5.62295982e-01 7.49306641e-04 1.25035342e+02] [-9.07005661e-04 -1.29653630e-06 9.99999589e-01 -3.82549848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.34028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.23, Y:125.04, Z:-0.38 [[-5.63561741e-01 -8.26073857e-01 -3.83171339e-04 2.45234625e+02] [ 8.26073666e-01 -5.63561871e-01 5.61399274e-04 1.25043659e+02] [-6.79698020e-04 -1.44600212e-07 9.99999769e-01 -3.83209133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.370281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.64332200e-01 -8.25547787e-01 1.36482249e-04 2.45249466e+02] [ 8.25547763e-01 -5.64332217e-01 -1.99708989e-04 1.25020056e+02] [ 2.41890645e-04 -2.95976584e-08 9.99999971e-01 -3.83969101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.25, Y:125.02, Z:-0.38 [[-5.66201588e-01 -8.24266736e-01 3.30370059e-04 2.45251957e+02] [ 8.24266595e-01 -5.66201684e-01 -4.82880690e-04 1.25015107e+02] [ 5.85078574e-04 -1.09481030e-06 9.99999829e-01 -3.83497637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.430281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.67370664e-01 -8.23462478e-01 -2.78186011e-04 2.45262148e+02] [ 8.23462377e-01 -5.67370732e-01 4.06914527e-04 1.24999234e+02] [-4.92913446e-04 1.79565131e-06 9.99999879e-01 -3.82248530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.46028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.70122102e-01 -8.21558012e-01 -1.79459977e-03 2.45259536e+02] [ 8.21553832e-01 -5.70124927e-01 2.62099821e-03 1.25000876e+02] [-3.17644814e-03 1.99286888e-05 9.99994955e-01 -3.81640504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.490281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.27, Y:124.99, Z:-0.38 [[-5.71273740e-01 -8.20758134e-01 -1.54927582e-03 2.45268846e+02] [ 8.20755020e-01 -5.71275840e-01 2.26090741e-03 1.24987208e+02] [-2.74072199e-03 2.00211251e-05 9.99996244e-01 -3.82428051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.52028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.72040744e-01 -8.20224815e-01 -7.99639533e-04 2.45261432e+02] [ 8.20223987e-01 -5.72041303e-01 1.16615518e-03 1.24999151e+02] [-1.41393626e-03 1.12047518e-05 9.99999000e-01 -3.83576956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.550281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.72269265e-01 -8.20065651e-01 4.64868585e-04 2.45264890e+02] [ 8.20065372e-01 -5.72269454e-01 -6.76839993e-04 1.24995890e+02] [ 8.21083321e-04 -6.11209606e-06 9.99999663e-01 -3.84814004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.26, Y:125.00, Z:-0.38 [[-5.72286910e-01 -8.20053348e-01 4.47148836e-04 2.45263600e+02] [ 8.20053090e-01 -5.72287084e-01 -6.50492904e-04 1.24997955e+02] [ 7.89336387e-04 -5.58278921e-06 9.99999688e-01 -3.83543652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.61028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.28, Y:124.98, Z:-0.38 [[-5.72165751e-01 -8.20138003e-01 -9.98017451e-05 2.45276263e+02] [ 8.20137990e-01 -5.72165759e-01 1.45490539e-04 1.24980595e+02] [-1.76425461e-04 1.39350071e-06 9.99999984e-01 -3.82709268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.28, Y:124.98, Z:-0.38 [[-5.72048191e-01 -8.20219506e-01 -9.10152024e-04 2.45277329e+02] [ 8.20218439e-01 -5.72048915e-01 1.32294434e-03 1.24980997e+02] [-1.60575623e-03 1.02644474e-05 9.99998711e-01 -3.82286983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.27, Y:125.00, Z:-0.38 [[-5.72264729e-01 -8.20068835e-01 -4.30650563e-04 2.45266548e+02] [ 8.20068597e-01 -5.72264891e-01 6.25640432e-04 1.24996641e+02] [-7.59514418e-04 4.86894891e-06 9.99999712e-01 -3.82857666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.27, Y:124.98, Z:-0.38 [[-5.73016739e-01 -8.19543659e-01 9.32342211e-05 2.45274284e+02] [ 8.19543648e-01 -5.73016746e-01 -1.34917346e-04 1.24983922e+02] [ 1.63995426e-04 -9.00383984e-07 9.99999987e-01 -3.83665192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.73028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.28, Y:124.98, Z:-0.38 [[-5.73069364e-01 -8.19506565e-01 7.03082876e-04 2.45277910e+02] [ 8.19505931e-01 -5.73069796e-01 -1.01885157e-03 1.24975074e+02] [ 1.23787111e-03 -7.69203407e-06 9.99999234e-01 -3.83501982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.76028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.28, Y:124.98, Z:-0.38 [[-5.72957771e-01 -8.19584719e-01 5.29479486e-04 2.45275252e+02] [ 8.19584361e-01 -5.72958016e-01 -7.66571245e-04 1.24976864e+02] [ 9.31639594e-04 -5.25984546e-06 9.99999566e-01 -3.83657300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.27, Y:124.98, Z:-0.38 [[-5.72514940e-01 -8.19893879e-01 -8.18706587e-04 2.45272276e+02] [ 8.19893023e-01 -5.72515525e-01 1.18521614e-03 1.24976727e+02] [-1.44047369e-03 7.30212678e-06 9.99998963e-01 -3.83395942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.82028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.27, Y:124.98, Z:-0.38 [[-5.72881387e-01 -8.19637404e-01 -1.20142858e-03 2.45271237e+02] [ 8.19635562e-01 -5.72882647e-01 1.73768951e-03 1.24976565e+02] [-2.11255291e-03 1.07563836e-05 9.99997769e-01 -3.83755274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.85028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.27, Y:124.98, Z:-0.38 [[-5.74094676e-01 -8.18788549e-01 -7.84239189e-04 2.45269013e+02] [ 8.18787764e-01 -5.74095212e-01 1.13347754e-03 1.24978518e+02] [-1.37830639e-03 8.59796747e-06 9.99999050e-01 -3.83847956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.880281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.28, Y:124.96, Z:-0.38 [[-5.75990276e-01 -8.17456541e-01 7.37614185e-05 2.45277650e+02] [ 8.17456534e-01 -5.75990281e-01 -1.06145372e-04 1.24963883e+02] [ 1.29255089e-04 -8.41948517e-07 9.99999992e-01 -3.84805497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.91028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.28, Y:124.96, Z:-0.39 [[-5.78991636e-01 -8.15332338e-01 1.36533813e-03 2.45276778e+02] [ 8.15329960e-01 -5.78993245e-01 -1.96919663e-03 1.24960928e+02] [ 2.39607125e-03 -2.69472927e-05 9.99997129e-01 -3.85253698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.940281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.29, Y:124.94, Z:-0.39 [[-5.79647059e-01 -8.14867084e-01 9.60715007e-04 2.45288991e+02] [ 8.14865905e-01 -5.79647855e-01 -1.38622270e-03 1.24941065e+02] [ 1.68646364e-03 -2.06660051e-05 9.99998578e-01 -3.85141020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 413.97028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.29, Y:124.94, Z:-0.38 [[-5.80542048e-01 -8.14230230e-01 2.51163577e-04 2.45286965e+02] [ 8.14230149e-01 -5.80542103e-01 -3.61757275e-04 1.24942578e+02] [ 4.40364741e-04 -5.51035260e-06 9.99999903e-01 -3.84147871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.000281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.28, Y:124.95, Z:-0.38 [[-5.82244909e-01 -8.13013036e-01 -8.18615694e-04 2.45277683e+02] [ 8.13012180e-01 -5.82245484e-01 1.17955895e-03 1.24953111e+02] [-1.43563209e-03 2.12476613e-05 9.99998969e-01 -3.83612179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.03028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.29, Y:124.93, Z:-0.38 [[-5.83075374e-01 -8.12417911e-01 -4.96708457e-04 2.45291590e+02] [ 8.12417596e-01 -5.83075585e-01 7.15600082e-04 1.24932322e+02] [-8.70984897e-04 1.37140954e-05 9.99999621e-01 -3.84176469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.060281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.29, Y:124.94, Z:-0.38 [[-5.86977324e-01 -8.09602939e-01 8.38196609e-04 2.45287008e+02] [ 8.09602040e-01 -5.86977922e-01 -1.20649210e-03 1.24941769e+02] [ 1.46878245e-03 -2.95778198e-05 9.99998921e-01 -3.84913718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.09028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.29, Y:124.94, Z:-0.38 [[-5.87281414e-01 -8.09382380e-01 8.38650540e-04 2.45288507e+02] [ 8.09381482e-01 -5.87282013e-01 -1.20617666e-03 1.24939741e+02] [ 1.46878251e-03 -2.95769156e-05 9.99998921e-01 -3.84912428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.120281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.30, Y:124.92, Z:-0.38 [[-5.89168291e-01 -8.08009806e-01 9.37173517e-04 2.45304655e+02] [ 8.08008681e-01 -5.89169035e-01 -1.34878174e-03 1.24919501e+02] [ 1.64198249e-03 -3.74150976e-05 9.99998651e-01 -3.84946916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.31, Y:124.91, Z:-0.38 [[-5.91396294e-01 -8.06381015e-01 2.86091902e-04 2.45314835e+02] [ 8.06380911e-01 -5.91396363e-01 -4.11054886e-04 1.24907245e+02] [ 5.00660566e-04 -1.23972873e-05 9.99999875e-01 -3.84256275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.180281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.32, Y:124.91, Z:-0.38 [[-5.93379684e-01 -8.04922624e-01 -3.44566572e-04 2.45316208e+02] [ 8.04922472e-01 -5.93379784e-01 4.95408823e-04 1.24906515e+02] [-6.03224608e-04 1.66161546e-05 9.99999818e-01 -3.83666372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.21028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.32, Y:124.91, Z:-0.38 [[-5.96090268e-01 -8.02917416e-01 -1.27544386e-04 2.45318482e+02] [ 8.02917395e-01 -5.96090282e-01 1.83443667e-04 1.24907661e+02] [-2.23318084e-04 6.94137839e-06 9.99999975e-01 -3.83990172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.32, Y:124.91, Z:-0.38 [[-5.97084814e-01 -8.02178097e-01 1.61627627e-04 2.45320740e+02] [ 8.02178064e-01 -5.97084835e-01 -2.31541212e-04 1.24907374e+02] [ 2.82242694e-04 -8.59560394e-06 9.99999960e-01 -3.83693383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.27028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.33, Y:124.89, Z:-0.38 [[-5.97740392e-01 -8.01689728e-01 6.08088852e-05 2.45332187e+02] [ 8.01689723e-01 -5.97740396e-01 -8.68420727e-05 1.24894036e+02] [ 1.05968325e-04 -3.15915631e-06 9.99999994e-01 -3.83836854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.300281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.33, Y:124.91, Z:-0.38 [[-5.98157449e-01 -8.01378493e-01 4.20433793e-04 2.45329898e+02] [ 8.01378267e-01 -5.98157597e-01 -6.01888843e-04 1.24905064e+02] [ 7.33826441e-04 -2.30977902e-05 9.99999731e-01 -3.83853528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.33028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.34, Y:124.89, Z:-0.38 [[-5.97893382e-01 -8.01575046e-01 9.74278360e-04 2.45343651e+02] [ 8.01573834e-01 -5.97894174e-01 -1.39499635e-03 1.24890258e+02] [ 1.70070962e-03 -5.31030488e-05 9.99998552e-01 -3.84169437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.36028169299993 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.33, Y:124.92, Z:-0.38 [[-5.95591407e-01 -8.03286591e-01 1.23631690e-03 2.45328310e+02] [ 8.03284646e-01 -5.95592687e-01 -1.76864027e-03 1.24919169e+02] [ 2.15706632e-03 -6.02725658e-05 9.99997672e-01 -3.84645844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.39028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.32, Y:124.93, Z:-0.38 [[-5.93770669e-01 -8.04633900e-01 8.24209255e-04 2.45323771e+02] [ 8.04633039e-01 -5.93771240e-01 -1.17804426e-03 1.24928059e+02] [ 1.43728610e-03 -3.63021311e-05 9.99998966e-01 -3.84476281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.42028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.32, Y:124.93, Z:-0.38 [[-5.91729954e-01 -8.06136229e-01 2.07477515e-04 2.45321987e+02] [ 8.06136174e-01 -5.91729990e-01 -2.96061401e-04 1.24933005e+02] [ 3.61436489e-04 -7.93326914e-06 9.99999935e-01 -3.83960478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.33, Y:124.93, Z:-0.38 [[-5.88745197e-01 -8.08318677e-01 9.85288030e-05 2.45328334e+02] [ 8.08318665e-01 -5.88745205e-01 -1.40308511e-04 1.24929318e+02] [ 1.71422351e-04 -2.96329167e-06 9.99999985e-01 -3.83440738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.48028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.33, Y:124.93, Z:-0.38 [[-5.88528638e-01 -8.08476146e-01 6.03048652e-04 2.45331643e+02] [ 8.08475689e-01 -5.88528946e-01 -8.59791412e-04 1.24927543e+02] [ 1.05003243e-03 -1.84616936e-05 9.99999449e-01 -3.84689903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.51028169299997 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:245.34, Y:124.92, Z:-0.39 [[-5.88804701e-01 -8.08274390e-01 1.23865969e-03 2.45338055e+02] [ 8.08272464e-01 -5.88806002e-01 -1.76496061e-03 1.24921030e+02] [ 2.15590273e-03 -3.80425815e-05 9.99997675e-01 -3.85202162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.54028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.32, Y:124.95, Z:-0.39 [[-5.88892243e-01 -8.08210886e-01 1.04353121e-03 2.45320314e+02] [ 8.08209522e-01 -5.88893167e-01 -1.48567634e-03 1.24949118e+02] [ 1.81526819e-03 -3.15114116e-05 9.99998352e-01 -3.85778672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.57028169299997 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:245.34, Y:124.93, Z:-0.38 [[-5.88288611e-01 -8.08650979e-01 3.23825051e-04 2.45338650e+02] [ 8.08650848e-01 -5.88288700e-01 -4.60426044e-04 1.24930954e+02] [ 5.62826589e-04 -9.00199564e-06 9.99999842e-01 -3.84254867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.60028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.33, Y:124.94, Z:-0.38 [[-5.88028004e-01 -8.08840501e-01 3.32869757e-04 2.45332097e+02] [ 8.08840362e-01 -5.88028098e-01 -4.72916403e-04 1.24944157e+02] [ 5.78250711e-04 -8.84959361e-06 9.99999833e-01 -3.84119004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.630281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.33, Y:124.95, Z:-0.38 [[-5.87320534e-01 -8.09354343e-01 3.72538691e-04 2.45332271e+02] [ 8.09354170e-01 -5.87320652e-01 -5.28884654e-04 1.24946159e+02] [ 6.46854759e-04 -9.10907466e-06 9.99999791e-01 -3.84037360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.66028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.34, Y:124.94, Z:-0.38 [[-5.84351733e-01 -8.11500338e-01 5.03376339e-04 2.45335080e+02] [ 8.11500024e-01 -5.84351950e-01 -7.14172577e-04 1.24942328e+02] [ 8.73700233e-04 -8.83807245e-06 9.99999618e-01 -3.83254524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.690281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.33, Y:124.95, Z:-0.38 [[-5.82952368e-01 -8.12505605e-01 1.08553014e-03 2.45326809e+02] [ 8.12504147e-01 -5.82953379e-01 -1.53925010e-03 1.24952706e+02] [ 1.88346280e-03 -1.53117533e-05 9.99998226e-01 -3.83081490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.72028169299995 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.32, Y:124.96, Z:-0.38 [[-5.79042715e-01 -8.15295734e-01 1.54944866e-03 2.45320861e+02] [ 8.15292778e-01 -5.79044788e-01 -2.19541398e-03 1.24957190e+02] [ 2.68711182e-03 -7.98416437e-06 9.99996390e-01 -3.83238650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.750281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.32, Y:124.95, Z:-0.38 [[-5.77556904e-01 -8.16349776e-01 1.03246438e-03 2.45321422e+02] [ 8.16348468e-01 -5.77557827e-01 -1.46158018e-03 1.24953081e+02] [ 1.78946854e-03 -1.29501051e-06 9.99998399e-01 -3.83274287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.78028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.31, Y:124.96, Z:-0.38 [[-5.76363306e-01 -8.17193488e-01 3.79296017e-04 2.45312442e+02] [ 8.17193312e-01 -5.76363430e-01 -5.36277245e-04 1.24961920e+02] [ 6.56854626e-04 8.67643102e-07 9.99999784e-01 -3.83357279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.810281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.31, Y:124.96, Z:-0.38 [[-5.75194440e-01 -8.18016701e-01 1.83880077e-04 2.45311170e+02] [ 8.18016660e-01 -5.75194469e-01 -2.59587778e-04 1.24956860e+02] [ 3.18113941e-04 1.10351957e-06 9.99999949e-01 -3.83166040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.84028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.32, Y:124.95, Z:-0.38 [[-5.75351330e-01 -8.17906119e-01 6.53438264e-04 2.45316063e+02] [ 8.17905599e-01 -5.75351701e-01 -9.22598370e-04 1.24947494e+02] [ 1.13055567e-03 3.63261594e-06 9.99999361e-01 -3.82095743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.870281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.31, Y:124.95, Z:-0.38 [[-5.76025286e-01 -8.17431584e-01 6.89668975e-04 2.45314164e+02] [ 8.17431005e-01 -5.76025699e-01 -9.72968480e-04 1.24947228e+02] [ 1.19260222e-03 3.30235564e-06 9.99999289e-01 -3.82225647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.90028169299995 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:245.32, Y:124.93, Z:-0.38 [[-5.76816762e-01 -8.16873052e-01 9.16120038e-04 2.45321776e+02] [ 8.16872031e-01 -5.76817490e-01 -1.29149172e-03 1.24933141e+02] [ 1.58341885e-03 3.39876146e-06 9.99998746e-01 -3.81429842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.930281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.32, Y:124.94, Z:-0.38 [[-5.78270773e-01 -8.15844872e-01 -2.43025933e-04 2.45315214e+02] [ 8.15844800e-01 -5.78270824e-01 3.42756596e-04 1.24937794e+02] [-4.20171018e-04 -6.53222401e-08 9.99999912e-01 -3.82408502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.96028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.32, Y:124.94, Z:-0.38 [[-5.79188629e-01 -8.15193297e-01 -6.49144918e-04 2.45315770e+02] [ 8.15192784e-01 -5.79188992e-01 9.14208399e-04 1.24936969e+02] [-1.12123415e-03 3.20855437e-07 9.99999371e-01 -3.82407566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 414.990281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.32, Y:124.93, Z:-0.38 [[-5.80285465e-01 -8.14412927e-01 -6.02329715e-04 2.45318344e+02] [ 8.14412486e-01 -5.80285778e-01 8.47603088e-04 1.24933019e+02] [-1.03982228e-03 1.30691112e-06 9.99999459e-01 -3.82501953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.02028169299996 meters Centerline goodness : 0.999676 Centerline is valid? [True, True] Translation: X:245.33, Y:124.92, Z:-0.38 [[-5.81544584e-01 -8.13513856e-01 1.05027699e-03 2.45326342e+02] [ 8.13512517e-01 -5.81545533e-01 -1.47580447e-03 1.24921303e+02] [ 1.81137127e-03 -3.83262220e-06 9.99998359e-01 -3.77546835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.050281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.33, Y:124.92, Z:-0.38 [[-5.81766074e-01 -8.13355148e-01 1.27982057e-03 2.45327126e+02] [ 8.13353163e-01 -5.81767482e-01 -1.79695830e-03 1.24918417e+02] [ 2.20612328e-03 -4.46326561e-06 9.99997567e-01 -3.83237664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.08028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.32, Y:124.92, Z:-0.38 [[-5.82114198e-01 -8.13106291e-01 1.10452336e-03 2.45322997e+02] [ 8.13104814e-01 -5.82115246e-01 -1.54951165e-03 1.24924089e+02] [ 1.90287756e-03 -3.89947376e-06 9.99998190e-01 -3.82887669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.11028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.33, Y:124.91, Z:-0.38 [[-5.82723329e-01 -8.12670601e-01 -1.25119004e-04 2.45331126e+02] [ 8.12670582e-01 -5.82723342e-01 1.75762870e-04 1.24910586e+02] [-2.15747082e-04 7.40590873e-07 9.99999977e-01 -3.81220869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.14028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.33, Y:124.91, Z:-0.38 [[-5.83057038e-01 -8.12431113e-01 -4.20451454e-04 2.45332429e+02] [ 8.12430900e-01 -5.83057190e-01 5.89350206e-04 1.24907012e+02] [-7.23953687e-04 2.03703271e-06 9.99999738e-01 -3.81636400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.17028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.33, Y:124.91, Z:-0.38 [[-5.83344441e-01 -8.12224855e-01 2.18595929e-04 2.45325066e+02] [ 8.12224797e-01 -5.83344482e-01 -3.05641313e-04 1.24914486e+02] [ 3.75766200e-04 -7.45127072e-07 9.99999929e-01 -3.83684643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.20028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.33, Y:124.90, Z:-0.38 [[-5.84455630e-01 -8.11425187e-01 8.84800056e-04 2.45330888e+02] [ 8.11424243e-01 -5.84456300e-01 -1.23715548e-03 1.24903044e+02] [ 1.52098608e-03 -5.11427046e-06 9.99998843e-01 -3.83406654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.23028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.33, Y:124.90, Z:-0.38 [[-5.85717784e-01 -8.10513839e-01 1.41208030e-03 2.45326683e+02] [ 8.10511438e-01 -5.85719486e-01 -1.97300904e-03 1.24904925e+02] [ 2.42623408e-03 -1.11192471e-05 9.99997057e-01 -3.83072581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.26028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.33, Y:124.90, Z:-0.38 [[-5.86724391e-01 -8.09784975e-01 1.66831120e-03 2.45330205e+02] [ 8.09781625e-01 -5.86726763e-01 -2.32918674e-03 1.24895697e+02] [ 2.86498325e-03 -1.56229199e-05 9.99995896e-01 -3.82608247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.29028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.34, Y:124.88, Z:-0.38 [[-5.87660028e-01 -8.09106370e-01 1.60404001e-03 2.45338089e+02] [ 8.09103271e-01 -5.87662217e-01 -2.23951453e-03 1.24880340e+02] [ 2.75463918e-03 -1.82391515e-05 9.99996206e-01 -3.82266527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.32028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.33, Y:124.88, Z:-0.38 [[-5.88199113e-01 -8.08715226e-01 1.21961349e-03 2.45333606e+02] [ 8.08713437e-01 -5.88200377e-01 -1.70111460e-03 1.24884832e+02] [ 2.09309439e-03 -1.42762839e-05 9.99997809e-01 -3.82825528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.34, Y:124.88, Z:-0.38 [[-5.88633684e-01 -8.08399098e-01 1.13321349e-03 2.45336706e+02] [ 8.08397555e-01 -5.88634775e-01 -1.57930490e-03 1.24878458e+02] [ 1.94375753e-03 -1.35450446e-05 9.99998111e-01 -3.82535204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.380281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.33, Y:124.88, Z:-0.38 [[-5.88247557e-01 -8.08680069e-01 1.16480382e-03 2.45333158e+02] [ 8.08678443e-01 -5.88248710e-01 -1.62203126e-03 1.24878529e+02] [ 1.99689869e-03 -1.22041824e-05 9.99998006e-01 -3.81885583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.41028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.33, Y:124.88, Z:-0.38 [[-5.87950145e-01 -8.08895860e-01 1.45453724e-03 2.45331144e+02] [ 8.08893328e-01 -5.87951944e-01 -2.02394028e-03 1.24878857e+02] [ 2.49235491e-03 -1.34105085e-05 9.99996894e-01 -3.81286123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.440281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.33, Y:124.88, Z:-0.38 [[-5.88099687e-01 -8.08787402e-01 1.30249878e-03 2.45327593e+02] [ 8.08785375e-01 -5.88101129e-01 -1.81087649e-03 1.24881495e+02] [ 2.23061509e-03 -1.15339306e-05 9.99997512e-01 -3.81347983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.47028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:245.34, Y:124.86, Z:-0.38 [[-5.88342679e-01 -8.08610904e-01 1.13954375e-03 2.45342985e+02] [ 8.08609348e-01 -5.88343783e-01 -1.58622196e-03 1.24855186e+02] [ 1.95307985e-03 -1.17963480e-05 9.99998093e-01 -3.82338574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.500281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.33, Y:124.87, Z:-0.38 [[-5.88617546e-01 -8.08410517e-01 1.34918915e-03 2.45330489e+02] [ 8.08408341e-01 -5.88619092e-01 -1.87581113e-03 1.24870822e+02] [ 2.31058394e-03 -1.34395800e-05 9.99997331e-01 -3.81489177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.53028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.33, Y:124.87, Z:-0.38 [[-5.88944262e-01 -8.08172967e-01 1.05440605e-03 2.45327156e+02] [ 8.08171639e-01 -5.88945206e-01 -1.46470539e-03 1.24871679e+02] [ 1.80472269e-03 -1.04887709e-05 9.99998371e-01 -3.80049489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.560281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:245.34, Y:124.86, Z:-0.38 [[-5.89188549e-01 -8.07995144e-01 8.37426582e-04 2.45336526e+02] [ 8.07994305e-01 -5.89189144e-01 -1.16403932e-03 1.24855642e+02] [ 1.43394077e-03 -9.20272934e-06 9.99998972e-01 -3.79655383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.59028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.34, Y:124.85, Z:-0.38 [[-5.89834598e-01 -8.07523668e-01 8.20449815e-04 2.45337959e+02] [ 8.07522862e-01 -5.89835169e-01 -1.14062797e-03 1.24850626e+02] [ 1.40501424e-03 -1.02498591e-05 9.99999013e-01 -3.79949305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.620281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.34, Y:124.84, Z:-0.38 [[-5.92198530e-01 -8.05791959e-01 4.69554191e-04 2.45339400e+02] [ 8.05791694e-01 -5.92198716e-01 -6.53067870e-04 1.24842281e+02] [ 8.04306227e-04 -8.38296573e-06 9.99999677e-01 -3.80778489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.65028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.34, Y:124.84, Z:-0.38 [[-5.93303860e-01 -8.04978325e-01 6.52450549e-04 2.45339362e+02] [ 8.04977814e-01 -5.93304219e-01 -9.07533015e-04 1.24838543e+02] [ 1.11764607e-03 -1.32346240e-05 9.99999375e-01 -3.80599146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.680281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:245.33, Y:124.84, Z:-0.38 [[-5.94249391e-01 -8.04280222e-01 9.92867440e-04 2.45332567e+02] [ 8.04279040e-01 -5.94250220e-01 -1.37949705e-03 1.24844025e+02] [ 1.69951389e-03 -2.12228120e-05 9.99998556e-01 -3.80914571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.71028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.33, Y:124.84, Z:-0.38 [[-5.95066685e-01 -8.03675531e-01 1.13224675e-03 2.45329527e+02] [ 8.03673990e-01 -5.95067762e-01 -1.57392025e-03 1.24841273e+02] [ 1.93868473e-03 -2.66302445e-05 9.99998120e-01 -3.80295587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.740281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.33, Y:124.84, Z:-0.38 [[-5.95745827e-01 -8.03172661e-01 7.65687394e-04 2.45329020e+02] [ 8.03171955e-01 -5.95746319e-01 -1.06475652e-03 1.24839814e+02] [ 1.31133878e-03 -1.93456143e-05 9.99999140e-01 -3.80950936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.77028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.34, Y:124.83, Z:-0.38 [[-5.96928319e-01 -8.02294421e-01 4.92882836e-04 2.45336227e+02] [ 8.02294129e-01 -5.96928523e-01 -6.85643690e-04 1.24828742e+02] [ 8.44303930e-04 -1.38431301e-05 9.99999644e-01 -3.81026724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.34, Y:124.82, Z:-0.38 [[-6.01020637e-01 -7.99233163e-01 7.38477042e-04 2.45343180e+02] [ 7.99232503e-01 -6.01021090e-01 -1.02752494e-03 1.24818577e+02] [ 1.26507229e-03 -2.73488401e-05 9.99999199e-01 -3.81522574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.35, Y:124.82, Z:-0.38 [[-6.03238544e-01 -7.97558962e-01 1.72090346e-03 2.45346622e+02] [ 7.97555369e-01 -6.03240995e-01 -2.39501595e-03 1.24815086e+02] [ 2.94828595e-03 -7.22501396e-05 9.99995651e-01 -3.81859820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.34, Y:124.83, Z:-0.38 [[-6.06003334e-01 -7.95457501e-01 2.70612634e-03 2.45340099e+02] [ 7.95448612e-01 -6.06009362e-01 -3.76275064e-03 1.24826061e+02] [ 4.63304612e-03 -1.27654990e-04 9.99989259e-01 -3.82420476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.89028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.35, Y:124.81, Z:-0.38 [[-6.09819383e-01 -7.92531112e-01 3.84144111e-03 2.45351941e+02] [ 7.92513109e-01 -6.09831444e-01 -5.34625442e-03 1.24814613e+02] [ 6.57970454e-03 -2.15857139e-04 9.99978330e-01 -3.83481087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.92028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.35, Y:124.81, Z:-0.38 [[-6.11051495e-01 -7.91581778e-01 3.78930329e-03 2.45354822e+02] [ 7.91564237e-01 -6.11063203e-01 -5.27446635e-03 1.24814628e+02] [ 6.49067526e-03 -2.23493577e-04 9.99978910e-01 -3.83492172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.95028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.35, Y:124.82, Z:-0.38 [[-6.11624761e-01 -7.91140944e-01 3.34043324e-03 2.45354609e+02] [ 7.91127329e-01 -6.11633850e-01 -4.64571497e-03 1.24820058e+02] [ 5.71853737e-03 -1.98726281e-04 9.99983629e-01 -3.82868390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 415.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.35, Y:124.82, Z:-0.38 [[-6.11588851e-01 -7.91168706e-01 3.34005230e-03 2.45354130e+02] [ 7.91155089e-01 -6.11597940e-01 -4.64598886e-03 1.24820744e+02] [ 5.71853009e-03 -1.98935616e-04 9.99983629e-01 -3.82868825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.01028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.37, Y:124.81, Z:-0.38 [[-6.10498972e-01 -7.92014624e-01 1.95986684e-03 2.45371364e+02] [ 7.92009937e-01 -6.10502107e-01 -2.72704026e-03 1.24807616e+02] [ 3.35635860e-03 -1.12621267e-04 9.99994361e-01 -3.81420934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.04028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.36, Y:124.82, Z:-0.38 [[-6.10352576e-01 -7.92128009e-01 1.71748921e-03 2.45363239e+02] [ 7.92124417e-01 -6.10354985e-01 -2.38754432e-03 1.24824185e+02] [ 2.93951883e-03 -9.67786817e-05 9.99995675e-01 -3.80925968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.07028169299997 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.37, Y:124.82, Z:-0.38 [[-6.10118571e-01 -7.92307209e-01 2.14868083e-03 2.45370715e+02] [ 7.92301586e-01 -6.10122342e-01 -2.98735594e-03 1.24819073e+02] [ 3.67786183e-03 -1.20238107e-04 9.99993229e-01 -3.81111320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.37, Y:124.83, Z:-0.38 [[-6.10560110e-01 -7.91961226e-01 3.71066952e-03 2.45371954e+02] [ 7.91944477e-01 -6.10571350e-01 -5.15475862e-03 1.24828126e+02] [ 6.34799745e-03 -2.08645758e-04 9.99979830e-01 -3.82734496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.130281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.37, Y:124.84, Z:-0.38 [[-6.10605343e-01 -7.91925273e-01 3.93418931e-03 2.45365565e+02] [ 7.91906473e-01 -6.10617978e-01 -5.46106502e-03 1.24842073e+02] [ 6.72704212e-03 -2.19045499e-04 9.99977349e-01 -3.83271071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.38, Y:124.83, Z:-0.38 [[-6.10181371e-01 -7.92252705e-01 3.78762082e-03 2.45376822e+02] [ 7.92235313e-01 -6.10193092e-01 -5.25353847e-03 1.24830662e+02] [ 6.47331012e-03 -2.04924340e-04 9.99979027e-01 -3.82764368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.37, Y:124.85, Z:-0.38 [[-6.09108552e-01 -7.93080129e-01 3.26814679e-03 2.45367169e+02] [ 7.93067212e-01 -6.09117296e-01 -4.52945576e-03 1.24847907e+02] [ 5.58290610e-03 -1.67070171e-04 9.99984402e-01 -3.82153356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.22028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.37, Y:124.85, Z:-0.38 [[-6.05885576e-01 -7.95548672e-01 2.23134972e-03 2.45369404e+02] [ 7.95542677e-01 -6.05889677e-01 -3.08999443e-03 1.24850399e+02] [ 3.81019273e-03 -9.70491290e-05 9.99992737e-01 -3.80951961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.37, Y:124.85, Z:-0.38 [[-6.04289387e-01 -7.96762174e-01 2.09161984e-03 2.45368586e+02] [ 7.96756922e-01 -6.04293001e-01 -2.89420388e-03 1.24853731e+02] [ 3.56994340e-03 -8.24241076e-05 9.99993624e-01 -3.80600577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.28028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.36, Y:124.87, Z:-0.38 [[-6.01429620e-01 -7.98922788e-01 2.18880747e-03 2.45361648e+02] [ 7.98917060e-01 -6.01433598e-01 -3.02630035e-03 1.24870163e+02] [ 3.73420267e-03 -7.14310372e-05 9.99993025e-01 -3.80937531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:124.87, Z:-0.38 [[-6.00925683e-01 -7.99301834e-01 2.21403190e-03 2.45361853e+02] [ 7.99295984e-01 -6.00929758e-01 -3.05873370e-03 1.24874869e+02] [ 3.77532911e-03 -6.84048313e-05 9.99992871e-01 -3.81411626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.34028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.37, Y:124.86, Z:-0.38 [[-6.00526254e-01 -7.99602201e-01 2.13015473e-03 2.45374533e+02] [ 7.99596797e-01 -6.00530029e-01 -2.94050353e-03 1.24862206e+02] [ 3.63045497e-03 -6.25846673e-05 9.99993408e-01 -3.81219039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.370281693 meters Centerline goodness : 0.999913 Centerline is valid? [True, True] Translation: X:245.37, Y:124.87, Z:-0.38 [[-5.98954928e-01 -8.00780209e-01 2.01290530e-03 2.45374191e+02] [ 8.00775397e-01 -5.98958308e-01 -2.77642815e-03 1.24869532e+02] [ 3.42895506e-03 -5.10702823e-05 9.99994120e-01 -3.81952620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.40028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.38, Y:124.87, Z:-0.38 [[-5.98136528e-01 -8.01390920e-01 2.29942514e-03 2.45375149e+02] [ 8.01384655e-01 -5.98140946e-01 -3.16914770e-03 1.24871557e+02] [ 3.91510652e-03 -5.28589786e-05 9.99992335e-01 -3.81987953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.430281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:245.36, Y:124.89, Z:-0.38 [[-5.97416725e-01 -8.01925814e-01 2.87147471e-03 2.45363700e+02] [ 8.01916066e-01 -5.97423623e-01 -3.95445950e-03 1.24891423e+02] [ 4.88666998e-03 -5.97785409e-05 9.99988058e-01 -3.76895884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.46028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.37, Y:124.89, Z:-0.38 [[-5.96365995e-01 -8.02704334e-01 3.65409507e-03 2.45366565e+02] [ 8.02688587e-01 -5.96377186e-01 -5.02824990e-03 1.24889063e+02] [ 6.21541692e-03 -6.55768437e-05 9.99980682e-01 -3.83152732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.490281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.37, Y:124.90, Z:-0.38 [[-5.94159196e-01 -8.04333413e-01 4.75497203e-03 2.45366284e+02] [ 8.04306844e-01 -5.94178220e-01 -6.53789785e-03 1.24895419e+02] [ 8.08395051e-03 -6.00955873e-05 9.99967323e-01 -3.82785732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.52028169299996 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.37, Y:124.90, Z:-0.38 [[-5.93399836e-01 -8.04893873e-01 4.74212016e-03 2.45365100e+02] [ 8.04867508e-01 -5.93418782e-01 -6.51489062e-03 1.24900346e+02] [ 8.05785872e-03 -4.91565950e-05 9.99967534e-01 -3.82685618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.550281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.36, Y:124.91, Z:-0.38 [[-5.90698860e-01 -8.06883821e-01 3.65448041e-03 2.45357011e+02] [ 8.06868228e-01 -5.90710165e-01 -5.01642622e-03 1.24914807e+02] [ 6.20641188e-03 -1.45131200e-05 9.99980740e-01 -3.81599877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.58028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.37, Y:124.89, Z:-0.38 [[-5.89246277e-01 -8.07948172e-01 2.92865925e-03 2.45374277e+02] [ 8.07938175e-01 -5.89253555e-01 -4.01901643e-03 1.24890868e+02] [ 4.97287985e-03 -2.01485748e-06 9.99987635e-01 -3.81540615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.61028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.36, Y:124.92, Z:-0.38 [[-5.87994404e-01 -8.08861391e-01 2.41495832e-03 2.45355866e+02] [ 8.08854614e-01 -5.87999363e-01 -3.31109024e-03 1.24916289e+02] [ 4.09820701e-03 6.44765186e-06 9.99991602e-01 -3.81605028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.64028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.37, Y:124.90, Z:-0.38 [[-5.84607074e-01 -8.11313704e-01 2.15473003e-03 2.45367410e+02] [ 8.11308335e-01 -5.84611044e-01 -2.95180779e-03 1.24899155e+02] [ 3.65452108e-03 2.25027183e-05 9.99993322e-01 -3.82286312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.67028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.36, Y:124.91, Z:-0.38 [[-5.83484499e-01 -8.12120744e-01 2.39529228e-03 2.45358249e+02] [ 8.12114126e-01 -5.83489414e-01 -3.27867647e-03 1.24910155e+02] [ 4.06030887e-03 3.21938020e-05 9.99991756e-01 -3.82607302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.70028169299997 meters Centerline goodness : 0.999569 Centerline is valid? [True, True] Translation: X:245.37, Y:124.90, Z:-0.38 [[-5.82919325e-01 -8.12525025e-01 2.85373059e-03 2.45366697e+02] [ 8.12515652e-01 -5.82926309e-01 -3.90301201e-03 1.24895111e+02] [ 4.83480957e-03 4.35596473e-05 9.99988311e-01 -3.76914433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.73028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.37, Y:124.89, Z:-0.38 [[-5.82951048e-01 -8.12504131e-01 2.26122038e-03 2.45372072e+02] [ 8.12498256e-01 -5.82955432e-01 -3.09003186e-03 1.24885748e+02] [ 3.82885435e-03 3.59003007e-05 9.99992669e-01 -3.81907813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.76028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.37, Y:124.89, Z:-0.38 [[-5.83082216e-01 -8.12410714e-01 1.99024090e-03 2.45371376e+02] [ 8.12406170e-01 -5.83085612e-01 -2.71745780e-03 1.24886010e+02] [ 3.36817267e-03 3.23826736e-05 9.99994327e-01 -3.81372170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.79028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.37, Y:124.89, Z:-0.38 [[-5.83355667e-01 -8.12214318e-01 2.01707709e-03 2.45368402e+02] [ 8.12209656e-01 -5.83359153e-01 -2.75183526e-03 1.24888927e+02] [ 3.41176038e-03 3.29907942e-05 9.99994179e-01 -3.81041092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.82028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.37, Y:124.88, Z:-0.38 [[-5.83932478e-01 -8.11798783e-01 2.36593774e-03 2.45373520e+02] [ 8.11792377e-01 -5.83937270e-01 -3.22517772e-03 1.24879668e+02] [ 3.99975457e-03 3.73642022e-05 9.99992000e-01 -3.81358815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.37, Y:124.88, Z:-0.38 [[-5.84853785e-01 -8.11133342e-01 2.95830313e-03 2.45367033e+02] [ 8.11123334e-01 -5.84861266e-01 -4.02943918e-03 1.24883718e+02] [ 4.99860938e-03 4.29159416e-05 9.99987506e-01 -3.82313975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.880281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.36, Y:124.88, Z:-0.38 [[-5.85633074e-01 -8.10572262e-01 2.55154025e-03 2.45364852e+02] [ 8.10564825e-01 -5.85638631e-01 -3.47247216e-03 1.24884988e+02] [ 4.30897016e-03 3.45942318e-05 9.99990716e-01 -3.82306894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.91028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.37, Y:124.88, Z:-0.38 [[-5.86503294e-01 -8.09944469e-01 1.96034960e-03 2.45371218e+02] [ 8.09940083e-01 -5.86506570e-01 -2.66561982e-03 1.24875296e+02] [ 3.30876195e-03 2.43709089e-05 9.99994526e-01 -3.81942636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.940281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.38, Y:124.87, Z:-0.38 [[-5.88455837e-01 -8.08528681e-01 1.04839030e-03 2.45376304e+02] [ 8.08527427e-01 -5.88456771e-01 -1.42424169e-03 1.24865842e+02] [ 1.76847262e-03 9.54897537e-06 9.99998436e-01 -3.81179214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 416.97028169299995 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.37, Y:124.88, Z:-0.38 [[-5.89424596e-01 -8.07822926e-01 8.75667170e-04 2.45368553e+02] [ 8.07822051e-01 -5.89425246e-01 -1.18856197e-03 1.24875738e+02] [ 1.47628794e-03 6.81559175e-06 9.99998910e-01 -3.81233042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.37, Y:124.87, Z:-0.38 [[-5.89776079e-01 -8.07566142e-01 1.04994212e-03 2.45368819e+02] [ 8.07564887e-01 -5.89777014e-01 -1.42399554e-03 1.24874136e+02] [ 1.76920231e-03 8.05788472e-06 9.99998435e-01 -3.81212892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.03028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.37, Y:124.87, Z:-0.38 [[-5.90134227e-01 -8.07304630e-01 9.10137177e-04 2.45371702e+02] [ 8.07303688e-01 -5.90134928e-01 -1.23331866e-03 1.24868355e+02] [ 1.53276760e-03 6.93354666e-06 9.99998825e-01 -3.80842637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.060281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.37, Y:124.86, Z:-0.38 [[-5.90117981e-01 -8.07316928e-01 3.82249402e-04 2.45371113e+02] [ 8.07316762e-01 -5.90118105e-01 -5.17358519e-04 1.24864975e+02] [ 6.43244583e-04 3.29378486e-06 9.99999793e-01 -3.80783839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.09028169299995 meters Centerline goodness : 0.999849 Centerline is valid? [True, True] Translation: X:245.37, Y:124.86, Z:-0.38 [[-5.90171211e-01 -8.07277757e-01 7.51407114e-04 2.45371226e+02] [ 8.07277117e-01 -5.90171689e-01 -1.01648714e-03 1.24863446e+02] [ 1.26404666e-03 6.69232399e-06 9.99999201e-01 -3.81403327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.120281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.38, Y:124.86, Z:-0.38 [[-5.90187003e-01 -8.07265735e-01 1.15558006e-03 2.45376142e+02] [ 8.07264223e-01 -5.90188134e-01 -1.56214022e-03 1.24855855e+02] [ 1.94307191e-03 1.09035875e-05 9.99998112e-01 -3.82853823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.15028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.38, Y:124.85, Z:-0.38 [[-5.90279304e-01 -8.07196958e-01 1.84753410e-03 2.45379767e+02] [ 8.07193100e-01 -5.90282195e-01 -2.49569759e-03 1.24849776e+02] [ 3.10508599e-03 1.81581471e-05 9.99995179e-01 -3.83166602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.180281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.38, Y:124.85, Z:-0.38 [[-5.89817072e-01 -8.07530391e-01 3.23886585e-03 2.45376350e+02] [ 8.07518557e-01 -5.89825963e-01 -4.37181341e-03 1.24850825e+02] [ 5.44073936e-03 3.68740956e-05 9.99985198e-01 -3.83429758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.21028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.37, Y:124.86, Z:-0.38 [[-5.89534867e-01 -8.07735295e-01 3.51197244e-03 2.45368098e+02] [ 8.07721408e-01 -5.89545326e-01 -4.73656465e-03 1.24859462e+02] [ 5.89635738e-03 4.43253081e-05 9.99982615e-01 -3.83203145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.37, Y:124.85, Z:-0.38 [[-5.89089766e-01 -8.08060900e-01 3.29090150e-03 2.45373457e+02] [ 8.08048732e-01 -5.89098956e-01 -4.43471633e-03 1.24849350e+02] [ 5.52218751e-03 4.67627767e-05 9.99984752e-01 -3.83016857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.27028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.37, Y:124.85, Z:-0.38 [[-5.88356694e-01 -8.08596865e-01 2.74068368e-03 2.45371887e+02] [ 8.08588446e-01 -5.88363075e-01 -3.69015869e-03 1.24847347e+02] [ 4.59636783e-03 4.49555877e-05 9.99989436e-01 -3.82346552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.38, Y:124.83, Z:-0.38 [[-5.87138155e-01 -8.09483450e-01 2.30910495e-03 2.45380973e+02] [ 8.09477479e-01 -5.87142694e-01 -3.10935086e-03 1.24830243e+02] [ 3.87274216e-03 4.35499316e-05 9.99992500e-01 -3.82424036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.37, Y:124.84, Z:-0.38 [[-5.86163097e-01 -8.10189784e-01 2.31054045e-03 2.45372583e+02] [ 8.10183822e-01 -5.86167649e-01 -3.10840616e-03 1.24835523e+02] [ 3.87276298e-03 4.99295156e-05 9.99992500e-01 -3.82316191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.36028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.38, Y:124.82, Z:-0.38 [[-5.83063385e-01 -8.12423416e-01 2.29840382e-03 2.45375128e+02] [ 8.12417530e-01 -5.83067912e-01 -3.09312791e-03 1.24818846e+02] [ 3.85305506e-03 6.37739249e-05 9.99992575e-01 -3.82469216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.37, Y:124.82, Z:-0.38 [[-5.82188496e-01 -8.13050514e-01 2.32723429e-03 2.45369365e+02] [ 8.13044496e-01 -5.82193144e-01 -3.12896537e-03 1.24818686e+02] [ 3.89890675e-03 7.04973907e-05 9.99992397e-01 -3.82480711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.42028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.36, Y:124.82, Z:-0.38 [[-5.81810784e-01 -8.13320600e-01 2.41129837e-03 2.45357932e+02] [ 8.13314152e-01 -5.81815775e-01 -3.23934756e-03 1.24824738e+02] [ 4.03755953e-03 7.64557432e-05 9.99991846e-01 -3.82937554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.45028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.36, Y:124.81, Z:-0.38 [[-5.81732817e-01 -8.13375123e-01 2.79985971e-03 2.45355351e+02] [ 8.13366423e-01 -5.81739548e-01 -3.76302045e-03 1.24808886e+02] [ 4.68953635e-03 8.82393904e-05 9.99989000e-01 -3.84108716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.48028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.34, Y:124.82, Z:-0.38 [[-5.82855352e-01 -8.12571846e-01 2.57561287e-03 2.45341716e+02] [ 8.12564476e-01 -5.82861038e-01 -3.46151530e-03 1.24818520e+02] [ 4.31395427e-03 7.52888065e-05 9.99990692e-01 -3.84322454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.51028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.34, Y:124.82, Z:-0.38 [[-5.84629089e-01 -8.11297659e-01 2.22196092e-03 2.45335434e+02] [ 8.11292161e-01 -5.84633309e-01 -2.98727834e-03 1.24819646e+02] [ 3.72260429e-03 5.62096580e-05 9.99993070e-01 -3.84297919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.54028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.35, Y:124.80, Z:-0.38 [[-5.87090155e-01 -8.09519709e-01 1.72930873e-03 2.45345620e+02] [ 8.09516365e-01 -5.87092701e-01 -2.32707658e-03 1.24799046e+02] [ 2.89907889e-03 3.36999667e-05 9.99995797e-01 -3.84361726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.57028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.35, Y:124.78, Z:-0.38 [[-5.89907326e-01 -8.07469841e-01 1.34236662e-03 2.45352802e+02] [ 8.07467818e-01 -5.89908853e-01 -1.80790233e-03 1.24783680e+02] [ 2.25170055e-03 1.74230151e-05 9.99997465e-01 -3.84477421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.60028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.36, Y:124.77, Z:-0.38 [[-5.95393357e-01 -8.03434096e-01 6.35027541e-04 2.45357918e+02] [ 8.03433640e-01 -5.95393696e-01 -8.56104789e-04 1.24768286e+02] [ 1.06591517e-03 4.83384218e-07 9.99999432e-01 -3.84389004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.630281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.36, Y:124.76, Z:-0.38 [[-5.97456802e-01 -8.01901045e-01 2.88865463e-04 2.45361871e+02] [ 8.01900950e-01 -5.97456872e-01 -3.89910627e-04 1.24759396e+02] [ 4.85254395e-04 -1.31326676e-06 9.99999882e-01 -3.83942962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.37, Y:124.75, Z:-0.38 [[-5.99050686e-01 -8.00711071e-01 2.37869779e-04 2.45366960e+02] [ 8.00711006e-01 -5.99050734e-01 -3.21380594e-04 1.24749189e+02] [ 3.99829066e-04 -2.05831505e-06 9.99999920e-01 -3.84230760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.690281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.35, Y:124.77, Z:-0.38 [[-6.00422739e-01 -7.99682521e-01 6.32515555e-04 2.45352817e+02] [ 7.99682065e-01 -6.00423072e-01 -8.54098212e-04 1.24765379e+02] [ 1.06278434e-03 -7.00864245e-06 9.99999435e-01 -3.84578697e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.36, Y:124.75, Z:-0.39 [[-6.01755304e-01 -7.98676537e-01 2.51868381e-03 2.45362134e+02] [ 7.98669286e-01 -6.01760574e-01 -3.40351658e-03 1.24750311e+02] [ 4.23395345e-03 -3.64887554e-05 9.99991036e-01 -3.86295165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.750281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.35, Y:124.76, Z:-0.39 [[-6.02588784e-01 -7.98045254e-01 3.24504504e-03 2.45353854e+02] [ 7.98033202e-01 -6.02597520e-01 -4.38604728e-03 1.24762893e+02] [ 5.45572030e-03 -5.33292183e-05 9.99985116e-01 -3.87166124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.78028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.36, Y:124.76, Z:-0.39 [[-6.03457385e-01 -7.97387701e-01 3.46963509e-03 2.45355554e+02] [ 7.97373891e-01 -6.03467356e-01 -4.69345496e-03 1.24762166e+02] [ 5.83631477e-03 -6.57036285e-05 9.99982966e-01 -3.87168211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.810281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.36, Y:124.76, Z:-0.39 [[-6.04923995e-01 -7.96276497e-01 3.27117634e-03 2.45357924e+02] [ 7.96264186e-01 -6.04932835e-01 -4.42845259e-03 1.24760279e+02] [ 5.50511469e-03 -7.41566687e-05 9.99984844e-01 -3.86835541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.84028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.37, Y:124.75, Z:-0.39 [[-6.08485409e-01 -7.93561828e-01 2.26532738e-03 2.45371211e+02] [ 7.93555896e-01 -6.08489622e-01 -3.06921095e-03 1.24746046e+02] [ 3.81403685e-03 -6.99061810e-05 9.99992724e-01 -3.85954192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.870281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.37, Y:124.75, Z:-0.39 [[-6.09882304e-01 -7.92489830e-01 1.85577159e-03 2.45368875e+02] [ 7.92485842e-01 -6.09885124e-01 -2.51490331e-03 1.24753505e+02] [ 3.12484278e-03 -6.31223146e-05 9.99995116e-01 -3.85728814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.90028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.37, Y:124.76, Z:-0.39 [[-6.09772815e-01 -7.92574080e-01 1.85542403e-03 2.45367409e+02] [ 7.92570091e-01 -6.09775635e-01 -2.51515974e-03 1.24755549e+02] [ 3.12484278e-03 -6.31224390e-05 9.99995116e-01 -3.85730098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.36, Y:124.76, Z:-0.39 [[-6.10620687e-01 -7.91921117e-01 1.82226526e-03 2.45364172e+02] [ 7.91917265e-01 -6.10623403e-01 -2.47092962e-03 1.24764868e+02] [ 3.06949916e-03 -6.57174236e-05 9.99995287e-01 -3.85385203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.37, Y:124.76, Z:-0.39 [[-6.10682272e-01 -7.91873382e-01 1.92581785e-03 2.45372757e+02] [ 7.91869073e-01 -6.10685305e-01 -2.61353710e-03 1.24757979e+02] [ 3.24565912e-03 -7.10451775e-05 9.99994730e-01 -3.85522146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 417.990281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.36, Y:124.78, Z:-0.39 [[-6.11194662e-01 -7.91476927e-01 2.31495296e-03 2.45363687e+02] [ 7.91470697e-01 -6.11199040e-01 -3.14159450e-03 1.24775229e+02] [ 3.90139659e-03 -8.79083522e-05 9.99992386e-01 -3.86147699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.02028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.38, Y:124.77, Z:-0.39 [[-6.12482175e-01 -7.90480614e-01 2.44621675e-03 2.45377032e+02] [ 7.90473638e-01 -6.12487051e-01 -3.32256198e-03 1.24769142e+02] [ 4.12469692e-03 -1.01340133e-04 9.99991488e-01 -3.86858087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.050281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.38, Y:124.77, Z:-0.39 [[-6.13124232e-01 -7.89984396e-01 1.82481934e-03 2.45379639e+02] [ 7.89980510e-01 -6.13126942e-01 -2.47914972e-03 1.24772415e+02] [ 3.07733550e-03 -7.84550563e-05 9.99995262e-01 -3.86433218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.08028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.39, Y:124.76, Z:-0.39 [[-6.13577681e-01 -7.89632614e-01 1.66283501e-03 2.45389904e+02] [ 7.89629384e-01 -6.13579930e-01 -2.25974061e-03 1.24764772e+02] [ 2.80464707e-03 -7.35030133e-05 9.99996064e-01 -3.85118707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.38, Y:124.78, Z:-0.38 [[-6.14025860e-01 -7.89283508e-01 1.94627227e-03 2.45384539e+02] [ 7.89279089e-01 -6.14028938e-01 -2.64245579e-03 1.24777974e+02] [ 3.28071427e-03 -8.63841839e-05 9.99994615e-01 -3.84678318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.14028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.39, Y:124.79, Z:-0.38 [[-6.12715468e-01 -7.90295663e-01 3.53851861e-03 2.45387236e+02] [ 7.90281094e-01 -6.12725668e-01 -4.80081689e-03 1.24785676e+02] [ 5.96220595e-03 -1.45110406e-04 9.99982215e-01 -3.84633735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.17028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.39, Y:124.79, Z:-0.38 [[-6.11615650e-01 -7.91147108e-01 3.54256591e-03 2.45386235e+02] [ 7.91132543e-01 -6.11625895e-01 -4.80259744e-03 1.24793258e+02] [ 5.96628612e-03 -1.34704584e-04 9.99982193e-01 -3.84683569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.39, Y:124.79, Z:-0.38 [[-6.10487354e-01 -7.92021045e-01 2.80279965e-03 2.45391385e+02] [ 7.92011951e-01 -6.10493780e-01 -3.79670018e-03 1.24792922e+02] [ 4.71815820e-03 -9.79866222e-05 9.99988865e-01 -3.84346542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.23028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.39, Y:124.81, Z:-0.38 [[-6.07392691e-01 -7.94401503e-01 6.09198527e-04 2.45386605e+02] [ 7.94401075e-01 -6.07392997e-01 -8.24331901e-04 1.24810177e+02] [ 1.02487342e-03 -1.67452075e-05 9.99999475e-01 -3.82821828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.26028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.40, Y:124.80, Z:-0.38 [[-6.05866882e-01 -7.95566029e-01 1.21338945e-04 2.45395679e+02] [ 7.95566012e-01 -6.05866894e-01 -1.63802178e-04 1.24803119e+02] [ 2.03830698e-04 -2.70917450e-06 9.99999979e-01 -3.82257316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.39, Y:124.82, Z:-0.38 [[-6.04875282e-01 -7.96320123e-01 3.93414895e-04 2.45387938e+02] [ 7.96319946e-01 -6.04875410e-01 -5.31396154e-04 1.24819495e+02] [ 6.61128447e-04 -8.14427089e-06 9.99999781e-01 -3.76684332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.40, Y:124.82, Z:-0.38 [[-6.03991597e-01 -7.96990512e-01 5.23499678e-04 2.45395160e+02] [ 7.96990199e-01 -6.03991824e-01 -7.06652090e-04 1.24816224e+02] [ 8.79384537e-04 -9.58781139e-06 9.99999613e-01 -3.82705354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.39, Y:124.84, Z:-0.38 [[-6.03611582e-01 -7.97278086e-01 8.43760223e-04 2.45385468e+02] [ 7.97277273e-01 -6.03612172e-01 -1.13825104e-03 1.24835469e+02] [ 1.41680655e-03 -1.43506626e-05 9.99998996e-01 -3.83197067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.380281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.40, Y:124.83, Z:-0.38 [[-6.03713287e-01 -7.97200253e-01 1.42251157e-03 2.45401437e+02] [ 7.97197947e-01 -6.03714963e-01 -1.91769256e-03 1.24826935e+02] [ 2.38757651e-03 -2.37131751e-05 9.99997149e-01 -3.84218331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.41028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.40, Y:124.83, Z:-0.38 [[-6.04308089e-01 -7.96749193e-01 1.56743740e-03 2.45403227e+02] [ 7.96746396e-01 -6.04310121e-01 -2.11142353e-03 1.24831368e+02] [ 2.62949328e-03 -2.71002122e-05 9.99996543e-01 -3.78572946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.440281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.41, Y:124.83, Z:-0.38 [[-6.04012903e-01 -7.96973741e-01 1.12685626e-03 2.45409952e+02] [ 7.96972298e-01 -6.04013954e-01 -1.51663815e-03 1.24829977e+02] [ 1.88935769e-03 -1.79957856e-05 9.99998215e-01 -3.83374458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.42, Y:124.82, Z:-0.38 [[-6.03781109e-01 -7.97149903e-01 6.36723337e-04 2.45420151e+02] [ 7.97149443e-01 -6.03781444e-01 -8.56148554e-04 1.24821763e+02] [ 1.06692047e-03 -9.36266972e-06 9.99999431e-01 -3.82306178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.500281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.41, Y:124.84, Z:-0.38 [[-6.03516590e-01 -7.97350314e-01 4.49432254e-04 2.45412099e+02] [ 7.97350086e-01 -6.03516757e-01 -6.03737594e-04 1.24836489e+02] [ 7.52630257e-04 -6.01080783e-06 9.99999717e-01 -3.81538084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.42, Y:124.84, Z:-0.38 [[-6.02990531e-01 -7.97748160e-01 5.40474758e-04 2.45416459e+02] [ 7.97747830e-01 -6.02990773e-01 -7.25521764e-04 1.24836601e+02] [ 9.04684945e-04 -6.32018791e-06 9.99999591e-01 -3.82377097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.560281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.42, Y:124.83, Z:-0.38 [[-6.02687502e-01 -7.97977218e-01 3.66797516e-04 2.45424300e+02] [ 7.97977066e-01 -6.02687614e-01 -4.91884154e-04 1.24830962e+02] [ 6.13576668e-04 -3.75642664e-06 9.99999812e-01 -3.83172213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.42, Y:124.84, Z:-0.38 [[-6.02820169e-01 -7.97876847e-01 6.17270511e-04 2.45424417e+02] [ 7.97876418e-01 -6.02820485e-01 -8.27338367e-04 1.24836005e+02] [ 1.03221744e-03 -6.23066915e-06 9.99999467e-01 -3.83205997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.43, Y:124.83, Z:-0.38 [[-6.03193849e-01 -7.97593844e-01 1.11376979e-03 2.45430679e+02] [ 7.97592449e-01 -6.03194877e-01 -1.49187863e-03 1.24831007e+02] [ 1.86173344e-03 -1.15576400e-05 9.99998267e-01 -3.83877564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.65028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.41, Y:124.86, Z:-0.38 [[-6.02736509e-01 -7.97936870e-01 2.33472383e-03 2.45413553e+02] [ 7.97930751e-01 -6.02741031e-01 -3.12516889e-03 1.24855414e+02] [ 3.90092133e-03 -2.07054493e-05 9.99992391e-01 -3.82716011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.42, Y:124.84, Z:-0.38 [[-6.01875957e-01 -7.98586439e-01 2.24317584e-03 2.45422301e+02] [ 7.98580803e-01 -6.01880137e-01 -3.00017862e-03 1.24843759e+02] [ 3.74602494e-03 -1.43782141e-05 9.99992984e-01 -3.81535110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.43, Y:124.84, Z:-0.38 [[-6.00548605e-01 -7.99586771e-01 1.53912100e-03 2.45428291e+02] [ 7.99584126e-01 -6.00550577e-01 -2.05676950e-03 1.24836423e+02] [ 2.56888569e-03 -4.53333228e-06 9.99996700e-01 -3.81316526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.42, Y:124.86, Z:-0.38 [[-5.99168625e-01 -8.00622653e-01 5.71674746e-04 2.45415055e+02] [ 8.00622289e-01 -5.99168898e-01 -7.63116342e-04 1.24855423e+02] [ 9.53497957e-04 4.60173959e-07 9.99999545e-01 -3.81585038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.77028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.42, Y:124.85, Z:-0.38 [[-5.97368905e-01 -8.01966577e-01 1.20103686e-05 2.45420321e+02] [ 8.01966577e-01 -5.97368905e-01 -1.56916615e-05 1.24850307e+02] [ 1.97588089e-05 2.58203605e-07 1.00000000e+00 -3.82608551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.42, Y:124.84, Z:-0.38 [[-5.97111503e-01 -8.02157828e-01 8.19643965e-04 2.45424753e+02] [ 8.02157084e-01 -5.97112066e-01 -1.09248586e-03 1.24844993e+02] [ 1.36576539e-03 5.14733843e-06 9.99999067e-01 -3.82840249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.42, Y:124.86, Z:-0.38 [[-5.96731235e-01 -8.02439426e-01 1.67375446e-03 2.45417141e+02] [ 8.02436329e-01 -5.96733582e-01 -2.22943633e-03 1.24855982e+02] [ 2.78777310e-03 1.27070945e-05 9.99996114e-01 -3.82630819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.86028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.42, Y:124.85, Z:-0.38 [[-5.96041961e-01 -8.02950380e-01 2.16069927e-03 2.45419530e+02] [ 8.02945230e-01 -5.96045877e-01 -2.87577914e-03 1.24852847e+02] [ 3.59698384e-03 2.08381402e-05 9.99993531e-01 -3.82902624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.43, Y:124.83, Z:-0.38 [[-5.94678895e-01 -8.03959897e-01 2.34420838e-03 2.45433621e+02] [ 8.03953853e-01 -5.94683515e-01 -3.11751417e-03 1.24834002e+02] [ 3.90041845e-03 3.07154770e-05 9.99992393e-01 -3.82230332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.83, Z:-0.38 [[-5.91021224e-01 -8.06654566e-01 1.52467937e-03 2.45437629e+02] [ 8.06652022e-01 -5.91023190e-01 -2.02589466e-03 1.24825426e+02] [ 2.53531804e-03 3.25389525e-05 9.99996786e-01 -3.82132757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:124.81, Z:-0.38 [[-5.89613079e-01 -8.07685010e-01 1.15861280e-03 2.45445018e+02] [ 8.07683546e-01 -5.89614216e-01 -1.53818187e-03 1.24812922e+02] [ 1.92550102e-03 2.88603458e-05 9.99998146e-01 -3.82380720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 418.98028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.45, Y:124.80, Z:-0.38 [[-5.88494128e-01 -8.08501217e-01 6.65847825e-04 2.45450298e+02] [ 8.08500735e-01 -5.88494504e-01 -8.83146253e-04 1.24803303e+02] [ 1.10587261e-03 1.86120723e-05 9.99999388e-01 -3.82646411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.01028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.45, Y:124.80, Z:-0.38 [[-5.87385409e-01 -8.09307175e-01 5.28052022e-04 2.45452505e+02] [ 8.09306872e-01 -5.87385646e-01 -6.99762010e-04 1.24798502e+02] [ 8.76492594e-04 1.63261363e-05 9.99999616e-01 -3.82418587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.85939896e-01 -8.10353899e-01 9.98391006e-04 2.45441048e+02] [ 8.10352821e-01 -5.85940745e-01 -1.32227910e-03 1.24809213e+02] [ 1.65651199e-03 3.42728912e-05 9.99998627e-01 -3.81857877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.45, Y:124.80, Z:-0.38 [[-5.86499334e-01 -8.09948906e-01 1.14097276e-03 2.45449113e+02] [ 8.09947499e-01 -5.86500442e-01 -1.50995962e-03 1.24795807e+02] [ 1.89217117e-03 3.85377261e-05 9.99998209e-01 -3.82322889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.45, Y:124.79, Z:-0.38 [[-5.87633412e-01 -8.09126574e-01 1.07743907e-03 2.45451225e+02] [ 8.09125320e-01 -5.87634399e-01 -1.42473576e-03 1.24791723e+02] [ 1.78593183e-03 3.45608991e-05 9.99998405e-01 -3.82587827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.89343231e-01 -8.07882098e-01 1.03510306e-03 2.45436579e+02] [ 8.07880941e-01 -5.89344139e-01 -1.36764582e-03 1.24810806e+02] [ 1.71492849e-03 3.02272261e-05 9.99998529e-01 -3.83433700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.16028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.44, Y:124.80, Z:-0.38 [[-5.91454250e-01 -8.06337898e-01 1.03159560e-03 2.45441885e+02] [ 8.06336748e-01 -5.91455150e-01 -1.36191245e-03 1.24804100e+02] [ 1.70830415e-03 2.63045305e-05 9.99998541e-01 -3.84042415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.95141010e-01 -8.03619514e-01 1.68957621e-03 2.45439536e+02] [ 8.03616423e-01 -5.95143408e-01 -2.22899614e-03 1.24806276e+02] [ 2.79680493e-03 3.12041766e-05 9.99996088e-01 -3.83755009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.96349503e-01 -8.02722995e-01 1.75012412e-03 2.45436940e+02] [ 8.02719680e-01 -5.96352071e-01 -2.30702280e-03 1.24808778e+02] [ 2.89559039e-03 2.90671719e-05 9.99995807e-01 -3.83223153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.97191714e-01 -8.02097045e-01 1.54504986e-03 2.45435745e+02] [ 8.02094464e-01 -5.97193712e-01 -2.03500453e-03 1.24810260e+02] [ 2.55496518e-03 2.39880979e-05 9.99996736e-01 -3.82525107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.97358393e-01 -8.01974408e-01 -1.46014425e-05 2.45435105e+02] [ 8.01974407e-01 -5.97358393e-01 1.95506214e-05 1.24811434e+02] [-2.44013921e-05 -3.12554282e-08 1.00000000e+00 -3.80972469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.81, Z:-0.38 [[-5.97510051e-01 -8.01861224e-01 -5.62538994e-04 2.45438212e+02] [ 8.01860882e-01 -5.97510316e-01 7.40175922e-04 1.24806190e+02] [-9.29641223e-04 -8.81546105e-06 9.99999568e-01 -3.80489660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.80, Z:-0.38 [[-5.97976764e-01 -8.01513065e-01 -7.72376424e-04 2.45444598e+02] [ 8.01512422e-01 -5.97977263e-01 1.01532949e-03 1.24795672e+02] [-1.27566339e-03 -1.19258578e-05 9.99999186e-01 -3.81053613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.41, Y:124.84, Z:-0.38 [[-5.98883525e-01 -8.00835899e-01 6.21909136e-04 2.45407542e+02] [ 8.00833598e-01 -5.98879487e-01 2.98470597e-03 1.24840949e+02] [-2.01781107e-03 2.28553697e-03 9.99995352e-01 -3.81420427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.43, Y:124.81, Z:-0.38 [[-5.98992134e-01 -8.00753355e-01 -1.57705591e-03 2.45434249e+02] [ 8.00754797e-01 -5.98989853e-01 -1.70585437e-03 1.24807841e+02] [ 4.21328121e-04 -2.28462843e-03 9.99997302e-01 -3.81881194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.80, Z:-0.38 [[-6.01154342e-01 -7.99132143e-01 1.12966540e-03 2.45439587e+02] [ 7.99130768e-01 -6.01155403e-01 -1.48255022e-03 1.24795457e+02] [ 1.86385800e-03 1.15088773e-05 9.99998263e-01 -3.82165822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.80, Z:-0.38 [[-6.02889917e-01 -7.97823481e-01 1.20065653e-03 2.45436649e+02] [ 7.97821927e-01 -6.02891113e-01 -1.57446034e-03 1.24797620e+02] [ 1.98000658e-03 8.68384504e-06 9.99998040e-01 -3.82581529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.79, Z:-0.38 [[-6.04543422e-01 -7.96571237e-01 1.23111820e-03 2.45444223e+02] [ 7.96569603e-01 -6.04544676e-01 -1.61310798e-03 1.24786798e+02] [ 2.02922137e-03 5.47752282e-06 9.99997941e-01 -3.82872190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.79, Z:-0.38 [[-6.06159032e-01 -7.95342164e-01 1.43917996e-03 2.45440184e+02] [ 7.95339932e-01 -6.06160740e-01 -1.88425671e-03 1.24791916e+02] [ 2.37100320e-03 2.47806385e-06 9.99997189e-01 -3.82755334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:124.78, Z:-0.38 [[-6.07810488e-01 -7.94080444e-01 1.63050051e-03 2.45453071e+02] [ 7.94077579e-01 -6.07812675e-01 -2.13306849e-03 1.24775069e+02] [ 2.68486685e-03 -1.75750340e-06 9.99996396e-01 -3.82640020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.58028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.45, Y:124.77, Z:-0.38 [[-6.09673226e-01 -7.92650949e-01 1.74090180e-03 2.45452583e+02] [ 7.92647682e-01 -6.09675712e-01 -2.27569944e-03 1.24774242e+02] [ 2.86522086e-03 -7.51124348e-06 9.99995895e-01 -3.82048596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.44, Y:124.78, Z:-0.38 [[-6.09973629e-01 -7.92420038e-01 1.62936726e-03 2.45444404e+02] [ 7.92417181e-01 -6.09975805e-01 -2.12816485e-03 1.24783240e+02] [ 2.68027508e-03 -6.98582531e-06 9.99996408e-01 -3.82451525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:124.78, Z:-0.38 [[-6.09613456e-01 -7.92697656e-01 1.36369406e-03 2.45448014e+02] [ 7.92695659e-01 -6.09614982e-01 -1.77966907e-03 1.24777476e+02] [ 2.24206783e-03 -3.91585245e-06 9.99997487e-01 -3.82983670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:124.77, Z:-0.38 [[-6.09307721e-01 -7.92933248e-01 9.82583228e-04 2.45454252e+02] [ 7.92932213e-01 -6.09308513e-01 -1.28118738e-03 1.24767702e+02] [ 1.61459240e-03 -1.51546995e-06 9.99998697e-01 -3.82859299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.46, Y:124.76, Z:-0.38 [[-6.08661399e-01 -7.93429925e-01 5.04915526e-04 2.45456683e+02] [ 7.93429653e-01 -6.08661609e-01 -6.57677932e-04 1.24763385e+02] [ 8.29144049e-04 3.11779996e-07 9.99999656e-01 -3.82612530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.45, Y:124.77, Z:-0.38 [[-6.09010463e-01 -7.93161370e-01 1.13883592e-03 2.45451654e+02] [ 7.93159985e-01 -6.09011528e-01 -1.48259511e-03 1.24771415e+02] [ 1.86950137e-03 3.63145464e-07 9.99998253e-01 -3.83079330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.79, Z:-0.38 [[-6.09887099e-01 -7.92485944e-01 1.93777888e-03 2.45440051e+02] [ 7.92481935e-01 -6.09890177e-01 -2.52086600e-03 1.24788190e+02] [ 3.17958318e-03 -1.78889229e-06 9.99994945e-01 -3.83297881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.44, Y:124.79, Z:-0.38 [[-6.10201304e-01 -7.92244034e-01 1.93877975e-03 2.45441641e+02] [ 7.92240026e-01 -6.10204384e-01 -2.52009637e-03 1.24786243e+02] [ 3.17958322e-03 -1.78717813e-06 9.99994945e-01 -3.83296631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:124.76, Z:-0.38 [[-6.10951007e-01 -7.91663466e-01 2.79712470e-03 2.45462678e+02] [ 7.91655118e-01 -6.10957410e-01 -3.63545675e-03 1.24759961e+02] [ 4.58698235e-03 -6.72787750e-06 9.99989480e-01 -3.83526304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.85028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.46, Y:124.76, Z:-0.38 [[-6.11959910e-01 -7.90882693e-01 3.10408982e-03 2.45463788e+02] [ 7.90872420e-01 -6.11967782e-01 -4.03096568e-03 1.24758113e+02] [ 5.08762396e-03 -1.18503642e-05 9.99987058e-01 -3.83302514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.46, Y:124.77, Z:-0.38 [[-6.12044830e-01 -7.90819170e-01 2.48324515e-03 2.45457023e+02] [ 7.90812606e-01 -6.12049867e-01 -3.22207821e-03 1.24766880e+02] [ 4.06795108e-03 -8.27473909e-06 9.99991726e-01 -3.82916526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.91028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.47, Y:124.75, Z:-0.38 [[-6.11939246e-01 -7.90903332e-01 1.50964601e-03 2.45471954e+02] [ 7.90900907e-01 -6.11941108e-01 -1.95829334e-03 1.24747721e+02] [ 2.47263518e-03 -4.37615071e-06 9.99996943e-01 -3.82556180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.940281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.47, Y:124.76, Z:-0.38 [[-6.12023208e-01 -7.90839660e-01 4.73313736e-04 2.45465033e+02] [ 7.90839423e-01 -6.12023391e-01 -6.13207682e-04 1.24756766e+02] [ 7.74628033e-04 -9.82170764e-07 9.99999700e-01 -3.82591890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 419.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:124.75, Z:-0.38 [[-6.12309088e-01 -7.90618472e-01 1.09987670e-04 2.45468803e+02] [ 7.90618459e-01 -6.12309098e-01 -1.42138869e-04 1.24751480e+02] [ 1.79724067e-04 -7.46385033e-08 9.99999984e-01 -3.82175251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:124.75, Z:-0.38 [[-6.12131751e-01 -7.90755066e-01 1.06972193e-03 2.45470988e+02] [ 7.90753855e-01 -6.12132686e-01 -1.38406645e-03 1.24747792e+02] [ 1.74926932e-03 -1.34428167e-06 9.99998470e-01 -3.83401622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.74, Z:-0.38 [[-6.12237497e-01 -7.90672420e-01 1.54010764e-03 2.45476513e+02] [ 7.90669912e-01 -6.12239434e-01 -1.99122633e-03 1.24741654e+02] [ 2.51732237e-03 -1.38665262e-06 9.99996832e-01 -3.84124275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.73, Z:-0.38 [[-6.12815011e-01 -7.90224343e-01 1.80269294e-03 2.45485854e+02] [ 7.90220911e-01 -6.12817663e-01 -2.32893375e-03 1.24730475e+02] [ 2.94510221e-03 -2.67990584e-06 9.99995663e-01 -3.83870945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:124.75, Z:-0.38 [[-6.14555702e-01 -7.88872317e-01 1.32571005e-03 2.45468974e+02] [ 7.88870461e-01 -6.14557132e-01 -1.71125852e-03 1.24753215e+02] [ 2.16468903e-03 -5.85018220e-06 9.99997657e-01 -3.83797435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.74, Z:-0.38 [[-6.15535554e-01 -7.88108686e-01 8.24804886e-04 2.45482121e+02] [ 7.88107968e-01 -6.15536107e-01 -1.06370411e-03 1.24737933e+02] [ 1.34601163e-03 -4.71239301e-06 9.99999094e-01 -3.83531936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.73, Z:-0.38 [[-6.16239684e-01 -7.87558585e-01 3.55644363e-04 2.45492170e+02] [ 7.87558452e-01 -6.16239787e-01 -4.58114924e-04 1.24726459e+02] [ 5.79954548e-04 -2.21787223e-06 9.99999832e-01 -3.83938977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.74, Z:-0.38 [[-6.16324381e-01 -7.87492229e-01 4.95923347e-04 2.45483022e+02] [ 7.87491971e-01 -6.16324581e-01 -6.38426688e-04 1.24739454e+02] [ 8.08405805e-04 -2.94227930e-06 9.99999673e-01 -3.84329020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.74, Z:-0.38 [[-6.15916427e-01 -7.87810239e-01 1.40753427e-03 2.45484420e+02] [ 7.87808158e-01 -6.15918036e-01 -1.81111004e-03 1.24737590e+02] [ 2.29373678e-03 -6.62544374e-06 9.99997369e-01 -3.84909561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.73, Z:-0.38 [[-6.14897559e-01 -7.88603412e-01 2.37698581e-03 2.45485626e+02] [ 7.88597490e-01 -6.14902154e-01 -3.05629828e-03 1.24734647e+02] [ 3.87182095e-03 -4.82531298e-06 9.99992504e-01 -3.84774070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.74, Z:-0.38 [[-6.11828944e-01 -7.90984617e-01 2.94612920e-03 2.45479624e+02] [ 7.90975560e-01 -6.11836037e-01 -3.78513493e-03 1.24735214e+02] [ 4.79653151e-03 1.44610931e-05 9.99988497e-01 -3.84173299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.47, Y:124.74, Z:-0.38 [[-6.11088630e-01 -7.91558032e-01 2.56270508e-03 2.45474467e+02] [ 7.91551196e-01 -6.11094004e-01 -3.28982445e-03 1.24738413e+02] [ 4.17014068e-03 1.81379553e-05 9.99991305e-01 -3.83780006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.33028169299996 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.47, Y:124.75, Z:-0.38 [[-6.10944208e-01 -7.91671143e-01 1.99402282e-03 2.45466154e+02] [ 7.91667012e-01 -6.10947462e-01 -2.55763799e-03 1.24746732e+02] [ 3.24305137e-03 1.60279761e-05 9.99994741e-01 -3.83948990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.48, Y:124.73, Z:-0.38 [[-6.11020509e-01 -7.91612579e-01 1.86104589e-03 2.45478858e+02] [ 7.91608981e-01 -6.11023343e-01 -2.38652927e-03 1.24728940e+02] [ 3.02634907e-03 1.50023081e-05 9.99995421e-01 -3.83748039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.72, Z:-0.38 [[-6.12693104e-01 -7.90318714e-01 1.86832754e-03 2.45486065e+02] [ 7.90315089e-01 -6.12695952e-01 -2.39375257e-03 1.24717559e+02] [ 3.03654417e-03 9.93175743e-06 9.99995390e-01 -3.83289530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.71, Z:-0.38 [[-6.14495033e-01 -7.88919138e-01 1.56464612e-03 2.45488154e+02] [ 7.88916595e-01 -6.14497025e-01 -2.00302032e-03 1.24712812e+02] [ 2.54169145e-03 3.52924883e-06 9.99996770e-01 -3.82841336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.70, Z:-0.38 [[-6.16615153e-01 -7.87264037e-01 1.04358087e-03 2.45492959e+02] [ 7.87262906e-01 -6.16616036e-01 -1.33480227e-03 1.24703926e+02] [ 1.69433052e-03 -1.48679670e-06 9.99998565e-01 -3.82672225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.70, Z:-0.38 [[-6.18625722e-01 -7.85685505e-01 7.09895166e-04 2.45493440e+02] [ 7.85684981e-01 -6.18626129e-01 -9.07181211e-04 1.24699812e+02] [ 1.15191883e-03 -3.45166106e-06 9.99999337e-01 -3.82654292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.49, Y:124.71, Z:-0.38 [[-6.20544951e-01 -7.84170496e-01 7.72245972e-04 2.45486741e+02] [ 7.84169876e-01 -6.20545432e-01 -9.86102085e-04 1.24705640e+02] [ 1.25248587e-03 -6.34864185e-06 9.99999216e-01 -3.82988775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:124.69, Z:-0.38 [[-6.22943908e-01 -7.82263945e-01 2.00205692e-03 2.45499597e+02] [ 7.82259763e-01 -6.22947125e-01 -2.55787077e-03 1.24685448e+02] [ 3.24810568e-03 -2.72814441e-05 9.99994725e-01 -3.83474599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:124.68, Z:-0.38 [[-6.24248850e-01 -7.81222163e-01 2.30339385e-03 2.45503303e+02] [ 7.81216631e-01 -6.24253099e-01 -2.94017101e-03 1.24680177e+02] [ 3.73482750e-03 -3.59487893e-05 9.99993025e-01 -3.83305597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:124.68, Z:-0.38 [[-6.25366433e-01 -7.80328500e-01 2.06328193e-03 2.45500269e+02] [ 7.80324063e-01 -6.25369836e-01 -2.63158759e-03 1.24683649e+02] [ 3.34381708e-03 -3.56780023e-05 9.99994409e-01 -3.82489061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.51, Y:124.67, Z:-0.38 [[-6.26354418e-01 -7.79536837e-01 1.56944767e-03 2.45511630e+02] [ 7.79534267e-01 -6.26356383e-01 -2.00173321e-03 1.24667950e+02] [ 2.54345834e-03 -3.03562033e-05 9.99996765e-01 -3.81713817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.50, Y:124.68, Z:-0.38 [[-6.29658696e-01 -7.76871399e-01 8.69398580e-04 2.45503760e+02] [ 7.76870610e-01 -6.29659295e-01 -1.10771881e-03 1.24675312e+02] [ 1.40797996e-03 -2.20745785e-05 9.99999009e-01 -3.81744788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:124.65, Z:-0.38 [[-6.31224797e-01 -7.75599396e-01 9.12631996e-04 2.45519756e+02] [ 7.75598523e-01 -6.31225457e-01 -1.16357589e-03 1.24654100e+02] [ 1.47854531e-03 -2.66419298e-05 9.99998907e-01 -3.82124000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:124.65, Z:-0.38 [[-6.33275530e-01 -7.73925714e-01 1.04499579e-03 2.45523473e+02] [ 7.73924571e-01 -6.33276391e-01 -1.33088848e-03 1.24649168e+02] [ 1.69177998e-03 -3.40711899e-05 9.99998568e-01 -3.82442374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.52, Y:124.66, Z:-0.38 [[-6.35453971e-01 -7.72138134e-01 9.76373039e-04 2.45516429e+02] [ 7.72137135e-01 -6.35454720e-01 -1.24251752e-03 1.24658777e+02] [ 1.57983601e-03 -3.56688089e-05 9.99998751e-01 -3.82550147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.53, Y:124.64, Z:-0.38 [[-6.40070356e-01 -7.68315707e-01 9.55809641e-04 2.45534157e+02] [ 7.68314744e-01 -6.40071068e-01 -1.21710486e-03 1.24639569e+02] [ 1.54690688e-03 -4.46701040e-05 9.99998803e-01 -3.82406727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.55, Y:124.63, Z:-0.38 [[-6.42941460e-01 -7.65914676e-01 9.94428473e-04 2.45546725e+02] [ 7.65913633e-01 -6.42942227e-01 -1.26491959e-03 1.24627648e+02] [ 1.60818054e-03 -5.16229250e-05 9.99998706e-01 -3.82274969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.55, Y:124.63, Z:-0.38 [[-6.45539995e-01 -7.63725907e-01 9.24089391e-04 2.45547648e+02] [ 7.63725006e-01 -6.45540654e-01 -1.17454747e-03 1.24632480e+02] [ 1.49356960e-03 -5.24671896e-05 9.99998883e-01 -3.81995566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.56, Y:124.62, Z:-0.38 [[-6.47882641e-01 -7.61739849e-01 6.96542256e-04 2.45563804e+02] [ 7.61739336e-01 -6.47883014e-01 -8.85192563e-04 1.24617766e+02] [ 1.12556435e-03 -4.29172603e-05 9.99999366e-01 -3.81809052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.90028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:124.61, Z:-0.38 [[-6.49718833e-01 -7.60174367e-01 6.08104053e-04 2.45573340e+02] [ 7.60173976e-01 -6.49719116e-01 -7.72038036e-04 1.24611249e+02] [ 9.81980353e-04 -3.93427758e-05 9.99999517e-01 -3.81253743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.930281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:124.62, Z:-0.38 [[-6.51118934e-01 -7.58975372e-01 7.20326338e-04 2.45573059e+02] [ 7.58974823e-01 -6.51119331e-01 -9.13892271e-04 1.24615801e+02] [ 1.16264013e-03 -4.83430067e-05 9.99999323e-01 -3.80807675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.57, Y:124.63, Z:-0.38 [[-6.52381155e-01 -7.57890091e-01 1.19944832e-03 2.45569260e+02] [ 7.57888570e-01 -6.52382252e-01 -1.52082215e-03 1.24629904e+02] [ 1.93511483e-03 -8.31075415e-05 9.99998124e-01 -3.81498238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 420.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.61, Z:-0.38 [[-6.52436791e-01 -7.57842354e-01 1.09553640e-03 2.45587329e+02] [ 7.57841085e-01 -6.52437706e-01 -1.38883985e-03 1.24613388e+02] [ 1.76729092e-03 -7.58877195e-05 9.99998435e-01 -3.82255394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.62, Z:-0.38 [[-6.52794527e-01 -7.57534333e-01 1.01984014e-03 2.45590341e+02] [ 7.57533235e-01 -6.52795320e-01 -1.29173839e-03 1.24617216e+02] [ 1.64428305e-03 -7.06769531e-05 9.99998646e-01 -3.82324143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.050281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.60, Y:124.62, Z:-0.38 [[-6.53013638e-01 -7.57345657e-01 8.62380646e-04 2.45596749e+02] [ 7.57344873e-01 -6.53014205e-01 -1.09144719e-03 1.24622857e+02] [ 1.38974960e-03 -5.96103401e-05 9.99999033e-01 -3.81856617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.63, Z:-0.38 [[-6.52806808e-01 -7.57523755e-01 1.01559641e-03 2.45593114e+02] [ 7.57522669e-01 -6.52807595e-01 -1.28445566e-03 1.24634157e+02] [ 1.63599473e-03 -6.91640948e-05 9.99998659e-01 -3.81500828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.11028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:124.64, Z:-0.38 [[-6.52349085e-01 -7.57917991e-01 9.95275120e-04 2.45596416e+02] [ 7.57916950e-01 -6.52349840e-01 -1.25780769e-03 1.24636913e+02] [ 1.60258264e-03 -6.61938106e-05 9.99998714e-01 -3.82034790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.14028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.61, Y:124.63, Z:-0.38 [[-6.51813913e-01 -7.58378449e-01 8.66071455e-04 2.45606093e+02] [ 7.58377663e-01 -6.51814486e-01 -1.09367012e-03 1.24630853e+02] [ 1.39393377e-03 -5.60601571e-05 9.99999027e-01 -3.81977584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:124.64, Z:-0.38 [[-6.50012288e-01 -7.59923615e-01 3.54274952e-04 2.45611114e+02] [ 7.59923484e-01 -6.50012384e-01 -4.46872711e-04 1.24635534e+02] [ 5.69872232e-04 -2.12508978e-05 9.99999837e-01 -3.81544909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:124.65, Z:-0.38 [[-6.48708198e-01 -7.61037072e-01 4.98392591e-04 2.45606803e+02] [ 7.61036813e-01 -6.48708389e-01 -6.28304659e-04 1.24646749e+02] [ 8.01474593e-04 -2.82912737e-05 9.99999678e-01 -3.80943872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:124.65, Z:-0.38 [[-6.46784014e-01 -7.62672681e-01 9.05971305e-04 2.45608342e+02] [ 7.62671828e-01 -6.46784647e-01 -1.14150049e-03 1.24650606e+02] [ 1.45655957e-03 -4.73454750e-05 9.99998938e-01 -3.81247062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:124.68, Z:-0.38 [[-6.41604561e-01 -7.67032018e-01 2.33877713e-03 2.45596286e+02] [ 7.67026371e-01 -6.41608817e-01 -2.94501399e-03 1.24676809e+02] [ 3.75950005e-03 -9.56306758e-05 9.99992929e-01 -3.82353590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:124.68, Z:-0.38 [[-6.39432532e-01 -7.68843163e-01 2.49566243e-03 2.45597227e+02] [ 7.68836755e-01 -6.39437396e-01 -3.14015791e-03 1.24681032e+02] [ 4.01010883e-03 -8.91621234e-05 9.99991956e-01 -3.82845200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.32028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.70, Z:-0.38 [[-6.37741989e-01 -7.70246713e-01 2.27112078e-03 2.45590893e+02] [ 7.70241423e-01 -6.37746028e-01 -2.85537795e-03 1.24695063e+02] [ 3.64774374e-03 -7.16831120e-05 9.99993344e-01 -3.82672846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.35028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.71, Z:-0.38 [[-6.35151337e-01 -7.72386794e-01 1.19180394e-03 2.45590685e+02] [ 7.72385344e-01 -6.35152454e-01 -1.49707686e-03 1.24708515e+02] [ 1.91329960e-03 -3.03384735e-05 9.99998169e-01 -3.81556284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.59, Y:124.71, Z:-0.38 [[-6.34289681e-01 -7.73095229e-01 6.06403352e-04 2.45593165e+02] [ 7.73094854e-01 -6.34289971e-01 -7.60975605e-04 1.24710566e+02] [ 9.72942174e-04 -1.38716634e-05 9.99999527e-01 -3.81186627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.41028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.58, Y:124.73, Z:-0.38 [[-6.33576405e-01 -7.73680127e-01 8.84614969e-06 2.45580330e+02] [ 7.73680127e-01 -6.33576405e-01 -1.07861446e-05 1.24731176e+02] [ 1.39497375e-05 1.02434913e-08 1.00000000e+00 -3.81065989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:124.72, Z:-0.38 [[-6.32646188e-01 -7.74440942e-01 -1.66748522e-04 2.45596899e+02] [ 7.74440914e-01 -6.32646210e-01 2.09313701e-04 1.24715354e+02] [-2.67593920e-04 3.28463749e-06 9.99999964e-01 -3.81179988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:124.71, Z:-0.38 [[-6.31496269e-01 -7.75378891e-01 1.96950183e-04 2.45610090e+02] [ 7.75378852e-01 -6.31496299e-01 -2.46354165e-04 1.24711663e+02] [ 3.15391131e-04 -2.86072940e-06 9.99999950e-01 -3.81986414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.60, Y:124.73, Z:-0.38 [[-6.31497353e-01 -7.75377915e-01 4.26104205e-04 2.45599718e+02] [ 7.75377732e-01 -6.31497497e-01 -5.32922108e-04 1.24730404e+02] [ 6.82299773e-04 -6.14718853e-06 9.99999767e-01 -3.81806500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.61, Y:124.72, Z:-0.38 [[-6.31408369e-01 -7.75450465e-01 2.18233061e-04 2.45613336e+02] [ 7.75450417e-01 -6.31408407e-01 -2.72570460e-04 1.24722963e+02] [ 3.49159079e-04 -2.87435182e-06 9.99999939e-01 -3.82011991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.61, Y:124.73, Z:-0.38 [[-6.31698620e-01 -7.75214065e-01 8.57005795e-05 2.45610295e+02] [ 7.75214057e-01 -6.31698626e-01 -1.06765007e-04 1.24732323e+02] [ 1.36902674e-04 -1.00701398e-06 9.99999991e-01 -3.82634205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.59028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:124.73, Z:-0.38 [[-6.32260072e-01 -7.74756217e-01 7.21738050e-05 2.45615472e+02] [ 7.74756212e-01 -6.32260076e-01 -8.97910437e-05 1.24731990e+02] [ 1.15198785e-04 -8.54187977e-07 9.99999993e-01 -3.82832404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.62, Y:124.73, Z:-0.38 [[-6.32687124e-01 -7.74407373e-01 4.74025336e-04 2.45620158e+02] [ 7.74407147e-01 -6.32687301e-01 -5.90991517e-04 1.24732375e+02] [ 7.57577999e-04 -6.82411443e-06 9.99999713e-01 -3.82727930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.65028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.73, Z:-0.38 [[-6.32259734e-01 -7.74755885e-01 9.73023817e-04 2.45626575e+02] [ 7.74754937e-01 -6.32260483e-01 -1.21247319e-03 1.24734310e+02] [ 1.55457525e-03 -1.27429699e-05 9.99998792e-01 -3.81674021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.73, Z:-0.38 [[-6.31234984e-01 -7.75591365e-01 6.55169228e-04 2.45635510e+02] [ 7.75590936e-01 -6.31235324e-01 -8.15645571e-04 1.24727620e+02] [ 1.04617362e-03 -6.72070436e-06 9.99999453e-01 -3.81216064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.73, Z:-0.38 [[-6.31536674e-01 -7.75345729e-01 6.55486087e-04 2.45637114e+02] [ 7.75345301e-01 -6.31537014e-01 -8.15391000e-04 1.24725742e+02] [ 1.04617366e-03 -6.72126266e-06 9.99999453e-01 -3.81214813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.72, Z:-0.38 [[-6.27550970e-01 -7.78575367e-01 4.22882473e-04 2.45643063e+02] [ 7.78575189e-01 -6.27551112e-01 -5.25516440e-04 1.24723603e+02] [ 6.74534521e-04 -5.42550290e-07 9.99999773e-01 -3.80906243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.66, Y:124.70, Z:-0.38 [[-6.25481328e-01 -7.80239022e-01 4.20090423e-04 2.45658361e+02] [ 7.80238848e-01 -6.25481469e-01 -5.21636089e-04 1.24704629e+02] [ 6.69759607e-04 1.49723414e-06 9.99999776e-01 -3.81335757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.800281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.70, Z:-0.38 [[-6.24026213e-01 -7.81402994e-01 8.03427068e-04 2.45665259e+02] [ 7.81402358e-01 -6.24026730e-01 -9.97138587e-04 1.24695172e+02] [ 1.28052704e-03 5.55918901e-06 9.99999180e-01 -3.81664587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.70, Z:-0.38 [[-6.23044353e-01 -7.82185340e-01 1.35196120e-03 2.45661844e+02] [ 7.82183543e-01 -6.23045819e-01 -1.67682772e-03 1.24699447e+02] [ 2.15392383e-03 1.27437631e-05 9.99997680e-01 -3.81531900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.86028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.70, Z:-0.38 [[-6.21670170e-01 -7.83276870e-01 1.88287674e-03 2.45662657e+02] [ 7.83273394e-01 -6.21673021e-01 -2.33361068e-03 1.24700295e+02] [ 2.99839694e-03 2.40711025e-05 9.99995505e-01 -3.81384877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.89028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.69, Z:-0.38 [[-6.21499033e-01 -7.83413013e-01 1.73291019e-03 2.45668701e+02] [ 7.83410074e-01 -6.21501449e-01 -2.14604590e-03 1.24692624e+02] [ 2.75824648e-03 2.38138518e-05 9.99996196e-01 -3.81026765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.92028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.69, Z:-0.38 [[-6.20444648e-01 -7.84249469e-01 1.09934396e-03 2.45670979e+02] [ 7.84248290e-01 -6.20445622e-01 -1.36026660e-03 1.24688320e+02] [ 1.74887150e-03 1.81884871e-05 9.99998471e-01 -3.81267295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:124.68, Z:-0.38 [[-6.19375016e-01 -7.85094580e-01 1.04366242e-03 2.45681130e+02] [ 7.85093520e-01 -6.19375895e-01 -1.29035823e-03 1.24675845e+02] [ 1.65947260e-03 2.01569565e-05 9.99998623e-01 -3.81298809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 421.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:124.68, Z:-0.38 [[-6.18368052e-01 -7.85888191e-01 8.39307241e-04 2.45677593e+02] [ 7.85887507e-01 -6.18368621e-01 -1.03684090e-03 1.24680419e+02] [ 1.33384228e-03 1.84517881e-05 9.99999110e-01 -3.81018413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:124.67, Z:-0.38 [[-6.17695568e-01 -7.86417306e-01 -7.90370454e-05 2.45683892e+02] [ 7.86417300e-01 -6.17695573e-01 9.78890684e-05 1.24670406e+02] [-1.25802490e-04 -1.69045614e-06 9.99999992e-01 -3.80259907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:124.67, Z:-0.38 [[-6.17909874e-01 -7.86248894e-01 -2.53579985e-04 2.45682351e+02] [ 7.86248832e-01 -6.17909926e-01 3.13165696e-04 1.24670339e+02] [-4.02915771e-04 -5.86879143e-06 9.99999919e-01 -3.80564533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.66, Z:-0.38 [[-6.18377582e-01 -7.85881132e-01 -1.09906527e-04 2.45688744e+02] [ 7.85881121e-01 -6.18377592e-01 1.35795588e-04 1.24661176e+02] [-1.74682924e-04 -2.40051683e-06 9.99999985e-01 -3.81272958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.68, Y:124.67, Z:-0.38 [[-6.18326697e-01 -7.85921137e-01 2.49238568e-04 2.45684895e+02] [ 7.85921077e-01 -6.18326747e-01 -3.06744825e-04 1.24665747e+02] [ 3.95188115e-04 6.21332978e-06 9.99999922e-01 -3.81849047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.64, Z:-0.38 [[-6.17058971e-01 -7.86916676e-01 6.09830864e-04 2.45700911e+02] [ 7.86916318e-01 -6.17059272e-01 -7.50393365e-04 1.24642833e+02] [ 9.66798841e-04 1.68489004e-05 9.99999533e-01 -3.81580473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.65, Z:-0.38 [[-6.16316456e-01 -7.87498174e-01 8.07081749e-04 2.45693351e+02] [ 7.87497549e-01 -6.16316984e-01 -9.92452879e-04 1.24648273e+02] [ 1.27897302e-03 2.39098580e-05 9.99999182e-01 -3.80811724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.64, Z:-0.38 [[-6.15517308e-01 -7.88122642e-01 1.07015308e-03 2.45696560e+02] [ 7.88121545e-01 -6.15518237e-01 -1.31504148e-03 1.24640410e+02] [ 1.69511270e-03 3.39799128e-05 9.99998563e-01 -3.80689459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:124.62, Z:-0.38 [[-6.14033401e-01 -7.89279881e-01 5.01967181e-04 2.45708514e+02] [ 7.89279640e-01 -6.14033606e-01 -6.16217933e-04 1.24619732e+02] [ 7.94593135e-04 1.78140827e-05 9.99999684e-01 -3.81283492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:124.61, Z:-0.38 [[-6.13773503e-01 -7.89482083e-01 3.57484746e-04 2.45709388e+02] [ 7.89481962e-01 -6.13773607e-01 -4.38441779e-04 1.24614881e+02] [ 5.65556631e-04 1.31238118e-05 9.99999840e-01 -3.80675240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.62, Z:-0.38 [[-6.14036932e-01 -7.89277134e-01 5.00796047e-04 2.45704169e+02] [ 7.89276896e-01 -6.14037136e-01 -6.13863092e-04 1.24617730e+02] [ 7.92015473e-04 1.83321389e-05 9.99999686e-01 -3.81004412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.63, Z:-0.38 [[-6.15236193e-01 -7.88341885e-01 1.22454185e-03 2.45692820e+02] [ 7.88340459e-01 -6.15237410e-01 -1.50029376e-03 1.24627369e+02] [ 1.93612837e-03 4.23208621e-05 9.99998125e-01 -3.80881784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.62, Z:-0.38 [[-6.15961364e-01 -7.87775659e-01 1.05277563e-03 2.45698832e+02] [ 7.87774606e-01 -6.15962263e-01 -1.28883006e-03 1.24618664e+02] [ 1.66377901e-03 3.54803894e-05 9.99998615e-01 -3.80668465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.62, Z:-0.38 [[-6.16296552e-01 -7.87513773e-01 7.85534376e-04 2.45700062e+02] [ 7.87513187e-01 -6.16297052e-01 -9.60869251e-04 1.24615269e+02] [ 1.24082029e-03 2.64382740e-05 9.99999230e-01 -3.80551484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.61, Z:-0.38 [[-6.15867672e-01 -7.87848367e-01 1.40032334e-03 2.45697238e+02] [ 7.87846509e-01 -6.15869262e-01 -1.71181665e-03 1.24613181e+02] [ 2.21106805e-03 4.89873201e-05 9.99997554e-01 -3.81495289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.62, Z:-0.38 [[-6.15450966e-01 -7.88172102e-01 2.20150711e-03 2.45686993e+02] [ 7.88167518e-01 -6.15454898e-01 -2.68933831e-03 1.24623539e+02] [ 3.47458977e-03 8.00005361e-05 9.99993960e-01 -3.82046108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.62, Z:-0.38 [[-6.15219478e-01 -7.88350685e-01 2.86202536e-03 2.45686928e+02] [ 7.88342951e-01 -6.15226126e-01 -3.49363394e-03 1.24622104e+02] [ 4.51500148e-03 1.06905871e-04 9.99989802e-01 -3.81408833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.61, Z:-0.38 [[-6.14545752e-01 -7.88878046e-01 2.22410048e-03 2.45692525e+02] [ 7.88873387e-01 -6.14549770e-01 -2.71279611e-03 1.24608034e+02] [ 3.50688574e-03 8.73963504e-05 9.99993847e-01 -3.80205592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.59, Z:-0.38 [[-6.13902211e-01 -7.89380652e-01 1.50363152e-03 2.45701359e+02] [ 7.89378528e-01 -6.13904049e-01 -1.83254519e-03 1.24592975e+02] [ 2.36966120e-03 6.19308925e-05 9.99997190e-01 -3.80133556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.550281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.59, Z:-0.38 [[-6.13123695e-01 -7.89986367e-01 9.35398489e-04 2.45704186e+02] [ 7.89985547e-01 -6.13124407e-01 -1.13905185e-03 1.24586087e+02] [ 1.47335108e-03 4.05716073e-05 9.99998914e-01 -3.80467210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.59, Z:-0.38 [[-6.11572590e-01 -7.91186769e-01 1.57003393e-03 2.45695902e+02] [ 7.91184465e-01 -6.11574600e-01 -1.91061869e-03 1.24590298e+02] [ 2.47184910e-03 7.37044328e-05 9.99996942e-01 -3.81172475e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.58, Z:-0.38 [[-6.11287408e-01 -7.91406039e-01 2.04585312e-03 2.45701791e+02] [ 7.91402135e-01 -6.11290824e-01 -2.48787562e-03 1.24578117e+02] [ 3.21953103e-03 9.82854886e-05 9.99994813e-01 -3.81117477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.70, Y:124.57, Z:-0.38 [[-6.10928369e-01 -7.91682753e-01 2.22410673e-03 2.45701341e+02] [ 7.91678147e-01 -6.10932408e-01 -2.70264777e-03 1.24572599e+02] [ 3.49841851e-03 1.09652504e-04 9.99993875e-01 -3.80888023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.57, Z:-0.38 [[-6.10797447e-01 -7.91784102e-01 2.10102787e-03 2.45693801e+02] [ 7.91779999e-01 -6.10801052e-01 -2.55115870e-03 1.24574471e+02] [ 3.30327694e-03 1.05310624e-04 9.99994539e-01 -3.80178963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.70028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.56, Z:-0.38 [[-6.09847284e-01 -7.92516913e-01 1.79815101e-03 2.45693575e+02] [ 7.92513916e-01 -6.09849927e-01 -2.18171419e-03 1.24562823e+02] [ 2.82564766e-03 9.45472249e-05 9.99996003e-01 -3.79979187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.73028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.56, Z:-0.38 [[-6.09972541e-01 -7.92420206e-01 1.92772171e-03 2.45693007e+02] [ 7.92416766e-01 -6.09975578e-01 -2.33719717e-03 1.24557580e+02] [ 3.02790543e-03 1.01932909e-04 9.99995411e-01 -3.80396954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.76028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.68, Y:124.56, Z:-0.38 [[-6.11419172e-01 -7.91305922e-01 1.23865451e-03 2.45684020e+02] [ 7.91304501e-01 -6.11420424e-01 -1.50053462e-03 1.24555352e+02] [ 1.94472060e-03 6.26972564e-05 9.99998107e-01 -3.80610531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.56, Z:-0.38 [[-6.12946714e-01 -7.90123817e-01 8.24513599e-04 2.45674307e+02] [ 7.90123187e-01 -6.12947268e-01 -9.97983568e-04 1.24562705e+02] [ 1.29391394e-03 3.97565642e-05 9.99999162e-01 -3.80384476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.82028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.68, Y:124.55, Z:-0.38 [[-6.14787786e-01 -7.88692274e-01 6.88602803e-04 2.45678102e+02] [ 7.88691835e-01 -6.14788171e-01 -8.32799510e-04 1.24554718e+02] [ 1.08016740e-03 3.11004411e-05 9.99999416e-01 -3.80262732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.57, Z:-0.38 [[-6.18138602e-01 -7.86067896e-01 1.38950654e-03 2.45660962e+02] [ 7.86066104e-01 -6.18140162e-01 -1.67949021e-03 1.24567258e+02] [ 2.17910313e-03 5.40862634e-05 9.99997624e-01 -3.79940420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.57, Z:-0.38 [[-6.19545543e-01 -7.84958876e-01 1.69814845e-03 2.45652895e+02] [ 7.84956198e-01 -6.19547867e-01 -2.05102472e-03 1.24571480e+02] [ 2.66205431e-03 6.22689256e-05 9.99996455e-01 -3.80183936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.91028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:124.55, Z:-0.38 [[-6.20325685e-01 -7.84341815e-01 1.99016613e-03 2.45663620e+02] [ 7.84338141e-01 -6.20328874e-01 -2.40192932e-03 1.24553763e+02] [ 3.11849111e-03 7.09847480e-05 9.99995135e-01 -3.80169223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.56, Z:-0.38 [[-6.20474922e-01 -7.84224094e-01 1.85524127e-03 2.45656085e+02] [ 7.84220905e-01 -6.20477692e-01 -2.23735601e-03 1.24556719e+02] [ 2.90572431e-03 6.66956912e-05 9.99995776e-01 -3.79878824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 422.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.56, Z:-0.38 [[-6.20804849e-01 -7.83963723e-01 1.49012197e-03 2.45652108e+02] [ 7.83961669e-01 -6.20806635e-01 -1.79559228e-03 1.24558320e+02] [ 2.33275681e-03 5.34861078e-05 9.99997278e-01 -3.79348074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.000281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.55, Z:-0.38 [[-6.21651828e-01 -7.83292292e-01 1.47994433e-03 2.45653642e+02] [ 7.83290266e-01 -6.21653588e-01 -1.78195149e-03 1.24553632e+02] [ 2.31580156e-03 5.14725882e-05 9.99997317e-01 -3.80367194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.03028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.56, Z:-0.38 [[-6.22701479e-01 -7.82457941e-01 1.56146610e-03 2.45649330e+02] [ 7.82455688e-01 -6.22703434e-01 -1.87867259e-03 1.24556986e+02] [ 2.44231259e-03 5.19258304e-05 9.99997016e-01 -3.81201015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.57, Z:-0.38 [[-6.24616873e-01 -7.80928920e-01 1.94497475e-03 2.45640215e+02] [ 7.80925422e-01 -6.24619899e-01 -2.33833764e-03 1.24565738e+02] [ 3.04094542e-03 5.83150819e-05 9.99995375e-01 -3.80662930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.64, Y:124.57, Z:-0.38 [[-6.25786473e-01 -7.79990794e-01 2.37712408e-03 2.45638742e+02] [ 7.79985569e-01 -6.25790985e-01 -2.85571077e-03 1.24566128e+02] [ 3.71501093e-03 6.70573130e-05 9.99993097e-01 -3.79795857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.56, Z:-0.38 [[-6.27080448e-01 -7.78950868e-01 2.37819659e-03 2.45638650e+02] [ 7.78945640e-01 -6.27084955e-01 -2.85475596e-03 1.24564087e+02] [ 3.71504593e-03 6.23242114e-05 9.99993097e-01 -3.79576611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.57, Z:-0.38 [[-6.29794187e-01 -7.76760829e-01 1.37718521e-03 2.45629177e+02] [ 7.76759073e-01 -6.29795692e-01 -1.65172181e-03 1.24572294e+02] [ 2.15033812e-03 2.94963102e-05 9.99997688e-01 -3.80167478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.64, Y:124.56, Z:-0.38 [[-6.31372727e-01 -7.75478966e-01 9.23507658e-04 2.45640093e+02] [ 7.75478176e-01 -6.31373403e-01 -1.10663165e-03 1.24558359e+02] [ 1.44124774e-03 1.74629903e-05 9.99998961e-01 -3.80184547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.21028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.64, Y:124.56, Z:-0.38 [[-6.32813924e-01 -7.74303430e-01 8.57202342e-04 2.45638900e+02] [ 7.74302750e-01 -6.32814505e-01 -1.02635090e-03 1.24558655e+02] [ 1.33715710e-03 1.42449905e-05 9.99999106e-01 -3.79893980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.57, Z:-0.38 [[-6.34323737e-01 -7.73066663e-01 1.15383772e-03 2.45628900e+02] [ 7.73065430e-01 -6.34324786e-01 -1.38052799e-03 1.24568184e+02] [ 1.79914803e-03 1.62903835e-05 9.99998381e-01 -3.80033027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.57, Z:-0.38 [[-6.36318504e-01 -7.71426090e-01 7.40456117e-04 2.45625562e+02] [ 7.71425583e-01 -6.36318935e-01 -8.85113526e-04 1.24568078e+02] [ 1.15396591e-03 7.99267725e-06 9.99999334e-01 -3.79493431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.56, Z:-0.38 [[-6.37512401e-01 -7.70439705e-01 7.74806088e-04 2.45633395e+02] [ 7.70439149e-01 -6.37512871e-01 -9.25451796e-04 1.24558106e+02] [ 1.20695366e-03 6.95394748e-06 9.99999272e-01 -3.79871667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.56, Z:-0.38 [[-6.38745807e-01 -7.69417133e-01 1.03454251e-03 2.45635037e+02] [ 7.69416142e-01 -6.38746644e-01 -1.23481190e-03 1.24556154e+02] [ 1.61089599e-03 7.26278746e-06 9.99998703e-01 -3.80363375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.63, Y:124.56, Z:-0.38 [[-6.40522632e-01 -7.67937788e-01 1.52052457e-03 2.45633463e+02] [ 7.67935646e-01 -6.40524437e-01 -1.81357241e-03 1.24556940e+02] [ 2.36664393e-03 6.03084748e-06 9.99997200e-01 -3.80638277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.54, Z:-0.38 [[-6.41167150e-01 -7.67399210e-01 1.77179525e-03 2.45647013e+02] [ 7.67396301e-01 -6.41169598e-01 -2.11288619e-03 1.24538969e+02] [ 2.75744844e-03 4.95590568e-06 9.99996198e-01 -3.80781651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.53, Z:-0.38 [[-6.42074530e-01 -7.66640453e-01 1.64769415e-03 2.45649475e+02] [ 7.66637939e-01 -6.42076644e-01 -1.96316300e-03 1.24534296e+02] [ 2.56298610e-03 2.68788449e-06 9.99996716e-01 -3.80770908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.53, Z:-0.38 [[-6.42962661e-01 -7.65896848e-01 1.01681501e-03 2.45654676e+02] [ 7.65895892e-01 -6.42963465e-01 -1.21043818e-03 1.24525293e+02] [ 1.58084569e-03 5.07889058e-07 9.99998750e-01 -3.80837307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.53, Z:-0.38 [[-6.43063348e-01 -7.65812379e-01 9.64158846e-04 2.45646321e+02] [ 7.65811521e-01 -6.43064071e-01 -1.14684238e-03 1.24533360e+02] [ 1.49828200e-03 8.71652047e-07 9.99998878e-01 -3.80680699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.53, Z:-0.38 [[-6.42869527e-01 -7.65974519e-01 1.34464859e-03 2.45651621e+02] [ 7.65972851e-01 -6.42870933e-01 -1.59828924e-03 1.24525030e+02] [ 2.08868432e-03 2.47287102e-06 9.99997819e-01 -3.81157812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.52, Z:-0.38 [[-6.41682883e-01 -7.66966664e-01 2.28353976e-03 2.45649589e+02] [ 7.66961868e-01 -6.41686946e-01 -2.71236910e-03 1.24524538e+02] [ 3.54561434e-03 1.09070942e-05 9.99993714e-01 -3.81414055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.64, Y:124.53, Z:-0.38 [[-6.41522804e-01 -7.67101148e-01 2.07875881e-03 2.45644050e+02] [ 7.67097180e-01 -6.41526172e-01 -2.46716453e-03 1.24529160e+02] [ 3.22614292e-03 1.18677199e-05 9.99994796e-01 -3.80662101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.53, Z:-0.38 [[-6.41820737e-01 -7.66851887e-01 2.07971755e-03 2.45645728e+02] [ 7.66847921e-01 -6.41824106e-01 -2.46635645e-03 1.24527283e+02] [ 3.22614296e-03 1.18683685e-05 9.99994796e-01 -3.80660850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.52, Z:-0.38 [[-6.42223237e-01 -7.66517069e-01 9.46912217e-04 2.45648926e+02] [ 7.66516248e-01 -6.42223936e-01 -1.12190636e-03 1.24519039e+02] [ 1.46809007e-03 5.30926335e-06 9.99998922e-01 -3.79607360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.52, Z:-0.38 [[-6.42793429e-01 -7.66039427e-01 4.51116710e-04 2.45649232e+02] [ 7.66039241e-01 -6.42793587e-01 -5.33909969e-04 1.24517691e+02] [ 6.98971015e-04 2.37928235e-06 9.99999756e-01 -3.79606500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.51, Z:-0.38 [[-6.43311514e-01 -7.65604507e-01 1.87222184e-04 2.45653657e+02] [ 7.65604475e-01 -6.43311541e-01 -2.21235295e-04 1.24512018e+02] [ 2.89820931e-04 1.01492976e-06 9.99999958e-01 -3.79522773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.52, Z:-0.38 [[-6.43752313e-01 -7.65233924e-01 -1.02934551e-05 2.45646346e+02] [ 7.65233924e-01 -6.43752313e-01 1.24686884e-05 1.24519550e+02] [-1.61678988e-05 1.49845967e-07 1.00000000e+00 -3.79161905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.750281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.50, Z:-0.38 [[-6.44054846e-01 -7.64978799e-01 -8.89547647e-04 2.45657299e+02] [ 7.64978077e-01 -6.44055461e-01 1.05121308e-03 1.24503855e+02] [-1.37707374e-03 -3.44557071e-06 9.99999052e-01 -3.79151325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.51, Z:-0.38 [[-6.44242498e-01 -7.64821101e-01 -5.35935214e-04 2.45653537e+02] [ 7.64820839e-01 -6.44242721e-01 6.32957473e-04 1.24507595e+02] [-8.29371591e-04 -2.11631662e-06 9.99999656e-01 -3.79484791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.49, Z:-0.38 [[-6.44170964e-01 -7.64881389e-01 4.78837982e-04 2.45666871e+02] [ 7.64881180e-01 -6.44171142e-01 -5.65350111e-04 1.24491593e+02] [ 7.40879388e-04 2.07203399e-06 9.99999726e-01 -3.80062654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.84028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.51, Z:-0.38 [[-6.43583909e-01 -7.65369294e-01 3.09768678e-03 2.45653040e+02] [ 7.65360572e-01 -6.43591364e-01 -3.65396928e-03 1.24505892e+02] [ 4.79028034e-03 1.92114924e-05 9.99988526e-01 -3.80817207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.870281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.51, Z:-0.38 [[-6.43064240e-01 -7.65803928e-01 3.56742792e-03 2.45645229e+02] [ 7.65792385e-01 -6.43074135e-01 -4.20478734e-03 1.24513900e+02] [ 5.51416329e-03 2.79607593e-05 9.99984797e-01 -3.81315640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.64, Y:124.52, Z:-0.38 [[-6.42551830e-01 -7.66235395e-01 3.23490365e-03 2.45642980e+02] [ 7.66225924e-01 -6.42559973e-01 -3.80979485e-03 1.24516028e+02] [ 4.99781926e-03 3.06763804e-05 9.99987510e-01 -3.81266462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.930281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.41653714e-01 -7.66994139e-01 7.09403137e-04 2.45651111e+02] [ 7.66993685e-01 -6.41654106e-01 -8.34578292e-04 1.24504360e+02] [ 1.09530809e-03 8.59746551e-06 9.99999400e-01 -3.79423965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.96028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.41678895e-01 -7.66973378e-01 -1.81880799e-04 2.45648885e+02] [ 7.66973348e-01 -6.41678921e-01 2.14181020e-04 1.24503906e+02] [-2.80980215e-04 -2.06228583e-06 9.99999961e-01 -3.78892011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 423.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.42604083e-01 -7.66198253e-01 -4.80322698e-04 2.45647288e+02] [ 7.66198045e-01 -6.42604262e-01 5.64685619e-04 1.24500823e+02] [-7.41318547e-04 -5.15302776e-06 9.99999725e-01 -3.79287183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.02028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.43266637e-01 -7.65642222e-01 -1.48058734e-04 2.45650121e+02] [ 7.65642202e-01 -6.43266654e-01 1.74132895e-04 1.24497456e+02] [-2.28564743e-04 -1.34613285e-06 9.99999974e-01 -3.80075932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.050281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.48, Z:-0.38 [[-6.43645106e-01 -7.65324023e-01 3.42698151e-04 2.45661958e+02] [ 7.65323917e-01 -6.43645197e-01 -4.02509936e-04 1.24483871e+02] [ 5.28626543e-04 3.20154034e-06 9.99999860e-01 -3.80693148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.08028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.48, Z:-0.38 [[-6.44265699e-01 -7.64801540e-01 5.60434240e-04 2.45666114e+02] [ 7.64801257e-01 -6.44265943e-01 -6.57320079e-04 1.24479537e+02] [ 8.63788103e-04 5.13203138e-06 9.99999627e-01 -3.81175586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.11028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.45552385e-01 -7.63715592e-01 7.82291059e-04 2.45650194e+02] [ 7.63715042e-01 -6.45552859e-01 -9.16924360e-04 1.24498221e+02] [ 1.20527966e-03 5.52474131e-06 9.99999274e-01 -3.80750477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.14028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.45847722e-01 -7.63465643e-01 9.65557462e-04 2.45660144e+02] [ 7.63464803e-01 -6.45848444e-01 -1.13194904e-03 1.24487605e+02] [ 1.48780799e-03 6.10242667e-06 9.99998893e-01 -3.80637609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.17028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.46447372e-01 -7.62957909e-01 1.01228534e-03 2.45662292e+02] [ 7.62956988e-01 -6.46448164e-01 -1.18554086e-03 1.24485874e+02] [ 1.55890777e-03 5.94039832e-06 9.99998785e-01 -3.80778267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.20028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.46890816e-01 -7.62580658e-01 1.73565722e-03 2.45652870e+02] [ 7.62577953e-01 -6.46893144e-01 -2.03132547e-03 1.24496278e+02] [ 2.67183426e-03 9.52813906e-06 9.99996431e-01 -3.81063814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.23028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.46907939e-01 -7.62565620e-01 1.94798887e-03 2.45656135e+02] [ 7.62562217e-01 -6.46910872e-01 -2.27805395e-03 1.24492597e+02] [ 2.99734080e-03 1.17715288e-05 9.99995508e-01 -3.81686283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.26028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.50, Z:-0.38 [[-6.46606750e-01 -7.62821377e-01 1.80526090e-03 2.45652171e+02] [ 7.62818460e-01 -6.46609269e-01 -2.10944068e-03 1.24498473e+02] [ 2.77642488e-03 1.31077610e-05 9.99996146e-01 -3.81817566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.29028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.46149053e-01 -7.63210397e-01 1.13598783e-03 2.45664311e+02] [ 7.63209242e-01 -6.46150052e-01 -1.32792490e-03 1.24485640e+02] [ 1.74750469e-03 8.95898972e-06 9.99998473e-01 -3.82324035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.32028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.45566632e-01 -7.63703873e-01 3.42210614e-04 2.45659996e+02] [ 7.63703769e-01 -6.45566723e-01 -3.99394372e-04 1.24490772e+02] [ 5.25938813e-04 3.51185610e-06 9.99999862e-01 -3.81226736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.66, Y:124.49, Z:-0.38 [[-6.45125795e-01 -7.64076374e-01 5.80838218e-05 2.45659001e+02] [ 7.64076371e-01 -6.45125798e-01 -6.74873913e-05 1.24489373e+02] [ 8.90368932e-05 8.42618771e-07 9.99999996e-01 -3.80765204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.380281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.67, Y:124.48, Z:-0.38 [[-6.44310771e-01 -7.64763768e-01 -1.01870280e-04 2.45665930e+02] [ 7.64763758e-01 -6.44310779e-01 1.19065877e-04 1.24478716e+02] [-1.56693388e-04 -1.19127077e-06 9.99999988e-01 -3.80798355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.65, Y:124.49, Z:-0.38 [[-6.42008049e-01 -7.66697733e-01 5.01768712e-04 2.45654129e+02] [ 7.66697510e-01 -6.42008245e-01 -5.84421178e-04 1.24487728e+02] [ 7.70214042e-04 9.50172160e-06 9.99999703e-01 -3.80518008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.48, Z:-0.38 [[-6.41193964e-01 -7.67378159e-01 1.02986793e-03 2.45657662e+02] [ 7.67377221e-01 -6.41194791e-01 -1.20012310e-03 1.24480797e+02] [ 1.58129421e-03 2.07854981e-05 9.99998750e-01 -3.80851103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.47028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:124.47, Z:-0.38 [[-6.40802499e-01 -7.67704743e-01 1.25880456e-03 2.45662185e+02] [ 7.67703342e-01 -6.40803735e-01 -1.46708829e-03 1.24472373e+02] [ 1.93293730e-03 2.62746246e-05 9.99998132e-01 -3.80768416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.47, Z:-0.38 [[-6.41563458e-01 -7.67069960e-01 7.20465206e-05 2.45659573e+02] [ 7.67069956e-01 -6.41563462e-01 -8.39201573e-05 1.24466801e+02] [ 1.10595047e-04 1.42461509e-06 9.99999994e-01 -3.81449573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.53028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.66, Y:124.47, Z:-0.38 [[-6.43025362e-01 -7.65844328e-01 -9.21733681e-04 2.45657304e+02] [ 7.65843575e-01 -6.43026022e-01 1.07356503e-03 1.24466078e+02] [-1.41488243e-03 -1.55742784e-05 9.99998999e-01 -3.81725134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.560281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.46, Z:-0.38 [[-6.44623113e-01 -7.64499379e-01 -1.32002968e-03 2.45658102e+02] [ 7.64497834e-01 -6.44624464e-01 1.53715891e-03 1.24462384e+02] [-2.02608045e-03 -1.82716686e-05 9.99997947e-01 -3.81433820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.66, Y:124.46, Z:-0.38 [[-6.47947746e-01 -7.61684735e-01 2.86828661e-04 2.45656530e+02] [ 7.61684662e-01 -6.47947810e-01 -3.34156131e-04 1.24460328e+02] [ 4.40371626e-04 1.95727963e-06 9.99999903e-01 -3.82092692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.620281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.66, Y:124.46, Z:-0.38 [[-6.49496290e-01 -7.60363747e-01 1.24122793e-03 2.45659671e+02] [ 7.60362372e-01 -6.49497476e-01 -1.44625056e-03 1.24455139e+02] [ 1.90585090e-03 4.44863943e-06 9.99998184e-01 -3.82941730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.65028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.66, Y:124.46, Z:-0.38 [[-6.51232532e-01 -7.58876436e-01 1.65675227e-03 2.45655242e+02] [ 7.58873982e-01 -6.51234639e-01 -1.93003721e-03 1.24458855e+02] [ 2.54359423e-03 3.63176115e-07 9.99996765e-01 -3.83455588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.680281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.67, Y:124.44, Z:-0.38 [[-6.54785305e-01 -7.55814860e-01 3.18159196e-04 2.45670318e+02] [ 7.55814769e-01 -6.54785382e-01 -3.71226832e-04 1.24441500e+02] [ 4.88904746e-04 -2.60445518e-06 9.99999881e-01 -3.83080774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.71028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.42, Z:-0.38 [[-6.56398991e-01 -7.54413729e-01 -5.38359607e-04 2.45686104e+02] [ 7.54413468e-01 -6.56399212e-01 6.27851664e-04 1.24424379e+02] [-8.27038737e-04 5.97546031e-06 9.99999658e-01 -3.82499252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.43, Z:-0.38 [[-6.58109708e-01 -7.52921484e-01 -9.22598554e-04 2.45686539e+02] [ 7.52920715e-01 -6.58110355e-01 1.07638897e-03 1.24426020e+02] [-1.41760804e-03 1.37384671e-05 9.99998995e-01 -3.82395110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.77028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.69, Y:124.43, Z:-0.38 [[-6.59497818e-01 -7.51706142e-01 -7.10893848e-04 2.45687350e+02] [ 7.51705685e-01 -6.59498201e-01 8.29068877e-04 1.24427431e+02] [-1.09204938e-03 1.23861677e-05 9.99999404e-01 -3.82226196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.69, Y:124.43, Z:-0.38 [[-6.60455126e-01 -7.50865346e-01 -5.08412062e-04 2.45690888e+02] [ 7.50865113e-01 -6.60455321e-01 5.92729188e-04 1.24427939e+02] [-7.80843259e-04 9.72214989e-06 9.99999695e-01 -3.81553814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.70, Y:124.42, Z:-0.38 [[-6.60646282e-01 -7.50696899e-01 -8.09950372e-04 2.45696517e+02] [ 7.50696305e-01 -6.60646779e-01 9.44326093e-04 1.24423921e+02] [-1.24399377e-03 1.58387710e-05 9.99999226e-01 -3.81390432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.86028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.69, Y:124.44, Z:-0.38 [[-6.61357937e-01 -7.50069236e-01 -1.34944863e-03 2.45685933e+02] [ 7.50067588e-01 -6.61359313e-01 1.57254391e-03 1.24439129e+02] [-2.07198723e-03 2.78367163e-05 9.99997853e-01 -3.81231362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.70, Y:124.43, Z:-0.38 [[-6.62231814e-01 -7.49298542e-01 -8.48432834e-04 2.45702074e+02] [ 7.49297890e-01 -6.62232357e-01 9.88693492e-04 1.24427553e+02] [-1.30268627e-03 1.90153522e-05 9.99999151e-01 -3.81378501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.69, Y:124.44, Z:-0.38 [[-6.62566595e-01 -7.49003002e-01 -9.70360459e-05 2.45692868e+02] [ 7.49002994e-01 -6.62566602e-01 1.13289676e-04 1.24442061e+02] [-1.49147151e-04 2.38166620e-06 9.99999989e-01 -3.81439489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.95028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.70, Y:124.44, Z:-0.38 [[-6.62296252e-01 -7.49241789e-01 6.44822148e-04 2.45701016e+02] [ 7.49241413e-01 -6.62296566e-01 -7.50936253e-04 1.24435377e+02] [ 9.89696316e-04 -1.42148086e-05 9.99999510e-01 -3.81211743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 424.98028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.70, Y:124.44, Z:-0.38 [[-6.61795989e-01 -7.49682642e-01 1.41615728e-03 2.45697082e+02] [ 7.49680832e-01 -6.61797504e-01 -1.64766900e-03 1.24443352e+02] [ 2.17243820e-03 -2.87547678e-05 9.99997640e-01 -3.80865923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.69, Y:124.45, Z:-0.38 [[-6.61419734e-01 -7.50015612e-01 7.19563962e-04 2.45691719e+02] [ 7.50015146e-01 -6.61420125e-01 -8.36414340e-04 1.24452097e+02] [ 1.10325790e-03 -1.35370800e-05 9.99999391e-01 -3.80959445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.70, Y:124.45, Z:-0.38 [[-6.61223114e-01 -7.50189294e-01 1.26906749e-04 2.45696522e+02] [ 7.50189280e-01 -6.61223126e-01 -1.47163733e-04 1.24449227e+02] [ 1.94314335e-04 -2.10397884e-06 9.99999981e-01 -3.80562696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.07028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.71, Y:124.44, Z:-0.38 [[-6.60365549e-01 -7.50943934e-01 -7.40952745e-04 2.45708258e+02] [ 7.50943441e-01 -6.60365965e-01 8.60542910e-04 1.24438538e+02] [-1.13551945e-03 1.18592868e-05 9.99999355e-01 -3.80108353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.10028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.71, Y:124.44, Z:-0.38 [[-6.60081287e-01 -7.51193958e-01 -5.75893741e-04 2.45705832e+02] [ 7.51193661e-01 -6.60081538e-01 6.68397752e-04 1.24442520e+02] [-8.82233179e-04 8.58912028e-06 9.99999611e-01 -3.80440645e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.130281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:124.44, Z:-0.38 [[-6.60390250e-01 -7.50922577e-01 -4.62351835e-05 2.45714019e+02] [ 7.50922575e-01 -6.60390251e-01 5.38844171e-05 1.24436886e+02] [-7.09962897e-05 8.65700668e-07 9.99999998e-01 -3.81508912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.71, Y:124.44, Z:-0.38 [[-6.61034625e-01 -7.50355369e-01 -2.11415737e-04 2.45711352e+02] [ 7.50355329e-01 -6.61034658e-01 2.45182879e-04 1.24443514e+02] [-3.23727419e-04 3.43744763e-06 9.99999948e-01 -3.82128488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.190281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.72, Y:124.44, Z:-0.38 [[-6.61799016e-01 -7.49681190e-01 -4.19530501e-04 2.45718913e+02] [ 7.49681032e-01 -6.61799149e-01 4.85885372e-04 1.24438295e+02] [-6.41904053e-04 7.04440202e-06 9.99999794e-01 -3.81914615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:124.44, Z:-0.38 [[-6.62300836e-01 -7.49237919e-01 -3.80188627e-04 2.45720712e+02] [ 7.49237789e-01 -6.62300945e-01 4.40012507e-04 1.24440010e+02] [-5.81473341e-04 6.56896430e-06 9.99999831e-01 -3.81749113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.72, Y:124.45, Z:-0.38 [[-6.63539638e-01 -7.48141124e-01 8.76099929e-05 2.45715672e+02] [ 7.48141117e-01 -6.63539644e-01 -1.00964122e-04 1.24453418e+02] [ 1.33668115e-04 -1.44905918e-06 9.99999991e-01 -3.82206300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.28028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.72, Y:124.45, Z:-0.38 [[-6.64348195e-01 -7.47422887e-01 7.09832043e-04 2.45720781e+02] [ 7.47422438e-01 -6.64348575e-01 -8.19442628e-04 1.24451363e+02] [ 1.08404608e-03 -1.38508352e-05 9.99999412e-01 -3.82343685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:124.44, Z:-0.38 [[-6.64978060e-01 -7.46861990e-01 1.16109126e-03 2.45733904e+02] [ 7.46860789e-01 -6.64979073e-01 -1.33954410e-03 1.24441101e+02] [ 1.77255596e-03 -2.35939008e-05 9.99998429e-01 -3.82780546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.34028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.73, Y:124.45, Z:-0.38 [[-6.65062352e-01 -7.46785448e-01 1.88751091e-03 2.45726973e+02] [ 7.46782278e-01 -6.65065029e-01 -2.17612111e-03 1.24454576e+02] [ 2.88041308e-03 -3.76965267e-05 9.99995851e-01 -3.82108900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.370281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.74, Y:124.45, Z:-0.38 [[-6.63893408e-01 -7.47822877e-01 2.54728292e-03 2.45738795e+02] [ 7.47817120e-01 -6.63898293e-01 -2.93462027e-03 1.24448987e+02] [ 3.88571295e-03 -4.33732731e-05 9.99992450e-01 -3.82845101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.40028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.73, Y:124.46, Z:-0.38 [[-6.62707799e-01 -7.48874521e-01 2.30772350e-03 2.45734408e+02] [ 7.48869809e-01 -6.62711816e-01 -2.65656328e-03 1.24456225e+02] [ 3.51878819e-03 -3.23407458e-05 9.99993809e-01 -3.83340641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.430281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.73, Y:124.46, Z:-0.38 [[-6.61292649e-01 -7.50126115e-01 1.68672567e-03 2.45733924e+02] [ 7.50123606e-01 -6.61294800e-01 -1.94011436e-03 1.24459089e+02] [ 2.57075336e-03 -1.77306239e-05 9.99996695e-01 -3.83574334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.46028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.73, Y:124.47, Z:-0.38 [[-6.58318654e-01 -7.52738613e-01 1.06334166e-03 2.45726481e+02] [ 7.52737621e-01 -6.58319513e-01 -1.22202014e-03 1.24471729e+02] [ 1.61988030e-03 -4.06138105e-06 9.99998688e-01 -3.82415332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:124.48, Z:-0.38 [[-6.56971559e-01 -7.53914094e-01 1.38173529e-03 2.45716734e+02] [ 7.53912424e-01 -6.56973012e-01 -1.58675703e-03 1.24484274e+02] [ 2.10404128e-03 -7.46837312e-07 9.99997787e-01 -3.81827465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:124.48, Z:-0.38 [[-6.57268220e-01 -7.53655475e-01 1.38236070e-03 2.45718436e+02] [ 7.53653806e-01 -6.57269674e-01 -1.58621226e-03 1.24482432e+02] [ 2.10404132e-03 -7.45510673e-07 9.99997787e-01 -3.81826214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.72, Y:124.48, Z:-0.38 [[-6.56021696e-01 -7.54739724e-01 1.86653044e-03 2.45716856e+02] [ 7.54736690e-01 -6.56024351e-01 -2.14017926e-03 1.24484779e+02] [ 2.83976773e-03 4.73497989e-06 9.99995968e-01 -3.82202811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:124.47, Z:-0.38 [[-6.54875605e-01 -7.55733485e-01 2.20050750e-03 2.45726867e+02] [ 7.55729279e-01 -6.54879302e-01 -2.52117183e-03 1.24473431e+02] [ 3.34640079e-03 1.19340200e-05 9.99994401e-01 -3.83258047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.61028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:124.47, Z:-0.38 [[-6.55096509e-01 -7.55542236e-01 2.11990064e-03 2.45732541e+02] [ 7.55538338e-01 -6.55099939e-01 -2.42689621e-03 1.24466276e+02] [ 3.22236937e-03 1.18149735e-05 9.99994808e-01 -3.83210389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:124.47, Z:-0.38 [[-6.55968261e-01 -7.54784431e-01 2.47055126e-03 2.45727052e+02] [ 7.54779140e-01 -6.55972913e-01 -2.82614716e-03 1.24466637e+02] [ 3.75374659e-03 1.08577174e-05 9.99992955e-01 -3.82038045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.72, Y:124.47, Z:-0.38 [[-6.56449202e-01 -7.54366304e-01 2.43420521e-03 2.45717016e+02] [ 7.54361173e-01 -6.56453715e-01 -2.78235224e-03 1.24474381e+02] [ 3.69685583e-03 9.79698820e-06 9.99993167e-01 -3.82101756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.70028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.73, Y:124.45, Z:-0.38 [[-6.56748162e-01 -7.54107478e-01 1.94007607e-03 2.45730521e+02] [ 7.54104219e-01 -6.56751027e-01 -2.21702052e-03 1.24454937e+02] [ 2.94601870e-03 6.99540434e-06 9.99995660e-01 -3.82576042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.72, Y:124.46, Z:-0.38 [[-6.57367629e-01 -7.53569875e-01 4.93491961e-04 2.45718434e+02] [ 7.53569665e-01 -6.57367814e-01 -5.63224484e-04 1.24461282e+02] [ 7.48834736e-04 1.63502816e-06 9.99999720e-01 -3.81969944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.76028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:124.44, Z:-0.38 [[-6.57976397e-01 -7.53038552e-01 -3.30552454e-05 2.45732574e+02] [ 7.53038551e-01 -6.57976397e-01 3.78449884e-05 1.24440943e+02] [-5.02483065e-05 9.23503098e-09 9.99999999e-01 -3.81384068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.71, Y:124.46, Z:-0.38 [[-6.58871506e-01 -7.52255481e-01 1.70959760e-04 2.45712624e+02] [ 7.52255456e-01 -6.58871528e-01 -1.94712186e-04 1.24460137e+02] [ 2.59113828e-04 3.15100918e-07 9.99999966e-01 -3.81090367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:124.44, Z:-0.38 [[-6.59733636e-01 -7.51499068e-01 8.25117853e-04 2.45726082e+02] [ 7.51498479e-01 -6.59734152e-01 -9.40792418e-04 1.24441989e+02] [ 1.25136305e-03 -5.97591256e-07 9.99999217e-01 -3.81955434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:124.42, Z:-0.38 [[-6.61484364e-01 -7.49954571e-01 2.56464551e-03 2.45740032e+02] [ 7.49948872e-01 -6.61489336e-01 -2.92388927e-03 1.24421899e+02] [ 3.88926978e-03 -1.07540241e-05 9.99992437e-01 -3.82476866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.880281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.74, Y:124.42, Z:-0.38 [[-6.62343379e-01 -7.49195821e-01 2.62113198e-03 2.45735066e+02] [ 7.49189871e-01 -6.62348566e-01 -2.98575165e-03 1.24424808e+02] [ 3.97301567e-03 -1.38673060e-05 9.99992107e-01 -3.82620109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.74, Y:124.42, Z:-0.38 [[-6.62517156e-01 -7.49043846e-01 2.08178042e-03 2.45737370e+02] [ 7.49040099e-01 -6.62520427e-01 -2.36946708e-03 1.24419511e+02] [ 3.15405679e-03 -1.04755800e-05 9.99995026e-01 -3.81151652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.940281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.74, Y:124.41, Z:-0.38 [[-6.61760822e-01 -7.49714941e-01 3.49655409e-04 2.45738274e+02] [ 7.49714835e-01 -6.61760914e-01 -3.97425066e-04 1.24414521e+02] [ 5.29343793e-04 -8.58490991e-07 9.99999860e-01 -3.80743905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 425.97028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.75, Y:124.40, Z:-0.38 [[-6.61637212e-01 -7.49824054e-01 2.96004366e-04 2.45747217e+02] [ 7.49823979e-01 -6.61637278e-01 -3.36141270e-04 1.24402564e+02] [ 4.47894333e-04 -4.52401567e-07 9.99999900e-01 -3.81370950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:124.42, Z:-0.38 [[-6.61997860e-01 -7.49505431e-01 6.64998366e-04 2.45734265e+02] [ 7.49505051e-01 -6.61998194e-01 -7.54942250e-04 1.24415707e+02] [ 1.00606103e-03 -1.35051937e-06 9.99999494e-01 -3.82546786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.03028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:124.42, Z:-0.38 [[-6.63301808e-01 -7.48349563e-01 1.90865599e-03 2.45730905e+02] [ 7.48346430e-01 -6.63304554e-01 -2.16565076e-03 1.24419002e+02] [ 2.88668401e-03 -8.14417055e-06 9.99995834e-01 -3.82845636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.060281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.74, Y:124.41, Z:-0.38 [[-6.64304735e-01 -7.47458195e-01 2.33812393e-03 2.45743377e+02] [ 7.47453485e-01 -6.64308849e-01 -2.65330299e-03 1.24405685e+02] [ 3.53646948e-03 -1.49628518e-05 9.99993747e-01 -3.82326775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.75, Y:124.40, Z:-0.38 [[-6.65620667e-01 -7.46287336e-01 2.08348253e-03 2.45751993e+02] [ 7.46283597e-01 -6.65623927e-01 -2.36222460e-03 1.24396053e+02] [ 3.14971413e-03 -1.74766773e-05 9.99995040e-01 -3.82395551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.120281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.75, Y:124.40, Z:-0.38 [[-6.67600908e-01 -7.44517387e-01 1.69965447e-03 2.45748077e+02] [ 7.44514897e-01 -6.67603071e-01 -1.92550882e-03 1.24396863e+02] [ 2.56826934e-03 -2.00533641e-05 9.99996702e-01 -3.81353198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.15028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.75, Y:124.39, Z:-0.38 [[-6.68262109e-01 -7.43923763e-01 1.78539729e-03 2.45753726e+02] [ 7.43921018e-01 -6.68264494e-01 -2.02110345e-03 1.24388512e+02] [ 2.69666450e-03 -2.24322812e-05 9.99996364e-01 -3.80850900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.77, Y:124.37, Z:-0.38 [[-6.68279381e-01 -7.43908583e-01 1.63978529e-03 2.45766761e+02] [ 7.43906266e-01 -6.68281393e-01 -1.85695596e-03 1.24372183e+02] [ 2.47724347e-03 -2.11188305e-05 9.99996931e-01 -3.81300923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:124.38, Z:-0.38 [[-6.69058390e-01 -7.43208257e-01 1.53570404e-03 2.45754865e+02] [ 7.43206226e-01 -6.69060152e-01 -1.73741851e-03 1.24384181e+02] [ 2.31874216e-03 -2.10896273e-05 9.99997312e-01 -3.81621821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.240281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.77, Y:124.37, Z:-0.38 [[-6.69573094e-01 -7.42744695e-01 1.47984970e-03 2.45768642e+02] [ 7.42742806e-01 -6.69574729e-01 -1.67508672e-03 1.24367324e+02] [ 2.23503174e-03 -2.24452757e-05 9.99997502e-01 -3.81738271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.27028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.38 [[-6.70818807e-01 -7.41619806e-01 1.48027117e-03 2.45756792e+02] [ 7.41617917e-01 -6.70820440e-01 -1.67390582e-03 1.24380001e+02] [ 2.23439787e-03 -2.50918863e-05 9.99997503e-01 -3.82209639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.300281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.76, Y:124.37, Z:-0.38 [[-6.74236334e-01 -7.38513314e-01 1.85778848e-03 2.45763535e+02] [ 7.38510332e-01 -6.74238892e-01 -2.09927795e-03 1.24373027e+02] [ 2.80293796e-03 -4.34134835e-05 9.99996071e-01 -3.82994640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:124.36, Z:-0.38 [[-6.75974249e-01 -7.36922505e-01 2.00899096e-03 2.45773115e+02] [ 7.36919008e-01 -6.75977233e-01 -2.27068991e-03 1.24361497e+02] [ 3.03135465e-03 -5.44642814e-05 9.99995404e-01 -3.82922916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.35, Z:-0.38 [[-6.77258606e-01 -7.35742091e-01 2.08727950e-03 2.45781453e+02] [ 7.35738311e-01 -6.77261819e-01 -2.35914023e-03 1.24350930e+02] [ 3.14935348e-03 -6.20565336e-05 9.99995039e-01 -3.83225717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.78, Y:124.35, Z:-0.38 [[-6.79671158e-01 -7.33513225e-01 2.33762395e-03 2.45779989e+02] [ 7.33508479e-01 -6.79675174e-01 -2.63984595e-03 1.24353094e+02] [ 3.52518688e-03 -7.95601604e-05 9.99993783e-01 -3.83081911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.42028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.78, Y:124.35, Z:-0.38 [[-6.81267471e-01 -7.32032362e-01 1.80368872e-03 2.45780643e+02] [ 7.32029536e-01 -6.81269856e-01 -2.03529504e-03 1.24354686e+02] [ 2.71870059e-03 -6.62268904e-05 9.99996302e-01 -3.83573838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:124.34, Z:-0.38 [[-6.83164637e-01 -7.30263329e-01 1.24510859e-03 2.45793378e+02] [ 7.30261981e-01 -6.83165769e-01 -1.40402587e-03 1.24344047e+02] [ 1.87592417e-03 -4.99253565e-05 9.99998239e-01 -3.83732595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.48028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.81, Y:124.33, Z:-0.38 [[-6.87621532e-01 -7.26068966e-01 6.96974648e-04 2.45812454e+02] [ 7.26068542e-01 -6.87621884e-01 -7.85216347e-04 1.24331771e+02] [ 1.04937624e-03 -3.38803011e-05 9.99999449e-01 -3.83628130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:124.33, Z:-0.38 [[-6.89905376e-01 -7.23898905e-01 9.73412795e-04 2.45819529e+02] [ 7.23898077e-01 -6.89906061e-01 -1.09596441e-03 1.24329711e+02] [ 1.46493082e-03 -5.14600893e-05 9.99998926e-01 -3.83410426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.33, Z:-0.38 [[-6.91707494e-01 -7.22175411e-01 1.84893743e-03 2.45829981e+02] [ 7.22172422e-01 -6.91709957e-01 -2.08044981e-03 1.24325367e+02] [ 2.78137813e-03 -1.03811108e-04 9.99996127e-01 -3.83436749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:124.35, Z:-0.38 [[-6.93743074e-01 -7.20212594e-01 3.79032194e-03 2.45822664e+02] [ 7.20200018e-01 -6.93753391e-01 -4.26208806e-03 1.24349834e+02] [ 5.69915820e-03 -2.27004138e-04 9.99983734e-01 -3.83890573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.60028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.84, Y:124.34, Z:-0.38 [[-6.93804045e-01 -7.20152109e-01 4.10943502e-03 2.45838972e+02] [ 7.20137346e-01 -6.93816172e-01 -4.61755570e-03 1.24339373e+02] [ 6.17653495e-03 -2.44321189e-04 9.99980895e-01 -3.83768315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.630281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.34, Z:-0.38 [[-6.93404365e-01 -7.20536981e-01 4.10443044e-03 2.45842709e+02] [ 7.20522282e-01 -6.93416471e-01 -4.60856935e-03 1.24342380e+02] [ 6.16672432e-03 -2.38268517e-04 9.99980957e-01 -3.82889932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.66028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.37, Z:-0.38 [[-6.90683572e-01 -7.23152521e-01 2.57571183e-03 2.45830642e+02] [ 7.23146759e-01 -6.90688362e-01 -2.88984207e-03 1.24372150e+02] [ 3.86881077e-03 -1.33348783e-04 9.99992507e-01 -3.81151307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.37, Z:-0.38 [[-6.88692338e-01 -7.25051815e-01 1.65212213e-03 2.45835759e+02] [ 7.25049453e-01 -6.88694316e-01 -1.85212679e-03 1.24374774e+02] [ 2.48069501e-03 -7.76752827e-05 9.99996920e-01 -3.80412776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.72028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.37, Z:-0.38 [[-6.86408454e-01 -7.27215227e-01 1.20319307e-03 2.45841655e+02] [ 7.27213980e-01 -6.86409507e-01 -1.34776808e-03 1.24374994e+02] [ 1.80600063e-03 -5.01405805e-05 9.99998368e-01 -3.79907968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.83, Y:124.39, Z:-0.38 [[-6.84046911e-01 -7.29437227e-01 1.07549576e-03 2.45832288e+02] [ 7.29436234e-01 -6.84047755e-01 -1.20378965e-03 1.24389851e+02] [ 1.61377944e-03 -3.89430136e-05 9.99998697e-01 -3.80487517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.78028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.40, Z:-0.38 [[-6.77948798e-01 -7.35106821e-01 1.84100511e-03 2.45827186e+02] [ 7.35103938e-01 -6.77951296e-01 -2.05924209e-03 1.24401464e+02] [ 2.76187471e-03 -4.27305907e-05 9.99996185e-01 -3.80829263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.810281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.81, Y:124.42, Z:-0.38 [[-6.74930483e-01 -7.37879042e-01 1.83371139e-03 2.45813086e+02] [ 7.37876196e-01 -6.74932974e-01 -2.04949504e-03 1.24419313e+02] [ 2.74991172e-03 -3.02146966e-05 9.99996219e-01 -3.80653205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.84028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.80, Y:124.43, Z:-0.38 [[-6.69177442e-01 -7.43102240e-01 7.82806547e-04 2.45801545e+02] [ 7.43101725e-01 -6.69177900e-01 -8.74068984e-04 1.24431396e+02] [ 1.17335946e-03 -3.20235149e-06 9.99999312e-01 -3.78572897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.870281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.80, Y:124.42, Z:-0.37 [[-6.66092871e-01 -7.45868759e-01 2.84609346e-04 2.45804682e+02] [ 7.45868692e-01 -6.66092932e-01 -3.17352892e-04 1.24424754e+02] [ 4.26279882e-04 8.94701318e-07 9.99999909e-01 -3.71667310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.90028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.80, Y:124.42, Z:-0.38 [[-6.63411657e-01 -7.48254608e-01 -1.24260144e-04 2.45803024e+02] [ 7.48254595e-01 -6.63411668e-01 1.38865947e-04 1.24423375e+02] [-1.86342714e-04 -8.52935974e-07 9.99999983e-01 -3.77866579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.930281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.39, Z:-0.38 [[-6.58720385e-01 -7.52386811e-01 1.24110287e-03 2.45823858e+02] [ 7.52385541e-01 -6.58721554e-01 -1.38270355e-03 1.24393719e+02] [ 1.85786913e-03 2.29728360e-05 9.99998274e-01 -3.79113229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.83, Y:124.38, Z:-0.38 [[-6.56786536e-01 -7.54074822e-01 1.61527060e-03 2.45831745e+02] [ 7.54072679e-01 -6.56788521e-01 -1.79827337e-03 1.24381226e+02] [ 2.41692385e-03 3.69496916e-05 9.99997079e-01 -3.80011850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 426.990281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:124.39, Z:-0.38 [[-6.55103804e-01 -7.55536214e-01 2.00874343e-03 2.45823080e+02] [ 7.55532911e-01 -6.55106882e-01 -2.23468099e-03 1.24385812e+02] [ 3.00432406e-03 5.37237581e-05 9.99995486e-01 -3.79692088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.02028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.37, Z:-0.38 [[-6.51349679e-01 -7.58773000e-01 2.67012411e-03 2.45824162e+02] [ 7.58767200e-01 -6.51355145e-01 -2.96826518e-03 1.24374050e+02] [ 3.99143856e-03 9.26240203e-05 9.99992030e-01 -3.78903127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.050281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.82, Y:124.37, Z:-0.38 [[-6.49797607e-01 -7.60100881e-01 3.11774286e-03 2.45819530e+02] [ 7.60093001e-01 -6.49805075e-01 -3.46325447e-03 1.24373416e+02] [ 4.65834790e-03 1.19360060e-04 9.99989143e-01 -3.78887293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.08028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.82, Y:124.37, Z:-0.38 [[-6.48466507e-01 -7.61236480e-01 3.19543389e-03 2.45819269e+02] [ 7.61228228e-01 -6.48474367e-01 -3.54683750e-03 1.24367156e+02] [ 4.77213907e-03 1.32449153e-04 9.99988605e-01 -3.78554396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.11028169299993 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.36, Z:-0.38 [[-6.47642999e-01 -7.61938935e-01 2.75789890e-03 2.45820300e+02] [ 7.61932804e-01 -6.47648860e-01 -3.05880520e-03 1.24357879e+02] [ 4.11677285e-03 1.20319870e-04 9.99991519e-01 -3.78104374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.83, Y:124.33, Z:-0.38 [[-6.46690859e-01 -7.62750898e-01 1.41439573e-03 2.45829489e+02] [ 7.62749288e-01 -6.46692403e-01 -1.56831196e-03 1.24333124e+02] [ 2.11091033e-03 6.46163310e-05 9.99997770e-01 -3.78521871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.17028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.83, Y:124.33, Z:-0.38 [[-6.47166320e-01 -7.62346923e-01 1.71004273e-03 2.45828484e+02] [ 7.62344573e-01 -6.47168574e-01 -1.89455467e-03 1.24328607e+02] [ 2.55099384e-03 7.75498194e-05 9.99996743e-01 -3.78561827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.20028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.34, Z:-0.38 [[-6.48402598e-01 -7.61294718e-01 2.10312600e-03 2.45811721e+02] [ 7.61291163e-01 -6.48406003e-01 -2.32834532e-03 1.24342100e+02] [ 3.13623652e-03 9.13860791e-05 9.99995078e-01 -3.78504100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.23028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:124.34, Z:-0.38 [[-6.51678611e-01 -7.58490162e-01 2.76812957e-03 2.45802928e+02] [ 7.58483987e-01 -6.51684482e-01 -3.06229854e-03 1.24340017e+02] [ 4.12667040e-03 1.03947496e-04 9.99991480e-01 -3.78222559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.26028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.80, Y:124.34, Z:-0.38 [[-6.53971488e-01 -7.56515101e-01 2.48898216e-03 2.45800838e+02] [ 7.56510102e-01 -6.53976219e-01 -2.75133882e-03 1.24337075e+02] [ 3.70916450e-03 8.36430082e-05 9.99993118e-01 -3.78630567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.79, Y:124.35, Z:-0.38 [[-6.59037602e-01 -7.52108115e-01 1.68017800e-03 2.45786813e+02] [ 7.52105826e-01 -6.59039743e-01 -1.85574769e-03 1.24346550e+02] [ 2.50302697e-03 4.06641505e-05 9.99996867e-01 -3.77757834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.32028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.79, Y:124.35, Z:-0.38 [[-6.61552646e-01 -7.49897132e-01 1.54522952e-03 2.45785902e+02] [ 7.49895194e-01 -6.61554450e-01 -1.70533963e-03 1.24345448e+02] [ 2.30108277e-03 3.05882426e-05 9.99997352e-01 -3.78043619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.78, Y:124.35, Z:-0.38 [[-6.64161358e-01 -7.47587238e-01 1.73552130e-03 2.45777616e+02] [ 7.47584789e-01 -6.64163625e-01 -1.91387828e-03 1.24352383e+02] [ 2.58346109e-03 2.63253269e-05 9.99996663e-01 -3.78189547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.380281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:124.34, Z:-0.38 [[-6.66193462e-01 -7.45776427e-01 1.94733876e-03 2.45786503e+02] [ 7.45773333e-01 -6.66196308e-01 -2.14828247e-03 1.24340716e+02] [ 2.89944831e-03 2.11015822e-05 9.99995796e-01 -3.78560641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.41028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:124.34, Z:-0.38 [[-6.66482912e-01 -7.45517761e-01 1.94835143e-03 2.45788255e+02] [ 7.45514668e-01 -6.66485760e-01 -2.14736414e-03 1.24338895e+02] [ 2.89944659e-03 2.13430620e-05 9.99995796e-01 -3.78559385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.440281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:124.33, Z:-0.38 [[-6.70137101e-01 -7.42233015e-01 2.53315725e-03 2.45790773e+02] [ 7.42227771e-01 -6.70141889e-01 -2.79012630e-03 1.24334456e+02] [ 3.76849864e-03 1.04125066e-05 9.99992899e-01 -3.78201604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.47028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.79, Y:124.33, Z:-0.38 [[-6.71644530e-01 -7.40867512e-01 2.99260760e-03 2.45793567e+02] [ 7.40860178e-01 -6.71651197e-01 -3.29648035e-03 1.24329963e+02] [ 4.45224367e-03 3.04080841e-06 9.99990089e-01 -3.78423145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.500281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:124.32, Z:-0.38 [[-6.74164780e-01 -7.38571577e-01 3.72489451e-03 2.45796567e+02] [ 7.38560175e-01 -6.74175070e-01 -4.10398879e-03 1.24320962e+02] [ 5.54232049e-03 -1.57059584e-05 9.99984641e-01 -3.77738740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.53028169299995 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:245.79, Y:124.33, Z:-0.38 [[-6.75458080e-01 -7.37391189e-01 3.25838068e-03 2.45789401e+02] [ 7.37382465e-01 -6.75465938e-01 -3.58687800e-03 1.24326952e+02] [ 4.84585740e-03 -2.01129438e-05 9.99988259e-01 -3.78006658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.560281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.30, Z:-0.38 [[-6.76906097e-01 -7.36067793e-01 1.52969341e-03 2.45816969e+02] [ 7.36065863e-01 -6.76907825e-01 -1.68561044e-03 1.24296250e+02] [ 2.27618499e-03 -1.50448831e-05 9.99997409e-01 -3.77690393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.81, Y:124.30, Z:-0.38 [[-6.77694060e-01 -7.35342592e-01 1.42577612e-03 2.45812618e+02] [ 7.35340918e-01 -6.77695560e-01 -1.56937824e-03 1.24300296e+02] [ 2.12027281e-03 -1.51267960e-05 9.99997752e-01 -3.77495490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.620281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.29, Z:-0.38 [[-6.77837498e-01 -7.35209422e-01 1.85285948e-03 2.45816941e+02] [ 7.35206591e-01 -6.77840030e-01 -2.04029107e-03 1.24292395e+02] [ 2.75598355e-03 -2.07512938e-05 9.99996202e-01 -3.77310072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.65028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.80, Y:124.31, Z:-0.38 [[-6.76812490e-01 -7.36151456e-01 2.42648564e-03 2.45795893e+02] [ 7.36146615e-01 -6.76816839e-01 -2.66954855e-03 1.24309415e+02] [ 3.60747839e-03 -2.05346127e-05 9.99993493e-01 -3.77485448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.79, Y:124.32, Z:-0.38 [[-6.75537753e-01 -7.37319815e-01 2.86952547e-03 2.45787272e+02] [ 7.37313067e-01 -6.75543847e-01 -3.15458223e-03 1.24318046e+02] [ 4.26442627e-03 -1.53007663e-05 9.99990907e-01 -3.77395684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.71028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.78, Y:124.32, Z:-0.38 [[-6.73843613e-01 -7.38867449e-01 3.11086865e-03 2.45784099e+02] [ 7.38859533e-01 -6.73850794e-01 -3.42020745e-03 1.24320221e+02] [ 4.62334126e-03 -6.18998751e-06 9.99989312e-01 -3.77130186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.32, Z:-0.38 [[-6.72098241e-01 -7.40455704e-01 3.05047474e-03 2.45780476e+02] [ 7.40448105e-01 -6.72105164e-01 -3.35453185e-03 1.24320930e+02] [ 4.53412207e-03 4.14328611e-06 9.99989721e-01 -3.77218788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.77028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.32, Z:-0.38 [[-6.68959182e-01 -7.43294269e-01 2.69129690e-03 2.45775683e+02] [ 7.43288375e-01 -6.68964595e-01 -2.96013684e-03 1.24317642e+02] [ 4.00063509e-03 2.01989768e-05 9.99991997e-01 -3.77017152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.800281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.77, Y:124.32, Z:-0.38 [[-6.67642100e-01 -7.44477940e-01 2.57332517e-03 2.45768788e+02] [ 7.44472560e-01 -6.67647059e-01 -2.83062276e-03 1.24323074e+02] [ 3.82540918e-03 2.59270501e-05 9.99992683e-01 -3.77316052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.83028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.75, Y:124.34, Z:-0.38 [[-6.67346707e-01 -7.44742082e-01 2.75740456e-03 2.45754788e+02] [ 7.44735917e-01 -6.67352403e-01 -3.03038969e-03 1.24337603e+02] [ 4.09701929e-03 3.12176288e-05 9.99991607e-01 -3.77106172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.86028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.76, Y:124.33, Z:-0.38 [[-6.67299529e-01 -7.44783947e-01 2.86551675e-03 2.45762549e+02] [ 7.44777277e-01 -6.67305680e-01 -3.15228360e-03 1.24325669e+02] [ 4.25994583e-03 3.06543979e-05 9.99990926e-01 -3.77643010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.76, Y:124.32, Z:-0.38 [[-6.67631188e-01 -7.44486694e-01 2.85632907e-03 2.45761044e+02] [ 7.44480061e-01 -6.67637298e-01 -3.14292530e-03 1.24324813e+02] [ 4.24685789e-03 2.81650840e-05 9.99990982e-01 -3.77898986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.77, Y:124.31, Z:-0.38 [[-6.68284559e-01 -7.43898336e-01 3.31870635e-03 2.45767397e+02] [ 7.43889359e-01 -6.68292799e-01 -3.65470149e-03 1.24313386e+02] [ 4.93659392e-03 2.63697651e-05 9.99987815e-01 -3.77914321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.95028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.30, Z:-0.38 [[-6.68664906e-01 -7.43554371e-01 3.76052087e-03 2.45775108e+02] [ 7.43542821e-01 -6.68675480e-01 -4.14439534e-03 1.24302162e+02] [ 5.59615137e-03 2.48965741e-05 9.99984341e-01 -3.78967033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 427.98028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:124.31, Z:-0.38 [[-6.69371947e-01 -7.42915590e-01 4.19788988e-03 2.45765758e+02] [ 7.42901181e-01 -6.69385110e-01 -4.62705602e-03 1.24310671e+02] [ 6.24751703e-03 2.13958550e-05 9.99980484e-01 -3.79681066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.01028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:124.31, Z:-0.38 [[-6.71865309e-01 -7.40663473e-01 3.82452698e-03 2.45765410e+02] [ 7.40651469e-01 -6.71876194e-01 -4.21679169e-03 1.24307712e+02] [ 5.69283221e-03 -4.74529137e-07 9.99983796e-01 -3.79536531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.04028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.29, Z:-0.38 [[-6.73323798e-01 -7.39339969e-01 3.38726128e-03 2.45781478e+02] [ 7.39330521e-01 -6.73332318e-01 -3.73770839e-03 1.24288850e+02] [ 5.04418969e-03 -1.23823638e-05 9.99987278e-01 -3.79342362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.07028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.77, Y:124.30, Z:-0.38 [[-6.75246805e-01 -7.37585031e-01 3.17413721e-03 2.45774499e+02] [ 7.37576711e-01 -6.75254265e-01 -3.50337615e-03 1.24295276e+02] [ 4.72738750e-03 -2.44738720e-05 9.99988826e-01 -3.78945112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.10028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.78, Y:124.29, Z:-0.38 [[-6.77608710e-01 -7.35417354e-01 2.78406159e-03 2.45776844e+02] [ 7.35410931e-01 -6.77614429e-01 -3.07372957e-03 1.24291649e+02] [ 4.14699437e-03 -3.53566005e-05 9.99991401e-01 -3.79278730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.130281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.79, Y:124.28, Z:-0.38 [[-6.82819345e-01 -7.30585136e-01 1.76095354e-03 2.45786303e+02] [ 7.30582546e-01 -6.82821614e-01 -1.94583994e-03 1.24280994e+02] [ 2.62401888e-03 -4.21352309e-05 9.99996556e-01 -3.79858596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.16028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.80, Y:124.26, Z:-0.38 [[-6.85368021e-01 -7.28194894e-01 1.69466085e-03 2.45802371e+02] [ 7.28192485e-01 -6.85370114e-01 -1.87397716e-03 1.24264919e+02] [ 2.52609050e-03 -5.03247221e-05 9.99996808e-01 -3.80127099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.190281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:124.25, Z:-0.38 [[-6.90679199e-01 -7.23157254e-01 2.41457704e-03 2.45817873e+02] [ 7.23152325e-01 -6.90683412e-01 -2.67189206e-03 1.24254679e+02] [ 3.59990643e-03 -9.93132722e-05 9.99993515e-01 -3.80612854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.22028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.25, Z:-0.38 [[-6.92530393e-01 -7.21382480e-01 2.99536247e-03 2.45827435e+02] [ 7.21374868e-01 -6.92536857e-01 -3.31688617e-03 1.24248836e+02] [ 4.46714248e-03 -1.36265276e-04 9.99990013e-01 -3.80314401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.250281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.82, Y:124.26, Z:-0.38 [[-6.94345868e-01 -7.19633776e-01 3.32326380e-03 2.45819849e+02] [ 7.19624402e-01 -6.94353802e-01 -3.67677437e-03 1.24262469e+02] [ 4.95345188e-03 -1.61451371e-04 9.99987719e-01 -3.79860692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.28028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.83, Y:124.26, Z:-0.38 [[-6.96364168e-01 -7.17683007e-01 2.83683154e-03 2.45834725e+02] [ 7.17676155e-01 -6.96369930e-01 -3.13977788e-03 1.24257199e+02] [ 4.22884941e-03 -1.50502454e-04 9.99991047e-01 -3.79664727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.310281693 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.83, Y:124.27, Z:-0.38 [[-6.97194541e-01 -7.16878874e-01 2.11001436e-03 2.45831685e+02] [ 7.16875086e-01 -6.97197724e-01 -2.33332427e-03 1.24266151e+02] [ 3.14380809e-03 -1.14164219e-04 9.99995052e-01 -3.79471472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.34028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.83, Y:124.27, Z:-0.38 [[-6.97144322e-01 -7.16928394e-01 1.86343940e-03 2.45830678e+02] [ 7.16925444e-01 -6.97146805e-01 -2.05912840e-03 1.24272897e+02] [ 2.77533845e-03 -9.95625519e-05 9.99996144e-01 -3.79295735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.28, Z:-0.38 [[-6.95344623e-01 -7.18670658e-01 2.88801029e-03 2.45834500e+02] [ 7.18663596e-01 -6.95350606e-01 -3.18911784e-03 1.24280989e+02] [ 4.30010512e-03 -1.42028088e-04 9.99990744e-01 -3.79616566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.40028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.38 [[-6.94156195e-01 -7.19815580e-01 3.56488838e-03 2.45837596e+02] [ 7.19804850e-01 -6.94165329e-01 -3.93375835e-03 1.24283702e+02] [ 5.30620246e-03 -1.64618786e-04 9.99985908e-01 -3.79997352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.38 [[-6.92899495e-01 -7.21023796e-01 3.86970662e-03 2.45837079e+02] [ 7.21011189e-01 -6.92910281e-01 -4.26701335e-03 1.24289584e+02] [ 5.75797766e-03 -1.66509622e-04 9.99983409e-01 -3.79750879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.46028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.83, Y:124.30, Z:-0.38 [[-6.91608973e-01 -7.22260300e-01 4.13377775e-03 2.45833850e+02] [ 7.22245956e-01 -6.91621307e-01 -4.55485716e-03 1.24297106e+02] [ 6.14880127e-03 -1.64575816e-04 9.99981082e-01 -3.79257503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.81, Y:124.33, Z:-0.38 [[-6.88467526e-01 -7.25251842e-01 4.71502943e-03 2.45813180e+02] [ 7.25233278e-01 -6.88483654e-01 -5.19145667e-03 1.24328013e+02] [ 7.01133420e-03 -1.54653081e-04 9.99975408e-01 -3.80031542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.52028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.38 [[-6.86714348e-01 -7.26911986e-01 4.72958759e-03 2.45823062e+02] [ 7.26893374e-01 -6.86730621e-01 -5.20353921e-03 1.24321396e+02] [ 7.03046765e-03 -1.35439155e-04 9.99975277e-01 -3.79857931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.550281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.83, Y:124.32, Z:-0.38 [[-6.85007565e-01 -7.28523031e-01 4.33926733e-03 2.45825051e+02] [ 7.28507420e-01 -6.85021300e-01 -4.77047616e-03 1.24321756e+02] [ 6.44789230e-03 -1.06623810e-04 9.99979206e-01 -3.79520470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.38 [[-6.81564417e-01 -7.31751320e-01 3.15437054e-03 2.45824377e+02] [ 7.31743118e-01 -6.81571715e-01 -3.46512984e-03 1.24324117e+02] [ 4.68554308e-03 -5.35202659e-05 9.99989021e-01 -3.78233610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.38 [[-6.80319296e-01 -7.32910256e-01 2.86581819e-03 2.45823752e+02] [ 7.32903506e-01 -6.80325331e-01 -3.14573390e-03 1.24324612e+02] [ 4.25522934e-03 -3.97352762e-05 9.99990946e-01 -3.78287353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.64028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.83, Y:124.32, Z:-0.38 [[-6.79295325e-01 -7.33858998e-01 2.97208586e-03 2.45825043e+02] [ 7.33851758e-01 -6.79301826e-01 -3.25991177e-03 1.24322545e+02] [ 4.41125893e-03 -3.33723868e-05 9.99990270e-01 -3.78879781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.67028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.32, Z:-0.38 [[-6.78456807e-01 -7.34634234e-01 2.98373567e-03 2.45825162e+02] [ 7.34626956e-01 -6.78463367e-01 -3.27020196e-03 1.24321491e+02] [ 4.42675766e-03 -2.67581294e-05 9.99990202e-01 -3.79504850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.70028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.38 [[-6.77332816e-01 -7.35672396e-01 2.52640095e-03 2.45819725e+02] [ 7.35667193e-01 -6.77337528e-01 -2.76680191e-03 1.24324497e+02] [ 3.74668596e-03 -1.54554378e-05 9.99992981e-01 -3.79526509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.73028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.82, Y:124.33, Z:-0.38 [[-6.77085273e-01 -7.35900413e-01 2.47297073e-03 2.45817272e+02] [ 7.35895437e-01 -6.77089789e-01 -2.70620281e-03 1.24326091e+02] [ 3.66591899e-03 -1.24821951e-05 9.99993280e-01 -3.79367863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.76028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.33, Z:-0.38 [[-6.76796310e-01 -7.36164265e-01 2.98830711e-03 2.45813503e+02] [ 7.36157013e-01 -6.76802907e-01 -3.26768123e-03 1.24327099e+02] [ 4.42804509e-03 -1.16913600e-05 9.99990196e-01 -3.78990956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.79028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.33, Z:-0.38 [[-6.75137251e-01 -7.37678543e-01 4.47871404e-03 2.45806889e+02] [ 7.37662310e-01 -6.75152106e-01 -4.89377658e-03 1.24325380e+02] [ 6.63384720e-03 -1.92321951e-07 9.99977996e-01 -3.79401356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.80, Y:124.33, Z:-0.38 [[-6.74382963e-01 -7.38367116e-01 4.64992762e-03 2.45802529e+02] [ 7.38349661e-01 -6.74398994e-01 -5.07692165e-03 1.24326223e+02] [ 6.88453850e-03 9.48301645e-06 9.99976301e-01 -3.79648466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.85028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.80, Y:124.32, Z:-0.38 [[-6.72979098e-01 -7.39652776e-01 3.59234174e-03 2.45802126e+02] [ 7.39642375e-01 -6.72988686e-01 -3.92243961e-03 1.24318704e+02] [ 5.31884869e-03 1.73283093e-05 9.99985855e-01 -3.79146433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.80, Y:124.32, Z:-0.38 [[-6.73084488e-01 -7.39558451e-01 3.25102136e-03 2.45796228e+02] [ 7.39549947e-01 -6.73092339e-01 -3.54670917e-03 1.24321687e+02] [ 4.81123631e-03 1.70577493e-05 9.99988426e-01 -3.79441514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.91028169299994 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.79, Y:124.32, Z:-0.38 [[-6.73835814e-01 -7.38874469e-01 3.13295736e-03 2.45794353e+02] [ 7.38866576e-01 -6.73843097e-01 -3.41522507e-03 1.24321004e+02] [ 4.63454430e-03 1.35365098e-05 9.99989260e-01 -3.79339674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.80, Y:124.32, Z:-0.38 [[-6.74529414e-01 -7.38241028e-01 3.20217339e-03 2.45797527e+02] [ 7.38232770e-01 -6.74537015e-01 -3.49172299e-03 1.24315784e+02] [ 4.73771764e-03 8.67947012e-06 9.99988777e-01 -3.79312832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 428.97028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.79, Y:124.32, Z:-0.38 [[-6.76885306e-01 -7.36080054e-01 3.52642316e-03 2.45794755e+02] [ 7.36070013e-01 -6.76894492e-01 -3.84480485e-03 1.24315795e+02] [ 5.21710058e-03 -6.79757178e-06 9.99986391e-01 -3.78900021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.000281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.80, Y:124.30, Z:-0.38 [[-6.77972869e-01 -7.35077316e-01 3.75875770e-03 2.45804351e+02] [ 7.35065885e-01 -6.77983288e-01 -4.09945821e-03 1.24304159e+02] [ 5.56179364e-03 -1.63868859e-05 9.99984533e-01 -3.79006329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.03028169299995 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.81, Y:124.30, Z:-0.38 [[-6.79190301e-01 -7.33952926e-01 3.69298433e-03 2.45807070e+02] [ 7.33941870e-01 -6.79200340e-01 -4.02846194e-03 1.24300370e+02] [ 5.46497764e-03 -2.56564498e-05 9.99985067e-01 -3.79126058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.060281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.82, Y:124.29, Z:-0.38 [[-6.81360120e-01 -7.31944070e-01 2.50296151e-03 2.45821805e+02] [ 7.31938975e-01 -6.81364717e-01 -2.73117410e-03 1.24286188e+02] [ 3.70449635e-03 -2.88980312e-05 9.99993138e-01 -3.78592157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.09028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.29, Z:-0.38 [[-6.82111623e-01 -7.31245266e-01 2.02361620e-03 2.45824707e+02] [ 7.31241932e-01 -6.82114624e-01 -2.20828015e-03 1.24285152e+02] [ 2.99513260e-03 -2.65405377e-05 9.99995514e-01 -3.77982547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.120281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.83, Y:124.28, Z:-0.38 [[-6.82788778e-01 -7.30613883e-01 1.68454087e-03 2.45827290e+02] [ 7.30611572e-01 -6.82790856e-01 -1.83802762e-03 1.24284922e+02] [ 2.49307760e-03 -2.42395817e-05 9.99996892e-01 -3.78071289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.15028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.82, Y:124.30, Z:-0.38 [[-6.83893835e-01 -7.29578712e-01 2.03091284e-03 2.45820693e+02] [ 7.29575354e-01 -6.83896850e-01 -2.21405128e-03 1.24297236e+02] [ 3.00425958e-03 -3.24720639e-05 9.99995487e-01 -3.78012559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.83, Y:124.29, Z:-0.38 [[-6.84127697e-01 -7.29355699e-01 3.09167461e-03 2.45825656e+02] [ 7.29347909e-01 -6.84134681e-01 -3.37124171e-03 1.24294434e+02] [ 4.57395618e-03 -5.14534110e-05 9.99989538e-01 -3.78432442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.83, Y:124.30, Z:-0.38 [[-6.84480087e-01 -7.29019466e-01 4.19864217e-03 2.45825201e+02] [ 7.29005117e-01 -6.84492961e-01 -4.57451628e-03 1.24297926e+02] [ 6.20885243e-03 -7.03336804e-05 9.99980722e-01 -3.78936729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.240281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.38 [[-6.84668508e-01 -7.28842247e-01 4.24423897e-03 2.45821165e+02] [ 7.28827603e-01 -6.84681659e-01 -4.62066894e-03 1.24310010e+02] [ 6.27369131e-03 -7.03079904e-05 9.99980318e-01 -3.79663539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.27028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.38 [[-6.84659149e-01 -7.28855170e-01 3.46290247e-03 2.45839618e+02] [ 7.28845414e-01 -6.84667904e-01 -3.77144606e-03 1.24293452e+02] [ 5.11977613e-03 -5.82344641e-05 9.99986892e-01 -3.78680142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.83, Y:124.30, Z:-0.38 [[-6.85000193e-01 -7.28537530e-01 2.79348623e-03 2.45834706e+02] [ 7.28531190e-01 -6.85005887e-01 -3.03972686e-03 1.24301986e+02] [ 4.12810961e-03 -4.70716411e-05 9.99991478e-01 -3.78190585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.33028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.84, Y:124.30, Z:-0.38 [[-6.85275483e-01 -7.28278588e-01 2.79463547e-03 2.45836468e+02] [ 7.28272250e-01 -6.85281180e-01 -3.03867037e-03 1.24300179e+02] [ 4.12810966e-03 -4.70708430e-05 9.99991478e-01 -3.78189335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.36028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.38 [[-6.84667584e-01 -7.28849325e-01 2.99352316e-03 2.45824810e+02] [ 7.28842069e-01 -6.84674126e-01 -3.25245400e-03 1.24317588e+02] [ 4.42013676e-03 -4.50442040e-05 9.99990230e-01 -3.77514978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.83, Y:124.31, Z:-0.38 [[-6.84320996e-01 -7.29173664e-01 3.24685043e-03 2.45832924e+02] [ 7.29165145e-01 -6.84328697e-01 -3.52500340e-03 1.24310744e+02] [ 4.79225257e-03 -4.47436695e-05 9.99988516e-01 -3.77940013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.42028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.84, Y:124.31, Z:-0.38 [[-6.84138364e-01 -7.29344436e-01 3.37527548e-03 2.45837699e+02] [ 7.29335245e-01 -6.84146689e-01 -3.66163735e-03 1.24306543e+02] [ 4.97977837e-03 -4.33592231e-05 9.99987600e-01 -3.77703134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.84, Y:124.31, Z:-0.38 [[-6.83873476e-01 -7.29596471e-01 2.46155344e-03 2.45838515e+02] [ 7.29591592e-01 -6.83877905e-01 -2.66827579e-03 1.24306402e+02] [ 3.63016661e-03 -2.88343452e-05 9.99993411e-01 -3.76887234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.48028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.85, Y:124.29, Z:-0.38 [[-6.84458278e-01 -7.29050268e-01 1.60404164e-03 2.45852825e+02] [ 7.29048198e-01 -6.84460157e-01 -1.73733160e-03 1.24292662e+02] [ 2.36450466e-03 -1.97073327e-05 9.99997204e-01 -3.76898996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.51028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.85, Y:124.29, Z:-0.38 [[-6.85261840e-01 -7.28295790e-01 1.20508589e-03 2.45854523e+02] [ 7.28294623e-01 -6.85262900e-01 -1.30416881e-03 1.24294647e+02] [ 1.77562131e-03 -1.60395424e-05 9.99998423e-01 -3.76299192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.54028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.86, Y:124.30, Z:-0.38 [[-6.86389543e-01 -7.27233219e-01 1.11346432e-03 2.45855765e+02] [ 7.27232222e-01 -6.86390446e-01 -1.20407836e-03 1.24298281e+02] [ 1.63991705e-03 -1.67196593e-05 9.99998655e-01 -3.76647194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.57028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.86, Y:124.30, Z:-0.38 [[-6.88188215e-01 -7.25529811e-01 1.86392362e-03 2.45862247e+02] [ 7.25527015e-01 -6.88190739e-01 -2.01426472e-03 1.24301425e+02] [ 2.74414407e-03 -3.38662998e-05 9.99996234e-01 -3.77013544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.30, Z:-0.38 [[-6.88637317e-01 -7.25102383e-01 2.27584690e-03 2.45870723e+02] [ 7.25098219e-01 -6.88641077e-01 -2.45761032e-03 1.24297041e+02] [ 3.34926076e-03 -4.21896367e-05 9.99994390e-01 -3.77439123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.630281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.87, Y:124.31, Z:-0.38 [[-6.88033023e-01 -7.25676391e-01 2.08223429e-03 2.45866325e+02] [ 7.25672913e-01 -6.88036173e-01 -2.24679929e-03 1.24311927e+02] [ 3.06310171e-03 -3.48510814e-05 9.99995308e-01 -3.76869785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.66028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.86, Y:124.32, Z:-0.38 [[-6.87224192e-01 -7.26441818e-01 2.27941290e-03 2.45863155e+02] [ 7.26437661e-01 -6.87227971e-01 -2.45769616e-03 1.24319777e+02] [ 3.35184957e-03 -3.31368799e-05 9.99994382e-01 -3.76638262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.690281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.86, Y:124.32, Z:-0.38 [[-6.86344940e-01 -7.27270954e-01 2.75377637e-03 2.45864731e+02] [ 7.27264903e-01 -6.86350464e-01 -2.96692654e-03 1.24321908e+02] [ 4.04781518e-03 -3.36101131e-05 9.99991807e-01 -3.76616769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.86, Y:124.33, Z:-0.38 [[-6.85382712e-01 -7.28176107e-01 3.17747128e-03 2.45856422e+02] [ 7.28168072e-01 -6.85390076e-01 -3.42079577e-03 1.24334550e+02] [ 4.66874903e-03 -3.08211435e-05 9.99989101e-01 -3.77229102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.750281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.85, Y:124.35, Z:-0.38 [[-6.83663597e-01 -7.29788126e-01 3.65739662e-03 2.45851348e+02] [ 7.29777521e-01 -6.83673380e-01 -3.93441127e-03 1.24348146e+02] [ 5.37175134e-03 -2.07279209e-05 9.99985572e-01 -3.77646379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.78028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.87, Y:124.33, Z:-0.38 [[-6.83585778e-01 -7.29862142e-01 3.42599399e-03 2.45872057e+02] [ 7.29852842e-01 -6.83594363e-01 -3.68456177e-03 1.24330629e+02] [ 5.03121232e-03 -1.82425789e-05 9.99987343e-01 -3.77483002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.810281693 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.87, Y:124.34, Z:-0.38 [[-6.84241752e-01 -7.29248462e-01 3.14728201e-03 2.45870224e+02] [ 7.29240620e-01 -6.84248990e-01 -3.38198847e-03 1.24337567e+02] [ 4.61983443e-03 -1.89718305e-05 9.99989328e-01 -3.77266771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.84028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.88, Y:124.33, Z:-0.38 [[-6.85843973e-01 -7.27742535e-01 2.97439153e-03 2.45883793e+02] [ 7.27735528e-01 -6.85850422e-01 -3.19369781e-03 1.24331284e+02] [ 4.36417743e-03 -2.58080090e-05 9.99990477e-01 -3.76442950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.88, Y:124.34, Z:-0.38 [[-6.86709421e-01 -7.26926201e-01 2.91017749e-03 2.45875863e+02] [ 7.26919496e-01 -6.86715587e-01 -3.12230226e-03 1.24343415e+02] [ 4.26814757e-03 -2.86496218e-05 9.99990891e-01 -3.76816484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.90028169299995 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.89, Y:124.34, Z:-0.38 [[-6.87482878e-01 -7.26191160e-01 3.70018128e-03 2.45887497e+02] [ 7.26180326e-01 -6.87492835e-01 -3.96685712e-03 1.24337827e+02] [ 5.42454469e-03 -4.01475015e-05 9.99985286e-01 -3.77043313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.930281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.88, Y:124.35, Z:-0.38 [[-6.86947653e-01 -7.26695273e-01 4.11124451e-03 2.45882253e+02] [ 7.26681928e-01 -6.86959955e-01 -4.40412167e-03 1.24346693e+02] [ 6.02471474e-03 -3.78339642e-05 9.99981851e-01 -3.76930371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.96028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.89, Y:124.34, Z:-0.38 [[-6.85769702e-01 -7.27807992e-01 3.92957181e-03 2.45887770e+02] [ 7.27795838e-01 -6.85780960e-01 -4.20618193e-03 1.24343618e+02] [ 5.75611836e-03 -2.45461200e-05 9.99983433e-01 -3.76779618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 429.990281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.88, Y:124.35, Z:-0.38 [[-6.83983816e-01 -7.29487447e-01 3.76875656e-03 2.45884473e+02] [ 7.29476311e-01 -6.83994199e-01 -4.03085512e-03 1.24349266e+02] [ 5.51826584e-03 -7.82103143e-06 9.99984774e-01 -3.75714955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.02028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.89, Y:124.34, Z:-0.37 [[-6.78066946e-01 -7.34992029e-01 3.45474073e-03 2.45893385e+02] [ 7.34982756e-01 -6.78075746e-01 -3.69206690e-03 1.24340720e+02] [ 5.05621564e-03 3.57063348e-05 9.99987217e-01 -3.74119232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.050281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.89, Y:124.34, Z:-0.37 [[-6.75432166e-01 -7.37414368e-01 3.38228686e-03 2.45892103e+02] [ 7.37405524e-01 -6.75440632e-01 -3.61178972e-03 1.24341226e+02] [ 4.94791961e-03 5.45980629e-05 9.99987758e-01 -3.73811027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.08028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.90, Y:124.33, Z:-0.37 [[-6.73268385e-01 -7.39392003e-01 3.02458057e-03 2.45904612e+02] [ 7.39384962e-01 -6.73275176e-01 -3.22725568e-03 1.24327213e+02] [ 4.42258206e-03 6.35201693e-05 9.99990218e-01 -3.74315429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.11028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.92, Y:124.31, Z:-0.37 [[-6.71326685e-01 -7.41158114e-01 2.26540180e-03 2.45917776e+02] [ 7.41154181e-01 -6.71330505e-01 -2.41526840e-03 1.24314808e+02] [ 3.31092911e-03 5.75778850e-05 9.99994517e-01 -3.74792068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.14028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.93, Y:124.30, Z:-0.38 [[-6.71922458e-01 -7.40618693e-01 2.04042905e-03 2.45932062e+02] [ 7.40615504e-01 -6.71925554e-01 -2.17372660e-03 1.24301423e+02] [ 2.98091897e-03 5.05976669e-05 9.99995556e-01 -3.75578129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.17028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.94, Y:124.30, Z:-0.38 [[-6.72533915e-01 -7.40063460e-01 2.05147155e-03 2.45935885e+02] [ 7.40060239e-01 -6.72537042e-01 -2.18383619e-03 1.24299197e+02] [ 2.99586798e-03 4.95086184e-05 9.99995511e-01 -3.75373526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.92, Y:124.32, Z:-0.38 [[-6.73122034e-01 -7.39529670e-01 1.61070967e-03 2.45918809e+02] [ 7.39527687e-01 -6.73123960e-01 -1.71326115e-03 1.24317861e+02] [ 2.35121473e-03 3.79305711e-05 9.99997235e-01 -3.75369094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.23028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.93, Y:124.30, Z:-0.37 [[-6.72913468e-01 -7.39719175e-01 1.73399094e-03 2.45930567e+02] [ 7.39716880e-01 -6.72915701e-01 -1.84299251e-03 1.24304902e+02] [ 2.53012663e-03 4.24878829e-05 9.99996798e-01 -3.74980913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.26028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.93, Y:124.31, Z:-0.37 [[-6.71412954e-01 -7.41080751e-01 1.99139256e-03 2.45925618e+02] [ 7.41077736e-01 -6.71415904e-01 -2.11499207e-03 1.24308798e+02] [ 2.90443256e-03 5.57436167e-05 9.99995781e-01 -3.74479147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.29028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.94, Y:124.29, Z:-0.37 [[-6.70900694e-01 -7.41544317e-01 2.06987925e-03 2.45943030e+02] [ 7.41541066e-01 -6.70903884e-01 -2.19668448e-03 1.24289147e+02] [ 3.01762892e-03 6.11433259e-05 9.99995445e-01 -3.74682764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.32028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.94, Y:124.29, Z:-0.37 [[-6.70297121e-01 -7.42090515e-01 1.85397131e-03 2.45941340e+02] [ 7.42087913e-01 -6.70299683e-01 -1.96603169e-03 1.24289704e+02] [ 2.70168985e-03 5.79843165e-05 9.99996349e-01 -3.74021488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.35028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.95, Y:124.27, Z:-0.37 [[-6.69571119e-01 -7.42746575e-01 1.42881960e-03 2.45953499e+02] [ 7.42745034e-01 -6.69572642e-01 -1.51397805e-03 1.24274735e+02] [ 2.08120052e-03 4.75326835e-05 9.99997833e-01 -3.73802816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.380281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.95, Y:124.28, Z:-0.37 [[-6.68727836e-01 -7.43505993e-01 1.38568260e-03 2.45946969e+02] [ 7.43504547e-01 -6.68729270e-01 -1.46715852e-03 1.24275872e+02] [ 2.01748766e-03 4.91315731e-05 9.99997964e-01 -3.74382163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.94, Y:124.28, Z:-0.37 [[-6.68871751e-01 -7.43375154e-01 1.99017002e-03 2.45937776e+02] [ 7.43372175e-01 -6.68874708e-01 -2.10570854e-03 1.24282437e+02] [ 2.89650580e-03 7.09880552e-05 9.99995803e-01 -3.74715033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.440281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.94, Y:124.27, Z:-0.37 [[-6.69442533e-01 -7.42859027e-01 2.67589308e-03 2.45943161e+02] [ 7.42853646e-01 -6.69447875e-01 -2.82918488e-03 1.24273174e+02] [ 3.89305646e-03 9.38202355e-05 9.99992418e-01 -3.74808838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.47028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.94, Y:124.27, Z:-0.38 [[-6.70768748e-01 -7.41661744e-01 2.67290620e-03 2.45935800e+02] [ 7.41656373e-01 -6.70774067e-01 -2.82388167e-03 1.24273053e+02] [ 3.88728117e-03 8.82063524e-05 9.99992441e-01 -3.75143292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.500281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.94, Y:124.27, Z:-0.37 [[-6.71754677e-01 -7.40770461e-01 2.18570089e-03 2.45937450e+02] [ 7.40766871e-01 -6.71758229e-01 -2.30735099e-03 1.24267532e+02] [ 3.17748002e-03 6.91209920e-05 9.99994949e-01 -3.74825944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.53028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.93, Y:124.27, Z:-0.37 [[-6.72681759e-01 -7.39929984e-01 1.69379878e-03 2.45930425e+02] [ 7.39927829e-01 -6.72683890e-01 -1.78664507e-03 1.24272115e+02] [ 2.46138341e-03 5.14453053e-05 9.99996970e-01 -3.74703592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.560281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.94, Y:124.26, Z:-0.37 [[-6.73413933e-01 -7.39264415e-01 1.34193380e-03 2.45936971e+02] [ 7.39263063e-01 -6.73415269e-01 -1.41435451e-03 1.24263642e+02] [ 1.94926066e-03 3.95960585e-05 9.99998099e-01 -3.74041684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.59028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.93, Y:124.27, Z:-0.37 [[-6.74182939e-01 -7.38563533e-01 1.12791263e-03 2.45926094e+02] [ 7.38562578e-01 -6.74183882e-01 -1.18782929e-03 1.24270244e+02] [ 1.63770791e-03 3.22198167e-05 9.99998658e-01 -3.73166205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.620281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.94, Y:124.26, Z:-0.37 [[-6.74545528e-01 -7.38232173e-01 1.26029393e-03 2.45935542e+02] [ 7.38230983e-01 -6.74546705e-01 -1.32625956e-03 1.24256052e+02] [ 1.82921459e-03 3.57655748e-05 9.99998326e-01 -3.73232239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.65028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.93, Y:124.26, Z:-0.37 [[-6.74748496e-01 -7.38045377e-01 1.86784047e-03 2.45926002e+02] [ 7.38042765e-01 -6.74751080e-01 -1.96423661e-03 1.24259040e+02] [ 2.71002312e-03 5.31804461e-05 9.99996327e-01 -3.74369147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.680281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.93, Y:124.25, Z:-0.37 [[-6.75093990e-01 -7.37728985e-01 2.01204030e-03 2.45928324e+02] [ 7.37725958e-01 -6.75096986e-01 -2.11427633e-03 1.24254822e+02] [ 2.91808527e-03 5.69991161e-05 9.99995741e-01 -3.74481483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.92, Y:124.26, Z:-0.37 [[-6.75898116e-01 -7.36992304e-01 2.02005161e-03 2.45918841e+02] [ 7.36989253e-01 -6.75901133e-01 -2.12105903e-03 1.24263004e+02] [ 2.92855936e-03 5.51365230e-05 9.99995710e-01 -3.74288546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.740281693 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.90, Y:124.28, Z:-0.37 [[-6.78214275e-01 -7.34861294e-01 2.06806922e-03 2.45900229e+02] [ 7.34858092e-01 -6.78217426e-01 -2.16978217e-03 1.24277033e+02] [ 2.99708952e-03 4.81601544e-05 9.99995508e-01 -3.72985897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.77028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.92, Y:124.25, Z:-0.37 [[-6.78883936e-01 -7.34243428e-01 1.78603079e-03 2.45920530e+02] [ 7.34241039e-01 -6.78886285e-01 -1.87346268e-03 1.24253487e+02] [ 2.58808947e-03 3.95133835e-05 9.99996650e-01 -3.72889638e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.800281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.92, Y:124.25, Z:-0.37 [[-6.79171553e-01 -7.33977558e-01 1.71643083e-03 2.45922311e+02] [ 7.33975355e-01 -6.79173721e-01 -1.79888745e-03 1.24250504e+02] [ 2.48609773e-03 3.80647460e-05 9.99996909e-01 -3.72784221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.83028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.91, Y:124.26, Z:-0.37 [[-6.78164737e-01 -7.34908773e-01 1.29820889e-03 2.45912869e+02] [ 7.34907516e-01 -6.78165979e-01 -1.35944948e-03 1.24255980e+02] [ 1.87947245e-03 3.21327659e-05 9.99998233e-01 -3.72131463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.86028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.91, Y:124.25, Z:-0.37 [[-6.77604071e-01 -7.35426130e-01 1.06346020e-03 2.45911302e+02] [ 7.35425289e-01 -6.77604905e-01 -1.11270629e-03 1.24252359e+02] [ 1.53891913e-03 2.81212117e-05 9.99998816e-01 -3.71998681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.92, Y:124.24, Z:-0.37 [[-6.77139116e-01 -7.35854622e-01 7.69890610e-04 2.45922054e+02] [ 7.35854182e-01 -6.77139553e-01 -8.04842260e-04 1.24235134e+02] [ 1.11357028e-03 2.15370491e-05 9.99999380e-01 -3.72606087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.92, Y:124.23, Z:-0.37 [[-6.76791179e-01 -7.36174859e-01 5.26941268e-04 2.45917770e+02] [ 7.36174653e-01 -6.76791384e-01 -5.50351677e-04 1.24234743e+02] [ 7.61784378e-04 1.54476451e-05 9.99999710e-01 -3.73063386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.95028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.92, Y:124.22, Z:-0.37 [[-6.76054889e-01 -7.36850731e-01 8.86729730e-04 2.45924049e+02] [ 7.36850150e-01 -6.76055470e-01 -9.25600664e-04 1.24222997e+02] [ 1.28150801e-03 2.76300807e-05 9.99999179e-01 -3.73632844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 430.98028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.91, Y:124.23, Z:-0.37 [[-6.76597087e-01 -7.36352253e-01 1.31948775e-03 2.45910514e+02] [ 7.36350968e-01 -6.76598372e-01 -1.37639869e-03 1.24233940e+02] [ 1.90627754e-03 4.03387424e-05 9.99998182e-01 -3.73774982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.01028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.91, Y:124.23, Z:-0.37 [[-6.77272593e-01 -7.35730737e-01 1.45538865e-03 2.45913658e+02] [ 7.35729174e-01 -6.77274155e-01 -1.51700838e-03 1.24226482e+02] [ 2.10180681e-03 4.33436869e-05 9.99997790e-01 -3.74144503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.04028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.92, Y:124.22, Z:-0.37 [[-6.78022878e-01 -7.35039409e-01 1.42994583e-03 2.45915246e+02] [ 7.35037901e-01 -6.78024385e-01 -1.48933105e-03 1.24216243e+02] [ 2.06425516e-03 4.12638587e-05 9.99997869e-01 -3.74381025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.07028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.92, Y:124.21, Z:-0.37 [[-6.78535938e-01 -7.34565913e-01 1.37870122e-03 2.45917926e+02] [ 7.34564513e-01 -6.78537337e-01 -1.43484165e-03 1.24210738e+02] [ 1.98948602e-03 3.91533623e-05 9.99998020e-01 -3.74487083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.10028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.90, Y:124.22, Z:-0.38 [[-6.79410033e-01 -7.33756439e-01 1.86963896e-03 2.45902341e+02] [ 7.33753865e-01 -6.79412604e-01 -1.94435745e-03 1.24219812e+02] [ 2.69694107e-03 5.08388520e-05 9.99996362e-01 -3.75000154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.130281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.90, Y:124.21, Z:-0.38 [[-6.79834754e-01 -7.33363049e-01 1.82894594e-03 2.45903124e+02] [ 7.33360583e-01 -6.79837213e-01 -1.90231015e-03 1.24213838e+02] [ 2.63846948e-03 4.80203020e-05 9.99996518e-01 -3.75318153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.16028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.90, Y:124.21, Z:-0.38 [[-6.80168902e-01 -7.33052538e-01 2.05944375e-03 2.45901249e+02] [ 7.33049411e-01 -6.80172018e-01 -2.14181105e-03 1.24211700e+02] [ 2.97083604e-03 5.28807540e-05 9.99995586e-01 -3.75172282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.190281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.89, Y:124.22, Z:-0.38 [[-6.80942323e-01 -7.32333769e-01 2.19154538e-03 2.45893825e+02] [ 7.32330231e-01 -6.80945848e-01 -2.27717041e-03 1.24215371e+02] [ 3.15997252e-03 5.43132249e-05 9.99995006e-01 -3.75212664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.22028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.89, Y:124.22, Z:-0.38 [[-6.80942324e-01 -7.32333769e-01 2.19140540e-03 2.45893825e+02] [ 7.32330230e-01 -6.80945848e-01 -2.27730512e-03 1.24215371e+02] [ 3.15997585e-03 5.41189812e-05 9.99995006e-01 -3.75212672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.250281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.89, Y:124.22, Z:-0.38 [[-6.81849512e-01 -7.31490066e-01 1.87758177e-03 2.45887828e+02] [ 7.31487470e-01 -6.81852096e-01 -1.94935961e-03 1.24220419e+02] [ 2.70617026e-03 4.42576388e-05 9.99996337e-01 -3.75727281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.28028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:124.22, Z:-0.38 [[-6.82686248e-01 -7.30709782e-01 1.64358107e-03 2.45887305e+02] [ 7.30707790e-01 -6.82688225e-01 -1.70686402e-03 1.24219239e+02] [ 2.36927568e-03 3.57248976e-05 9.99997193e-01 -3.75834354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.310281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:124.21, Z:-0.38 [[-6.83458675e-01 -7.29987131e-01 1.73998123e-03 2.45892486e+02] [ 7.29984894e-01 -6.83460889e-01 -1.80758131e-03 1.24211647e+02] [ 2.50872021e-03 3.47528843e-05 9.99996853e-01 -3.75995488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.34028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.89, Y:124.21, Z:-0.38 [[-6.85183093e-01 -7.28366661e-01 2.47717397e-03 2.45885573e+02] [ 7.28362117e-01 -6.85187570e-01 -2.57297626e-03 1.24214667e+02] [ 3.57139894e-03 4.13198483e-05 9.99993622e-01 -3.76407938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.370281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.90, Y:124.20, Z:-0.38 [[-6.85454374e-01 -7.28110493e-01 2.72246582e-03 2.45895506e+02] [ 7.28104999e-01 -6.85459779e-01 -2.82873366e-03 1.24201794e+02] [ 3.92577148e-03 4.32731128e-05 9.99992293e-01 -3.75840876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.40028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.88, Y:124.21, Z:-0.37 [[-6.84667350e-01 -7.28853093e-01 1.94624158e-03 2.45882950e+02] [ 7.28850290e-01 -6.84670116e-01 -2.02190335e-03 1.24205553e+02] [ 2.80620396e-03 3.41875298e-05 9.99996062e-01 -3.74528918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.430281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.88, Y:124.21, Z:-0.37 [[-6.83160242e-01 -7.30267626e-01 1.13048409e-03 2.45877046e+02] [ 7.30266681e-01 -6.83161177e-01 -1.17475406e-03 1.24206448e+02] [ 1.63018770e-03 2.30095972e-05 9.99998671e-01 -3.73873484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.46028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.88, Y:124.20, Z:-0.37 [[-6.81362026e-01 -7.31946477e-01 3.79374248e-04 2.45875916e+02] [ 7.31946371e-01 -6.81362132e-01 -3.94429786e-04 1.24201695e+02] [ 5.47192738e-04 8.93212628e-06 9.99999850e-01 -3.73545600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.20, Z:-0.37 [[-6.78012876e-01 -7.35049784e-01 5.95757069e-04 2.45864059e+02] [ 7.35049523e-01 -6.78013137e-01 -6.19522711e-04 1.24200512e+02] [ 8.59311155e-04 1.78665750e-05 9.99999631e-01 -3.74021919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.85, Y:124.20, Z:-0.37 [[-6.76710102e-01 -7.36248906e-01 9.93154146e-04 2.45854907e+02] [ 7.36248182e-01 -6.76710830e-01 -1.03300894e-03 1.24201530e+02] [ 1.43262987e-03 3.21603510e-05 9.99998973e-01 -3.74713963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.550281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.86, Y:124.19, Z:-0.38 [[-6.75474692e-01 -7.37382477e-01 1.01116337e-03 2.45859755e+02] [ 7.37381727e-01 -6.75475448e-01 -1.05273798e-03 1.24187377e+02] [ 1.45928657e-03 3.45155261e-05 9.99998935e-01 -3.75712233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.58028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.84, Y:124.19, Z:-0.38 [[-6.75434975e-01 -7.37419225e-01 6.93773997e-04 2.45841940e+02] [ 7.37418871e-01 -6.75435331e-01 -7.22425432e-04 1.24190878e+02] [ 1.00132987e-03 2.36506338e-05 9.99999498e-01 -3.75936613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.84, Y:124.19, Z:-0.38 [[-6.76392764e-01 -7.36540758e-01 7.35959516e-04 2.45839062e+02] [ 7.36540358e-01 -6.76393164e-01 -7.67124647e-04 1.24188923e+02] [ 1.06281655e-03 2.31863260e-05 9.99999435e-01 -3.76507194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.64028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.83, Y:124.20, Z:-0.38 [[-6.78040183e-01 -7.35024091e-01 1.04680830e-03 2.45825308e+02] [ 7.35023281e-01 -6.78040991e-01 -1.09116782e-03 1.24199016e+02] [ 1.51181357e-03 2.95728481e-05 9.99998857e-01 -3.76842934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.67028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.85, Y:124.17, Z:-0.38 [[-6.82676683e-01 -7.30718821e-01 1.59753459e-03 2.45847378e+02] [ 7.30716920e-01 -6.82678551e-01 -1.66665069e-03 1.24167741e+02] [ 2.30845563e-03 2.95619901e-05 9.99997335e-01 -3.77652672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.70028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.85, Y:124.16, Z:-0.38 [[-6.85067764e-01 -7.28477217e-01 1.76161573e-03 2.45849039e+02] [ 7.28474895e-01 -6.85070029e-01 -1.83920908e-03 1.24163568e+02] [ 2.54665205e-03 2.33099859e-05 9.99996757e-01 -3.77249629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.86, Y:124.15, Z:-0.38 [[-6.87522910e-01 -7.26161600e-01 1.25692665e-03 2.45856824e+02] [ 7.26160412e-01 -6.87524059e-01 -1.31336763e-03 1.24154751e+02] [ 1.81788445e-03 9.76003663e-06 9.99998348e-01 -3.77244470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.85, Y:124.16, Z:-0.38 [[-6.89783812e-01 -7.24015264e-01 4.36453261e-04 2.45850298e+02] [ 7.24015120e-01 -6.89783950e-01 -4.56576558e-04 1.24161498e+02] [ 6.31626852e-04 1.05964153e-06 9.99999801e-01 -3.77303246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.79028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.87, Y:124.14, Z:-0.38 [[-6.93003871e-01 -7.20933838e-01 1.88989979e-04 2.45869186e+02] [ 7.20933811e-01 -6.93003897e-01 -1.98005174e-04 1.24140554e+02] [ 2.73719422e-04 -9.69086475e-07 9.99999963e-01 -3.76591162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.82028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.14, Z:-0.38 [[-6.93749365e-01 -7.20215640e-01 1.11813764e-03 2.45870079e+02] [ 7.20214688e-01 -6.93750266e-01 -1.17101207e-03 1.24140217e+02] [ 1.61908949e-03 -7.08973044e-06 9.99998689e-01 -3.77114427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.85028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.16, Z:-0.38 [[-6.94181705e-01 -7.19797441e-01 1.84528553e-03 2.45853639e+02] [ 7.19794846e-01 -6.94184157e-01 -1.93275220e-03 1.24160022e+02] [ 2.67215806e-03 -1.34542078e-05 9.99996430e-01 -3.78169433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.15, Z:-0.38 [[-6.94397768e-01 -7.19587479e-01 2.36639081e-03 2.45865371e+02] [ 7.19583204e-01 -6.94401800e-01 -2.48056075e-03 1.24150281e+02] [ 3.42820649e-03 -1.96807698e-05 9.99994124e-01 -3.77873918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.17, Z:-0.38 [[-6.93965487e-01 -7.20004792e-01 2.23665343e-03 2.45854762e+02] [ 7.20000973e-01 -6.93969091e-01 -2.34507499e-03 1.24165050e+02] [ 3.24063358e-03 -1.70084579e-05 9.99994749e-01 -3.77770890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.940281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.17, Z:-0.38 [[-6.93089838e-01 -7.20848605e-01 1.94036892e-03 2.45853557e+02] [ 7.20845729e-01 -6.93092554e-01 -2.03614766e-03 1.24167429e+02] [ 2.81260945e-03 -1.25265981e-05 9.99996045e-01 -3.77981435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 431.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.17, Z:-0.38 [[-6.91880933e-01 -7.22009909e-01 1.57011479e-03 2.45850335e+02] [ 7.22008026e-01 -6.91882715e-01 -1.64891572e-03 1.24172855e+02] [ 2.27686878e-03 -7.21786773e-06 9.99997408e-01 -3.77906102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.85, Y:124.18, Z:-0.38 [[-6.90394422e-01 -7.23432908e-01 6.07178981e-04 2.45849167e+02] [ 7.23432627e-01 -6.90394689e-01 -6.38302664e-04 1.24177125e+02] [ 8.80962297e-04 -1.42751416e-06 9.99999612e-01 -3.77279451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.03028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.86, Y:124.17, Z:-0.38 [[-6.90092829e-01 -7.23720750e-01 4.05181849e-04 2.45856928e+02] [ 7.23720624e-01 -6.90092948e-01 -4.26361914e-04 1.24169061e+02] [ 5.88180101e-04 -9.90838056e-07 9.99999827e-01 -3.77289206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.060281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.17, Z:-0.38 [[-6.90441175e-01 -7.23388380e-01 4.85540865e-04 2.45856095e+02] [ 7.23388199e-01 -6.90441346e-01 -5.11249366e-04 1.24170033e+02] [ 7.05069338e-04 -1.75308082e-06 9.99999751e-01 -3.77473658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.09028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.18, Z:-0.38 [[-6.92473980e-01 -7.21442729e-01 -4.17838356e-04 2.45845944e+02] [ 7.21442595e-01 -6.92474107e-01 4.39752234e-04 1.24184080e+02] [-6.06598294e-04 3.07059210e-06 9.99999816e-01 -3.78584267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.120281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.16, Z:-0.38 [[-6.93427009e-01 -7.20526359e-01 -8.65783853e-04 2.45869819e+02] [ 7.20525782e-01 -6.93427549e-01 9.11815413e-04 1.24161461e+02] [-1.25734541e-03 8.45784653e-06 9.99999210e-01 -3.78028133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.86, Y:124.17, Z:-0.38 [[-6.94711023e-01 -7.19288454e-01 -8.45404200e-04 2.45862723e+02] [ 7.19287902e-01 -6.94711538e-01 8.90763810e-04 1.24171066e+02] [-1.22802817e-03 1.07344247e-05 9.99999246e-01 -3.77710101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.180281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.88, Y:124.16, Z:-0.38 [[-6.96434812e-01 -7.17619709e-01 -7.11257228e-04 2.45875065e+02] [ 7.17619317e-01 -6.96435175e-01 7.49791626e-04 1.24161701e+02] [-1.03340980e-03 1.17690635e-05 9.99999466e-01 -3.76859028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.18, Z:-0.38 [[-6.97060997e-01 -7.17011749e-01 -3.44454795e-04 2.45861857e+02] [ 7.17011657e-01 -6.97061082e-01 3.63246158e-04 1.24177329e+02] [-5.00557795e-04 6.22662549e-06 9.99999875e-01 -3.76884151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.240281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.17, Z:-0.38 [[-6.97064060e-01 -7.17008850e-01 6.57679956e-05 2.45874692e+02] [ 7.17008847e-01 -6.97064064e-01 -6.96865392e-05 1.24165913e+02] [ 9.58103717e-05 -1.41974733e-06 9.99999995e-01 -3.77292900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.27028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.18, Z:-0.38 [[-6.96880424e-01 -7.17186750e-01 9.16413413e-04 2.45862906e+02] [ 7.17186098e-01 -6.96881027e-01 -9.67545268e-04 1.24181861e+02] [ 1.33254177e-03 -1.70243972e-05 9.99999112e-01 -3.78429571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.300281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:124.17, Z:-0.38 [[-6.96339356e-01 -7.17711877e-01 1.07809727e-03 2.45875116e+02] [ 7.17710973e-01 -6.96340191e-01 -1.13927928e-03 1.24171304e+02] [ 1.56839673e-03 -1.95627615e-05 9.99998770e-01 -3.78544056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.87, Y:124.18, Z:-0.38 [[-6.96164315e-01 -7.17881949e-01 8.68578060e-04 2.45869859e+02] [ 7.17881362e-01 -6.96164856e-01 -9.18010023e-04 1.24181067e+02] [ 1.26369634e-03 -1.55498174e-05 9.99999201e-01 -3.78563243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.36028169299993 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.19, Z:-0.38 [[-6.96244580e-01 -7.17804143e-01 8.35429722e-04 2.45869519e+02] [ 7.17803599e-01 -6.96245081e-01 -8.83226059e-04 1.24192618e+02] [ 1.21564716e-03 -1.52668950e-05 9.99999261e-01 -3.79054960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.39028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:124.19, Z:-0.38 [[-6.96514895e-01 -7.17541419e-01 1.14595774e-03 2.45875183e+02] [ 7.17540396e-01 -6.96515838e-01 -1.21182042e-03 1.24191077e+02] [ 1.66770906e-03 -2.17800041e-05 9.99998609e-01 -3.78965767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.42028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.20, Z:-0.38 [[-6.96504238e-01 -7.17551453e-01 1.32633418e-03 2.45869469e+02] [ 7.17550082e-01 -6.96505500e-01 -1.40277402e-03 1.24201042e+02] [ 1.93036159e-03 -2.53268495e-05 9.99998137e-01 -3.79570879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.45028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.88, Y:124.20, Z:-0.38 [[-6.95911206e-01 -7.18126173e-01 1.54695960e-03 2.45876258e+02] [ 7.18124309e-01 -6.95912925e-01 -1.63659416e-03 1.24197364e+02] [ 2.25183028e-03 -2.80149183e-05 9.99997464e-01 -3.79499941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.48028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.23, Z:-0.38 [[-6.94882169e-01 -7.19121024e-01 1.92975938e-03 2.45857561e+02] [ 7.19118132e-01 -6.94884848e-01 -2.03965412e-03 1.24225597e+02] [ 2.80771872e-03 -2.95943197e-05 9.99996058e-01 -3.79810273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.51028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.22, Z:-0.38 [[-6.94278984e-01 -7.19703627e-01 1.83919294e-03 2.45867067e+02] [ 7.19700999e-01 -6.94281419e-01 -1.94484208e-03 1.24219683e+02] [ 2.67662738e-03 -2.65939883e-05 9.99996418e-01 -3.79536186e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.54028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.85, Y:124.24, Z:-0.38 [[-6.93944032e-01 -7.20027190e-01 1.58945613e-03 2.45847457e+02] [ 7.20025233e-01 -6.93945852e-01 -1.67912255e-03 1.24243831e+02] [ 2.31201038e-03 -2.07685512e-05 9.99997327e-01 -3.79156467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.57028169299997 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.86, Y:124.23, Z:-0.38 [[-6.92530575e-01 -7.21386689e-01 1.62704018e-03 2.45864556e+02] [ 7.21384637e-01 -6.92532486e-01 -1.72069060e-03 1.24232584e+02] [ 2.36806147e-03 -1.79090584e-05 9.99997196e-01 -3.79103937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.60028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.87, Y:124.23, Z:-0.38 [[-6.92020330e-01 -7.21875401e-01 1.94090256e-03 2.45868469e+02] [ 7.21872483e-01 -6.92023052e-01 -2.05274633e-03 1.24232057e+02] [ 2.82497640e-03 -1.94580431e-05 9.99996010e-01 -3.79712494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.87, Y:124.24, Z:-0.38 [[-6.91420037e-01 -7.22449721e-01 2.17558878e-03 2.45867943e+02] [ 7.22446058e-01 -6.91423459e-01 -2.30062973e-03 1.24236487e+02] [ 3.16634243e-03 -1.89559554e-05 9.99994987e-01 -3.79982221e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.66028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.84, Y:124.27, Z:-0.38 [[-6.90917863e-01 -7.22929696e-01 2.27180888e-03 2.45841231e+02] [ 7.22925712e-01 -6.90921597e-01 -2.40029496e-03 1.24268186e+02] [ 3.30488632e-03 -1.60576125e-05 9.99994539e-01 -3.79666350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.690281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:245.86, Y:124.25, Z:-0.38 [[-6.88447057e-01 -7.25282775e-01 2.35522254e-03 2.45858310e+02] [ 7.25278502e-01 -6.88451085e-01 -2.48954411e-03 1.24254802e+02] [ 3.42707897e-03 -5.72703625e-06 9.99994128e-01 -3.79624155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.72028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.85, Y:124.26, Z:-0.38 [[-6.86907772e-01 -7.26740407e-01 2.46840208e-03 2.45852469e+02] [ 7.26735732e-01 -6.86912207e-01 -2.60678273e-03 1.24263286e+02] [ 3.59002986e-03 3.25667564e-06 9.99993556e-01 -3.79109958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.750281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.85, Y:124.26, Z:-0.38 [[-6.85218131e-01 -7.28333539e-01 2.52363418e-03 2.45853377e+02] [ 7.28328670e-01 -6.85222778e-01 -2.66334857e-03 1.24264261e+02] [ 3.66905771e-03 1.30603910e-05 9.99993269e-01 -3.78868636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.78028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.38 [[-6.79906625e-01 -7.33295942e-01 2.01069518e-03 2.45840559e+02] [ 7.33292877e-01 -6.79909598e-01 -2.12026826e-03 1.24279073e+02] [ 2.92187506e-03 3.28440155e-05 9.99995731e-01 -3.77587111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.810281693 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.38 [[-6.76804211e-01 -7.36162017e-01 1.24316339e-03 2.45842083e+02] [ 7.36160850e-01 -6.76805352e-01 -1.31091996e-03 1.24276895e+02] [ 1.80642912e-03 2.79320662e-05 9.99998368e-01 -3.77172581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.84028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.85, Y:124.27, Z:-0.38 [[-6.74122964e-01 -7.38619063e-01 3.29898720e-04 2.45845901e+02] [ 7.38618982e-01 -6.74123044e-01 -3.47957904e-04 1.24272154e+02] [ 4.79400671e-04 9.10304326e-06 9.99999885e-01 -3.76747990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.870281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.85, Y:124.26, Z:-0.38 [[-6.71626862e-01 -7.40889262e-01 -6.77366862e-04 2.45854533e+02] [ 7.40888918e-01 -6.71627204e-01 7.14478460e-04 1.24263065e+02] [-9.84287431e-04 -2.19906751e-05 9.99999515e-01 -3.76550128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.90028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.87, Y:124.25, Z:-0.38 [[-6.68113287e-01 -7.44059027e-01 -8.94348682e-04 2.45865631e+02] [ 7.44058429e-01 -6.68113885e-01 9.43656608e-04 1.24248140e+02] [-1.29966299e-03 -3.49781571e-05 9.99999155e-01 -3.76680011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.930281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.86, Y:124.25, Z:-0.38 [[-6.66673743e-01 -7.45349461e-01 -5.48518835e-04 2.45861774e+02] [ 7.45349237e-01 -6.66673968e-01 5.78803469e-04 1.24248252e+02] [-7.97094083e-04 -2.29650200e-05 9.99999682e-01 -3.77402930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.96028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.87, Y:124.24, Z:-0.38 [[-6.65089473e-01 -7.46763680e-01 8.09890636e-06 2.45867055e+02] [ 7.46763680e-01 -6.65089473e-01 -8.65139899e-06 1.24238381e+02] [ 1.18470480e-05 2.94014728e-07 1.00000000e+00 -3.77331775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 432.990281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.86, Y:124.24, Z:-0.38 [[-6.62463679e-01 -7.49093930e-01 3.98328296e-04 2.45858855e+02] [ 7.49093812e-01 -6.62463798e-01 -4.20489984e-04 1.24239329e+02] [ 5.78864571e-04 1.98259201e-05 9.99999832e-01 -3.77540293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.02028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.86, Y:124.23, Z:-0.38 [[-6.61301852e-01 -7.50119897e-01 -2.72344962e-07 2.45862242e+02] [ 7.50119897e-01 -6.61301852e-01 1.84685549e-07 1.24231174e+02] [-3.18638451e-07 -8.21584753e-08 1.00000000e+00 -3.76783615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.050281693 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:245.87, Y:124.22, Z:-0.38 [[-6.60406474e-01 -7.50907794e-01 -8.79548114e-04 2.45869388e+02] [ 7.50907221e-01 -6.60407058e-01 9.29097956e-04 1.24218221e+02] [-1.27852668e-03 -4.68767245e-05 9.99999182e-01 -3.76790347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.08028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.86, Y:124.22, Z:-0.38 [[-6.58682274e-01 -7.52418505e-01 -2.01364050e-03 2.45859605e+02] [ 7.52415504e-01 -6.58685343e-01 2.12819519e-03 1.24218579e+02] [-2.92764893e-03 -1.13289884e-04 9.99995708e-01 -3.76024919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.11028169299993 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.85, Y:124.23, Z:-0.38 [[-6.58042161e-01 -7.52979050e-01 -1.75074743e-03 2.45848139e+02] [ 7.52976782e-01 -6.58044482e-01 1.85071402e-03 1.24225977e+02] [-2.54561856e-03 -1.00424311e-04 9.99996755e-01 -3.76826411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.14028169299996 meters Centerline goodness : 0.999935 Centerline is valid? [True, True] Translation: X:245.85, Y:124.23, Z:-0.38 [[-6.57935386e-01 -7.53072350e-01 -1.75050236e-03 2.45846435e+02] [ 7.53070082e-01 -6.57937707e-01 1.85094581e-03 1.24227828e+02] [-2.54561762e-03 -1.00448206e-04 9.99996755e-01 -3.76827658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.17028169299994 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:245.85, Y:124.22, Z:-0.38 [[-6.57932091e-01 -7.53076927e-01 -7.11552947e-04 2.45851525e+02] [ 7.53076551e-01 -6.57932475e-01 7.52716657e-04 1.24217833e+02] [-1.03500734e-03 -4.06173951e-05 9.99999464e-01 -3.77035192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.20028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.84, Y:124.23, Z:-0.38 [[-6.58435471e-01 -7.52637181e-01 -6.67563310e-05 2.45837628e+02] [ 7.52637178e-01 -6.58435474e-01 7.05890426e-05 1.24228514e+02] [-9.70826744e-05 -3.76496712e-06 9.99999995e-01 -3.78096436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.23028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.81, Y:124.25, Z:-0.38 [[-6.60336716e-01 -7.50969503e-01 4.75897576e-04 2.45813543e+02] [ 7.50969335e-01 -6.60336887e-01 -5.03621808e-04 1.24246500e+02] [ 6.92457343e-04 2.48245152e-05 9.99999760e-01 -3.78364722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.26028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.82, Y:124.24, Z:-0.38 [[-6.60648337e-01 -7.50695299e-01 5.85555191e-04 2.45821304e+02] [ 7.50695043e-01 -6.60648596e-01 -6.20461756e-04 1.24235345e+02] [ 8.52623939e-04 2.96663522e-05 9.99999636e-01 -3.77487364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.29028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.80, Y:124.25, Z:-0.38 [[-6.61282977e-01 -7.50136435e-01 3.91732465e-04 2.45802068e+02] [ 7.50136321e-01 -6.61283093e-01 -4.15048952e-04 1.24252617e+02] [ 5.70389398e-04 1.93879438e-05 9.99999837e-01 -3.77166421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.32028169299997 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.78, Y:124.26, Z:-0.38 [[-6.62466034e-01 -7.49091948e-01 -8.46464613e-05 2.45784502e+02] [ 7.49091943e-01 -6.62466039e-01 8.95896616e-05 1.24262939e+02] [-1.23186300e-04 -4.05787438e-06 9.99999992e-01 -3.77196308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.35028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.79, Y:124.26, Z:-0.38 [[-6.63081184e-01 -7.48547397e-01 -3.70735027e-04 2.45785751e+02] [ 7.48547294e-01 -6.63081287e-01 3.92876164e-04 1.24256559e+02] [-5.39913889e-04 -1.70039093e-05 9.99999854e-01 -3.77298800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.79, Y:124.25, Z:-0.38 [[-6.63806084e-01 -7.47904210e-01 -8.79971440e-04 2.45786009e+02] [ 7.47903629e-01 -6.63806667e-01 9.33642833e-04 1.24252461e+02] [-1.28240631e-03 -3.83760400e-05 9.99999177e-01 -3.78059819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.77, Y:124.26, Z:-0.38 [[-6.66770351e-01 -7.45262683e-01 -9.12499537e-04 2.45772180e+02] [ 7.45262054e-01 -6.66770975e-01 9.68625963e-04 1.24261526e+02] [-1.33030899e-03 -3.42002055e-05 9.99999115e-01 -3.78030586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.76, Y:124.27, Z:-0.38 [[-6.68288118e-01 -7.43902266e-01 -6.39836965e-04 2.45757777e+02] [ 7.43901956e-01 -6.68288424e-01 6.79361833e-04 1.24273018e+02] [-9.32974444e-04 -2.19665296e-05 9.99999565e-01 -3.78012713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.47028169299995 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.76, Y:124.26, Z:-0.38 [[-6.69591194e-01 -7.42729807e-01 -2.59315211e-04 2.45761831e+02] [ 7.42729756e-01 -6.69591244e-01 2.75309307e-04 1.24264027e+02] [-3.78115624e-04 -8.25643578e-06 9.99999929e-01 -3.77904296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.500281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:245.77, Y:124.25, Z:-0.38 [[-6.71513679e-01 -7.40992155e-01 -7.00671421e-05 2.45765257e+02] [ 7.40992151e-01 -6.71513683e-01 7.42407296e-05 1.24252346e+02] [-1.02062843e-04 -2.06553693e-06 9.99999995e-01 -3.78083404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.53028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.76, Y:124.26, Z:-0.38 [[-6.72492936e-01 -7.40103538e-01 -5.67026089e-05 2.45756861e+02] [ 7.40103536e-01 -6.72492939e-01 6.00737732e-05 1.24257184e+02] [-8.25929162e-05 -1.56661319e-06 9.99999997e-01 -3.78541188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.76, Y:124.25, Z:-0.38 [[-6.73452560e-01 -7.39230443e-01 -2.40165128e-05 2.45758522e+02] [ 7.39230443e-01 -6.73452561e-01 2.53012394e-05 1.24250577e+02] [-3.48774284e-05 -7.14552941e-07 9.99999999e-01 -3.78749302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.59028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.76, Y:124.24, Z:-0.38 [[-6.74159653e-01 -7.38585650e-01 3.18886486e-07 2.45759961e+02] [ 7.38585650e-01 -6.74159653e-01 -6.21278364e-07 1.24242912e+02] [ 6.73847770e-07 -1.83315819e-07 1.00000000e+00 -3.79140001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.620281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.77, Y:124.22, Z:-0.38 [[-6.75722196e-01 -7.37156364e-01 -9.20383362e-05 2.45765668e+02] [ 7.37156358e-01 -6.75722202e-01 9.79195832e-05 1.24224025e+02] [-1.34374391e-04 -1.68020887e-06 9.99999991e-01 -3.79819731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.65028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.76, Y:124.23, Z:-0.38 [[-6.76808148e-01 -7.36159358e-01 -3.61921361e-04 2.45759090e+02] [ 7.36159257e-01 -6.76808244e-01 3.86160967e-04 1.24226913e+02] [-5.29227370e-04 -5.07487135e-06 9.99999860e-01 -3.80084732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.680281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.78, Y:124.20, Z:-0.38 [[-6.80333860e-01 -7.32902150e-01 -5.26645531e-04 2.45779063e+02] [ 7.32901935e-01 -6.80334064e-01 5.62471084e-04 1.24199258e+02] [-7.70531161e-04 -3.31140509e-06 9.99999703e-01 -3.80520958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.71028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.77, Y:124.20, Z:-0.38 [[-6.82307741e-01 -7.31064980e-01 -3.77163749e-04 2.45773652e+02] [ 7.31064869e-01 -6.82307845e-01 4.03046635e-04 1.24200532e+02] [-5.51995065e-04 -7.29327628e-07 9.99999848e-01 -3.80650481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.740281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.79, Y:124.18, Z:-0.38 [[-6.84036407e-01 -7.29447844e-01 -1.90836315e-04 2.45791709e+02] [ 7.29447816e-01 -6.84036434e-01 2.03952109e-04 1.24177083e+02] [-2.79311418e-04 3.05534790e-07 9.99999961e-01 -3.80808608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.77028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.78, Y:124.18, Z:-0.38 [[-6.85433842e-01 -7.28134910e-01 -9.03943430e-06 2.45784298e+02] [ 7.28134910e-01 -6.85433843e-01 9.41497611e-06 1.24181701e+02] [-1.30513069e-05 -1.28584432e-07 1.00000000e+00 -3.80616861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.800281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:245.79, Y:124.17, Z:-0.38 [[-6.87738174e-01 -7.25958579e-01 -5.87957472e-04 2.45794113e+02] [ 7.25958306e-01 -6.87738425e-01 6.29845617e-04 1.24169889e+02] [-8.61602775e-04 6.33626445e-06 9.99999629e-01 -3.79485757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.83028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.78, Y:124.19, Z:-0.38 [[-6.88348554e-01 -7.25379137e-01 -1.17262926e-03 2.45775326e+02] [ 7.25378048e-01 -6.88349553e-01 1.25735100e-03 1.24190005e+02] [-1.71923501e-03 1.48962222e-05 9.99998522e-01 -3.79163279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.86028169299993 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.79, Y:124.17, Z:-0.38 [[-6.88572412e-01 -7.25165116e-01 -1.89430388e-03 2.45793551e+02] [ 7.25162267e-01 -6.88575017e-01 2.03281010e-03 1.24169916e+02] [-2.77849329e-03 2.60592600e-05 9.99996140e-01 -3.79383124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.79, Y:124.17, Z:-0.38 [[-6.88784316e-01 -7.24962706e-01 -2.28936040e-03 2.45794204e+02] [ 7.24958538e-01 -6.88788120e-01 2.45858052e-03 1.24169150e+02] [-3.35926343e-03 3.37403312e-05 9.99994357e-01 -3.80123693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.92028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.78, Y:124.18, Z:-0.38 [[-6.90013932e-01 -7.23791409e-01 -2.60203527e-03 2.45783730e+02] [ 7.23786008e-01 -6.90018836e-01 2.79642354e-03 1.24184087e+02] [-3.81948068e-03 4.62544793e-05 9.99992705e-01 -3.81748140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.95028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.81, Y:124.16, Z:-0.38 [[-6.91126404e-01 -7.22731388e-01 -1.90665454e-03 2.45807760e+02] [ 7.22728480e-01 -6.91129033e-01 2.05049747e-03 1.24161454e+02] [-2.79970319e-03 3.91593989e-05 9.99996080e-01 -3.82377032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 433.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.81, Y:124.17, Z:-0.38 [[-6.92518404e-01 -7.21399523e-01 -9.93961934e-04 2.45806032e+02] [ 7.21398730e-01 -6.92519117e-01 1.06958629e-03 1.24167328e+02] [-1.45993668e-03 2.36653108e-05 9.99998934e-01 -3.82854518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.18, Z:-0.38 [[-6.95331344e-01 -7.18689275e-01 -2.19603944e-04 2.45808116e+02] [ 7.18689236e-01 -6.95331379e-01 2.36278458e-04 1.24175243e+02] [-3.22508307e-04 6.46482643e-06 9.99999948e-01 -3.83181017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.04028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.18, Z:-0.38 [[-6.96217299e-01 -7.17831041e-01 -2.61955607e-04 2.45806068e+02] [ 7.17830986e-01 -6.96217348e-01 2.82096479e-04 1.24183000e+02] [-3.84875647e-04 8.36059723e-06 9.99999926e-01 -3.82957802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.07028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.81, Y:124.19, Z:-0.38 [[-6.97133141e-01 -7.16941444e-01 -5.91626060e-04 2.45807569e+02] [ 7.16941161e-01 -6.97133391e-01 6.37896165e-04 1.24185739e+02] [-8.69776479e-04 2.05374825e-05 9.99999622e-01 -3.82521043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.10028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.80, Y:124.20, Z:-0.38 [[-6.97590440e-01 -7.16496534e-01 -5.42982870e-04 2.45799868e+02] [ 7.16496295e-01 -6.97590651e-01 5.85846006e-04 1.24198498e+02] [-7.98536406e-04 1.96353587e-05 9.99999681e-01 -3.82311485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.130281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.81, Y:124.20, Z:-0.38 [[-6.97395456e-01 -7.16686509e-01 -1.59670372e-04 2.45814745e+02] [ 7.16686488e-01 -6.97395475e-01 1.72213927e-04 1.24195259e+02] [-2.34776793e-04 5.66761218e-06 9.99999972e-01 -3.83109244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.16028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.81, Y:124.21, Z:-0.38 [[-6.96853251e-01 -7.17213719e-01 -1.64904580e-04 2.45810740e+02] [ 7.17213697e-01 -6.96853271e-01 1.77995687e-04 1.24206317e+02] [-2.42575244e-04 5.76504977e-06 9.99999971e-01 -3.83502083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.190281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.81, Y:124.22, Z:-0.38 [[-6.96312995e-01 -7.17738220e-01 -2.45937769e-04 2.45805261e+02] [ 7.17738171e-01 -6.96313039e-01 2.65823499e-04 1.24218577e+02] [-3.62041360e-04 8.57743204e-06 9.99999934e-01 -3.83351950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.22028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.80, Y:124.23, Z:-0.38 [[-6.95277549e-01 -7.18741311e-01 -2.39644573e-04 2.45803596e+02] [ 7.18741264e-01 -6.95277591e-01 2.59041472e-04 1.24226079e+02] [-3.52803308e-04 7.86327616e-06 9.99999938e-01 -3.83042023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.250281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.80, Y:124.24, Z:-0.38 [[-6.91835139e-01 -7.22055358e-01 -4.47408653e-04 2.45804013e+02] [ 7.22055196e-01 -6.91835284e-01 4.84146854e-04 1.24237850e+02] [-6.59113922e-04 1.18960632e-05 9.99999783e-01 -3.82735554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.28028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.80, Y:124.25, Z:-0.38 [[-6.89103424e-01 -7.24662968e-01 -2.32272150e-04 2.45796550e+02] [ 7.24662925e-01 -6.89103463e-01 2.51365325e-04 1.24252162e+02] [-3.42214686e-04 4.89769024e-06 9.99999941e-01 -3.82455063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.310281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.79, Y:124.27, Z:-0.38 [[-6.85840968e-01 -7.27751433e-01 -1.35446032e-04 2.45789088e+02] [ 7.27751418e-01 -6.85840982e-01 1.46577864e-04 1.24265267e+02] [-1.99566690e-04 1.95806263e-06 9.99999980e-01 -3.81915975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.34028169299995 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:245.77, Y:124.29, Z:-0.38 [[-6.79742853e-01 -7.33450438e-01 -3.29776809e-04 2.45771162e+02] [ 7.33450351e-01 -6.79742933e-01 3.57132845e-04 1.24292826e+02] [-4.86102697e-04 8.83582504e-07 9.99999882e-01 -3.81360293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.370281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:245.76, Y:124.30, Z:-0.38 [[-6.76721275e-01 -7.36239160e-01 -4.63939480e-04 2.45764492e+02] [ 7.36238989e-01 -6.76721434e-01 5.02066245e-04 1.24304543e+02] [-6.83598621e-04 -1.81142470e-06 9.99999766e-01 -3.81061618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.76, Y:124.31, Z:-0.38 [[-6.73624373e-01 -7.39073631e-01 -6.10202842e-04 2.45760579e+02] [ 7.39073336e-01 -6.73624649e-01 6.60526522e-04 1.24313318e+02] [-8.99225410e-04 -6.03788652e-06 9.99999596e-01 -3.80661742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.430281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.74, Y:124.34, Z:-0.38 [[-6.67671697e-01 -7.44455297e-01 -9.03383764e-04 2.45742947e+02] [ 7.44454656e-01 -6.67672307e-01 9.77565782e-04 1.24338574e+02] [-1.33091835e-03 -1.98352446e-05 9.99999114e-01 -3.81609252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.46028169299996 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.75, Y:124.34, Z:-0.38 [[-6.65167706e-01 -7.46693260e-01 -1.04840450e-03 2.45749188e+02] [ 7.46692399e-01 -6.65168531e-01 1.13439318e-03 1.24335271e+02] [-1.54440942e-03 -2.82739578e-05 9.99998807e-01 -3.82244716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.490281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.75, Y:124.33, Z:-0.38 [[-6.63526449e-01 -7.48152005e-01 -1.10844938e-03 2.45754169e+02] [ 7.48151044e-01 -6.63527374e-01 1.19972250e-03 1.24334049e+02] [-1.63306130e-03 -3.32399543e-05 9.99998666e-01 -3.82411129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.52028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.76, Y:124.34, Z:-0.38 [[-6.61155245e-01 -7.50248217e-01 -1.16434868e-03 2.45757078e+02] [ 7.50247159e-01 -6.61156269e-01 1.26059998e-03 1.24336560e+02] [-1.71557931e-03 -4.00969979e-05 9.99998528e-01 -3.81893956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.76, Y:124.33, Z:-0.38 [[-6.59343694e-01 -7.51841242e-01 -7.99615573e-04 2.45764704e+02] [ 7.51840744e-01 -6.59344178e-01 8.66176279e-04 1.24328277e+02] [-1.17844892e-03 -3.00756995e-05 9.99999305e-01 -3.81778674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.58028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.75, Y:124.34, Z:-0.38 [[-6.57975754e-01 -7.53038922e-01 -5.36892057e-04 2.45753996e+02] [ 7.53038698e-01 -6.57975973e-01 5.81605181e-04 1.24339759e+02] [-7.91233412e-04 -2.16183880e-05 9.99999687e-01 -3.82545771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.61028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.77, Y:124.33, Z:-0.38 [[-6.55597944e-01 -7.55109958e-01 -5.36558153e-04 2.45765798e+02] [ 7.55109735e-01 -6.55598163e-01 5.81127853e-04 1.24325979e+02] [-7.90581967e-04 -2.41740594e-05 9.99999687e-01 -3.82895392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.64028169299996 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.76, Y:124.33, Z:-0.38 [[-6.55493730e-01 -7.55200209e-01 -7.84544396e-04 2.45761453e+02] [ 7.55199731e-01 -6.55494198e-01 8.50266457e-04 1.24329166e+02] [-1.15638570e-03 -3.51433859e-05 9.99999331e-01 -3.83077791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.67028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.76, Y:124.33, Z:-0.38 [[-6.55862667e-01 -7.54879790e-01 -8.14779068e-04 2.45755775e+02] [ 7.54879274e-01 -6.55863173e-01 8.83243685e-04 1.24333468e+02] [-1.20112639e-03 -3.57732725e-05 9.99999278e-01 -3.82730301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.70028169299997 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.73, Y:124.36, Z:-0.38 [[-6.58924680e-01 -7.52208720e-01 -5.53984354e-04 2.45731540e+02] [ 7.52208481e-01 -6.58924913e-01 6.00398700e-04 1.24355522e+02] [-8.16659230e-04 -2.10942076e-05 9.99999666e-01 -3.83247936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.73028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.74, Y:124.34, Z:-0.38 [[-6.60451195e-01 -7.50868971e-01 8.95556128e-05 2.45744060e+02] [ 7.50868964e-01 -6.60451201e-01 -9.73756277e-05 1.24339853e+02] [ 1.32263449e-04 2.93268051e-06 9.99999991e-01 -3.84013973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.76028169299997 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.73, Y:124.35, Z:-0.38 [[-6.62283683e-01 -7.49252929e-01 6.10230866e-04 2.45729939e+02] [ 7.49252637e-01 -6.62283964e-01 -6.61461678e-04 1.24353250e+02] [ 8.99748216e-04 1.91418088e-05 9.99999595e-01 -3.84426079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.79028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.73, Y:124.35, Z:-0.38 [[-6.63970025e-01 -7.47759007e-01 5.23715448e-04 2.45734621e+02] [ 7.47758791e-01 -6.63970231e-01 -5.68448460e-04 1.24345586e+02] [ 7.72793923e-04 1.41800927e-05 9.99999701e-01 -3.84704814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.82028169299997 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.73, Y:124.35, Z:-0.38 [[-6.66981883e-01 -7.45073398e-01 -8.94066527e-04 2.45728679e+02] [ 7.45072766e-01 -6.66982482e-01 9.70121007e-04 1.24347657e+02] [-1.31913807e-03 -1.90914840e-05 9.99999130e-01 -3.83870660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.85028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.73, Y:124.34, Z:-0.38 [[-6.67396880e-01 -7.44700726e-01 -1.49421192e-03 2.45734717e+02] [ 7.44698959e-01 -6.67398552e-01 1.62248177e-03 1.24338830e+02] [-2.20549823e-03 -2.98987917e-05 9.99997567e-01 -3.83082087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.880281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.74, Y:124.34, Z:-0.38 [[-6.67731908e-01 -7.44399833e-01 -1.72850522e-03 2.45735823e+02] [ 7.44397465e-01 -6.67734145e-01 1.87766184e-03 1.24335911e+02] [-2.55191311e-03 -3.29201827e-05 9.99996743e-01 -3.83307022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.91028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:245.73, Y:124.34, Z:-0.38 [[-6.67918613e-01 -7.44232219e-01 -1.76901151e-03 2.45729342e+02] [ 7.44229738e-01 -6.67920955e-01 1.92222936e-03 1.24341445e+02] [-2.61214488e-03 -3.26582026e-05 9.99996588e-01 -3.83707753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.940281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.73, Y:124.33, Z:-0.38 [[-6.67885795e-01 -7.44263489e-01 -6.50171290e-04 2.45733535e+02] [ 7.44263154e-01 -6.67886112e-01 7.06787800e-04 1.24334410e+02] [-9.60276729e-04 -1.18450032e-05 9.99999539e-01 -3.84271755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 434.97028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.72, Y:124.35, Z:-0.39 [[-6.68095188e-01 -7.44075810e-01 9.03830652e-05 2.45718468e+02] [ 7.44075804e-01 -6.68095194e-01 -9.83835047e-05 1.24349768e+02] [ 1.33589278e-04 1.52230584e-06 9.99999991e-01 -3.85262822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.000281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.74, Y:124.33, Z:-0.39 [[-6.68279718e-01 -7.43909929e-01 4.85625711e-04 2.45735553e+02] [ 7.43909741e-01 -6.68279895e-01 -5.28922495e-04 1.24330178e+02] [ 7.18004595e-04 7.79352082e-06 9.99999742e-01 -3.85286110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.03028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.73, Y:124.33, Z:-0.39 [[-6.68172349e-01 -7.44006369e-01 4.85638032e-04 2.45733875e+02] [ 7.44006181e-01 -6.68172525e-01 -5.28911160e-04 1.24332055e+02] [ 7.18003261e-04 7.91388525e-06 9.99999742e-01 -3.85287347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.060281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.73, Y:124.33, Z:-0.39 [[-6.68708673e-01 -7.43524494e-01 1.94155904e-04 2.45733568e+02] [ 7.43524463e-01 -6.68708701e-01 -2.11856701e-04 1.24329911e+02] [ 2.87354388e-04 2.68925104e-06 9.99999959e-01 -3.86035543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.72, Y:124.34, Z:-0.39 [[-6.69253703e-01 -7.43033968e-01 6.32483258e-05 2.45723245e+02] [ 7.43033964e-01 -6.69253706e-01 -6.90493460e-05 1.24340087e+02] [ 9.36351860e-05 7.84123804e-07 9.99999996e-01 -3.86124943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.120281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.72, Y:124.34, Z:-0.39 [[-6.70237523e-01 -7.42146653e-01 9.41996310e-05 2.45722433e+02] [ 7.42146646e-01 -6.70237530e-01 -1.02817770e-04 1.24339898e+02] [ 1.39441992e-04 9.97612871e-07 9.99999990e-01 -3.85957509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.15028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.72, Y:124.34, Z:-0.39 [[-6.72606628e-01 -7.40000137e-01 3.48093520e-04 2.45719906e+02] [ 7.40000040e-01 -6.72606718e-01 -3.80120916e-04 1.24339099e+02] [ 5.15419570e-04 1.91737083e-06 9.99999867e-01 -3.86467493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.180281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.74, Y:124.32, Z:-0.39 [[-6.73507241e-01 -7.39180623e-01 5.90515366e-05 2.45735233e+02] [ 7.39180620e-01 -6.73507243e-01 -6.47657323e-05 1.24321099e+02] [ 8.76452121e-05 2.95617826e-08 9.99999996e-01 -3.86908314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.21028169299996 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:245.73, Y:124.33, Z:-0.39 [[-6.74594679e-01 -7.38188333e-01 -6.43351004e-05 2.45726603e+02] [ 7.38188330e-01 -6.74594682e-01 7.01710175e-05 1.24329772e+02] [-9.51995429e-05 -1.54425270e-07 9.99999996e-01 -3.86733920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.240281693 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.74, Y:124.31, Z:-0.39 [[-6.75338538e-01 -7.37507833e-01 -2.35301304e-04 2.45740186e+02] [ 7.37507788e-01 -6.75338579e-01 2.56946828e-04 1.24314267e+02] [-3.48408346e-04 -1.04487020e-08 9.99999939e-01 -3.86745131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.27028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.73, Y:124.32, Z:-0.39 [[-6.76866994e-01 -7.36105324e-01 -1.55085654e-04 2.45733476e+02] [ 7.36105305e-01 -6.76867012e-01 1.69478681e-04 1.24321830e+02] [-2.29726523e-04 5.55152891e-07 9.99999974e-01 -3.86192712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.300281693 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:245.74, Y:124.31, Z:-0.39 [[-6.77367188e-01 -7.35645083e-01 5.74712119e-05 2.45741060e+02] [ 7.35645081e-01 -6.77367191e-01 -6.31654502e-05 1.24314975e+02] [ 8.53964663e-05 -5.07789033e-07 9.99999996e-01 -3.85827211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.33028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:245.72, Y:124.34, Z:-0.39 [[-6.78745321e-01 -7.34373738e-01 3.37713816e-05 2.45722689e+02] [ 7.34373703e-01 -6.78745302e-01 -2.83641901e-04 1.24337779e+02] [ 2.31221330e-04 -1.67719799e-04 9.99999959e-01 -3.86099274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.36028169299993 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.73, Y:124.33, Z:-0.39 [[-6.80782702e-01 -7.32485195e-01 5.93300949e-04 2.45734374e+02] [ 7.32485102e-01 -6.80782941e-01 -4.02016374e-04 1.24329279e+02] [ 6.98380208e-04 1.60898313e-04 9.99999743e-01 -3.87068745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.39028169299996 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.74, Y:124.33, Z:-0.39 [[-6.81685569e-01 -7.31645219e-01 2.42208891e-04 2.45737946e+02] [ 7.31645171e-01 -6.81685612e-01 -2.65576417e-04 1.24327798e+02] [ 3.59418032e-04 -3.82864506e-06 9.99999935e-01 -3.87843990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.42028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.74, Y:124.33, Z:-0.39 [[-6.82527681e-01 -7.30859714e-01 -2.05502533e-04 2.45738271e+02] [ 7.30859680e-01 -6.82527712e-01 2.25053793e-04 1.24330687e+02] [-3.04743925e-04 3.41192807e-06 9.99999954e-01 -3.87611815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.76, Y:124.31, Z:-0.39 [[-6.84166852e-01 -7.29325424e-01 -3.79878455e-04 2.45762444e+02] [ 7.29325305e-01 -6.84166958e-01 4.16247878e-04 1.24314016e+02] [-5.63480447e-04 7.72803004e-06 9.99999841e-01 -3.86651290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.48028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.75, Y:124.33, Z:-0.39 [[-6.84585825e-01 -7.28932257e-01 1.13514623e-04 2.45754858e+02] [ 7.28932247e-01 -6.84585834e-01 -1.24554899e-04 1.24326667e+02] [ 1.68502587e-04 -2.52404838e-06 9.99999986e-01 -3.86156774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.51028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.75, Y:124.33, Z:-0.39 [[-6.84638137e-01 -7.28882923e-01 5.53332328e-04 2.45750784e+02] [ 7.28882671e-01 -6.84638360e-01 -6.06998689e-04 1.24334760e+02] [ 8.21263516e-04 -1.22601061e-05 9.99999663e-01 -3.86598801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.54028169299994 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:245.74, Y:124.35, Z:-0.39 [[-6.84534477e-01 -7.28980341e-01 4.61323547e-04 2.45741010e+02] [ 7.28980166e-01 -6.84534632e-01 -5.05353475e-04 1.24352619e+02] [ 6.84184693e-04 -9.63616037e-06 9.99999766e-01 -3.86974251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.57028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.76, Y:124.34, Z:-0.39 [[-6.83938906e-01 -7.29539197e-01 3.65205538e-04 2.45760275e+02] [ 7.29539086e-01 -6.83939004e-01 -4.00855235e-04 1.24336340e+02] [ 5.42217918e-04 -7.72877639e-06 9.99999853e-01 -3.86599433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.60028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.76, Y:124.34, Z:-0.39 [[-6.83671546e-01 -7.29789712e-01 4.40128308e-04 2.45761147e+02] [ 7.29789552e-01 -6.83671687e-01 -4.82917782e-04 1.24340199e+02] [ 6.53331692e-04 -8.95610605e-06 9.99999787e-01 -3.86042946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.630281693 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.76, Y:124.34, Z:-0.39 [[-6.83142074e-01 -7.30285491e-01 8.83478870e-05 2.45764247e+02] [ 7.30285485e-01 -6.83142080e-01 -9.70097095e-05 1.24343852e+02] [ 1.31198943e-04 -1.75223468e-06 9.99999991e-01 -3.85391154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.66028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.77, Y:124.35, Z:-0.39 [[-6.82684021e-01 -7.30713623e-01 -3.58246898e-04 2.45765247e+02] [ 7.30713518e-01 -6.82684115e-01 3.93090828e-04 1.24346524e+02] [-5.31806289e-04 6.58097610e-06 9.99999859e-01 -3.85351517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.690281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.76, Y:124.36, Z:-0.39 [[-6.82259113e-01 -7.31110148e-01 -6.74184229e-04 2.45759487e+02] [ 7.31109774e-01 -6.82259446e-01 7.39415620e-04 1.24357582e+02] [-1.00056282e-03 1.15703655e-05 9.99999499e-01 -3.85435382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.72028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.75, Y:124.37, Z:-0.39 [[-6.80874573e-01 -7.32399947e-01 3.64170178e-04 2.45753679e+02] [ 7.32399839e-01 -6.80874671e-01 -3.98678608e-04 1.24371193e+02] [ 5.39946441e-04 -4.73194769e-06 9.99999854e-01 -3.85114047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.750281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.76, Y:124.37, Z:-0.38 [[-6.79811869e-01 -7.33385574e-01 1.19261012e-03 2.45757891e+02] [ 7.33384410e-01 -6.79812915e-01 -1.30652997e-03 1.24367870e+02] [ 1.76894199e-03 -1.35529160e-05 9.99998435e-01 -3.84820074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.78028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.74, Y:124.39, Z:-0.38 [[-6.78399524e-01 -7.34692022e-01 1.31123798e-03 2.45742975e+02] [ 7.34690620e-01 -6.78400791e-01 -1.43511291e-03 1.24385237e+02] [ 1.94391089e-03 -1.02256643e-05 9.99998111e-01 -3.84926253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.810281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.75, Y:124.38, Z:-0.38 [[-6.76372115e-01 -7.36559656e-01 7.97683787e-04 2.45747435e+02] [ 7.36559138e-01 -6.76372585e-01 -8.73094069e-04 1.24382642e+02] [ 1.18261731e-03 -2.99519908e-06 9.99999301e-01 -3.84401275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.84028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.75, Y:124.39, Z:-0.38 [[-6.72721027e-01 -7.39895467e-01 -1.05754820e-03 2.45749803e+02] [ 7.39894562e-01 -6.72721858e-01 1.15696465e-03 1.24387988e+02] [-1.56746869e-03 -4.15971572e-06 9.99998772e-01 -3.83933652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.870281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.75, Y:124.39, Z:-0.38 [[-6.71380407e-01 -7.41112261e-01 -9.82936081e-04 2.45746796e+02] [ 7.41111482e-01 -6.71381127e-01 1.07452898e-03 1.24393724e+02] [-1.45627134e-03 -7.04750899e-06 9.99998940e-01 -3.83700327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.90028169299995 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.74, Y:124.40, Z:-0.38 [[-6.70138588e-01 -7.42235921e-01 -3.32732671e-04 2.45741300e+02] [ 7.42235832e-01 -6.70138670e-01 3.63644513e-04 1.24401223e+02] [-4.92887050e-04 -3.27389119e-06 9.99999879e-01 -3.83778488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.930281693 meters Centerline goodness : 0.999727 Centerline is valid? [True, True] Translation: X:245.75, Y:124.40, Z:-0.39 [[-6.67692631e-01 -7.44436510e-01 9.13162265e-04 2.45746651e+02] [ 7.44435843e-01 -6.67693255e-01 -9.96146220e-04 1.24399226e+02] [ 1.35127990e-03 1.46712303e-05 9.99999087e-01 -3.85158671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.96028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.74, Y:124.41, Z:-0.38 [[-6.66509065e-01 -7.45496495e-01 8.01434630e-04 2.45741106e+02] [ 7.45495983e-01 -6.66509547e-01 -8.73543467e-04 1.24408245e+02] [ 1.18538742e-03 1.52416583e-05 9.99999297e-01 -3.84892091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 435.990281693 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:245.75, Y:124.40, Z:-0.38 [[-6.65249622e-01 -7.46621014e-01 -3.68306688e-05 2.45747710e+02] [ 7.46621013e-01 -6.65249623e-01 4.04147738e-05 1.24402790e+02] [-5.46761078e-05 -6.12638184e-07 9.99999999e-01 -3.83958392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.02028169299996 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.38 [[-6.62060431e-01 -7.49448731e-01 -1.60764881e-03 2.45764827e+02] [ 7.49446685e-01 -6.62062382e-01 1.75190116e-03 1.24382311e+02] [-2.37732390e-03 -4.49826299e-05 9.99997173e-01 -3.82711649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.050281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.38 [[-6.60634403e-01 -7.50705762e-01 -1.74489913e-03 2.45762649e+02] [ 7.50703358e-01 -6.60636705e-01 1.90040294e-03 1.24383434e+02] [-2.57938785e-03 -5.44300768e-05 9.99996672e-01 -3.82838323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.08028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.77, Y:124.37, Z:-0.38 [[-6.58704194e-01 -7.52400497e-01 -1.50857971e-03 2.45772640e+02] [ 7.52398706e-01 -6.58705920e-01 1.64290069e-03 1.24371768e+02] [-2.22982968e-03 -5.28678450e-05 9.99997513e-01 -3.83423095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.11028169299993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.77, Y:124.37, Z:-0.38 [[-6.55590761e-01 -7.55116243e-01 -4.62355645e-04 2.45770348e+02] [ 7.55116075e-01 -6.55590924e-01 5.03429506e-04 1.24369450e+02] [-6.83263962e-04 -1.90884467e-05 9.99999766e-01 -3.83199453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.14028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.78, Y:124.36, Z:-0.38 [[-6.54078466e-01 -7.56426612e-01 -3.76017998e-04 2.45776506e+02] [ 7.56426501e-01 -6.54078574e-01 4.09202680e-04 1.24358445e+02] [-5.55477113e-04 -1.67793168e-05 9.99999846e-01 -3.83015574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.17028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.78, Y:124.35, Z:-0.38 [[-6.53289038e-01 -7.57108379e-01 -5.78803249e-04 2.45777738e+02] [ 7.57108117e-01 -6.53289294e-01 6.29966885e-04 1.24352765e+02] [-8.55079173e-04 -2.66661781e-05 9.99999634e-01 -3.83153107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.20028169299997 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.77, Y:124.36, Z:-0.38 [[-6.54611633e-01 -7.55964700e-01 -9.91366911e-04 2.45771840e+02] [ 7.55963932e-01 -6.54612382e-01 1.07840258e-03 1.24355765e+02] [-1.46419534e-03 -4.35027521e-05 9.99998927e-01 -3.84349133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.23028169299994 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.77, Y:124.36, Z:-0.38 [[-6.56547200e-01 -7.54284411e-01 -8.95720625e-04 2.45769741e+02] [ 7.54283783e-01 -6.56547810e-01 9.73648053e-04 1.24357012e+02] [-1.32249096e-03 -3.63816392e-05 9.99999125e-01 -3.84539162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.26028169299997 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.75, Y:124.37, Z:-0.38 [[-6.59000832e-01 -7.52141860e-01 -7.25501964e-04 2.45754299e+02] [ 7.52141447e-01 -6.59001231e-01 7.88071635e-04 1.24372363e+02] [-1.07084835e-03 -2.63402344e-05 9.99999426e-01 -3.84776205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.29028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.75, Y:124.38, Z:-0.38 [[-6.63682372e-01 -7.48014155e-01 -7.30036756e-04 2.45750656e+02] [ 7.48013736e-01 -6.63682773e-01 7.92383885e-04 1.24376954e+02] [-1.07722718e-03 -2.01863041e-05 9.99999420e-01 -3.84674713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.32028169299997 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.76, Y:124.37, Z:-0.38 [[-6.65605654e-01 -7.46303138e-01 -8.60498561e-04 2.45755078e+02] [ 7.46302554e-01 -6.65606209e-01 9.33652320e-04 1.24374317e+02] [-1.26954084e-03 -2.07480108e-05 9.99999194e-01 -3.84995141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.35028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:245.75, Y:124.38, Z:-0.38 [[-6.67568053e-01 -7.44548203e-01 -9.31353761e-04 2.45747632e+02] [ 7.44547519e-01 -6.67568702e-01 1.01002882e-03 1.24384584e+02] [-1.37375776e-03 -1.91741597e-05 9.99999056e-01 -3.84746924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.380281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.39 [[-6.68950201e-01 -7.43306732e-01 -8.55188963e-04 2.45755146e+02] [ 7.43306154e-01 -6.68950747e-01 9.27277514e-04 1.24377257e+02] [-1.26133091e-03 -1.53647402e-05 9.99999204e-01 -3.85512577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.41028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.39 [[-6.71199584e-01 -7.41276405e-01 -6.41147400e-04 2.45755821e+02] [ 7.41276079e-01 -6.71199890e-01 6.94990769e-04 1.24379285e+02] [-9.45518322e-04 -8.78971564e-06 9.99999553e-01 -3.85844718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.440281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.76, Y:124.37, Z:-0.39 [[-6.71873147e-01 -7.40666029e-01 -5.54631645e-04 2.45764995e+02] [ 7.40665785e-01 -6.71873376e-01 6.01008567e-04 1.24371913e+02] [-8.17788864e-04 -6.99516502e-06 9.99999666e-01 -3.86017927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.47028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.39 [[-6.72949964e-01 -7.39687858e-01 -4.68182792e-04 2.45759264e+02] [ 7.39687684e-01 -6.72950127e-01 5.07281513e-04 1.24381400e+02] [-6.90293645e-04 -4.93396875e-06 9.99999762e-01 -3.86173589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.500281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.76, Y:124.38, Z:-0.39 [[-6.74964232e-01 -7.37850447e-01 -5.57976007e-05 2.45761718e+02] [ 7.37850445e-01 -6.74964234e-01 6.06618144e-05 1.24383482e+02] [-8.24207317e-05 -2.25729493e-07 9.99999997e-01 -3.86623439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.53028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.77, Y:124.37, Z:-0.39 [[-6.75929808e-01 -7.36966003e-01 -7.68651513e-05 2.45773668e+02] [ 7.36965998e-01 -6.75929812e-01 8.31727695e-05 1.24372917e+02] [-1.13250951e-04 -4.28048855e-07 9.99999994e-01 -3.87071332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.77113509e-01 -7.35878477e-01 -4.03616752e-04 2.45776988e+02] [ 7.35878347e-01 -6.77113630e-01 4.36683166e-04 1.24371934e+02] [-5.94640147e-04 -1.32875712e-06 9.99999823e-01 -3.86685020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.59028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.77, Y:124.38, Z:-0.39 [[-6.78173806e-01 -7.34901125e-01 -7.90757816e-04 2.45771706e+02] [ 7.34900628e-01 -6.78174267e-01 8.54609165e-04 1.24379446e+02] [-1.16432484e-03 -1.55486528e-06 9.99999322e-01 -3.86216635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.620281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.79, Y:124.36, Z:-0.39 [[-6.78369586e-01 -7.34720240e-01 -9.34962410e-04 2.45786201e+02] [ 7.34719545e-01 -6.78370230e-01 1.01024745e-03 1.24364412e+02] [-1.37649992e-03 -1.61401068e-06 9.99999053e-01 -3.85722212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.65028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.77983003e-01 -7.35077033e-01 -8.96323123e-04 2.45779366e+02] [ 7.35076396e-01 -6.77983595e-01 9.68101144e-04 1.24371782e+02] [-1.31932129e-03 -2.50985026e-06 9.99999130e-01 -3.85859997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.680281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.77, Y:124.39, Z:-0.39 [[-6.77159066e-01 -7.35836121e-01 -8.95674820e-04 2.45766699e+02] [ 7.35835486e-01 -6.77159658e-01 9.66651906e-04 1.24386403e+02] [-1.31781224e-03 -4.49221544e-06 9.99999132e-01 -3.85795825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.71028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.77, Y:124.38, Z:-0.39 [[-6.76115004e-01 -7.36794770e-01 -1.40296205e-03 2.45772814e+02] [ 7.36793217e-01 -6.76116460e-01 1.51279411e-03 1.24381359e+02] [-2.06318453e-03 -1.08701226e-05 9.99997872e-01 -3.86235406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.740281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.76345197e-01 -7.36583583e-01 -1.34179368e-03 2.45782475e+02] [ 7.36582164e-01 -6.76346528e-01 1.44572271e-03 1.24369792e+02] [-1.97241311e-03 -1.05336837e-05 9.99998055e-01 -3.86584979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.77028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.76623684e-01 -7.36327569e-01 -1.44943278e-03 2.45782912e+02] [ 7.36325916e-01 -6.76625237e-01 1.56046612e-03 1.24367333e+02] [-2.12973703e-03 -1.14065853e-05 9.99997732e-01 -3.86942660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.800281693 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.76775495e-01 -7.36188066e-01 -1.43541926e-03 2.45778609e+02] [ 7.36186447e-01 -6.76777017e-01 1.54418255e-03 1.24370760e+02] [-2.10826753e-03 -1.16712944e-05 9.99997778e-01 -3.86424108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.83028169299996 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.76700265e-01 -7.36256861e-01 -1.60816494e-03 2.45779338e+02] [ 7.36254832e-01 -6.76702175e-01 1.72863631e-03 1.24369582e+02] [-2.36096906e-03 -1.42505611e-05 9.99997213e-01 -3.86119224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.86028169299993 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.78, Y:124.37, Z:-0.39 [[-6.77027811e-01 -7.35955762e-01 -1.56848040e-03 2.45779964e+02] [ 7.35953834e-01 -6.77029628e-01 1.68467156e-03 1.24367859e+02] [-2.30175144e-03 -1.37596632e-05 9.99997351e-01 -3.86054317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.89028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:245.79, Y:124.36, Z:-0.39 [[-6.77722742e-01 -7.35315881e-01 -1.56225223e-03 2.45788219e+02] [ 7.35313969e-01 -6.77724543e-01 1.67667865e-03 1.24357720e+02] [-2.29166511e-03 -1.24226349e-05 9.99997374e-01 -3.86383135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.92028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.79, Y:124.36, Z:-0.39 [[-6.79690285e-01 -7.33498069e-01 -1.30375947e-03 2.45787142e+02] [ 7.33496736e-01 -6.79691536e-01 1.39821390e-03 1.24361507e+02] [-1.91174147e-03 -5.95091591e-06 9.99998173e-01 -3.87808959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.95028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.79, Y:124.36, Z:-0.39 [[-6.79974732e-01 -7.33234385e-01 -1.30430136e-03 2.45788917e+02] [ 7.33233053e-01 -6.79975983e-01 1.39770837e-03 1.24359714e+02] [-1.91174143e-03 -5.95049343e-06 9.99998173e-01 -3.87807706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 436.98028169299994 meters Centerline goodness : 0.999704 Centerline is valid? [True, True] Translation: X:245.79, Y:124.36, Z:-0.39 [[-6.81381852e-01 -7.31928101e-01 -1.64469793e-04 2.45794456e+02] [ 7.31928080e-01 -6.81381872e-01 1.76358439e-04 1.24357382e+02] [-2.41148433e-04 -2.12620064e-07 9.99999971e-01 -3.88310351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:245.79, Y:124.37, Z:-0.39 [[-6.82559298e-01 -7.30828887e-01 1.39364089e-03 2.45787404e+02] [ 7.30827367e-01 -6.82560721e-01 -1.49053616e-03 1.24369987e+02] [ 2.04057142e-03 1.13158792e-06 9.99997918e-01 -3.88588535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.04028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.80, Y:124.36, Z:-0.39 [[-6.82410583e-01 -7.30967919e-01 1.30323331e-03 2.45799521e+02] [ 7.30966592e-01 -6.82411827e-01 -1.39273589e-03 1.24357571e+02] [ 1.90738708e-03 2.20229583e-06 9.99998181e-01 -3.88445311e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.07028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.80, Y:124.36, Z:-0.39 [[-6.81719284e-01 -7.31613300e-01 8.92466979e-04 2.45800174e+02] [ 7.31612680e-01 -6.81719869e-01 -9.52930099e-04 1.24357060e+02] [ 1.30558881e-03 3.30933284e-06 9.99999148e-01 -3.87732232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.10028169299994 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.81, Y:124.35, Z:-0.39 [[-6.80790415e-01 -7.32478202e-01 3.07488091e-04 2.45807548e+02] [ 7.32478128e-01 -6.80790485e-01 -3.27880838e-04 1.24349741e+02] [ 4.49500533e-04 2.01016975e-06 9.99999899e-01 -3.87284985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.130281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.81, Y:124.35, Z:-0.39 [[-6.78580591e-01 -7.34525829e-01 -4.33885842e-04 2.45809288e+02] [ 7.34525683e-01 -6.78580730e-01 4.62982054e-04 1.24349354e+02] [-6.34498848e-04 -4.52965923e-06 9.99999799e-01 -3.86867033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.16028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.80, Y:124.36, Z:-0.39 [[-6.77932949e-01 -7.35123703e-01 -2.41729827e-04 2.45796452e+02] [ 7.35123658e-01 -6.77932992e-01 2.57865864e-04 1.24363245e+02] [-3.53439933e-04 -2.88554961e-06 9.99999938e-01 -3.86837707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.80, Y:124.36, Z:-0.39 [[-6.77367697e-01 -7.35644581e-01 2.32822582e-04 2.45798077e+02] [ 7.35644539e-01 -6.77367737e-01 -2.47610835e-04 1.24362563e+02] [ 3.39860074e-04 3.55108036e-06 9.99999942e-01 -3.87906122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.22028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.80, Y:124.36, Z:-0.39 [[-6.77794899e-01 -7.35251021e-01 1.07502995e-04 2.45800855e+02] [ 7.35251012e-01 -6.77794907e-01 -1.14087792e-04 1.24360937e+02] [ 1.56748148e-04 1.71356245e-06 9.99999988e-01 -3.88353216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.250281693 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.81, Y:124.35, Z:-0.39 [[-6.78194436e-01 -7.34882387e-01 -4.29293952e-04 2.45808680e+02] [ 7.34882245e-01 -6.78194572e-01 4.56655186e-04 1.24353924e+02] [-6.26732681e-04 -5.77949708e-06 9.99999804e-01 -3.88325949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.28028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.81, Y:124.36, Z:-0.39 [[-6.78614435e-01 -7.34494176e-01 -8.68575066e-04 2.45805649e+02] [ 7.34493596e-01 -6.78614991e-01 9.22919746e-04 1.24357524e+02] [-1.26730724e-03 -1.16561619e-05 9.99999197e-01 -3.87424073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.310281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:245.82, Y:124.34, Z:-0.39 [[-6.78173342e-01 -7.34901566e-01 -7.78168302e-04 2.45815819e+02] [ 7.34901102e-01 -6.78173789e-01 8.26239429e-04 1.24344627e+02] [-1.13493800e-03 -1.15431873e-05 9.99999356e-01 -3.86484223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.34028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.82, Y:124.34, Z:-0.39 [[-6.77652434e-01 -7.35382204e-01 -4.38930930e-04 2.45817235e+02] [ 7.35382057e-01 -6.77652576e-01 4.65805685e-04 1.24341250e+02] [-6.39987886e-04 -7.12757384e-06 9.99999795e-01 -3.86194197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.370281693 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:245.82, Y:124.34, Z:-0.39 [[-6.77052144e-01 -7.35934863e-01 -5.21180017e-04 2.45819693e+02] [ 7.35934655e-01 -6.77052345e-01 5.52608608e-04 1.24336903e+02] [-7.59550093e-04 -9.40959382e-06 9.99999712e-01 -3.86715868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.40028169299995 meters Centerline goodness : 0.999811 Centerline is valid? [True, True] Translation: X:245.83, Y:124.33, Z:-0.39 [[-6.76334000e-01 -7.36594884e-01 -5.45246580e-04 2.45825665e+02] [ 7.36594658e-01 -6.76334220e-01 5.77665552e-04 1.24329531e+02] [-7.94274411e-04 -1.09308642e-05 9.99999685e-01 -3.86382167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.430281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.82, Y:124.33, Z:-0.39 [[-6.74368411e-01 -7.38393877e-01 -1.31438149e-03 2.45823674e+02] [ 7.38392568e-01 -6.74369691e-01 1.39106083e-03 1.24327894e+02] [-1.91352984e-03 -3.24420391e-05 9.99998169e-01 -3.86932880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.46028169299996 meters Centerline goodness : 0.999853 Centerline is valid? [True, True] Translation: X:245.83, Y:124.32, Z:-0.39 [[-6.73479370e-01 -7.39204631e-01 -1.43214692e-03 2.45831274e+02] [ 7.39203081e-01 -6.73480892e-01 1.51450402e-03 1.24317212e+02] [-2.08405197e-03 -3.86602045e-05 9.99997828e-01 -3.86989575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.490281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:245.83, Y:124.32, Z:-0.39 [[-6.73035923e-01 -7.39608092e-01 -1.58652979e-03 2.45826740e+02] [ 7.39606193e-01 -6.73037791e-01 1.67644448e-03 1.24319389e+02] [-2.30770641e-03 -4.50999049e-05 9.99997336e-01 -3.86493490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.52028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.39 [[-6.73401843e-01 -7.39274797e-01 -1.65282813e-03 2.45821328e+02] [ 7.39272739e-01 -6.73403870e-01 1.74514107e-03 1.24318517e+02] [-2.40315967e-03 -4.67095622e-05 9.99997111e-01 -3.86244130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.550281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.74443989e-01 -7.38324679e-01 -1.40538678e-03 2.45823444e+02] [ 7.38323191e-01 -6.74445452e-01 1.48277439e-03 1.24313770e+02] [-2.04262565e-03 -3.75813738e-05 9.99997913e-01 -3.86151267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.58028169299996 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.39 [[-6.75742006e-01 -7.37137428e-01 -1.07355260e-03 2.45818717e+02] [ 7.37136560e-01 -6.75742859e-01 1.13185676e-03 1.24316957e+02] [-1.55977949e-03 -2.65117144e-05 9.99998783e-01 -3.86356942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.61028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.39 [[-6.76955954e-01 -7.36022759e-01 -1.06549600e-03 2.45816442e+02] [ 7.36021903e-01 -6.76956792e-01 1.12249136e-03 1.24318896e+02] [-1.54747394e-03 -2.43511909e-05 9.99998802e-01 -3.86894545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.64028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.82, Y:124.32, Z:-0.39 [[-6.79057852e-01 -7.34084074e-01 -1.00278435e-03 2.45816889e+02] [ 7.34083315e-01 -6.79058592e-01 1.05561766e-03 1.24317763e+02] [-1.45586144e-03 -1.93017986e-05 9.99998940e-01 -3.87774821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.67028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.79923688e-01 -7.33282326e-01 -8.99534362e-04 2.45818965e+02] [ 7.33281716e-01 -6.79924283e-01 9.46217577e-04 1.24314858e+02] [-1.30545988e-03 -1.62563559e-05 9.99999148e-01 -3.87269349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.70028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.80155034e-01 -7.33067757e-01 -8.90237146e-04 2.45823383e+02] [ 7.33067160e-01 -6.80155617e-01 9.36103029e-04 1.24309111e+02] [-1.29172674e-03 -1.59084290e-05 9.99999166e-01 -3.87079452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.73028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.81, Y:124.32, Z:-0.39 [[-6.80363324e-01 -7.32874799e-01 -5.26317004e-04 2.45809714e+02] [ 7.32874590e-01 -6.80363527e-01 5.53261922e-04 1.24322746e+02] [-7.63558613e-04 -9.30523871e-06 9.99999708e-01 -3.86686672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.76028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.81, Y:124.32, Z:-0.39 [[-6.80357024e-01 -7.32880614e-01 5.70591914e-04 2.45808733e+02] [ 7.32880369e-01 -6.80357264e-01 -5.98737997e-04 1.24322515e+02] [ 8.27009824e-04 1.08200109e-05 9.99999658e-01 -3.87586590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.79028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.80030831e-01 -7.33182451e-01 1.25023789e-03 2.45817624e+02] [ 7.33181276e-01 -6.80031980e-01 -1.31303101e-03 1.24312485e+02] [ 1.81289304e-03 2.37494393e-05 9.99998356e-01 -3.88218362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.82028169299997 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.79951028e-01 -7.33256132e-01 1.43011653e-03 2.45816472e+02] [ 7.33254597e-01 -6.79952531e-01 -1.50036312e-03 1.24312415e+02] [ 2.07256181e-03 2.84660786e-05 9.99997852e-01 -3.88115597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.85028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.79077383e-01 -7.34066659e-01 2.17574938e-04 2.45818054e+02] [ 7.34066624e-01 -6.79077418e-01 -2.27901884e-04 1.24309138e+02] [ 3.15045402e-04 4.95148560e-06 9.99999950e-01 -3.87151137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.880281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.82, Y:124.31, Z:-0.39 [[-6.78878707e-01 -7.34250163e-01 -6.31351072e-04 2.45820385e+02] [ 7.34249865e-01 -6.78879001e-01 6.61827663e-04 1.24306369e+02] [-9.14558054e-04 -1.42687312e-05 9.99999582e-01 -3.86190294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.91028169299994 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:245.82, Y:124.30, Z:-0.38 [[-6.79504600e-01 -7.33669353e-01 -1.66705892e-03 2.45823203e+02] [ 7.33667273e-01 -6.79506644e-01 1.74701532e-03 1.24299913e+02] [-2.41450921e-03 -3.59616261e-05 9.99997084e-01 -3.84611024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:245.82, Y:124.30, Z:-0.38 [[-6.80842929e-01 -7.32425550e-01 -2.39170831e-03 2.45822775e+02] [ 7.32421267e-01 -6.80847128e-01 2.50501255e-03 1.24297642e+02] [-3.46312293e-03 -4.62179481e-05 9.99994002e-01 -3.84663564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 437.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.83, Y:124.29, Z:-0.39 [[-6.81673012e-01 -7.31651709e-01 -2.77159988e-03 2.45826863e+02] [ 7.31645951e-01 -6.81678645e-01 2.90311083e-03 1.24291709e+02] [-4.01340644e-03 -4.88575251e-05 9.99991945e-01 -3.85105478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.000281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:245.83, Y:124.29, Z:-0.39 [[-6.83084774e-01 -7.30337202e-01 -1.66206814e-03 2.45825699e+02] [ 7.30335130e-01 -6.83086796e-01 1.73990617e-03 1.24293506e+02] [-2.40605500e-03 -2.53633417e-05 9.99997105e-01 -3.86552726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.81, Y:124.31, Z:-0.39 [[-6.84207860e-01 -7.29286930e-01 -4.22212341e-04 2.45812321e+02] [ 7.29286796e-01 -6.84207990e-01 4.41850695e-04 1.24307897e+02] [-6.11116994e-04 -5.59616708e-06 9.99999813e-01 -3.87052390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.060281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.83, Y:124.29, Z:-0.39 [[-6.85225878e-01 -7.28330474e-01 4.64596301e-04 2.45827749e+02] [ 7.28330312e-01 -6.85226036e-01 -4.86556527e-04 1.24291320e+02] [ 6.72727428e-04 4.97844516e-06 9.99999774e-01 -3.87049242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.09028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.39 [[-6.88476419e-01 -7.25258711e-01 1.51932016e-04 2.45837794e+02] [ 7.25258694e-01 -6.88476435e-01 -1.59172142e-04 1.24282820e+02] [ 2.20042595e-04 6.03748726e-07 9.99999976e-01 -3.86539233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.120281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.39 [[-6.90182545e-01 -7.23635296e-01 -1.18007562e-04 2.45841401e+02] [ 7.23635285e-01 -6.90182555e-01 1.23549926e-04 1.24282306e+02] [-1.70851848e-04 -1.22433457e-07 9.99999985e-01 -3.86379242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.15028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.39 [[-6.91950758e-01 -7.21944649e-01 -2.70086818e-04 2.45836045e+02] [ 7.21944593e-01 -6.91950810e-01 2.82831111e-04 1.24291849e+02] [-3.91075199e-04 7.17483656e-07 9.99999924e-01 -3.86802656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.39 [[-6.93006510e-01 -7.20931317e-01 -1.17847056e-04 2.45842607e+02] [ 7.20931307e-01 -6.93006520e-01 1.23264632e-04 1.24287995e+02] [-1.70534111e-04 4.63560784e-07 9.99999985e-01 -3.86759296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.21028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:245.85, Y:124.29, Z:-0.39 [[-6.93787343e-01 -7.20179902e-01 1.80160753e-04 2.45847731e+02] [ 7.20179877e-01 -6.93787366e-01 -1.88075732e-04 1.24288404e+02] [ 2.60441616e-04 -7.36413424e-07 9.99999966e-01 -3.87191720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.240281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:245.86, Y:124.28, Z:-0.39 [[-6.93800197e-01 -7.20167539e-01 4.94869952e-05 2.45857035e+02] [ 7.20167537e-01 -6.93800199e-01 -5.14622500e-05 1.24282501e+02] [ 7.13955292e-05 -6.55917817e-08 9.99999997e-01 -3.87256130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.27028169299996 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:245.85, Y:124.29, Z:-0.39 [[-6.93654835e-01 -7.20307532e-01 1.73186292e-04 2.45851720e+02] [ 7.20307509e-01 -6.93654857e-01 -1.80525896e-04 1.24292083e+02] [ 2.50165675e-04 -4.75273721e-07 9.99999969e-01 -3.86838629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.86, Y:124.28, Z:-0.39 [[-6.93033322e-01 -7.20905389e-01 4.84410787e-04 2.45863411e+02] [ 7.20905212e-01 -6.93033491e-01 -5.05709035e-04 1.24282830e+02] [ 7.00281267e-04 -1.25895139e-06 9.99999755e-01 -3.87400240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.33028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:245.85, Y:124.30, Z:-0.39 [[-6.90515924e-01 -7.23316477e-01 1.01644752e-03 2.45847812e+02] [ 7.23315700e-01 -6.90516672e-01 -1.06004808e-03 1.24302344e+02] [ 1.46862420e-03 3.23236553e-06 9.99998922e-01 -3.88199944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.36028169299993 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.85, Y:124.30, Z:-0.39 [[-6.88799008e-01 -7.24951013e-01 1.39873050e-03 2.45847350e+02] [ 7.24949547e-01 -6.88800428e-01 -1.45769780e-03 1.24303440e+02] [ 2.02020566e-03 9.94824614e-06 9.99997959e-01 -3.87517496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.39028169299996 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:245.84, Y:124.31, Z:-0.39 [[-6.86797896e-01 -7.26846921e-01 1.48411840e-03 2.45840030e+02] [ 7.26845278e-01 -6.86799500e-01 -1.54549366e-03 1.24311066e+02] [ 2.14262908e-03 1.72826605e-05 9.99997704e-01 -3.87264920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.42028169299994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:245.85, Y:124.30, Z:-0.39 [[-6.83136573e-01 -7.30288716e-01 1.67757043e-03 2.45849598e+02] [ 7.30286626e-01 -6.83138632e-01 -1.74746746e-03 1.24298021e+02] [ 2.42216894e-03 3.13483183e-05 9.99997066e-01 -3.87582101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.45028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:245.85, Y:124.30, Z:-0.39 [[-6.82328567e-01 -7.31044042e-01 1.52791494e-03 2.45850268e+02] [ 7.31042314e-01 -6.82330277e-01 -1.59003351e-03 1.24295539e+02] [ 2.20492714e-03 3.20451858e-05 9.99997569e-01 -3.87646168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.48028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:245.84, Y:124.30, Z:-0.39 [[-6.82189397e-01 -7.31174302e-01 1.32965134e-03 2.45839701e+02] [ 7.31172995e-01 -6.82190692e-01 -1.38259266e-03 1.24304908e+02] [ 1.91799199e-03 2.90150975e-05 9.99998160e-01 -3.88264824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.51028169299997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:245.84, Y:124.30, Z:-0.39 [[-6.82643633e-01 -7.30750765e-01 9.95125588e-04 2.45840493e+02] [ 7.30750034e-01 -6.82644358e-01 -1.03386385e-03 1.24301371e+02] [ 1.43481366e-03 2.14274857e-05 9.99998970e-01 -3.88739465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.54028169299994 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.39 [[-6.84297580e-01 -7.29202773e-01 3.71839774e-04 2.45839378e+02] [ 7.29202671e-01 -6.84297681e-01 -3.85835990e-04 1.24294361e+02] [ 5.35801769e-04 7.11992207e-06 9.99999856e-01 -3.87485104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.57028169299997 meters Centerline goodness : 0.999549 Centerline is valid? [True, True] Translation: X:245.84, Y:124.29, Z:-0.39 [[-6.85624110e-01 -7.27955614e-01 4.50478379e-04 2.45842543e+02] [ 7.27955464e-01 -6.85624258e-01 -4.67936791e-04 1.24287243e+02] [ 6.49496119e-04 7.09945111e-06 9.99999789e-01 -3.86907708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.60028169299994 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:245.85, Y:124.28, Z:-0.39 [[-6.87263241e-01 -7.26407914e-01 8.83162590e-04 2.45848477e+02] [ 7.26407335e-01 -6.87263808e-01 -9.17499722e-04 1.24278415e+02] [ 1.27344474e-03 1.09719505e-05 9.99999189e-01 -3.87056045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.630281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:245.84, Y:124.28, Z:-0.39 [[-6.91619210e-01 -7.22261299e-01 1.21838389e-03 2.45843785e+02] [ 7.22260192e-01 -6.91620283e-01 -1.26440330e-03 1.24278754e+02] [ 1.75588858e-03 5.50457461e-06 9.99998458e-01 -3.86197320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.66028169299994 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:245.85, Y:124.27, Z:-0.39 [[-6.93648886e-01 -7.20312684e-01 9.27659031e-04 2.45851265e+02] [ 7.20312040e-01 -6.93649506e-01 -9.63292296e-04 1.24268425e+02] [ 1.33734189e-03 1.73407261e-08 9.99999106e-01 -3.86210882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.690281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:245.86, Y:124.26, Z:-0.39 [[-6.95565707e-01 -7.18462458e-01 2.08373315e-04 2.45856403e+02] [ 7.18462426e-01 -6.95565738e-01 -2.16463767e-04 1.24261029e+02] [ 3.00458429e-04 -8.56375724e-07 9.99999955e-01 -3.86008363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.72028169299995 meters Centerline goodness : 0.999441 Centerline is valid? [True, True] Translation: X:245.86, Y:124.26, Z:-0.39 [[-6.96976625e-01 -7.17093550e-01 -6.51599995e-04 2.45858519e+02] [ 7.17093231e-01 -6.96976930e-01 6.76715322e-04 1.24257616e+02] [-9.39418356e-04 4.39681565e-06 9.99999559e-01 -3.85285449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.750281693 meters Centerline goodness : 0.999595 Centerline is valid? [True, True] Translation: X:245.87, Y:124.25, Z:-0.38 [[-6.98425226e-01 -7.15681635e-01 -1.41456577e-03 2.45865572e+02] [ 7.15680127e-01 -6.98426658e-01 1.46947805e-03 1.24248970e+02] [-2.03964890e-03 1.39439299e-05 9.99997920e-01 -3.84820434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.78028169299995 meters Centerline goodness : 0.999634 Centerline is valid? [True, True] Translation: X:245.86, Y:124.26, Z:-0.38 [[-6.99420901e-01 -7.14709113e-01 -1.13424159e-03 2.45858526e+02] [ 7.14708143e-01 -6.99421821e-01 1.17773647e-03 1.24255760e+02] [-1.63505231e-03 1.30818007e-05 9.99998663e-01 -3.84897733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.810281693 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:245.86, Y:124.25, Z:-0.39 [[-6.99875655e-01 -7.14264454e-01 -5.98023397e-04 2.45859568e+02] [ 7.14264184e-01 -6.99875910e-01 6.20862916e-04 1.24254658e+02] [-8.62002481e-04 7.38014649e-06 9.99999628e-01 -3.85228738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.84028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:245.86, Y:124.26, Z:-0.39 [[-6.99842087e-01 -7.14297344e-01 -5.97977185e-04 2.45858995e+02] [ 7.14297074e-01 -6.99842343e-01 6.20907423e-04 1.24255269e+02] [-8.62002277e-04 7.40379349e-06 9.99999628e-01 -3.85229154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.870281693 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:245.85, Y:124.27, Z:-0.39 [[-7.01124323e-01 -7.13038556e-01 8.37367716e-04 2.45848856e+02] [ 7.13038027e-01 -7.01124823e-01 -8.68592240e-04 1.24266597e+02] [ 1.20643905e-03 -1.19161234e-05 9.99999272e-01 -3.86328405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.90028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.87, Y:124.24, Z:-0.39 [[-7.01666781e-01 -7.12503352e-01 1.64381609e-03 2.45870981e+02] [ 7.12501307e-01 -7.01668706e-01 -1.70720530e-03 1.24244234e+02] [ 2.36980381e-03 -2.66681364e-05 9.99997192e-01 -3.86023565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.930281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.87, Y:124.24, Z:-0.39 [[-7.02751428e-01 -7.11432435e-01 2.07881287e-03 2.45872352e+02] [ 7.11429160e-01 -7.02754501e-01 -2.15886813e-03 1.24244669e+02] [ 2.99678392e-03 -3.82195672e-05 9.99995509e-01 -3.85811674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:245.88, Y:124.24, Z:-0.39 [[-7.04597410e-01 -7.09604969e-01 1.81073168e-03 2.45884687e+02] [ 7.09602477e-01 -7.04599735e-01 -1.88105947e-03 1.24235419e+02] [ 2.61065021e-03 -4.04899478e-05 9.99996591e-01 -3.85177066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 438.990281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:245.88, Y:124.24, Z:-0.38 [[-7.05444045e-01 -7.08764883e-01 1.01961911e-03 2.45880193e+02] [ 7.08764093e-01 -7.05444782e-01 -1.05811683e-03 1.24241719e+02] [ 1.46924104e-03 -2.37728013e-05 9.99998920e-01 -3.84634856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.02028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:245.88, Y:124.24, Z:-0.38 [[-7.05773307e-01 -7.08437561e-01 5.11101474e-04 2.45883099e+02] [ 7.08437363e-01 -7.05773492e-01 -5.29955991e-04 1.24240307e+02] [ 7.36162601e-04 -1.19454115e-05 9.99999729e-01 -3.84252087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.050281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:245.89, Y:124.24, Z:-0.38 [[-7.05666194e-01 -7.08543934e-01 8.46343432e-04 2.45885117e+02] [ 7.08543391e-01 -7.05666702e-01 -8.77034029e-04 1.24239941e+02] [ 1.21865352e-03 -1.92222201e-05 9.99999257e-01 -3.84329118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.08028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.88, Y:124.25, Z:-0.39 [[-7.05477624e-01 -7.08729682e-01 1.88670264e-03 2.45883598e+02] [ 7.08726990e-01 -7.05480146e-01 -1.95399211e-03 1.24245448e+02] [ 2.71588346e-03 -4.13406307e-05 9.99996311e-01 -3.85203624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.11028169299993 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:245.89, Y:124.24, Z:-0.38 [[-7.05913410e-01 -7.08296288e-01 1.62051681e-03 2.45887652e+02] [ 7.08294304e-01 -7.05915269e-01 -1.67702511e-03 1.24244303e+02] [ 2.33177823e-03 -3.60316868e-05 9.99997281e-01 -3.84944882e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.14028169299996 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.88, Y:124.26, Z:-0.38 [[-7.06313469e-01 -7.07898257e-01 1.15849161e-03 2.45879220e+02] [ 7.07897244e-01 -7.06314418e-01 -1.19791348e-03 1.24256633e+02] [ 1.66626019e-03 -2.60094076e-05 9.99998611e-01 -3.84715419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.17028169299994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:245.89, Y:124.25, Z:-0.38 [[-7.07151953e-01 -7.07060445e-01 1.28108658e-03 2.45888389e+02] [ 7.07059207e-01 -7.07153113e-01 -1.32371124e-03 1.24254067e+02] [ 1.84186822e-03 -3.02609244e-05 9.99998303e-01 -3.83805073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.20028169299997 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.90, Y:124.25, Z:-0.38 [[-7.07155380e-01 -7.07056304e-01 1.62813062e-03 2.45898048e+02] [ 7.07054307e-01 -7.07157254e-01 -1.68111826e-03 1.24247356e+02] [ 2.33998964e-03 -3.76350581e-05 9.99997262e-01 -3.83721382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.23028169299994 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:245.89, Y:124.26, Z:-0.38 [[-7.06938128e-01 -7.07273143e-01 1.78444189e-03 2.45888372e+02] [ 7.07270748e-01 -7.06940379e-01 -1.84115841e-03 1.24260191e+02] [ 2.56369592e-03 -3.95015290e-05 9.99996713e-01 -3.83678222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.26028169299997 meters Centerline goodness : 0.999806 Centerline is valid? [True, True] Translation: X:245.90, Y:124.26, Z:-0.38 [[-7.05960616e-01 -7.08248854e-01 1.78043350e-03 2.45898308e+02] [ 7.08246476e-01 -7.05962860e-01 -1.83563670e-03 1.24256487e+02] [ 2.55700751e-03 -3.49014587e-05 9.99996730e-01 -3.83261251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.29028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:245.90, Y:124.26, Z:-0.38 [[-7.05395023e-01 -7.08812425e-01 1.67539167e-03 2.45897373e+02] [ 7.08810325e-01 -7.05397012e-01 -1.72602103e-03 1.24260319e+02] [ 2.40524143e-03 -2.99917306e-05 9.99997107e-01 -3.83626377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.32028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.90, Y:124.26, Z:-0.38 [[-7.04276646e-01 -7.09924238e-01 1.40780395e-03 2.45897480e+02] [ 7.09922759e-01 -7.04278053e-01 -1.44920656e-03 1.24263225e+02] [ 2.02031229e-03 -2.12102750e-05 9.99997959e-01 -3.83239504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.35028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.89, Y:124.28, Z:-0.38 [[-7.00911822e-01 -7.13246389e-01 1.48546419e-03 2.45886679e+02] [ 7.13244752e-01 -7.00913396e-01 -1.52799570e-03 1.24279625e+02] [ 2.13101916e-03 -1.14907167e-05 9.99997729e-01 -3.83208145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.380281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.89, Y:124.27, Z:-0.38 [[-6.99495048e-01 -7.14635601e-01 1.62329548e-03 2.45893749e+02] [ 7.14633653e-01 -6.99496932e-01 -1.66851554e-03 1.24274569e+02] [ 2.32787082e-03 -7.05678064e-06 9.99997291e-01 -3.83158486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.41028169299994 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:245.89, Y:124.28, Z:-0.38 [[-6.98091262e-01 -7.16006444e-01 1.83363694e-03 2.45894878e+02] [ 7.16003967e-01 -6.98093670e-01 -1.88330716e-03 1.24275259e+02] [ 2.62851040e-03 -1.82895064e-06 9.99996545e-01 -3.83117543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.440281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.96689350e-01 -7.17369544e-01 2.21046738e-03 2.45883064e+02] [ 7.17365957e-01 -6.96692857e-01 -2.26864461e-03 1.24288498e+02] [ 3.16747338e-03 5.17350689e-06 9.99994984e-01 -3.83505720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.47028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.93967996e-01 -7.19998262e-01 3.30512351e-03 2.45878408e+02] [ 7.19990284e-01 -6.93975866e-01 -3.38959443e-03 1.24292748e+02] [ 4.73417805e-03 2.73867651e-05 9.99988793e-01 -3.83810096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.500281693 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.93194804e-01 -7.20743081e-01 3.22106674e-03 2.45878277e+02] [ 7.20735523e-01 -6.93202287e-01 -3.30078991e-03 1.24291806e+02] [ 4.61187232e-03 3.34468025e-05 9.99989365e-01 -3.84031967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.53028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.92842857e-01 -7.21083056e-01 2.82876829e-03 2.45882409e+02] [ 7.21077239e-01 -6.92848631e-01 -2.89647574e-03 1.24287251e+02] [ 4.04850781e-03 3.29578944e-05 9.99991804e-01 -3.83654588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.560281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.93670299e-01 -7.20289320e-01 2.19375010e-03 2.45883993e+02] [ 7.20285823e-01 -6.93673767e-01 -2.24443648e-03 1.24286763e+02] [ 3.13839052e-03 2.32281756e-05 9.99995075e-01 -3.83307977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.59028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.89, Y:124.28, Z:-0.38 [[-6.94650759e-01 -7.19343189e-01 2.38741123e-03 2.45885783e+02] [ 7.19339048e-01 -6.94654861e-01 -2.44068376e-03 1.24284736e+02] [ 3.41411606e-03 2.19352964e-05 9.99994172e-01 -3.83453943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.620281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:245.89, Y:124.28, Z:-0.38 [[-6.95580728e-01 -7.18442178e-01 2.87891567e-03 2.45886284e+02] [ 7.18436159e-01 -6.95586685e-01 -2.94090671e-03 1.24282808e+02] [ 4.11540683e-03 2.26790838e-05 9.99991531e-01 -3.82889525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.65028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:245.88, Y:124.29, Z:-0.38 [[-6.96402642e-01 -7.17645140e-01 2.96866253e-03 2.45879019e+02] [ 7.17638743e-01 -6.96408969e-01 -3.03020680e-03 1.24288306e+02] [ 4.24201640e-03 2.01832228e-05 9.99991002e-01 -3.82873322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.680281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.90, Y:124.27, Z:-0.38 [[-6.97007593e-01 -7.17062062e-01 1.55419631e-03 2.45897356e+02] [ 7.17060305e-01 -6.97009325e-01 -1.58713593e-03 1.24265211e+02] [ 2.22136428e-03 8.20668935e-06 9.99997533e-01 -3.82380054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.71028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.90, Y:124.26, Z:-0.38 [[-6.97344466e-01 -7.16735708e-01 7.88059083e-04 2.45895198e+02] [ 7.16735257e-01 -6.97344911e-01 -8.03810912e-04 1.24264861e+02] [ 1.12566897e-03 4.29663931e-06 9.99999366e-01 -3.81997859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.740281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.89, Y:124.26, Z:-0.38 [[-6.97671293e-01 -7.16417655e-01 7.14957395e-04 2.45892696e+02] [ 7.16417284e-01 -6.97671659e-01 -7.28656509e-04 1.24263804e+02] [ 1.02082790e-03 3.84510606e-06 9.99999479e-01 -3.82309599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.77028169299996 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:245.88, Y:124.27, Z:-0.38 [[-6.98581254e-01 -7.15525713e-01 2.68070094e-03 2.45882749e+02] [ 7.15520502e-01 -6.98586397e-01 -2.73069088e-03 1.24267915e+02] [ 3.82658075e-03 1.04870262e-05 9.99992679e-01 -3.84371359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.800281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:245.89, Y:124.26, Z:-0.39 [[-6.99482671e-01 -7.14642765e-01 3.11642166e-03 2.45890130e+02] [ 7.14635723e-01 -6.99489613e-01 -3.17245046e-03 1.24258946e+02] [ 4.44707335e-03 8.03212961e-06 9.99990112e-01 -3.85291628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.83028169299996 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:245.90, Y:124.25, Z:-0.39 [[-7.00746306e-01 -7.13402964e-01 3.29028471e-03 2.45897643e+02] [ 7.13395113e-01 -7.00754031e-01 -3.34682389e-03 1.24250647e+02] [ 4.69331436e-03 1.99855225e-06 9.99988986e-01 -3.85215921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.86028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.90, Y:124.24, Z:-0.38 [[-7.03591878e-01 -7.10597313e-01 3.15083027e-03 2.45902988e+02] [ 7.10590095e-01 -7.03598933e-01 -3.20284028e-03 1.24241633e+02] [ 4.49285051e-03 -1.45436310e-05 9.99989907e-01 -3.83743539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.89028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.91, Y:124.23, Z:-0.38 [[-7.04815674e-01 -7.09385431e-01 2.67872185e-03 2.45913658e+02] [ 7.09380202e-01 -7.04820765e-01 -2.72372951e-03 1.24227553e+02] [ 3.82019282e-03 -1.94950085e-05 9.99992703e-01 -3.83900370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.92028169299994 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:245.92, Y:124.22, Z:-0.38 [[-7.06013649e-01 -7.08194692e-01 2.23714596e-03 2.45918339e+02] [ 7.08191045e-01 -7.06017194e-01 -2.27294108e-03 1.24220559e+02] [ 3.18914832e-03 -2.04006875e-05 9.99994914e-01 -3.84165290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.95028169299997 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:245.91, Y:124.23, Z:-0.38 [[-7.07098281e-01 -7.07112691e-01 1.91426547e-03 2.45908119e+02] [ 7.07110020e-01 -7.07100872e-01 -1.94335177e-03 1.24229584e+02] [ 2.72774748e-03 -2.05443972e-05 9.99996280e-01 -3.83939185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 439.98028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.92, Y:124.22, Z:-0.38 [[-7.07841768e-01 -7.06368575e-01 1.86202099e-03 2.45915851e+02] [ 7.06366045e-01 -7.07844217e-01 -1.89100178e-03 1.24220695e+02] [ 2.65376502e-03 -2.32616412e-05 9.99996479e-01 -3.83277928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.01028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:245.90, Y:124.23, Z:-0.38 [[-7.08720148e-01 -7.05486846e-01 2.01538701e-03 2.45902946e+02] [ 7.05483883e-01 -7.08723013e-01 -2.04485505e-03 1.24232774e+02] [ 2.87096949e-03 -2.74069143e-05 9.99995878e-01 -3.84276063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.04028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:245.92, Y:124.21, Z:-0.38 [[-7.09209705e-01 -7.04993655e-01 2.35386967e-03 2.45922273e+02] [ 7.04989603e-01 -7.09213610e-01 -2.39068102e-03 1.24213109e+02] [ 3.35481136e-03 -3.60405419e-05 9.99994372e-01 -3.84205156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.07028169299997 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:245.93, Y:124.21, Z:-0.38 [[-7.10341977e-01 -7.03852697e-01 2.37818793e-03 2.45928642e+02] [ 7.03848555e-01 -7.10345957e-01 -2.41510797e-03 1.24207941e+02] [ 3.38921644e-03 -4.16684345e-05 9.99994256e-01 -3.84309831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.10028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:245.94, Y:124.20, Z:-0.38 [[-7.13394431e-01 -7.00757862e-01 2.60852679e-03 2.45938168e+02] [ 7.00752859e-01 -7.13399198e-01 -2.64874453e-03 1.24203939e+02] [ 3.71704947e-03 -6.16669900e-05 9.99993090e-01 -3.84175157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.130281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:245.95, Y:124.20, Z:-0.38 [[-7.15061888e-01 -6.99056223e-01 2.62556750e-03 2.45947884e+02] [ 6.99051144e-01 -7.15066704e-01 -2.66580325e-03 1.24197315e+02] [ 3.74100225e-03 -7.08083396e-05 9.99993000e-01 -3.83841845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.16028169299994 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:245.94, Y:124.21, Z:-0.38 [[-7.16414911e-01 -6.97670379e-01 2.39114998e-03 2.45937978e+02] [ 6.97666165e-01 -7.16418898e-01 -2.42576351e-03 1.24211056e+02] [ 3.40544838e-03 -6.96287138e-05 9.99994199e-01 -3.83391952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.190281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:245.95, Y:124.21, Z:-0.38 [[-7.16230219e-01 -6.97863615e-01 8.05308189e-04 2.45949024e+02] [ 6.97863138e-01 -7.16230671e-01 -8.16183673e-04 1.24206333e+02] [ 1.14637131e-03 -2.25805106e-05 9.99999343e-01 -3.81840334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.22028169299995 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:245.94, Y:124.22, Z:-0.38 [[-7.15012108e-01 -6.99112019e-01 2.65749373e-04 2.45939909e+02] [ 6.99111967e-01 -7.15012158e-01 -2.68960047e-04 1.24218727e+02] [ 3.78047234e-04 -6.52112300e-06 9.99999929e-01 -3.81380653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.250281693 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:245.96, Y:124.20, Z:-0.38 [[-7.13127285e-01 -7.01034572e-01 6.09713557e-05 2.45956154e+02] [ 7.01034569e-01 -7.13127288e-01 -6.17299951e-05 1.24204860e+02] [ 8.67551983e-05 -1.27831571e-06 9.99999996e-01 -3.81957985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.28028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:245.95, Y:124.21, Z:-0.38 [[-7.11225673e-01 -7.02963476e-01 6.27388565e-04 2.45950212e+02] [ 7.02963190e-01 -7.11225949e-01 -6.34798373e-04 1.24213654e+02] [ 8.92455099e-04 -1.04538335e-05 9.99999602e-01 -3.82150395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.310281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:245.94, Y:124.23, Z:-0.38 [[-7.08166563e-01 -7.06040176e-01 2.71833431e-03 2.45942783e+02] [ 7.06034824e-01 -7.08171780e-01 -2.74924880e-03 1.24226409e+02] [ 3.86612775e-03 -2.76873878e-05 9.99992526e-01 -3.82326534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.34028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:245.93, Y:124.24, Z:-0.38 [[-7.07164139e-01 -7.07042997e-01 3.01362155e-03 2.45929577e+02] [ 7.07036438e-01 -7.07170560e-01 -3.04559851e-03 1.24242457e+02] [ 4.28451353e-03 -2.29978005e-05 9.99990821e-01 -3.81899713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.370281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.06426408e-01 -7.07781442e-01 2.67594414e-03 2.45935822e+02] [ 7.07776284e-01 -7.06431476e-01 -2.70223327e-03 1.24238129e+02] [ 3.80296172e-03 -1.49591419e-05 9.99992769e-01 -3.81572218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.40028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:245.93, Y:124.25, Z:-0.38 [[-7.05177234e-01 -7.09030911e-01 4.86152570e-04 2.45932068e+02] [ 7.09030742e-01 -7.05177401e-01 -4.90328977e-04 1.24245636e+02] [ 6.90482207e-04 -1.07171440e-06 9.99999762e-01 -3.80670007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.430281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.04947047e-01 -7.09259876e-01 -2.99308040e-04 2.45938651e+02] [ 7.09259811e-01 -7.04947111e-01 3.02086519e-04 1.24240185e+02] [-4.25254185e-04 6.67835425e-07 9.99999910e-01 -3.80689841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.46028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.95, Y:124.23, Z:-0.38 [[-7.04603591e-01 -7.09601084e-01 -2.86343438e-04 2.45945147e+02] [ 7.09601025e-01 -7.04603649e-01 2.88790828e-04 1.24234314e+02] [-4.06684915e-04 2.93457131e-07 9.99999917e-01 -3.80858471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.490281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.04481030e-01 -7.09722538e-01 6.29596309e-04 2.45941446e+02] [ 7.09722256e-01 -7.04481312e-01 -6.33624837e-04 1.24238132e+02] [ 8.93236661e-04 4.61834290e-07 9.99999601e-01 -3.81565480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.52028169299996 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.03664983e-01 -7.10527519e-01 2.49742928e-03 2.45939628e+02] [ 7.10523077e-01 -7.03669415e-01 -2.51227583e-03 1.24240875e+02] [ 3.54240571e-03 6.68061074e-06 9.99993726e-01 -3.83048925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.550281693 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.03635397e-01 -7.10555136e-01 2.93731248e-03 2.45939213e+02] [ 7.10549002e-01 -7.03641527e-01 -2.95253722e-03 1.24242104e+02] [ 4.16475552e-03 9.59475019e-06 9.99991327e-01 -3.83196005e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.58028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.04154583e-01 -7.10039123e-01 3.28147368e-03 2.45938973e+02] [ 7.10031473e-01 -7.04162229e-01 -3.29595738e-03 1.24243343e+02] [ 4.65094850e-03 9.08609992e-06 9.99989184e-01 -3.83131203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.61028169299993 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:245.94, Y:124.25, Z:-0.38 [[-7.05907015e-01 -7.08293477e-01 3.95426187e-03 2.45938718e+02] [ 7.08282359e-01 -7.05918090e-01 -3.96868370e-03 1.24245642e+02] [ 5.60237777e-03 -7.87740547e-07 9.99984307e-01 -3.82789831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.64028169299996 meters Centerline goodness : 0.999700 Centerline is valid? [True, True] Translation: X:245.94, Y:124.25, Z:-0.38 [[-7.07300658e-01 -7.06902751e-01 3.77888566e-03 2.45938939e+02] [ 7.06892593e-01 -7.07310753e-01 -3.78969949e-03 1.24246427e+02] [ 5.35179546e-03 -9.19065899e-06 9.99985679e-01 -3.82411464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.67028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:245.95, Y:124.24, Z:-0.38 [[-7.08469276e-01 -7.05734282e-01 3.22636564e-03 2.45950983e+02] [ 7.05726876e-01 -7.08476622e-01 -3.23304810e-03 1.24235211e+02] [ 4.56747751e-03 -1.35823024e-05 9.99989569e-01 -3.82277717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.70028169299997 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:245.95, Y:124.23, Z:-0.38 [[-7.09355542e-01 -7.04847657e-01 2.12013719e-03 2.45953396e+02] [ 7.04844461e-01 -7.09358711e-01 -2.12279572e-03 1.24233264e+02] [ 3.00018537e-03 -1.14499538e-05 9.99995499e-01 -3.82351604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.73028169299994 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.09654073e-01 -7.04550039e-01 5.81580816e-04 2.45941916e+02] [ 7.04549799e-01 -7.09654312e-01 -5.81658513e-04 1.24243495e+02] [ 8.22528862e-04 -3.02368610e-06 9.99999662e-01 -3.82266776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.76028169299997 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:245.94, Y:124.24, Z:-0.38 [[-7.09929655e-01 -7.04272353e-01 5.81809285e-04 2.45943745e+02] [ 7.04272113e-01 -7.09929893e-01 -5.81430039e-04 1.24241769e+02] [ 8.22528905e-04 -3.02237239e-06 9.99999662e-01 -3.82265523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.79028169299994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:245.96, Y:124.23, Z:-0.38 [[-7.10042407e-01 -7.04158629e-01 6.37185179e-04 2.45958204e+02] [ 7.04158341e-01 -7.10042693e-01 -6.36784302e-04 1.24225553e+02] [ 9.00825842e-04 -3.46460021e-06 9.99999594e-01 -3.81425865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.82028169299997 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:245.97, Y:124.21, Z:-0.38 [[-7.10331416e-01 -7.03867251e-01 4.15989249e-04 2.45974290e+02] [ 7.03867128e-01 -7.10331538e-01 -4.15574652e-04 1.24208325e+02] [ 5.87999671e-04 -2.39457360e-06 9.99999827e-01 -3.81473078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.85028169299994 meters Centerline goodness : 0.999656 Centerline is valid? [True, True] Translation: X:245.96, Y:124.22, Z:-0.38 [[-7.11925671e-01 -7.02254638e-01 5.11268476e-04 2.45962809e+02] [ 7.02254453e-01 -7.11925855e-01 -5.10223098e-04 1.24219332e+02] [ 7.22291784e-04 -4.20035729e-06 9.99999739e-01 -3.80943659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.880281693 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:245.96, Y:124.22, Z:-0.38 [[-7.12713058e-01 -7.01454641e-01 1.21797890e-03 2.45963408e+02] [ 7.01453589e-01 -7.12714099e-01 -1.21492223e-03 1.24218317e+02] [ 1.72028358e-03 -1.15352672e-05 9.99998520e-01 -3.81461963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.91028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:245.98, Y:124.20, Z:-0.38 [[-7.13370745e-01 -7.00784366e-01 1.85812976e-03 2.45978262e+02] [ 7.00781916e-01 -7.13373164e-01 -1.85324939e-03 1.24201479e+02] [ 2.62426810e-03 -1.99101663e-05 9.99996556e-01 -3.81711841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.940281693 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:245.99, Y:124.19, Z:-0.38 [[-7.14073601e-01 -7.00067814e-01 1.98708179e-03 2.45985209e+02] [ 7.00065013e-01 -7.14076365e-01 -1.98020375e-03 1.24193312e+02] [ 2.80520505e-03 -2.29247871e-05 9.99996065e-01 -3.82017458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 440.97028169299995 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:245.99, Y:124.18, Z:-0.38 [[-7.15958906e-01 -6.98142251e-01 4.93371173e-04 2.45994165e+02] [ 6.98142078e-01 -7.15959076e-01 -4.91095325e-04 1.24184384e+02] [ 6.96087964e-04 -7.16089549e-06 9.99999758e-01 -3.81597753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.000281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:245.99, Y:124.20, Z:-0.38 [[-7.17179180e-01 -6.96888803e-01 -1.43391678e-04 2.45985526e+02] [ 6.96888788e-01 -7.17179194e-01 1.42964373e-04 1.24195076e+02] [-2.02467799e-04 2.60301912e-06 9.99999980e-01 -3.81317674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.03028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.00, Y:124.19, Z:-0.38 [[-7.18482111e-01 -6.95545382e-01 -2.77822791e-04 2.45997110e+02] [ 6.95545327e-01 -7.18482165e-01 2.76538090e-04 1.24186620e+02] [-3.91955511e-04 5.44932694e-06 9.99999923e-01 -3.81308143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.00, Y:124.19, Z:-0.38 [[-7.19831863e-01 -6.94148462e-01 -4.30118279e-05 2.45998911e+02] [ 6.94148461e-01 -7.19831864e-01 4.30039520e-05 1.24188482e+02] [-6.08124113e-05 1.09902073e-06 9.99999998e-01 -3.82014263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.09028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:246.01, Y:124.18, Z:-0.38 [[-7.22171379e-01 -6.91713593e-01 8.97074998e-04 2.46012549e+02] [ 6.91713020e-01 -7.22171936e-01 -8.90466926e-04 1.24184910e+02] [ 1.26379046e-03 -2.25512715e-05 9.99999201e-01 -3.82295496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.120281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.02, Y:124.18, Z:-0.38 [[-7.22975841e-01 -6.90872711e-01 9.11820945e-04 2.46024346e+02] [ 6.90872119e-01 -7.22976415e-01 -9.04435958e-04 1.24179150e+02] [ 1.28407516e-03 -2.39336778e-05 9.99999175e-01 -3.81971738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.15028169299995 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.02, Y:124.19, Z:-0.38 [[-7.23687327e-01 -6.90127360e-01 9.38007859e-04 2.46017422e+02] [ 6.90126734e-01 -7.23687935e-01 -9.29722458e-04 1.24191683e+02] [ 1.32045188e-03 -2.54840607e-05 9.99999128e-01 -3.81547368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.180281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.03, Y:124.18, Z:-0.38 [[-7.23809586e-01 -6.89999006e-01 1.02707418e-03 2.46031122e+02] [ 6.89998257e-01 -7.23810314e-01 -1.01726533e-03 1.24183270e+02] [ 1.44531895e-03 -2.76270063e-05 9.99998955e-01 -3.81833905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.21028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.03, Y:124.19, Z:-0.38 [[-7.23372542e-01 -6.90455763e-01 1.73330193e-03 2.46031167e+02] [ 6.90453633e-01 -7.23374618e-01 -1.71564901e-03 1.24187724e+02] [ 2.43840637e-03 -4.42887718e-05 9.99997026e-01 -3.81431566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.240281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.03, Y:124.20, Z:-0.38 [[-7.19990285e-01 -6.93980317e-01 2.30426048e-03 2.46026312e+02] [ 6.93976575e-01 -7.19993971e-01 -2.27916233e-03 1.24202205e+02] [ 3.24074745e-03 -4.18719438e-05 9.99994748e-01 -3.81849865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.27028169299996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:246.02, Y:124.21, Z:-0.38 [[-7.18135447e-01 -6.95900865e-01 1.86157073e-03 2.46020331e+02] [ 6.95898434e-01 -7.18137859e-01 -1.83984139e-03 1.24213753e+02] [ 2.61721163e-03 -2.57911630e-05 9.99996575e-01 -3.81615764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.300281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.02, Y:124.22, Z:-0.38 [[-7.16545647e-01 -6.97539492e-01 9.96561192e-04 2.46016806e+02] [ 6.97538797e-01 -7.16546340e-01 -9.84046847e-04 1.24222780e+02] [ 1.40049381e-03 -9.97438939e-06 9.99999019e-01 -3.81365130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.33028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.02, Y:124.23, Z:-0.38 [[-7.14399690e-01 -6.99737569e-01 -6.45672745e-04 2.46017123e+02] [ 6.99737279e-01 -7.14399982e-01 6.37516373e-04 1.24231373e+02] [-9.07362755e-04 3.64020946e-06 9.99999588e-01 -3.81038290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.36028169299993 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.02, Y:124.23, Z:-0.38 [[-7.14084032e-01 -7.00059762e-01 -5.69590398e-04 2.46020333e+02] [ 7.00059537e-01 -7.14084259e-01 5.61991857e-04 1.24232229e+02] [-8.00163423e-04 2.56222114e-06 9.99999680e-01 -3.81359140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.03, Y:124.23, Z:-0.38 [[-7.14115032e-01 -7.00028371e-01 -4.34760847e-05 2.46025818e+02] [ 7.00028369e-01 -7.14115033e-01 4.31132876e-05 1.24231151e+02] [-6.12274500e-05 3.53354024e-07 9.99999998e-01 -3.81665514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.42028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.02, Y:124.24, Z:-0.38 [[-7.13841406e-01 -7.00307231e-01 4.78214794e-04 2.46017967e+02] [ 7.00307073e-01 -7.13841567e-01 -4.70601898e-04 1.24243801e+02] [ 6.70935509e-04 -1.03791777e-06 9.99999775e-01 -3.81692414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.02, Y:124.25, Z:-0.38 [[-7.12385837e-01 -7.01787737e-01 -6.26622166e-04 2.46023691e+02] [ 7.01787465e-01 -7.12386112e-01 6.16793960e-04 1.24247026e+02] [-8.79255365e-04 -3.60300430e-07 9.99999613e-01 -3.80887559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.48028169299994 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:246.05, Y:124.23, Z:-0.38 [[-7.11463309e-01 -7.02721227e-01 -1.68437426e-03 2.46045685e+02] [ 7.02719275e-01 -7.11465303e-01 1.65620268e-03 1.24228019e+02] [-2.36222262e-03 -5.31482437e-06 9.99997210e-01 -3.80201466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.51028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.04, Y:124.23, Z:-0.38 [[-7.10370034e-01 -7.03824758e-01 -2.26387448e-03 2.46040677e+02] [ 7.03821244e-01 -7.10373641e-01 2.22419589e-03 1.24234860e+02] [-3.17364089e-03 -1.33608394e-05 9.99994964e-01 -3.80341443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.54028169299994 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.05, Y:124.23, Z:-0.38 [[-7.09176250e-01 -7.05028575e-01 -1.93805961e-03 2.46047344e+02] [ 7.05026007e-01 -7.09178898e-01 1.90265694e-03 1.24230791e+02] [-2.71585849e-03 -1.70633194e-05 9.99996312e-01 -3.81108534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.57028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.06, Y:124.22, Z:-0.38 [[-7.06399839e-01 -7.07812857e-01 4.76584361e-04 2.46064814e+02] [ 7.07812703e-01 -7.06400000e-01 -4.67185431e-04 1.24218206e+02] [ 6.67339047e-04 7.31275098e-06 9.99999777e-01 -3.82009824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.60028169299994 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.07, Y:124.22, Z:-0.38 [[-7.05030423e-01 -7.09176124e-01 1.15227972e-03 2.46067813e+02] [ 7.09175226e-01 -7.05031364e-01 -1.12907582e-03 1.24215421e+02] [ 1.61310696e-03 2.11354314e-05 9.99998699e-01 -3.82199656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.08, Y:124.20, Z:-0.38 [[-7.03667832e-01 -7.10527647e-01 1.42971104e-03 2.46078847e+02] [ 7.10526269e-01 -7.03669284e-01 -1.39992429e-03 1.24203469e+02] [ 2.00072865e-03 3.07655591e-05 9.99997998e-01 -3.82483432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.66028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.08, Y:124.20, Z:-0.38 [[-7.02170882e-01 -7.12007145e-01 1.37035733e-03 2.46078099e+02] [ 7.12005884e-01 -7.02172218e-01 -1.34078455e-03 1.24202871e+02] [ 1.91687503e-03 3.42426124e-05 9.99998162e-01 -3.82471961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.690281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.09, Y:124.19, Z:-0.38 [[-6.99748130e-01 -7.14389637e-01 -3.62321192e-05 2.46090206e+02] [ 7.14389636e-01 -6.99748131e-01 3.56921271e-05 1.24189195e+02] [-5.08514433e-05 -9.08351258e-07 9.99999999e-01 -3.82304059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.09, Y:124.18, Z:-0.38 [[-6.99300491e-01 -7.14827234e-01 -9.21378619e-04 2.46094145e+02] [ 7.14826668e-01 -6.99301097e-01 9.00582482e-04 1.24184277e+02] [-1.28808196e-03 -2.88482363e-05 9.99999170e-01 -3.82272393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.10, Y:124.18, Z:-0.38 [[-6.99324172e-01 -7.14802850e-01 -1.60894084e-03 2.46097083e+02] [ 7.14801124e-01 -6.99326021e-01 1.57126173e-03 1.24179405e+02] [-2.24831656e-03 -5.12514173e-05 9.99997471e-01 -3.81940513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.78028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.10, Y:124.17, Z:-0.38 [[-6.99768420e-01 -7.14366709e-01 -2.08905038e-03 2.46100387e+02] [ 7.14363803e-01 -6.99771535e-01 2.03853548e-03 1.24174276e+02] [-2.91811987e-03 -6.58392226e-05 9.99995740e-01 -3.81686334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.810281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.10, Y:124.17, Z:-0.38 [[-7.00505709e-01 -7.13644243e-01 -1.90921384e-03 2.46098536e+02] [ 7.13641817e-01 -7.00508309e-01 1.86168666e-03 1.24174192e+02] [-2.66600213e-03 -5.83726954e-05 9.99996445e-01 -3.81640613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.84028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.10, Y:124.17, Z:-0.38 [[-7.02889357e-01 -7.11298554e-01 -9.58358081e-04 2.46100606e+02] [ 7.11297942e-01 -7.02890010e-01 9.33935429e-04 1.24171022e+02] [-1.33792724e-03 -2.52248575e-05 9.99999105e-01 -3.83622931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.870281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.10, Y:124.17, Z:-0.38 [[-7.04361462e-01 -7.09841275e-01 -5.43033238e-04 2.46096484e+02] [ 7.09841078e-01 -7.04361671e-01 5.28913049e-04 1.24174249e+02] [-7.57936112e-04 -1.29213309e-05 9.99999713e-01 -3.84154340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.90028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.09, Y:124.18, Z:-0.39 [[-7.05850543e-01 -7.08360791e-01 -1.49503756e-05 2.46086307e+02] [ 7.08360791e-01 -7.05850544e-01 1.48044862e-05 1.24182634e+02] [-2.10396482e-05 -1.40505257e-07 1.00000000e+00 -3.85408656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.08, Y:124.19, Z:-0.39 [[-7.08745364e-01 -7.05463108e-01 1.34653575e-03 2.46079579e+02] [ 7.05461894e-01 -7.08746643e-01 -1.30863979e-03 1.24187161e+02] [ 1.87754979e-03 2.24372747e-05 9.99998237e-01 -3.85389362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.96028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.07, Y:124.19, Z:-0.39 [[-7.10765481e-01 -7.03426984e-01 1.70565629e-03 2.46073753e+02] [ 7.03425034e-01 -7.10767527e-01 -1.65645525e-03 1.24192516e+02] [ 2.37752042e-03 2.24501263e-05 9.99997173e-01 -3.85270881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 441.990281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.07, Y:124.20, Z:-0.38 [[-7.12888669e-01 -7.01275292e-01 1.64673119e-03 2.46067628e+02] [ 7.01273471e-01 -7.12890570e-01 -1.59798698e-03 1.24199279e+02] [ 2.29456792e-03 1.56220809e-05 9.99997367e-01 -3.84918779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.02028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.06, Y:124.20, Z:-0.38 [[-7.15175172e-01 -6.98944742e-01 8.49065643e-04 2.46063275e+02] [ 6.98944257e-01 -7.15175677e-01 -8.23161867e-04 1.24204225e+02] [ 1.18257575e-03 4.74462490e-06 9.99999301e-01 -3.84346175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.050281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.07, Y:124.20, Z:-0.38 [[-7.19233481e-01 -6.94767585e-01 -1.09686135e-03 2.46071490e+02] [ 6.94766771e-01 -7.19234317e-01 1.06318839e-03 1.24199946e+02] [-1.52756915e-03 2.61786399e-06 9.99998833e-01 -3.84794889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.08028169299996 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:246.06, Y:124.21, Z:-0.39 [[-7.21566872e-01 -6.92342549e-01 -1.74468577e-03 2.46061305e+02] [ 6.92340487e-01 -7.21568981e-01 1.68964750e-03 1.24212988e+02] [-2.42872599e-03 1.12770636e-05 9.99997051e-01 -3.85128207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.11028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.09, Y:124.19, Z:-0.39 [[-7.23297876e-01 -6.90534615e-01 -1.45885540e-03 2.46086919e+02] [ 6.90533172e-01 -7.23299347e-01 1.41177941e-03 1.24191643e+02] [-2.03007170e-03 1.37490022e-05 9.99997939e-01 -3.85355408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.14028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.09, Y:124.19, Z:-0.39 [[-7.24833085e-01 -6.88924454e-01 -3.09863359e-04 2.46094809e+02] [ 6.88924388e-01 -7.24833151e-01 2.99842832e-04 1.24186968e+02] [-4.31168294e-04 3.86357915e-06 9.99999907e-01 -3.85133822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.17028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.08, Y:124.20, Z:-0.39 [[-7.26481244e-01 -6.87184743e-01 1.46003287e-03 2.46083972e+02] [ 6.87183296e-01 -7.26482711e-01 -1.41021229e-03 1.24201745e+02] [ 2.02976501e-03 -2.11825824e-05 9.99997940e-01 -3.85209220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.20028169299997 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:246.09, Y:124.20, Z:-0.39 [[-7.27045432e-01 -6.86586915e-01 1.82971678e-03 2.46089114e+02] [ 6.86584644e-01 -7.27047734e-01 -1.76597577e-03 1.24200911e+02] [ 2.54278729e-03 -2.76891718e-05 9.99996767e-01 -3.85230612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.23028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.08, Y:124.21, Z:-0.39 [[-7.27599257e-01 -6.86000850e-01 1.46778444e-03 2.46083391e+02] [ 6.85999390e-01 -7.27600738e-01 -1.41549327e-03 1.24211185e+02] [ 2.03899062e-03 -2.30126225e-05 9.99997921e-01 -3.85490067e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.26028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.11, Y:124.19, Z:-0.39 [[-7.28203856e-01 -6.85360305e-01 6.28767617e-04 2.46109399e+02] [ 6.85360038e-01 -7.28204128e-01 -6.05744288e-04 1.24194609e+02] [ 8.73024264e-04 -1.01731287e-05 9.99999619e-01 -3.85714485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.29028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.09, Y:124.21, Z:-0.39 [[-7.28441034e-01 -6.85108502e-01 2.93305430e-05 2.46091960e+02] [ 6.85108502e-01 -7.28441034e-01 -2.79790122e-05 1.24214203e+02] [ 4.05342303e-05 -2.86456228e-07 9.99999999e-01 -3.85153144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.11, Y:124.20, Z:-0.39 [[-7.28521529e-01 -6.85022501e-01 -7.44711378e-04 2.46110357e+02] [ 6.85022126e-01 -7.28521910e-01 7.16914332e-04 1.24199128e+02] [-1.03364100e-03 1.21437540e-05 9.99999466e-01 -3.85130220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.35028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.12, Y:124.20, Z:-0.38 [[-7.28779240e-01 -6.84747542e-01 -1.27394018e-03 2.46116396e+02] [ 6.84746446e-01 -7.28780353e-01 1.22525099e-03 1.24196282e+02] [-1.76741018e-03 2.06114736e-05 9.99998438e-01 -3.84606127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.380281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.11, Y:124.21, Z:-0.39 [[-7.29231301e-01 -6.84267202e-01 -3.26113551e-04 2.46112710e+02] [ 6.84267130e-01 -7.29231373e-01 3.13606037e-04 1.24205553e+02] [-4.52402558e-04 5.54255410e-06 9.99999898e-01 -3.85541287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.41028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.11, Y:124.21, Z:-0.39 [[-7.29447477e-01 -6.84036672e-01 4.57781760e-04 2.46107497e+02] [ 6.84036531e-01 -7.29447621e-01 -4.39237823e-04 1.24212668e+02] [ 6.34382595e-04 -7.26147503e-06 9.99999799e-01 -3.86665058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.440281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.12, Y:124.20, Z:-0.39 [[-7.29405244e-01 -6.84081106e-01 1.01501502e-03 2.46124316e+02] [ 6.84080414e-01 -7.29405950e-01 -9.73469509e-04 1.24198966e+02] [ 1.40629010e-03 -1.57018670e-05 9.99999011e-01 -3.87106187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.47028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.12, Y:124.20, Z:-0.39 [[-7.29270871e-01 -6.84224289e-01 1.05832935e-03 2.46122766e+02] [ 6.84223537e-01 -7.29271639e-01 -1.01423845e-03 1.24203069e+02] [ 1.46577616e-03 -1.55207047e-05 9.99998926e-01 -3.87581877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.500281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.12, Y:124.21, Z:-0.39 [[-7.29775604e-01 -6.83686256e-01 8.19656942e-04 2.46122050e+02] [ 6.83685806e-01 -7.29776064e-01 -7.84836639e-04 1.24210648e+02] [ 1.13474804e-03 -1.23668154e-05 9.99999356e-01 -3.87702128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.53028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.12, Y:124.22, Z:-0.39 [[-7.30746189e-01 -6.82648571e-01 9.67526790e-04 2.46117042e+02] [ 6.82647943e-01 -7.30746829e-01 -9.25744939e-04 1.24219159e+02] [ 1.33897559e-03 -1.60044135e-05 9.99999103e-01 -3.87967986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.560281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.13, Y:124.21, Z:-0.39 [[-7.31785937e-01 -6.81533873e-01 9.60475943e-04 2.46130914e+02] [ 6.81533254e-01 -7.31786567e-01 -9.18276951e-04 1.24209904e+02] [ 1.32870024e-03 -1.73858642e-05 9.99999117e-01 -3.87441596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.59028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.14, Y:124.21, Z:-0.39 [[-7.33076537e-01 -6.80146127e-01 -1.89651893e-04 2.46140736e+02] [ 6.80146103e-01 -7.33076562e-01 1.81499327e-04 1.24208079e+02] [-2.62475422e-04 4.06190185e-06 9.99999966e-01 -3.86043604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.620281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.13, Y:124.22, Z:-0.39 [[-7.33036429e-01 -6.80188780e-01 -9.04071137e-04 2.46128901e+02] [ 6.80188232e-01 -7.33036986e-01 8.63525694e-04 1.24221828e+02] [-1.25007807e-03 1.80572418e-05 9.99999219e-01 -3.85499088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.65028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.13, Y:124.22, Z:-0.39 [[-7.33304069e-01 -6.79900232e-01 -9.04409882e-04 2.46130739e+02] [ 6.79899684e-01 -7.33304626e-01 8.63170850e-04 1.24220176e+02] [-1.25007801e-03 1.80587036e-05 9.99999219e-01 -3.85497835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.680281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.14, Y:124.22, Z:-0.39 [[-7.33048875e-01 -6.80174200e-01 -1.55059933e-03 2.46136575e+02] [ 6.80172594e-01 -7.33050514e-01 1.47853817e-03 1.24215835e+02] [-2.14233115e-03 2.91655772e-05 9.99997705e-01 -3.85630031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.71028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.16, Y:124.20, Z:-0.39 [[-7.32189537e-01 -6.81098531e-01 -1.80910989e-03 2.46156763e+02] [ 6.81096350e-01 -7.32191772e-01 1.72364543e-03 1.24197968e+02] [-2.49858774e-03 2.98570074e-05 9.99996878e-01 -3.85552933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.740281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.16, Y:124.20, Z:-0.39 [[-7.29546039e-01 -6.83930466e-01 -1.30158082e-03 2.46155160e+02] [ 6.83929344e-01 -7.29547200e-01 1.23920746e-03 1.24203510e+02] [-1.79709638e-03 1.38695736e-05 9.99998385e-01 -3.87035273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.77028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.15, Y:124.21, Z:-0.39 [[-7.28301839e-01 -6.85256355e-01 -3.99989081e-04 2.46150410e+02] [ 6.85256249e-01 -7.28301949e-01 3.80710468e-04 1.24209242e+02] [-5.52197095e-04 3.17711627e-06 9.99999848e-01 -3.86716085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.800281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.17, Y:124.19, Z:-0.39 [[-7.27062273e-01 -6.86571516e-01 5.98618535e-05 2.46167021e+02] [ 6.86571514e-01 -7.27062276e-01 -5.66265075e-05 1.24193864e+02] [ 8.24014427e-05 -7.15538867e-08 9.99999997e-01 -3.86500259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.83028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:246.18, Y:124.19, Z:-0.39 [[-7.24528592e-01 -6.89244704e-01 -2.38654375e-04 2.46175021e+02] [ 6.89244667e-01 -7.24528631e-01 2.26905646e-04 1.24185719e+02] [-3.29305442e-04 -9.16273481e-08 9.99999946e-01 -3.86488951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.86028169299993 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.18, Y:124.18, Z:-0.39 [[-7.23769890e-01 -6.90039906e-01 -1.44052424e-03 2.46175933e+02] [ 6.90038552e-01 -7.23771323e-01 1.36723670e-03 1.24184811e+02] [-1.98605802e-03 -4.45249953e-06 9.99998028e-01 -3.86073459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.89028169299996 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:246.18, Y:124.18, Z:-0.39 [[-7.23432088e-01 -6.90391654e-01 -2.31917227e-03 2.46182470e+02] [ 6.90388151e-01 -7.23435805e-01 2.19934267e-03 1.24178516e+02] [-3.19618008e-03 -1.00539981e-05 9.99994892e-01 -3.85702741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.92028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.19, Y:124.17, Z:-0.39 [[-7.23483237e-01 -6.90335451e-01 -2.99512612e-03 2.46190880e+02] [ 6.90329617e-01 -7.23489437e-01 2.83813737e-03 1.24169769e+02] [-4.12620895e-03 -1.42794595e-05 9.99991487e-01 -3.85780918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.95028169299997 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.19, Y:124.17, Z:-0.39 [[-7.23258740e-01 -6.90572941e-01 -2.40987634e-03 2.46191335e+02] [ 6.90569171e-01 -7.23262755e-01 2.28188641e-03 1.24166071e+02] [-3.31878281e-03 -1.37920176e-05 9.99994493e-01 -3.86846985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 442.98028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.19, Y:124.16, Z:-0.39 [[-7.22816992e-01 -6.91036587e-01 -2.00792082e-03 2.46193021e+02] [ 6.91033976e-01 -7.22819780e-01 1.89988540e-03 1.24162255e+02] [-2.76425520e-03 -1.42720560e-05 9.99996179e-01 -3.87099718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.01028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.18, Y:124.17, Z:-0.39 [[-7.21983749e-01 -6.91908371e-01 -1.50746201e-03 2.46183598e+02] [ 6.91906903e-01 -7.21985323e-01 1.42533667e-03 1.24168608e+02] [-2.07456782e-03 -1.39534519e-05 9.99997848e-01 -3.87032796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.18, Y:124.17, Z:-0.39 [[-7.21229546e-01 -6.92695284e-01 -1.08896655e-03 2.46180166e+02] [ 6.92694519e-01 -7.21230368e-01 1.02892762e-03 1.24169060e+02] [-1.49812906e-03 -1.22281647e-05 9.99998878e-01 -3.86302924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.07028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.21, Y:124.14, Z:-0.39 [[-7.20451926e-01 -6.93504144e-01 -1.01259973e-03 2.46205340e+02] [ 6.93503485e-01 -7.20452637e-01 9.56063276e-04 1.24142739e+02] [-1.39256399e-03 -1.34438092e-05 9.99999030e-01 -3.86191945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.10028169299994 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.21, Y:124.14, Z:-0.39 [[-7.19346200e-01 -6.94651016e-01 -1.00476852e-03 2.46207830e+02] [ 6.94650370e-01 -7.19346902e-01 9.47960104e-04 1.24135476e+02] [-1.38127857e-03 -1.60513276e-05 9.99999046e-01 -3.85846103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.130281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.20, Y:124.14, Z:-0.39 [[-7.19309924e-01 -6.94688328e-01 -1.16612112e-03 2.46203438e+02] [ 6.94687459e-01 -7.19310869e-01 1.09932793e-03 1.24136793e+02] [-1.60249387e-03 -1.93322281e-05 9.99998716e-01 -3.86296083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.16028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.20, Y:124.13, Z:-0.39 [[-7.19351180e-01 -6.94645476e-01 -1.24208361e-03 2.46203565e+02] [ 6.94644491e-01 -7.19352252e-01 1.17004704e-03 1.24133320e+02] [-1.70626353e-03 -2.11318168e-05 9.99998544e-01 -3.86806205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.190281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.20, Y:124.13, Z:-0.39 [[-7.19262982e-01 -6.94735904e-01 -1.66908599e-03 2.46201910e+02] [ 6.94734128e-01 -7.19264918e-01 1.57101997e-03 1.24128272e+02] [-2.29195897e-03 -2.95944927e-05 9.99997373e-01 -3.86601983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.22028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:246.21, Y:124.12, Z:-0.39 [[-7.19278988e-01 -6.94718941e-01 -1.82490827e-03 2.46206629e+02] [ 6.94716822e-01 -7.19281302e-01 1.71637916e-03 1.24121699e+02] [-2.50502351e-03 -3.32390104e-05 9.99996862e-01 -3.86063344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.250281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.19398091e-01 -6.94595710e-01 -1.78493188e-03 2.46202610e+02] [ 6.94593685e-01 -7.19400305e-01 1.67753060e-03 1.24124189e+02] [-2.44928609e-03 -3.29900998e-05 9.99997000e-01 -3.85976881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.28028169299995 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:246.21, Y:124.12, Z:-0.39 [[-7.19666888e-01 -6.94317309e-01 -1.74479291e-03 2.46209901e+02] [ 6.94315376e-01 -7.19669003e-01 1.63858662e-03 1.24116715e+02] [-2.39337243e-03 -3.22000114e-05 9.99997135e-01 -3.86002389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.310281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:246.20, Y:124.13, Z:-0.39 [[-7.20757939e-01 -6.93183533e-01 -2.14066776e-03 2.46195150e+02] [ 6.93180623e-01 -7.20761117e-01 2.00879833e-03 1.24127235e+02] [-2.93537601e-03 -3.60120708e-05 9.99995691e-01 -3.86324146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.34028169299995 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.21423818e-01 -6.92491366e-01 -1.83923042e-03 2.46200212e+02] [ 6.92489219e-01 -7.21426162e-01 1.72466470e-03 1.24120814e+02] [-2.52118436e-03 -2.94330417e-05 9.99996821e-01 -3.86155303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.370281693 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.22077574e-01 -6.91810841e-01 -1.31784692e-03 2.46196394e+02] [ 6.91809740e-01 -7.22078776e-01 1.23489792e-03 1.24122982e+02] [-1.80590506e-03 -2.00072433e-05 9.99998369e-01 -3.86304181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.40028169299995 meters Centerline goodness : 0.999557 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.23315218e-01 -6.90516676e-01 -1.34733978e-03 2.46198153e+02] [ 6.90515524e-01 -7.23316472e-01 1.26157362e-03 1.24119287e+02] [-1.84569068e-03 -1.78436404e-05 9.99998297e-01 -3.86448132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.430281693 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.24329675e-01 -6.89449527e-01 -2.42314210e-03 2.46197697e+02] [ 6.89445800e-01 -7.24333728e-01 2.26697113e-03 1.24118232e+02] [-3.31812572e-03 -2.85906823e-05 9.99994495e-01 -3.85869172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.46028169299996 meters Centerline goodness : 0.999467 Centerline is valid? [True, True] Translation: X:246.19, Y:124.12, Z:-0.39 [[-7.24998157e-01 -6.88741488e-01 -3.58275318e-03 2.46193395e+02] [ 6.88733345e-01 -7.25007008e-01 3.34917655e-03 1.24121000e+02] [-4.90423800e-03 -3.94147600e-05 9.99987973e-01 -3.85833106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.490281693 meters Centerline goodness : 0.999411 Centerline is valid? [True, True] Translation: X:246.21, Y:124.11, Z:-0.39 [[-7.25482851e-01 -6.88234899e-01 -2.71227763e-03 2.46207325e+02] [ 6.88230236e-01 -7.25487921e-01 2.53359381e-03 1.24105725e+02] [-3.71143234e-03 -2.85926098e-05 9.99993112e-01 -3.86086766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.52028169299996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:246.19, Y:124.12, Z:-0.39 [[-7.26023798e-01 -6.87668084e-01 -1.43199846e-03 2.46188897e+02] [ 6.87666785e-01 -7.26025210e-01 1.33676563e-03 1.24122048e+02] [-1.95891804e-03 -1.42141194e-05 9.99998081e-01 -3.86839280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.550281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:246.19, Y:124.12, Z:-0.39 [[-7.26618402e-01 -6.87041215e-01 -2.58544221e-04 2.46191914e+02] [ 6.87041173e-01 -7.26618448e-01 2.41379080e-04 1.24119176e+02] [-3.53700377e-04 -2.24004379e-06 9.99999937e-01 -3.88059700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.58028169299996 meters Centerline goodness : 0.999556 Centerline is valid? [True, True] Translation: X:246.19, Y:124.13, Z:-0.39 [[-7.27417428e-01 -6.86195163e-01 2.89451885e-04 2.46185011e+02] [ 6.86195110e-01 -7.27417486e-01 -2.69473821e-04 1.24126161e+02] [ 3.95463995e-04 2.60051490e-06 9.99999922e-01 -3.88330811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.61028169299993 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:246.20, Y:124.11, Z:-0.39 [[-7.29202386e-01 -6.84297605e-01 -8.17822656e-04 2.46198230e+02] [ 6.84297181e-01 -7.29202844e-01 7.61790281e-04 1.24113961e+02] [-1.11764987e-03 -4.13444703e-06 9.99999375e-01 -3.87598918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.64028169299996 meters Centerline goodness : 0.999510 Centerline is valid? [True, True] Translation: X:246.20, Y:124.11, Z:-0.39 [[-7.30069381e-01 -6.83370627e-01 -1.81261581e-03 2.46204739e+02] [ 6.83368545e-01 -7.30071631e-01 1.68681943e-03 1.24107573e+02] [-2.47606223e-03 -7.18941648e-06 9.99996935e-01 -3.86606199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.67028169299994 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:246.20, Y:124.12, Z:-0.39 [[-7.30382218e-01 -6.83034071e-01 -2.50483585e-03 2.46195229e+02] [ 6.83030100e-01 -7.30386513e-01 2.32911806e-03 1.24116671e+02] [-3.42036532e-03 -9.73186680e-06 9.99994151e-01 -3.86531433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.70028169299997 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:246.20, Y:124.11, Z:-0.39 [[-7.30296057e-01 -6.83128222e-01 -1.87092191e-03 2.46198910e+02] [ 6.83126010e-01 -7.30298454e-01 1.73840341e-03 1.24114384e+02] [-2.55388381e-03 -8.52626236e-06 9.99996739e-01 -3.86592069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.73028169299994 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:246.19, Y:124.12, Z:-0.39 [[-7.30318626e-01 -6.83104509e-01 -1.71281274e-03 2.46191719e+02] [ 6.83102658e-01 -7.30320635e-01 1.59028760e-03 1.24122164e+02] [-2.33723512e-03 -8.61028278e-06 9.99997269e-01 -3.87670840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.76028169299997 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:246.20, Y:124.11, Z:-0.39 [[-7.30489729e-01 -6.82921459e-01 -1.74268379e-03 2.46200610e+02] [ 6.82919545e-01 -7.30491807e-01 1.61676656e-03 1.24114891e+02] [-2.37714081e-03 -9.08145677e-06 9.99997175e-01 -3.88091839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.79028169299994 meters Centerline goodness : 0.999357 Centerline is valid? [True, True] Translation: X:246.21, Y:124.10, Z:-0.39 [[-7.30847735e-01 -6.82538388e-01 -1.71384617e-03 2.46214175e+02] [ 6.82536539e-01 -7.30849744e-01 1.58879591e-03 1.24102990e+02] [-2.33697823e-03 -8.59474192e-06 9.99997269e-01 -3.87773613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.82028169299997 meters Centerline goodness : 0.999466 Centerline is valid? [True, True] Translation: X:246.21, Y:124.11, Z:-0.39 [[-7.30741971e-01 -6.82653114e-01 -9.47654971e-04 2.46206836e+02] [ 6.82652550e-01 -7.30742585e-01 8.77952532e-04 1.24111054e+02] [-1.29182887e-03 -5.36231837e-06 9.99999166e-01 -3.88605321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.85028169299994 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:246.21, Y:124.11, Z:-0.39 [[-7.30628563e-01 -6.82775127e-01 -1.68682636e-04 2.46213240e+02] [ 6.82775109e-01 -7.30628583e-01 1.56369382e-04 1.24105604e+02] [-2.30009480e-04 -9.24367682e-07 9.99999974e-01 -3.89132042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.880281693 meters Centerline goodness : 0.999326 Centerline is valid? [True, True] Translation: X:246.23, Y:124.09, Z:-0.39 [[-7.30380624e-01 -6.83040331e-01 2.26368776e-04 2.46228129e+02] [ 6.83040299e-01 -7.30380659e-01 -2.09078495e-04 1.24092324e+02] [ 3.08144420e-04 1.91211505e-06 9.99999953e-01 -3.89797070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.91028169299994 meters Centerline goodness : 0.999275 Centerline is valid? [True, True] Translation: X:246.22, Y:124.10, Z:-0.39 [[-7.30290135e-01 -6.83137054e-01 2.90375686e-04 2.46221778e+02] [ 6.83137002e-01 -7.30290192e-01 -2.68066100e-04 1.24098106e+02] [ 3.95184401e-04 2.60034721e-06 9.99999922e-01 -3.89863525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.940281693 meters Centerline goodness : 0.999214 Centerline is valid? [True, True] Translation: X:246.22, Y:124.10, Z:-0.39 [[-7.29787313e-01 -6.83674150e-01 -3.67227806e-04 2.46219082e+02] [ 6.83674065e-01 -7.29787406e-01 3.39337619e-04 1.24100541e+02] [-4.99994586e-04 -3.41983743e-06 9.99999875e-01 -3.89513317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 443.97028169299995 meters Centerline goodness : 0.999408 Centerline is valid? [True, True] Translation: X:246.23, Y:124.09, Z:-0.39 [[-7.30108241e-01 -6.83330971e-01 -8.60298534e-04 2.46228999e+02] [ 6.83330510e-01 -7.30108748e-01 7.94006628e-04 1.24091839e+02] [-1.17068081e-03 -8.15745312e-06 9.99999315e-01 -3.89629096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.000281693 meters Centerline goodness : 0.999421 Centerline is valid? [True, True] Translation: X:246.22, Y:124.10, Z:-0.39 [[-7.30934453e-01 -6.82445547e-01 -1.70343396e-03 2.46223424e+02] [ 6.82443739e-01 -7.30936438e-01 1.57071967e-03 1.24097534e+02] [-2.31703259e-03 -1.44047201e-05 9.99997316e-01 -3.89835278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.03028169299995 meters Centerline goodness : 0.999430 Centerline is valid? [True, True] Translation: X:246.23, Y:124.09, Z:-0.39 [[-7.32123729e-01 -6.81168562e-01 -2.05801410e-03 2.46232666e+02] [ 6.81165923e-01 -7.32126621e-01 1.89617149e-03 1.24089991e+02] [-2.79833932e-03 -1.36169346e-05 9.99996085e-01 -3.89736255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.060281693 meters Centerline goodness : 0.999474 Centerline is valid? [True, True] Translation: X:246.23, Y:124.09, Z:-0.39 [[-7.33867454e-01 -6.79289478e-01 -2.08911924e-03 2.46234293e+02] [ 6.79286756e-01 -7.33870428e-01 1.92336070e-03 1.24088356e+02] [-2.83966152e-03 -7.61921324e-06 9.99995968e-01 -3.89544881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.09028169299995 meters Centerline goodness : 0.999367 Centerline is valid? [True, True] Translation: X:246.23, Y:124.10, Z:-0.39 [[-7.34082818e-01 -6.79057626e-01 -1.77706414e-03 2.46225445e+02] [ 6.79055658e-01 -7.34084969e-01 1.63485322e-03 1.24095120e+02] [-2.41467562e-03 -6.60780212e-06 9.99997085e-01 -3.89179099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.120281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:246.23, Y:124.09, Z:-0.39 [[-7.33733079e-01 -6.79435943e-01 -1.60265812e-03 2.46232413e+02] [ 6.79434345e-01 -7.33734829e-01 1.47329957e-03 1.24086995e+02] [-2.17693877e-03 -7.89234286e-06 9.99997630e-01 -3.88733737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.15028169299995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:246.24, Y:124.08, Z:-0.39 [[-7.32670878e-01 -6.80581728e-01 -1.37690004e-03 2.46239048e+02] [ 6.80580553e-01 -7.32672171e-01 1.26483351e-03 1.24079882e+02] [-1.86963892e-03 -1.03847154e-05 9.99998252e-01 -3.88457177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.180281693 meters Centerline goodness : 0.999528 Centerline is valid? [True, True] Translation: X:246.24, Y:124.07, Z:-0.39 [[-7.29558396e-01 -6.83917726e-01 -1.04423650e-03 2.46241559e+02] [ 6.83917054e-01 -7.29559144e-01 9.58578068e-04 1.24074938e+02] [-1.41742082e-03 -1.48324751e-05 9.99998995e-01 -3.87938315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.21028169299996 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:246.25, Y:124.06, Z:-0.39 [[-7.28127542e-01 -6.85440262e-01 -1.38873298e-03 2.46254359e+02] [ 6.85439079e-01 -7.28128866e-01 1.27376763e-03 1.24060511e+02] [-1.88426819e-03 -2.44265597e-05 9.99998225e-01 -3.88115233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.240281693 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:246.25, Y:124.06, Z:-0.39 [[-7.26749805e-01 -6.86899190e-01 -2.05494213e-03 2.46251759e+02] [ 6.86896610e-01 -7.26752709e-01 1.88328638e-03 1.24059313e+02] [-2.78706265e-03 -4.28547699e-05 9.99996115e-01 -3.87894101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.27028169299996 meters Centerline goodness : 0.999452 Centerline is valid? [True, True] Translation: X:246.26, Y:124.04, Z:-0.39 [[-7.25578740e-01 -6.88134942e-01 -2.40688462e-03 2.46264216e+02] [ 6.88131415e-01 -7.25582730e-01 2.20413634e-03 1.24044702e+02] [-3.26313714e-03 -5.69784502e-05 9.99994674e-01 -3.87494105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.300281693 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:246.24, Y:124.06, Z:-0.39 [[-7.24281245e-01 -6.89502238e-01 -1.82819976e-03 2.46244406e+02] [ 6.89500210e-01 -7.24283551e-01 1.67300379e-03 1.24055667e+02] [-2.47767487e-03 -4.88188515e-05 9.99996929e-01 -3.86491315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.33028169299996 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:246.25, Y:124.04, Z:-0.39 [[-7.24204178e-01 -6.89585019e-01 -9.00069930e-04 2.46251603e+02] [ 6.89584529e-01 -7.24204737e-01 8.23171493e-04 1.24044060e+02] [-1.21948164e-03 -2.45300644e-05 9.99999256e-01 -3.86850168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.36028169299993 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:246.25, Y:124.04, Z:-0.39 [[-7.24329571e-01 -6.89453753e-01 -4.42034622e-04 2.46254814e+02] [ 6.89453635e-01 -7.24329705e-01 4.04093473e-04 1.24036122e+02] [-5.98782569e-04 -1.20655256e-05 9.99999821e-01 -3.87461516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.39028169299996 meters Centerline goodness : 0.999490 Centerline is valid? [True, True] Translation: X:246.25, Y:124.03, Z:-0.39 [[-7.24738919e-01 -6.89022479e-01 -1.23387673e-03 2.46249743e+02] [ 6.89021559e-01 -7.24739969e-01 1.12667363e-03 1.24032270e+02] [-1.67054324e-03 -3.36234353e-05 9.99998604e-01 -3.87142388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.42028169299994 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:246.25, Y:124.03, Z:-0.39 [[-7.25207261e-01 -6.88528438e-01 -1.73733682e-03 2.46245777e+02] [ 6.88526615e-01 -7.25209341e-01 1.58509771e-03 1.24031969e+02] [-2.35131775e-03 -4.66782700e-05 9.99997235e-01 -3.86699864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.45028169299997 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:246.24, Y:124.03, Z:-0.39 [[-7.25817803e-01 -6.87884707e-01 -1.77405431e-03 2.46243489e+02] [ 6.87882807e-01 -7.25819969e-01 1.61737340e-03 1.24029608e+02] [-2.40021047e-03 -4.64230528e-05 9.99997118e-01 -3.86637605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.48028169299994 meters Centerline goodness : 0.999559 Centerline is valid? [True, True] Translation: X:246.24, Y:124.02, Z:-0.39 [[-7.26907261e-01 -6.86735077e-01 -8.76569090e-04 2.46240384e+02] [ 6.86734613e-01 -7.26907789e-01 7.98677678e-04 1.24022455e+02] [-1.18566488e-03 -2.14057318e-05 9.99999297e-01 -3.87390716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.51028169299997 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:246.23, Y:124.03, Z:-0.39 [[-7.27583029e-01 -6.86019414e-01 -5.47073522e-04 2.46228136e+02] [ 6.86019233e-01 -7.27583235e-01 4.98179309e-04 1.24029566e+02] [-7.39802201e-04 -1.28361474e-05 9.99999726e-01 -3.87496768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.54028169299994 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.23, Y:124.02, Z:-0.39 [[-7.28370579e-01 -6.85183316e-01 -3.50721361e-04 2.46231096e+02] [ 6.85183242e-01 -7.28370664e-01 3.19224997e-04 1.24022438e+02] [-4.74182793e-04 -7.79430290e-06 9.99999888e-01 -3.87345496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.57028169299997 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.23, Y:124.02, Z:-0.39 [[-7.28630124e-01 -6.84907308e-01 -3.50842443e-04 2.46232997e+02] [ 6.84907233e-01 -7.28630208e-01 3.19091865e-04 1.24020810e+02] [-4.74182752e-04 -7.79458156e-06 9.99999888e-01 -3.87344243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.60028169299994 meters Centerline goodness : 0.999620 Centerline is valid? [True, True] Translation: X:246.22, Y:124.02, Z:-0.39 [[-7.29972858e-01 -6.83476057e-01 3.25048563e-04 2.46224914e+02] [ 6.83475993e-01 -7.29972931e-01 -2.94914922e-04 1.24020538e+02] [ 4.38843940e-04 6.88300110e-06 9.99999904e-01 -3.87366928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.630281693 meters Centerline goodness : 0.999576 Centerline is valid? [True, True] Translation: X:246.22, Y:124.02, Z:-0.39 [[-7.31023097e-01 -6.82352689e-01 -1.96717871e-04 2.46221960e+02] [ 6.82352666e-01 -7.31023124e-01 1.78755661e-04 1.24019581e+02] [-2.65779718e-04 -3.55644681e-06 9.99999965e-01 -3.87198222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.66028169299994 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:246.23, Y:124.01, Z:-0.39 [[-7.32481434e-01 -6.80786170e-01 -1.06764737e-03 2.46225790e+02] [ 6.80785482e-01 -7.32482212e-01 9.68281201e-04 1.24012722e+02] [-1.44122516e-03 -1.75908261e-05 9.99998961e-01 -3.86687538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.690281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:246.20, Y:124.03, Z:-0.39 [[-7.34131417e-01 -6.79004464e-01 -2.00029008e-03 2.46203646e+02] [ 6.79002045e-01 -7.34134141e-01 1.81249698e-03 1.24030641e+02] [-2.69917478e-03 -2.75900817e-05 9.99996357e-01 -3.86052437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.72028169299995 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.21, Y:124.03, Z:-0.39 [[-7.37849217e-01 -6.74963259e-01 -1.76956605e-03 2.46207728e+02] [ 6.74961358e-01 -7.37851339e-01 1.60221286e-03 1.24025963e+02] [-2.38711149e-03 -1.21971976e-05 9.99997151e-01 -3.86773078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.750281693 meters Centerline goodness : 0.999495 Centerline is valid? [True, True] Translation: X:246.21, Y:124.02, Z:-0.39 [[-7.39803906e-01 -6.72821361e-01 -1.26395551e-03 2.46210779e+02] [ 6.72820389e-01 -7.39804986e-01 1.14360052e-03 1.24023110e+02] [-1.70451945e-03 -4.37491070e-06 9.99998547e-01 -3.87221395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.78028169299995 meters Centerline goodness : 0.999494 Centerline is valid? [True, True] Translation: X:246.22, Y:124.02, Z:-0.39 [[-7.41616078e-01 -6.70824110e-01 -7.79269534e-04 2.46216170e+02] [ 6.70823740e-01 -7.41616487e-01 7.04617255e-04 1.24017947e+02] [-1.05059338e-03 -1.97017773e-07 9.99999448e-01 -3.86895063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.810281693 meters Centerline goodness : 0.999322 Centerline is valid? [True, True] Translation: X:246.21, Y:124.02, Z:-0.39 [[-7.44614835e-01 -6.67494035e-01 -6.78376309e-04 2.46209240e+02] [ 6.67493754e-01 -7.44615144e-01 6.12944988e-04 1.24023565e+02] [-9.14266396e-04 3.59598264e-06 9.99999582e-01 -3.86855298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.84028169299995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:246.22, Y:124.02, Z:-0.39 [[-7.45885044e-01 -6.66074210e-01 -8.04329573e-04 2.46216622e+02] [ 6.66073815e-01 -7.45885478e-01 7.26133528e-04 1.24018397e+02] [-1.08359656e-03 5.86927186e-06 9.99999413e-01 -3.86769093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.870281693 meters Centerline goodness : 0.999203 Centerline is valid? [True, True] Translation: X:246.23, Y:124.01, Z:-0.39 [[-7.47161537e-01 -6.64641840e-01 -9.28910780e-04 2.46232175e+02] [ 6.64641311e-01 -7.47162114e-01 8.37910351e-04 1.24006916e+02] [-1.25095722e-03 8.66190640e-06 9.99999218e-01 -3.86209377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.90028169299995 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:246.24, Y:124.00, Z:-0.39 [[-7.48908167e-01 -6.62673603e-01 -5.03367535e-04 2.46241773e+02] [ 6.62673447e-01 -7.48908336e-01 4.53822627e-04 1.24001993e+02] [-6.77712418e-04 6.30317267e-06 9.99999770e-01 -3.85841620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.930281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:246.24, Y:124.00, Z:-0.39 [[-7.49125482e-01 -6.62428090e-01 -1.94955868e-04 2.46244237e+02] [ 6.62428067e-01 -7.49125507e-01 1.75788584e-04 1.24000718e+02] [-2.62493710e-04 2.54346899e-06 9.99999966e-01 -3.86471461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.96028169299996 meters Centerline goodness : 0.999054 Centerline is valid? [True, True] Translation: X:246.23, Y:124.01, Z:-0.39 [[-7.48986879e-01 -6.62584805e-01 -1.73732036e-04 2.46234137e+02] [ 6.62584787e-01 -7.48986900e-01 1.56560025e-04 1.24010696e+02] [-2.33857312e-04 2.14920039e-06 9.99999973e-01 -3.86782094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 444.990281693 meters Centerline goodness : 0.999012 Centerline is valid? [True, True] Translation: X:246.23, Y:124.02, Z:-0.39 [[-7.48027104e-01 -6.63668139e-01 -2.29544868e-04 2.46226061e+02] [ 6.63668107e-01 -7.48027139e-01 2.06615512e-04 1.24020845e+02] [-3.08829923e-04 2.21239489e-06 9.99999952e-01 -3.87202595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.02028169299996 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:246.24, Y:124.01, Z:-0.39 [[-7.47598749e-01 -6.64150632e-01 2.20471568e-04 2.46241610e+02] [ 6.64150603e-01 -7.47598781e-01 -1.97784836e-04 1.24008164e+02] [ 2.96183200e-04 -1.43737113e-06 9.99999956e-01 -3.86863055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.050281693 meters Centerline goodness : 0.999074 Centerline is valid? [True, True] Translation: X:246.24, Y:124.01, Z:-0.39 [[-7.47074473e-01 -6.64739834e-01 8.27651538e-04 2.46236093e+02] [ 6.64739419e-01 -7.47074932e-01 -7.42623332e-04 1.24013270e+02] [ 1.11196903e-03 -4.62233130e-06 9.99999382e-01 -3.86801567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.08028169299996 meters Centerline goodness : 0.999151 Centerline is valid? [True, True] Translation: X:246.24, Y:124.01, Z:-0.39 [[-7.46419948e-01 -6.65473659e-01 1.43898283e-03 2.46243343e+02] [ 6.65472408e-01 -7.46421335e-01 -1.29033516e-03 1.24007316e+02] [ 1.93277155e-03 -5.52853202e-06 9.99998132e-01 -3.86703779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.11028169299993 meters Centerline goodness : 0.998870 Centerline is valid? [True, True] Translation: X:246.23, Y:124.02, Z:-0.39 [[-7.45808231e-01 -6.66158648e-01 1.65476519e-03 2.46226213e+02] [ 6.66156998e-01 -7.45810067e-01 -1.48270041e-03 1.24023916e+02] [ 2.22185424e-03 -3.47675594e-06 9.99997532e-01 -3.87359040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.14028169299996 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:246.25, Y:124.01, Z:-0.39 [[-7.45297214e-01 -6.66731027e-01 1.34172754e-03 2.46248049e+02] [ 6.66729945e-01 -7.45298422e-01 -1.20121982e-03 1.24008668e+02] [ 1.80087794e-03 -6.95861158e-07 9.99998378e-01 -3.87312112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.17028169299994 meters Centerline goodness : 0.998882 Centerline is valid? [True, True] Translation: X:246.25, Y:124.01, Z:-0.39 [[-7.45784716e-01 -6.66185679e-01 1.34111615e-03 2.46245950e+02] [ 6.66184599e-01 -7.45785921e-01 -1.19973742e-03 1.24012878e+02] [ 1.79943343e-03 -1.31490398e-06 9.99998381e-01 -3.87000743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.20028169299997 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:246.25, Y:124.01, Z:-0.39 [[-7.46562884e-01 -6.65313565e-01 1.31187011e-03 2.46252984e+02] [ 6.65312531e-01 -7.46564037e-01 -1.17265252e-03 1.24008500e+02] [ 1.75957667e-03 -2.65522326e-06 9.99998452e-01 -3.87293187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.23028169299994 meters Centerline goodness : 0.998748 Centerline is valid? [True, True] Translation: X:246.24, Y:124.02, Z:-0.39 [[-7.47191046e-01 -6.64608379e-01 1.11542348e-03 2.46240463e+02] [ 6.64607632e-01 -7.47191878e-01 -9.96230103e-04 1.24021818e+02] [ 1.49553824e-03 -3.05525654e-06 9.99998882e-01 -3.87231523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.26028169299997 meters Centerline goodness : 0.998772 Centerline is valid? [True, True] Translation: X:246.26, Y:124.01, Z:-0.39 [[-7.47136241e-01 -6.64670728e-01 5.09626511e-04 2.46259193e+02] [ 6.64670573e-01 -7.47136415e-01 -4.54668808e-04 1.24010937e+02] [ 6.82965572e-04 -9.65799179e-07 9.99999767e-01 -3.86360361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.29028169299994 meters Centerline goodness : 0.998766 Centerline is valid? [True, True] Translation: X:246.25, Y:124.02, Z:-0.39 [[-7.46503718e-01 -6.65381136e-01 3.77239902e-04 2.46254822e+02] [ 6.65381051e-01 -7.46503813e-01 -3.36228372e-04 1.24016719e+02] [ 5.05331041e-04 1.25527306e-08 9.99999872e-01 -3.86146865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.32028169299997 meters Centerline goodness : 0.998470 Centerline is valid? [True, True] Translation: X:246.26, Y:124.02, Z:-0.39 [[-7.45523401e-01 -6.66479204e-01 5.73494646e-04 2.46256240e+02] [ 6.66479008e-01 -7.45523622e-01 -5.10879112e-04 1.24016998e+02] [ 7.68044110e-04 1.34980905e-06 9.99999705e-01 -3.86609946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.35028169299994 meters Centerline goodness : 0.998551 Centerline is valid? [True, True] Translation: X:246.27, Y:124.01, Z:-0.39 [[-7.43403360e-01 -6.68843105e-01 5.87615446e-04 2.46271777e+02] [ 6.68842900e-01 -7.43403593e-01 -5.23056321e-04 1.24007497e+02] [ 7.86678047e-04 4.18059175e-06 9.99999691e-01 -3.87957959e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.380281693 meters Centerline goodness : 0.998819 Centerline is valid? [True, True] Translation: X:246.28, Y:124.01, Z:-0.39 [[-7.42721876e-01 -6.69599953e-01 3.43604118e-04 2.46276072e+02] [ 6.69599883e-01 -7.42721956e-01 -3.05509551e-04 1.24007573e+02] [ 4.59771504e-04 3.16865007e-06 9.99999894e-01 -3.87919051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.41028169299994 meters Centerline goodness : 0.998842 Centerline is valid? [True, True] Translation: X:246.29, Y:124.00, Z:-0.39 [[-7.42260230e-01 -6.70111738e-01 9.16945249e-05 2.46291771e+02] [ 6.70111733e-01 -7.42260236e-01 -8.12782742e-05 1.23997076e+02] [ 1.22526725e-04 1.11594655e-06 9.99999993e-01 -3.87486078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.440281693 meters Centerline goodness : 0.998780 Centerline is valid? [True, True] Translation: X:246.30, Y:123.99, Z:-0.39 [[-7.41837899e-01 -6.70579243e-01 -9.85913074e-05 2.46299933e+02] [ 6.70579237e-01 -7.41837906e-01 8.78533551e-05 1.23992013e+02] [-1.32051405e-04 -9.40335312e-07 9.99999991e-01 -3.86651753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.47028169299995 meters Centerline goodness : 0.998779 Centerline is valid? [True, True] Translation: X:246.19, Y:124.09, Z:-0.39 [[-7.40949753e-01 -6.71560394e-01 -3.16574148e-04 2.46190034e+02] [ 6.71560464e-01 -7.40949613e-01 -4.61728314e-04 1.24092251e+02] [ 7.55129558e-05 -5.54716162e-04 9.99999843e-01 -3.85696450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.500281693 meters Centerline goodness : 0.998861 Centerline is valid? [True, True] Translation: X:246.30, Y:124.00, Z:-0.39 [[-7.39497069e-01 -6.73159623e-01 4.54121245e-04 2.46297779e+02] [ 6.73159768e-01 -7.39496997e-01 3.43256385e-04 1.23997719e+02] [ 1.04754958e-04 5.59533243e-04 9.99999838e-01 -3.86090623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.53028169299995 meters Centerline goodness : 0.998852 Centerline is valid? [True, True] Translation: X:246.30, Y:124.00, Z:-0.39 [[-7.38557854e-01 -6.74190104e-01 -4.80835047e-06 2.46299319e+02] [ 6.74190104e-01 -7.38557854e-01 4.52424066e-06 1.23997700e+02] [-6.60144320e-06 9.96711737e-08 1.00000000e+00 -3.87118750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.560281693 meters Centerline goodness : 0.998920 Centerline is valid? [True, True] Translation: X:246.32, Y:123.98, Z:-0.39 [[-7.37283881e-01 -6.75583005e-01 -2.87301909e-04 2.46315775e+02] [ 6.75582957e-01 -7.37283936e-01 2.55134988e-04 1.23982626e+02] [-3.84187944e-04 -5.98935891e-06 9.99999926e-01 -3.86932780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.59028169299995 meters Centerline goodness : 0.998713 Centerline is valid? [True, True] Translation: X:246.31, Y:123.98, Z:-0.39 [[-7.33356281e-01 -6.79842903e-01 -1.48079290e-03 2.46314489e+02] [ 6.79841636e-01 -7.33357775e-01 1.31295010e-03 1.23979603e+02] [-1.97855079e-03 -4.38444599e-05 9.99998042e-01 -3.85989580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.620281693 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:246.34, Y:123.96, Z:-0.39 [[-7.31442924e-01 -6.81902076e-01 -8.98717061e-04 2.46339903e+02] [ 6.81901611e-01 -7.31443476e-01 7.96349288e-04 1.23955034e+02] [-1.20039296e-03 -3.03525603e-05 9.99999279e-01 -3.85508874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.65028169299995 meters Centerline goodness : 0.998849 Centerline is valid? [True, True] Translation: X:246.34, Y:123.95, Z:-0.39 [[-7.29976759e-01 -6.83471966e-01 -5.65384733e-05 2.46342876e+02] [ 6.83471964e-01 -7.29976761e-01 5.02914397e-05 1.23951181e+02] [-7.56445606e-05 -1.93087929e-06 9.99999997e-01 -3.86606711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.680281693 meters Centerline goodness : 0.998759 Centerline is valid? [True, True] Translation: X:246.34, Y:123.95, Z:-0.39 [[-7.29090627e-01 -6.84415342e-01 1.58037658e-03 2.46338773e+02] [ 6.84413918e-01 -7.29092337e-01 -1.39760737e-03 1.23951038e+02] [ 2.10878438e-03 6.26492897e-05 9.99997775e-01 -3.87882013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.71028169299996 meters Centerline goodness : 0.998667 Centerline is valid? [True, True] Translation: X:246.34, Y:123.95, Z:-0.39 [[-7.29695571e-01 -6.83770089e-01 1.68464546e-03 2.46338464e+02] [ 6.83768472e-01 -7.29697513e-01 -1.48872624e-03 1.23948430e+02] [ 2.24722808e-03 6.55905069e-05 9.99997473e-01 -3.88364659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.740281693 meters Centerline goodness : 0.998835 Centerline is valid? [True, True] Translation: X:246.33, Y:123.95, Z:-0.39 [[-7.30721498e-01 -6.82673901e-01 1.56119116e-03 2.46332464e+02] [ 6.82672512e-01 -7.30723163e-01 -1.37858146e-03 1.23951759e+02] [ 2.08192013e-03 5.84231850e-05 9.99997831e-01 -3.88344002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.77028169299996 meters Centerline goodness : 0.998727 Centerline is valid? [True, True] Translation: X:246.32, Y:123.96, Z:-0.39 [[-7.31917462e-01 -6.81391911e-01 1.37556842e-03 2.46324823e+02] [ 6.81390832e-01 -7.31918753e-01 -1.21372654e-03 1.23957137e+02] [ 1.83382777e-03 4.89520597e-05 9.99998317e-01 -3.88052063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.800281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:246.32, Y:123.96, Z:-0.39 [[-7.34103583e-01 -6.79034845e-01 1.89980545e-03 2.46320496e+02] [ 6.79032781e-01 -7.34106039e-01 -1.67510875e-03 1.23959783e+02] [ 2.53211586e-03 6.03268459e-05 9.99996792e-01 -3.87635369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.83028169299996 meters Centerline goodness : 0.998622 Centerline is valid? [True, True] Translation: X:246.32, Y:123.96, Z:-0.39 [[-7.35199927e-01 -6.77846483e-01 2.28335106e-03 2.46320840e+02] [ 6.77843501e-01 -7.35203469e-01 -2.01181190e-03 1.23958413e+02] [ 3.04242724e-03 6.86707156e-05 9.99995369e-01 -3.88297837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.86028169299993 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:246.32, Y:123.96, Z:-0.39 [[-7.36353424e-01 -6.76593484e-01 2.21205874e-03 2.46318702e+02] [ 6.76590684e-01 -7.36356744e-01 -1.94750655e-03 1.23958312e+02] [ 2.94653461e-03 6.26052207e-05 9.99995657e-01 -3.88081723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.89028169299996 meters Centerline goodness : 0.998656 Centerline is valid? [True, True] Translation: X:246.33, Y:123.95, Z:-0.39 [[-7.37208420e-01 -6.75663542e-01 1.58858068e-03 2.46328499e+02] [ 6.75662098e-01 -7.37210130e-01 -1.39746216e-03 1.23947873e+02] [ 2.11533200e-03 4.31228859e-05 9.99997762e-01 -3.87679442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.92028169299994 meters Centerline goodness : 0.998725 Centerline is valid? [True, True] Translation: X:246.32, Y:123.95, Z:-0.39 [[-7.38194828e-01 -6.74587573e-01 4.34573857e-05 2.46318771e+02] [ 6.74587572e-01 -7.38194829e-01 -3.79559290e-05 1.23954378e+02] [ 5.76846156e-05 1.29694179e-06 9.99999998e-01 -3.87051066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.95028169299997 meters Centerline goodness : 0.998788 Centerline is valid? [True, True] Translation: X:246.33, Y:123.94, Z:-0.39 [[-7.39007379e-01 -6.73697200e-01 -4.19679276e-04 2.46330678e+02] [ 6.73697099e-01 -7.39007498e-01 3.68945048e-04 1.23943314e+02] [-5.58703378e-04 -1.00835976e-05 9.99999844e-01 -3.86849049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 445.98028169299994 meters Centerline goodness : 0.998984 Centerline is valid? [True, True] Translation: X:246.32, Y:123.95, Z:-0.39 [[-7.39910730e-01 -6.72704722e-01 -6.84361892e-04 2.46318434e+02] [ 6.72704454e-01 -7.39911047e-01 6.01015208e-04 1.23953805e+02] [-9.10672692e-04 -1.56756912e-05 9.99999585e-01 -3.86099705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.01028169299997 meters Centerline goodness : 0.998831 Centerline is valid? [True, True] Translation: X:246.32, Y:123.95, Z:-0.39 [[-7.40897568e-01 -6.71617520e-01 -8.36356691e-04 2.46322861e+02] [ 6.71617120e-01 -7.40898040e-01 7.33882633e-04 1.23948670e+02] [-1.11254347e-03 -1.79796132e-05 9.99999381e-01 -3.86608372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.04028169299994 meters Centerline goodness : 0.998789 Centerline is valid? [True, True] Translation: X:246.31, Y:123.96, Z:-0.39 [[-7.41106562e-01 -6.71387298e-01 -3.98667767e-04 2.46310022e+02] [ 6.71387207e-01 -7.41106669e-01 3.49685664e-04 1.23958916e+02] [-5.30229854e-04 -8.50609837e-06 9.99999859e-01 -3.86802798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.07028169299997 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:246.32, Y:123.94, Z:-0.39 [[-7.41206914e-01 -6.71276529e-01 3.64879769e-04 2.46324873e+02] [ 6.71276453e-01 -7.41207003e-01 -3.19316782e-04 1.23944580e+02] [ 4.84801301e-04 8.25539063e-06 9.99999882e-01 -3.86885244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.10028169299994 meters Centerline goodness : 0.998703 Centerline is valid? [True, True] Translation: X:246.33, Y:123.94, Z:-0.39 [[-7.41366123e-01 -6.71099927e-01 1.07726329e-03 2.46325727e+02] [ 6.71099265e-01 -7.41366905e-01 -9.42519742e-04 1.23942141e+02] [ 1.43117228e-03 2.41983936e-05 9.99998976e-01 -3.87083837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.130281693 meters Centerline goodness : 0.998553 Centerline is valid? [True, True] Translation: X:246.32, Y:123.94, Z:-0.39 [[-7.41155252e-01 -6.71331659e-01 1.64210441e-03 2.46324277e+02] [ 6.71330125e-01 -7.41157070e-01 -1.43574300e-03 1.23939156e+02] [ 2.18091702e-03 3.82856888e-05 9.99997621e-01 -3.86718060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.16028169299994 meters Centerline goodness : 0.998692 Centerline is valid? [True, True] Translation: X:246.32, Y:123.94, Z:-0.39 [[-7.41035243e-01 -6.71464154e-01 1.63056640e-03 2.46321805e+02] [ 6.71462644e-01 -7.41037036e-01 -1.42455894e-03 1.23939464e+02] [ 2.16485035e-03 3.92160474e-05 9.99997656e-01 -3.86048621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.190281693 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:246.33, Y:123.93, Z:-0.39 [[-7.40727740e-01 -6.71804137e-01 1.27106181e-03 2.46329568e+02] [ 6.71803222e-01 -7.40728830e-01 -1.10956885e-03 1.23930851e+02] [ 1.68692507e-03 3.20149939e-05 9.99998577e-01 -3.86573163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.22028169299995 meters Centerline goodness : 0.998960 Centerline is valid? [True, True] Translation: X:246.33, Y:123.92, Z:-0.39 [[-7.40426186e-01 -6.72137057e-01 9.16014197e-04 2.46333560e+02] [ 6.72136583e-01 -7.40426752e-01 -7.98952692e-04 1.23923140e+02] [ 1.21524713e-03 2.41211579e-05 9.99999261e-01 -3.86098127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.250281693 meters Centerline goodness : 0.998851 Centerline is valid? [True, True] Translation: X:246.32, Y:123.93, Z:-0.39 [[-7.40850217e-01 -6.71669680e-01 8.92795323e-04 2.46316534e+02] [ 6.71669230e-01 -7.40850754e-01 -7.78095947e-04 1.23934939e+02] [ 1.18405154e-03 2.32105964e-05 9.99999299e-01 -3.86513379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.28028169299995 meters Centerline goodness : 0.998795 Centerline is valid? [True, True] Translation: X:246.32, Y:123.93, Z:-0.39 [[-7.41318829e-01 -6.71151531e-01 1.42011552e-03 2.46316667e+02] [ 6.71150392e-01 -7.41320188e-01 -1.23685955e-03 1.23931297e+02] [ 1.88288049e-03 3.62038182e-05 9.99998227e-01 -3.86070029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.310281693 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:246.33, Y:123.92, Z:-0.39 [[-7.41537174e-01 -6.70910363e-01 1.37995016e-03 2.46326217e+02] [ 6.70909289e-01 -7.41538457e-01 -1.20094560e-03 1.23919624e+02] [ 1.82901296e-03 3.52755743e-05 9.99998327e-01 -3.86422203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.34028169299995 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:246.32, Y:123.91, Z:-0.39 [[-7.41023731e-01 -6.71478400e-01 7.66703495e-04 2.46324641e+02] [ 6.71478070e-01 -7.41024127e-01 -6.66625364e-04 1.23912982e+02] [ 1.01577032e-03 2.08393685e-05 9.99999484e-01 -3.86039063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.370281693 meters Centerline goodness : 0.998934 Centerline is valid? [True, True] Translation: X:246.32, Y:123.91, Z:-0.39 [[-7.40648768e-01 -6.71891824e-01 8.82796057e-04 2.46317433e+02] [ 6.71891386e-01 -7.40649294e-01 -7.67011212e-04 1.23914839e+02] [ 1.16919084e-03 2.50571564e-05 9.99999316e-01 -3.86174156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.40028169299995 meters Centerline goodness : 0.998910 Centerline is valid? [True, True] Translation: X:246.32, Y:123.91, Z:-0.39 [[-7.40486653e-01 -6.72069664e-01 1.37229169e-03 2.46317289e+02] [ 6.72068609e-01 -7.40487923e-01 -1.19152535e-03 1.23910303e+02] [ 1.81695346e-03 3.99655498e-05 9.99998349e-01 -3.86486876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.430281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:246.31, Y:123.91, Z:-0.39 [[-7.40638910e-01 -6.71900296e-01 1.99948745e-03 2.46312552e+02] [ 6.71898059e-01 -7.40641606e-01 -1.73487691e-03 1.23906297e+02] [ 2.64656791e-03 5.85343951e-05 9.99996496e-01 -3.86474537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.46028169299996 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:246.31, Y:123.90, Z:-0.39 [[-7.40896212e-01 -6.71616559e-01 2.00015197e-03 2.46314501e+02] [ 6.71614323e-01 -7.40898910e-01 -1.73411080e-03 1.23904705e+02] [ 2.64656794e-03 5.85345881e-05 9.99996496e-01 -3.86473278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.490281693 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:246.31, Y:123.90, Z:-0.39 [[-7.41684180e-01 -6.70747049e-01 1.72410128e-03 2.46310290e+02] [ 6.70745388e-01 -7.41686183e-01 -1.49358371e-03 1.23904390e+02] [ 2.28055896e-03 4.86655734e-05 9.99997398e-01 -3.86076502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.52028169299996 meters Centerline goodness : 0.998668 Centerline is valid? [True, True] Translation: X:246.31, Y:123.90, Z:-0.39 [[-7.42689638e-01 -6.69635088e-01 9.74757025e-04 2.46313075e+02] [ 6.69634557e-01 -7.42690277e-01 -8.43663051e-04 1.23899103e+02] [ 1.28888895e-03 2.61511833e-05 9.99999169e-01 -3.86237930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.550281693 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:246.31, Y:123.90, Z:-0.39 [[-7.43970881e-01 -6.68211970e-01 3.01489006e-04 2.46308391e+02] [ 6.68211919e-01 -7.43970943e-01 -2.60563323e-04 1.23900939e+02] [ 3.98410591e-04 7.60702216e-06 9.99999921e-01 -3.85627260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.58028169299996 meters Centerline goodness : 0.999092 Centerline is valid? [True, True] Translation: X:246.30, Y:123.91, Z:-0.39 [[-7.46501073e-01 -6.65383595e-01 9.05447911e-04 2.46299142e+02] [ 6.65383135e-01 -7.46501622e-01 -7.82432370e-04 1.23905038e+02] [ 1.19653600e-03 1.83831663e-05 9.99999284e-01 -3.85963743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.61028169299993 meters Centerline goodness : 0.999036 Centerline is valid? [True, True] Translation: X:246.30, Y:123.90, Z:-0.39 [[-7.47659406e-01 -6.64080567e-01 1.55351187e-03 2.46299020e+02] [ 6.64079212e-01 -7.47661019e-01 -1.34157498e-03 1.23903134e+02] [ 2.05241414e-03 2.86137887e-05 9.99997893e-01 -3.85946851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.64028169299996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:246.31, Y:123.89, Z:-0.39 [[-7.48562960e-01 -6.63061596e-01 1.67811773e-03 2.46306743e+02] [ 6.63060015e-01 -7.48564840e-01 -1.44806514e-03 1.23894879e+02] [ 2.21633631e-03 2.87248457e-05 9.99997544e-01 -3.86051603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.67028169299994 meters Centerline goodness : 0.998892 Centerline is valid? [True, True] Translation: X:246.30, Y:123.90, Z:-0.39 [[-7.49454825e-01 -6.62054574e-01 1.09871563e-03 2.46295852e+02] [ 6.62053896e-01 -7.49455630e-01 -9.47257524e-04 1.23902980e+02] [ 1.45057479e-03 1.74822440e-05 9.99998948e-01 -3.85758028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.70028169299997 meters Centerline goodness : 0.999014 Centerline is valid? [True, True] Translation: X:246.30, Y:123.90, Z:-0.38 [[-7.50758947e-01 -6.60576231e-01 -2.17829692e-04 2.46300661e+02] [ 6.60576204e-01 -7.50758978e-01 1.87962654e-04 1.23897721e+02] [-2.87701259e-04 -2.77846678e-06 9.99999959e-01 -3.84749239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.73028169299994 meters Centerline goodness : 0.999047 Centerline is valid? [True, True] Translation: X:246.31, Y:123.89, Z:-0.39 [[-7.51394188e-01 -6.59853593e-01 -1.05024237e-04 2.46310466e+02] [ 6.59853587e-01 -7.51394195e-01 9.06852611e-05 1.23889219e+02] [-1.38753597e-04 -1.16024135e-06 9.99999990e-01 -3.85334512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.76028169299997 meters Centerline goodness : 0.998859 Centerline is valid? [True, True] Translation: X:246.31, Y:123.89, Z:-0.39 [[-7.51884777e-01 -6.59294289e-01 5.68564155e-04 2.46311237e+02] [ 6.59294108e-01 -7.51884992e-01 -4.88907952e-04 1.23889323e+02] [ 7.49829076e-04 7.24855116e-06 9.99999719e-01 -3.85828543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.79028169299994 meters Centerline goodness : 0.999229 Centerline is valid? [True, True] Translation: X:246.31, Y:123.89, Z:-0.39 [[-7.51797606e-01 -6.59392680e-01 1.28563666e-03 2.46309187e+02] [ 6.59391755e-01 -7.51798705e-01 -1.10497037e-03 1.23892224e+02] [ 1.69514935e-03 1.70241393e-05 9.99998563e-01 -3.85880367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.82028169299997 meters Centerline goodness : 0.999271 Centerline is valid? [True, True] Translation: X:246.31, Y:123.90, Z:-0.39 [[-7.51270709e-01 -6.59993390e-01 1.02329930e-03 2.46305904e+02] [ 6.59992805e-01 -7.51271406e-01 -8.78749779e-04 1.23895017e+02] [ 1.34874455e-03 1.51912070e-05 9.99999090e-01 -3.85056974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.85028169299994 meters Centerline goodness : 0.999279 Centerline is valid? [True, True] Translation: X:246.32, Y:123.89, Z:-0.38 [[-7.50264821e-01 -6.61137146e-01 6.10044532e-04 2.46316351e+02] [ 6.61136939e-01 -7.50265069e-01 -5.23353803e-04 1.23885138e+02] [ 8.03703743e-04 1.06690274e-05 9.99999677e-01 -3.84496691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.880281693 meters Centerline goodness : 0.999150 Centerline is valid? [True, True] Translation: X:246.33, Y:123.87, Z:-0.38 [[-7.48832713e-01 -6.62758934e-01 4.03987406e-04 2.46326348e+02] [ 6.62758844e-01 -7.48832822e-01 -3.46222932e-04 1.23874302e+02] [ 5.31981371e-04 8.48316911e-06 9.99999858e-01 -3.84067258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.91028169299994 meters Centerline goodness : 0.999046 Centerline is valid? [True, True] Translation: X:246.32, Y:123.87, Z:-0.39 [[-7.44901277e-01 -6.67173288e-01 1.37536644e-03 2.46324281e+02] [ 6.67172248e-01 -7.44902546e-01 -1.17840389e-03 1.23868369e+02] [ 1.81071356e-03 3.98117571e-05 9.99998360e-01 -3.85256187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.940281693 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:246.32, Y:123.87, Z:-0.39 [[-7.43465605e-01 -6.68770287e-01 2.27976061e-03 2.46320317e+02] [ 6.68767443e-01 -7.43469097e-01 -1.95192381e-03 1.23867900e+02] [ 3.00032021e-03 7.34414555e-05 9.99995496e-01 -3.85566979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 446.97028169299995 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:246.32, Y:123.87, Z:-0.39 [[-7.42649009e-01 -6.69675335e-01 2.71955206e-03 2.46318250e+02] [ 6.69671299e-01 -7.42653982e-01 -2.32669712e-03 1.23866005e+02] [ 3.57781785e-03 9.32866519e-05 9.99993595e-01 -3.86597598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.000281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:246.32, Y:123.86, Z:-0.39 [[-7.42593957e-01 -6.69735292e-01 2.97557124e-03 2.46318667e+02] [ 6.69730468e-01 -7.42599911e-01 -2.54404712e-03 1.23858981e+02] [ 3.91349708e-03 1.03636702e-04 9.99992337e-01 -3.87447824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.03028169299995 meters Centerline goodness : 0.999066 Centerline is valid? [True, True] Translation: X:246.32, Y:123.85, Z:-0.39 [[-7.43424975e-01 -6.68813373e-01 2.82449189e-03 2.46319536e+02] [ 6.68809019e-01 -7.43430335e-01 -2.41508886e-03 1.23853747e+02] [ 3.71505668e-03 9.36082695e-05 9.99993095e-01 -3.87120109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.060281693 meters Centerline goodness : 0.999019 Centerline is valid? [True, True] Translation: X:246.32, Y:123.85, Z:-0.39 [[-7.44530273e-01 -6.67584041e-01 2.49439154e-03 2.46316289e+02] [ 6.67580644e-01 -7.44534447e-01 -2.13091690e-03 1.23852109e+02] [ 3.27972654e-03 7.86753703e-05 9.99994619e-01 -3.86658642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.09028169299995 meters Centerline goodness : 0.998950 Centerline is valid? [True, True] Translation: X:246.30, Y:123.86, Z:-0.39 [[-7.45717051e-01 -6.66258837e-01 2.28956137e-03 2.46301586e+02] [ 6.66255974e-01 -7.45720563e-01 -1.95437114e-03 1.23859092e+02] [ 3.00949004e-03 6.80260513e-05 9.99995469e-01 -3.86242167e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.120281693 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:246.30, Y:123.85, Z:-0.39 [[-7.47316348e-01 -6.64465421e-01 1.99504114e-03 2.46295862e+02] [ 6.64463239e-01 -7.47319010e-01 -1.70359364e-03 1.23853509e+02] [ 2.62291123e-03 5.25081195e-05 9.99996559e-01 -3.85884664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.15028169299995 meters Centerline goodness : 0.999070 Centerline is valid? [True, True] Translation: X:246.29, Y:123.86, Z:-0.39 [[-7.48137963e-01 -6.63540652e-01 1.84128946e-03 2.46289602e+02] [ 6.63538791e-01 -7.48140228e-01 -1.57224346e-03 1.23855121e+02] [ 2.42079016e-03 4.55119626e-05 9.99997069e-01 -3.86862158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.180281693 meters Centerline goodness : 0.999172 Centerline is valid? [True, True] Translation: X:246.29, Y:123.85, Z:-0.39 [[-7.49033302e-01 -6.62530690e-01 1.48252128e-03 2.46293725e+02] [ 6.62529480e-01 -7.49034768e-01 -1.26637358e-03 1.23848641e+02] [ 1.94947134e-03 3.36580723e-05 9.99998099e-01 -3.86892210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.21028169299996 meters Centerline goodness : 0.999124 Centerline is valid? [True, True] Translation: X:246.29, Y:123.85, Z:-0.39 [[-7.50213509e-01 -6.61195088e-01 8.63704424e-04 2.46287928e+02] [ 6.61194676e-01 -7.50214006e-01 -7.37932473e-04 1.23850937e+02] [ 1.13588048e-03 1.74698570e-05 9.99999355e-01 -3.86667943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.240281693 meters Centerline goodness : 0.999406 Centerline is valid? [True, True] Translation: X:246.30, Y:123.84, Z:-0.39 [[-7.52408616e-01 -6.58696148e-01 8.12409462e-04 2.46296359e+02] [ 6.58695782e-01 -7.52409054e-01 -6.94348990e-04 1.23838909e+02] [ 1.06862924e-03 1.26965234e-05 9.99999429e-01 -3.85957610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.27028169299996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:246.29, Y:123.84, Z:-0.39 [[-7.53441645e-01 -6.57513767e-01 1.15484887e-03 2.46288129e+02] [ 6.57513027e-01 -7.53442530e-01 -9.86887508e-04 1.23844326e+02] [ 1.51900438e-03 1.57660277e-05 9.99998846e-01 -3.86228168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.300281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:246.29, Y:123.84, Z:-0.39 [[-7.55878140e-01 -6.54711849e-01 7.94900509e-04 2.46294063e+02] [ 6.54711497e-01 -7.55878558e-01 -6.79587247e-04 1.23836330e+02] [ 1.04578207e-03 6.74535789e-06 9.99999453e-01 -3.86149501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.33028169299996 meters Centerline goodness : 0.999423 Centerline is valid? [True, True] Translation: X:246.31, Y:123.82, Z:-0.39 [[-7.56839033e-01 -6.53601303e-01 -1.19338631e-04 2.46307633e+02] [ 6.53601295e-01 -7.56839043e-01 1.01839424e-04 1.23823618e+02] [-1.56882515e-04 -9.23832488e-07 9.99999988e-01 -3.85768681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.36028169299993 meters Centerline goodness : 0.999263 Centerline is valid? [True, True] Translation: X:246.31, Y:123.82, Z:-0.39 [[-7.58022884e-01 -6.52227367e-01 -8.77132522e-04 2.46306020e+02] [ 6.52226935e-01 -7.58023391e-01 7.50488028e-04 1.23824901e+02] [-1.15437580e-03 -3.20235714e-06 9.99999334e-01 -3.85252673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.39028169299996 meters Centerline goodness : 0.999345 Centerline is valid? [True, True] Translation: X:246.30, Y:123.83, Z:-0.39 [[-7.59688891e-01 -6.50285126e-01 -1.42991183e-03 2.46299941e+02] [ 6.50283974e-01 -7.59690236e-01 1.22378152e-03 1.23831539e+02] [-1.88209698e-03 -1.55516295e-07 9.99998229e-01 -3.85650465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.42028169299994 meters Centerline goodness : 0.999404 Centerline is valid? [True, True] Translation: X:246.32, Y:123.82, Z:-0.39 [[-7.63134989e-01 -6.46238846e-01 -5.85110410e-04 2.46322267e+02] [ 6.46238652e-01 -7.63135213e-01 5.00923078e-04 1.23817650e+02] [-7.70234309e-04 4.15096423e-06 9.99999703e-01 -3.86087267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.45028169299997 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:246.33, Y:123.81, Z:-0.39 [[-7.65084473e-01 -6.43929712e-01 5.23362919e-04 2.46330592e+02] [ 6.43929556e-01 -7.65084652e-01 -4.48502247e-04 1.23813275e+02] [ 6.89220860e-04 -6.13325373e-06 9.99999763e-01 -3.87047063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.48028169299994 meters Centerline goodness : 0.999368 Centerline is valid? [True, True] Translation: X:246.33, Y:123.82, Z:-0.39 [[-7.67139663e-01 -6.41478102e-01 1.60702733e-03 2.46325532e+02] [ 6.41476625e-01 -7.67141346e-01 -1.37671787e-03 1.23820522e+02] [ 2.11595147e-03 -2.52644199e-05 9.99997761e-01 -3.87325062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.51028169299997 meters Centerline goodness : 0.999147 Centerline is valid? [True, True] Translation: X:246.33, Y:123.82, Z:-0.39 [[-7.69174309e-01 -6.39035737e-01 2.05186097e-03 2.46328612e+02] [ 6.39033319e-01 -7.69177044e-01 -1.75823308e-03 1.23821592e+02] [ 2.70181812e-03 -4.11801904e-05 9.99996349e-01 -3.87298825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.54028169299994 meters Centerline goodness : 0.999190 Centerline is valid? [True, True] Translation: X:246.35, Y:123.81, Z:-0.39 [[-7.71989634e-01 -6.35632496e-01 1.82608991e-03 2.46346751e+02] [ 6.35630571e-01 -7.71991792e-01 -1.56524916e-03 1.23814848e+02] [ 2.40464965e-03 -4.76375550e-05 9.99997108e-01 -3.86590258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.57028169299997 meters Centerline goodness : 0.999315 Centerline is valid? [True, True] Translation: X:246.35, Y:123.82, Z:-0.39 [[-7.72586920e-01 -6.34906676e-01 1.72177798e-03 2.46351213e+02] [ 6.34904962e-01 -7.72588837e-01 -1.47608485e-03 1.23815384e+02] [ 2.26740258e-03 -4.72384679e-05 9.99997428e-01 -3.85704430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.60028169299994 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:246.35, Y:123.82, Z:-0.39 [[-7.72601417e-01 -6.34889247e-01 1.64134342e-03 2.46348783e+02] [ 6.34887693e-01 -7.72603159e-01 -1.40578429e-03 1.23821580e+02] [ 2.16062444e-03 -4.40422014e-05 9.99997665e-01 -3.85218090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.630281693 meters Centerline goodness : 0.999489 Centerline is valid? [True, True] Translation: X:246.35, Y:123.82, Z:-0.38 [[-7.72028965e-01 -6.35584153e-01 2.01522117e-03 2.46350735e+02] [ 6.35581815e-01 -7.72031594e-01 -1.72477201e-03 1.23823405e+02] [ 2.65205217e-03 -5.07360202e-05 9.99996482e-01 -3.84988876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.66028169299994 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:246.35, Y:123.83, Z:-0.39 [[-7.70158758e-01 -6.37846925e-01 2.60524976e-03 2.46351852e+02] [ 6.37843036e-01 -7.70163163e-01 -2.22816522e-03 1.23828245e+02] [ 3.42769573e-03 -5.43005440e-05 9.99994124e-01 -3.85200082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.690281693 meters Centerline goodness : 0.999258 Centerline is valid? [True, True] Translation: X:246.35, Y:123.84, Z:-0.39 [[-7.69656060e-01 -6.38454546e-01 2.31128394e-03 2.46345340e+02] [ 6.38451492e-01 -7.69659529e-01 -1.97523217e-03 1.23836469e+02] [ 3.03999767e-03 -4.46067295e-05 9.99995378e-01 -3.85438177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.72028169299995 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:246.34, Y:123.84, Z:-0.39 [[-7.69515385e-01 -6.38625134e-01 2.00254971e-03 2.46343204e+02] [ 6.38622846e-01 -7.69517990e-01 -1.71005561e-03 1.23841264e+02] [ 2.63308252e-03 -3.70401067e-05 9.99996533e-01 -3.85154513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.750281693 meters Centerline goodness : 0.999359 Centerline is valid? [True, True] Translation: X:246.35, Y:123.84, Z:-0.38 [[-7.69724608e-01 -6.38374631e-01 1.36306522e-03 2.46347209e+02] [ 6.38373572e-01 -7.69725815e-01 -1.16301098e-03 1.23844407e+02] [ 1.79162319e-03 -2.50533575e-05 9.99998395e-01 -3.84908735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.78028169299995 meters Centerline goodness : 0.999220 Centerline is valid? [True, True] Translation: X:246.34, Y:123.85, Z:-0.38 [[-7.69996833e-01 -6.38045527e-01 1.66825524e-03 2.46344528e+02] [ 6.38043942e-01 -7.69998640e-01 -1.42237758e-03 1.23849953e+02] [ 2.19209592e-03 -3.08060785e-05 9.99997597e-01 -3.84483967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.810281693 meters Centerline goodness : 0.999063 Centerline is valid? [True, True] Translation: X:246.35, Y:123.85, Z:-0.38 [[-7.70221472e-01 -6.37772466e-01 2.27283516e-03 2.46346084e+02] [ 6.37769527e-01 -7.70224824e-01 -1.93645552e-03 1.23851672e+02] [ 2.98561207e-03 -4.19546118e-05 9.99995542e-01 -3.84233131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.84028169299995 meters Centerline goodness : 0.999024 Centerline is valid? [True, True] Translation: X:246.35, Y:123.85, Z:-0.38 [[-7.70100723e-01 -6.37917921e-01 2.36699866e-03 2.46354542e+02] [ 6.37914740e-01 -7.70104359e-01 -2.01515178e-03 1.23847124e+02] [ 3.10833742e-03 -4.19265069e-05 9.99995168e-01 -3.84192170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.870281693 meters Centerline goodness : 0.999325 Centerline is valid? [True, True] Translation: X:246.35, Y:123.86, Z:-0.38 [[-7.68650933e-01 -6.39664745e-01 2.18112008e-03 2.46351032e+02] [ 6.39662054e-01 -7.68654027e-01 -1.85546173e-03 1.23855084e+02] [ 2.86340019e-03 -3.10226445e-05 9.99995900e-01 -3.84288780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.90028169299995 meters Centerline goodness : 0.999231 Centerline is valid? [True, True] Translation: X:246.35, Y:123.86, Z:-0.38 [[-7.68000713e-01 -6.40446796e-01 1.67543173e-03 2.46347288e+02] [ 6.40445212e-01 -7.68002540e-01 -1.42411826e-03 1.23861266e+02] [ 2.19880780e-03 -2.07016074e-05 9.99997582e-01 -3.84556206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.930281693 meters Centerline goodness : 0.999513 Centerline is valid? [True, True] Translation: X:246.37, Y:123.85, Z:-0.38 [[-7.66900625e-01 -6.41765009e-01 1.05089516e-03 2.46366935e+02] [ 6.41764387e-01 -7.66901345e-01 -8.93652118e-04 1.23847523e+02] [ 1.37944757e-03 -1.09152827e-05 9.99999049e-01 -3.84338292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.96028169299996 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:246.35, Y:123.87, Z:-0.38 [[-7.66338675e-01 -6.42436714e-01 3.23418919e-04 2.46348710e+02] [ 6.42436655e-01 -7.66338743e-01 -2.74547567e-04 1.23865473e+02] [ 4.24227885e-04 -2.62025015e-06 9.99999910e-01 -3.83500368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 447.990281693 meters Centerline goodness : 0.999533 Centerline is valid? [True, True] Translation: X:246.35, Y:123.87, Z:-0.38 [[-7.64617494e-01 -6.44484345e-01 -1.24933518e-04 2.46348230e+02] [ 6.44484337e-01 -7.64617505e-01 1.06320267e-04 1.23869340e+02] [-1.64048103e-04 7.76640729e-07 9.99999987e-01 -3.82613835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.02028169299996 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:246.34, Y:123.88, Z:-0.38 [[-7.64055433e-01 -6.45150484e-01 3.85246431e-04 2.46343246e+02] [ 6.45150401e-01 -7.64055530e-01 -3.26565707e-04 1.23875029e+02] [ 5.05033690e-04 -9.72413271e-07 9.99999873e-01 -3.83028817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.050281693 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:246.34, Y:123.88, Z:-0.38 [[-7.63823773e-01 -6.45423927e-01 1.09475389e-03 2.46343717e+02] [ 6.45423260e-01 -7.63824557e-01 -9.27736436e-04 1.23876442e+02] [ 1.43498320e-03 -2.04752034e-06 9.99998970e-01 -3.84393144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.08028169299996 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:246.35, Y:123.87, Z:-0.39 [[-7.64171786e-01 -6.45009217e-01 2.14279681e-03 2.46351110e+02] [ 6.45006665e-01 -7.64174790e-01 -1.81470617e-03 1.23873906e+02] [ 2.80797351e-03 -4.62903098e-06 9.99996058e-01 -3.85502246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.11028169299993 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:246.35, Y:123.88, Z:-0.38 [[-7.65091801e-01 -6.43916573e-01 2.44615781e-03 2.46350779e+02] [ 6.43913246e-01 -7.65095711e-01 -2.07002878e-03 1.23875634e+02] [ 3.20447069e-03 -8.64863354e-06 9.99994866e-01 -3.84938917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.14028169299996 meters Centerline goodness : 0.999282 Centerline is valid? [True, True] Translation: X:246.36, Y:123.87, Z:-0.38 [[-7.66178242e-01 -6.42622757e-01 2.62559821e-03 2.46359045e+02] [ 6.42618922e-01 -7.66182741e-01 -2.22015454e-03 1.23869916e+02] [ 3.43840986e-03 -1.37750160e-05 9.99994089e-01 -3.84294132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.17028169299994 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:246.37, Y:123.87, Z:-0.38 [[-7.67476978e-01 -6.41072575e-01 2.24518182e-03 2.46365595e+02] [ 6.41069769e-01 -7.67480262e-01 -1.89696482e-03 1.23866291e+02] [ 2.93922486e-03 -1.65586371e-05 9.99995680e-01 -3.84401109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.20028169299997 meters Centerline goodness : 0.999353 Centerline is valid? [True, True] Translation: X:246.38, Y:123.86, Z:-0.38 [[-7.69586799e-01 -6.38540402e-01 1.52112090e-03 2.46375439e+02] [ 6.38539111e-01 -7.69588302e-01 -1.28412293e-03 1.23863674e+02] [ 1.99060122e-03 -1.69488611e-05 9.99998019e-01 -3.83913501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.23028169299994 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:246.38, Y:123.86, Z:-0.38 [[-7.70529302e-01 -6.37403288e-01 1.28170502e-03 2.46384143e+02] [ 6.37402372e-01 -7.70530368e-01 -1.08113401e-03 1.23859534e+02] [ 1.67671101e-03 -1.60836148e-05 9.99998594e-01 -3.84207036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.26028169299997 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:246.38, Y:123.86, Z:-0.38 [[-7.71413617e-01 -6.36332665e-01 1.33099476e-03 2.46384096e+02] [ 6.36331676e-01 -7.71414765e-01 -1.12185227e-03 1.23863090e+02] [ 1.74062025e-03 -1.84579868e-05 9.99998485e-01 -3.84129765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.29028169299994 meters Centerline goodness : 0.999175 Centerline is valid? [True, True] Translation: X:246.39, Y:123.86, Z:-0.38 [[-7.72685001e-01 -6.34784893e-01 2.45558173e-03 2.46391373e+02] [ 6.34781524e-01 -7.72688901e-01 -2.06833850e-03 1.23864592e+02] [ 3.21035078e-03 -3.94162266e-05 9.99994846e-01 -3.84366898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.32028169299997 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:246.40, Y:123.86, Z:-0.38 [[-7.73084316e-01 -6.34297965e-01 2.59460508e-03 2.46397111e+02] [ 6.34294207e-01 -7.73088669e-01 -2.18376332e-03 1.23864261e+02] [ 3.39101642e-03 -4.24902035e-05 9.99994250e-01 -3.84177671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.35028169299994 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:246.40, Y:123.87, Z:-0.38 [[-7.73213783e-01 -6.34142079e-01 2.06611334e-03 2.46400438e+02] [ 6.34139700e-01 -7.73216543e-01 -1.73756097e-03 1.23865898e+02] [ 2.69941354e-03 -3.33016005e-05 9.99996356e-01 -3.84642831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.380281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:246.40, Y:123.86, Z:-0.38 [[-7.73455296e-01 -6.33847485e-01 2.06677516e-03 2.46402405e+02] [ 6.33845106e-01 -7.73458056e-01 -1.73677376e-03 1.23864342e+02] [ 2.69941358e-03 -3.33015375e-05 9.99996356e-01 -3.84641572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.41028169299994 meters Centerline goodness : 0.999403 Centerline is valid? [True, True] Translation: X:246.41, Y:123.86, Z:-0.38 [[-7.73346460e-01 -6.33980916e-01 1.85767058e-03 2.46413365e+02] [ 6.33978998e-01 -7.73348690e-01 -1.55982988e-03 1.23858994e+02] [ 2.42552948e-03 -2.85647818e-05 9.99997058e-01 -3.84643380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.440281693 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:246.41, Y:123.86, Z:-0.38 [[-7.71907440e-01 -6.35732586e-01 1.72716130e-03 2.46413705e+02] [ 6.35730934e-01 -7.71909372e-01 -1.44911210e-03 1.23863597e+02] [ 2.25445977e-03 -2.05705433e-05 9.99997459e-01 -3.84462362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.47028169299995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:246.41, Y:123.87, Z:-0.38 [[-7.70747124e-01 -6.37138371e-01 1.88877740e-03 2.46410295e+02] [ 6.37136403e-01 -7.70749438e-01 -1.58350646e-03 1.23868311e+02] [ 2.46468684e-03 -1.70742090e-05 9.99996963e-01 -3.83832466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.500281693 meters Centerline goodness : 0.999618 Centerline is valid? [True, True] Translation: X:246.40, Y:123.88, Z:-0.38 [[-7.69387464e-01 -6.38779364e-01 1.96330609e-03 2.46403491e+02] [ 6.38777247e-01 -7.69389968e-01 -1.64471496e-03 1.23875556e+02] [ 2.56115798e-03 -1.13078108e-05 9.99996720e-01 -3.83478437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.53028169299995 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:246.41, Y:123.87, Z:-0.38 [[-7.67945409e-01 -6.40512765e-01 1.80164650e-03 2.46406876e+02] [ 6.40510990e-01 -7.67947523e-01 -1.50808505e-03 1.23874323e+02] [ 2.34951769e-03 -4.15260673e-06 9.99997240e-01 -3.82715058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.560281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:246.40, Y:123.88, Z:-0.38 [[-7.64734737e-01 -6.44344906e-01 6.51448238e-04 2.46401300e+02] [ 6.44344676e-01 -7.64735014e-01 -5.44710882e-04 1.23880483e+02] [ 8.49166960e-04 3.19787082e-06 9.99999639e-01 -3.82005327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.59028169299995 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:246.40, Y:123.88, Z:-0.38 [[-7.63261798e-01 -6.46089311e-01 1.72008603e-04 2.46399309e+02] [ 6.46089295e-01 -7.63261818e-01 -1.43524763e-04 1.23882612e+02] [ 2.24017414e-04 1.58594848e-06 9.99999975e-01 -3.81934121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.620281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.42, Y:123.86, Z:-0.38 [[-7.61076729e-01 -6.48661724e-01 -4.25223855e-04 2.46420095e+02] [ 6.48661626e-01 -7.61076848e-01 3.55408881e-04 1.23864863e+02] [-5.54168169e-04 -5.33296883e-06 9.99999846e-01 -3.81728657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.65028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:246.42, Y:123.86, Z:-0.38 [[-7.60618651e-01 -6.49198843e-01 -3.61489514e-04 2.46423780e+02] [ 6.49198773e-01 -7.60618737e-01 3.01939233e-04 1.23861281e+02] [-4.70974298e-04 -5.01793671e-06 9.99999889e-01 -3.81415985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.680281693 meters Centerline goodness : 0.999748 Centerline is valid? [True, True] Translation: X:246.43, Y:123.86, Z:-0.38 [[-7.60325140e-01 -6.49542647e-01 -1.76593232e-04 2.46429447e+02] [ 6.49542630e-01 -7.60325161e-01 1.47514443e-04 1.23856124e+02] [-2.30085199e-04 -2.54589347e-06 9.99999974e-01 -3.81638010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.71028169299996 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.42, Y:123.87, Z:-0.38 [[-7.60134082e-01 -6.49766085e-01 4.60739525e-04 2.46415686e+02] [ 6.49765971e-01 -7.60134222e-01 -3.83674341e-04 1.23867312e+02] [ 5.99522455e-04 7.72892202e-06 9.99999820e-01 -3.81862040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.740281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.42, Y:123.86, Z:-0.38 [[-7.59632428e-01 -6.50350085e-01 1.82783918e-03 2.46424421e+02] [ 6.50348306e-01 -7.59634627e-01 -1.52165581e-03 1.23857323e+02] [ 2.37809892e-03 3.28330161e-05 9.99997172e-01 -3.82745017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.77028169299996 meters Centerline goodness : 0.999614 Centerline is valid? [True, True] Translation: X:246.42, Y:123.86, Z:-0.38 [[-7.59527979e-01 -6.50471860e-01 1.89953776e-03 2.46419521e+02] [ 6.50469941e-01 -7.59530354e-01 -1.58011817e-03 1.23859168e+02] [ 2.47057900e-03 3.54482558e-05 9.99996948e-01 -3.82275039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.800281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.43, Y:123.85, Z:-0.38 [[-7.59490173e-01 -6.50516632e-01 1.66956480e-03 2.46426206e+02] [ 6.50515153e-01 -7.59492008e-01 -1.38770113e-03 1.23850563e+02] [ 2.17074379e-03 3.21318308e-05 9.99997643e-01 -3.81791914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.83028169299996 meters Centerline goodness : 0.999640 Centerline is valid? [True, True] Translation: X:246.41, Y:123.86, Z:-0.38 [[-7.59522821e-01 -6.50479577e-01 1.18494959e-03 2.46413256e+02] [ 6.50478833e-01 -7.59523745e-01 -9.84055150e-04 1.23858652e+02] [ 1.54010513e-03 2.33722836e-05 9.99998814e-01 -3.81378363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.86028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.43, Y:123.84, Z:-0.38 [[-7.60208155e-01 -6.49679192e-01 7.13152989e-04 2.46427693e+02] [ 6.49678922e-01 -7.60208490e-01 -5.91682073e-04 1.23842085e+02] [ 9.26548488e-04 1.35189278e-05 9.99999571e-01 -3.81477358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.89028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.61014532e-01 -6.48734447e-01 7.06355957e-04 2.46422603e+02] [ 6.48734183e-01 -7.61014860e-01 -5.85583603e-04 1.23844785e+02] [ 9.17435635e-04 1.25996225e-05 9.99999579e-01 -3.81542609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.92028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.42, Y:123.85, Z:-0.38 [[-7.62048507e-01 -6.47519428e-01 8.13906023e-04 2.46418359e+02] [ 6.47519077e-01 -7.62048942e-01 -6.74251351e-04 1.23846940e+02] [ 1.05682707e-03 1.32074414e-05 9.99999442e-01 -3.81620509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.95028169299997 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:246.41, Y:123.85, Z:-0.38 [[-7.64480408e-01 -6.44646828e-01 4.16043665e-04 2.46410615e+02] [ 6.44646736e-01 -7.64480521e-01 -3.44259531e-04 1.23851348e+02] [ 5.39983093e-04 5.02152424e-06 9.99999854e-01 -3.82188031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 448.98028169299994 meters Centerline goodness : 0.999726 Centerline is valid? [True, True] Translation: X:246.41, Y:123.85, Z:-0.38 [[-7.66021990e-01 -6.42814343e-01 1.76955870e-04 2.46410208e+02] [ 6.42814326e-01 -7.66022011e-01 -1.46161185e-04 1.23850891e+02] [ 2.29506598e-04 1.78708652e-06 9.99999974e-01 -3.82436179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.01028169299997 meters Centerline goodness : 0.999551 Centerline is valid? [True, True] Translation: X:246.41, Y:123.85, Z:-0.38 [[-7.67655907e-01 -6.40862213e-01 1.81254559e-04 2.46412843e+02] [ 6.40862195e-01 -7.67655928e-01 -1.49598676e-04 1.23847527e+02] [ 2.35013276e-04 1.31888723e-06 9.99999972e-01 -3.82361422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.04028169299994 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:246.41, Y:123.85, Z:-0.38 [[-7.68835531e-01 -6.39446404e-01 4.71781219e-04 2.46410036e+02] [ 6.39446285e-01 -7.68835676e-01 -3.89480736e-04 1.23849082e+02] [ 6.11774289e-04 2.23211930e-06 9.99999813e-01 -3.82560306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.07028169299997 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.69584090e-01 -6.38544563e-01 1.08107693e-03 2.46419137e+02] [ 6.38543940e-01 -7.69584850e-01 -8.92105012e-04 1.23841293e+02] [ 1.40162923e-03 3.76529678e-06 9.99999018e-01 -3.82578637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.10028169299994 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:246.43, Y:123.84, Z:-0.38 [[-7.70139275e-01 -6.37871526e-01 2.32643491e-03 2.46426457e+02] [ 6.37868641e-01 -7.70142789e-01 -1.91854942e-03 1.23835160e+02] [ 3.01547512e-03 6.40961530e-06 9.99995453e-01 -3.81931086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.130281693 meters Centerline goodness : 0.999662 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.70382746e-01 -6.37577662e-01 2.26909165e-03 2.46424289e+02] [ 6.37574921e-01 -7.70386088e-01 -1.86977443e-03 1.23836817e+02] [ 2.94020305e-03 6.27397328e-06 9.99995678e-01 -3.81869505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.16028169299994 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.70745933e-01 -6.37138760e-01 2.21526671e-03 2.46417132e+02] [ 6.37136149e-01 -7.70749116e-01 -1.82396158e-03 1.23842269e+02] [ 2.86953147e-03 5.61553119e-06 9.99995883e-01 -3.81095828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.190281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.71319898e-01 -6.36445111e-01 1.79851072e-03 2.46424648e+02] [ 6.36443391e-01 -7.71321995e-01 -1.47959315e-03 1.23836590e+02] [ 2.32891070e-03 3.41062399e-06 9.99997288e-01 -3.81373449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.22028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.42, Y:123.84, Z:-0.38 [[-7.73259797e-01 -6.34089293e-01 2.34094347e-04 2.46424079e+02] [ 6.34089264e-01 -7.73259832e-01 -1.92210218e-04 1.23840454e+02] [ 3.02894197e-04 -1.91722332e-07 9.99999954e-01 -3.81036272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.250281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:246.45, Y:123.82, Z:-0.38 [[-7.74760635e-01 -6.32254419e-01 -5.55040033e-04 2.46449453e+02] [ 6.32254254e-01 -7.74760834e-01 4.56291957e-04 1.23821953e+02] [-7.18515885e-04 2.59062390e-06 9.99999742e-01 -3.81549331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.28028169299995 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.46, Y:123.82, Z:-0.38 [[-7.76407019e-01 -6.30231514e-01 -6.16413197e-04 2.46455830e+02] [ 6.30231310e-01 -7.76407264e-01 5.06494399e-04 1.23819459e+02] [-7.97796415e-04 4.76290973e-06 9.99999682e-01 -3.81320678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.310281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:246.46, Y:123.82, Z:-0.38 [[-7.78592074e-01 -6.27530172e-01 5.16500658e-04 2.46462755e+02] [ 6.27530029e-01 -7.78592245e-01 -4.23613077e-04 1.23818623e+02] [ 6.67973394e-04 -5.70211181e-06 9.99999777e-01 -3.80752386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.34028169299995 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.46, Y:123.82, Z:-0.38 [[-7.79010731e-01 -6.27009837e-01 9.71963419e-04 2.46462112e+02] [ 6.27009331e-01 -7.79011337e-01 -7.96762031e-04 1.23821080e+02] [ 1.25674816e-03 -1.12560388e-05 9.99999210e-01 -3.79992422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.370281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.47, Y:123.82, Z:-0.38 [[-7.78946450e-01 -6.27089627e-01 1.01373276e-03 2.46468822e+02] [ 6.27089078e-01 -7.78947109e-01 -8.30365683e-04 1.23816110e+02] [ 1.31035791e-03 -1.11096565e-05 9.99999141e-01 -3.79459768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.40028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.46, Y:123.82, Z:-0.38 [[-7.77485548e-01 -6.28898715e-01 1.62145155e-03 2.46461550e+02] [ 6.28897314e-01 -7.77487239e-01 -1.32726908e-03 1.23821672e+02] [ 2.09537571e-03 -1.22059990e-05 9.99997805e-01 -3.80215446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.430281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:246.47, Y:123.82, Z:-0.38 [[-7.76961534e-01 -6.29545273e-01 1.87707902e-03 2.46465591e+02] [ 6.29543401e-01 -7.76963802e-01 -1.53535171e-03 1.23819337e+02] [ 2.42499586e-03 -1.12065113e-05 9.99997060e-01 -3.81120254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.45, Y:123.83, Z:-0.38 [[-7.76737027e-01 -6.29821581e-01 2.08952020e-03 2.46454428e+02] [ 6.29819266e-01 -7.76739838e-01 -1.70779723e-03 1.23830223e+02] [ 2.69862114e-03 -1.04892665e-05 9.99996359e-01 -3.81314657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.490281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.46, Y:123.83, Z:-0.38 [[-7.77320127e-01 -6.29099045e-01 2.79500203e-03 2.46457605e+02] [ 6.29094904e-01 -7.77325152e-01 -2.28266837e-03 1.23828734e+02] [ 3.60864987e-03 -1.60425322e-05 9.99993489e-01 -3.80828276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.52028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.47, Y:123.82, Z:-0.38 [[-7.78078382e-01 -6.28158223e-01 3.35819938e-03 2.46469150e+02] [ 6.28152245e-01 -7.78085629e-01 -2.74051634e-03 1.23818305e+02] [ 4.33444455e-03 -2.28760424e-05 9.99990606e-01 -3.80381236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.550281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.46, Y:123.82, Z:-0.38 [[-7.78933848e-01 -6.27096678e-01 3.43752468e-03 2.46462777e+02] [ 6.27090414e-01 -7.78941432e-01 -2.80304573e-03 1.23821975e+02] [ 4.43541106e-03 -2.77484194e-05 9.99990163e-01 -3.80151831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.58028169299996 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:246.38, Y:123.89, Z:-0.38 [[-7.79921921e-01 -6.25865592e-01 3.74941521e-03 2.46383537e+02] [ 6.25866854e-01 -7.79929315e-01 -9.71629316e-04 1.23885212e+02] [ 3.53238819e-03 1.58883970e-03 9.99992499e-01 -3.80708117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.61028169299993 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.47, Y:123.82, Z:-0.38 [[-7.81325074e-01 -6.24123020e-01 1.25908926e-03 2.46469394e+02] [ 6.24117384e-01 -7.81324329e-01 -3.12797370e-03 1.23818435e+02] [ 2.93599746e-03 -1.65814479e-03 9.99994315e-01 -3.81231935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.64028169299996 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:246.49, Y:123.80, Z:-0.38 [[-7.82346231e-01 -6.22840899e-01 1.89441819e-03 2.46493502e+02] [ 6.22838985e-01 -7.82348524e-01 -1.54434164e-03 1.23799362e+02] [ 2.44397441e-03 -2.82923548e-05 9.99997013e-01 -3.80432947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.67028169299994 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.49, Y:123.80, Z:-0.38 [[-7.83539554e-01 -6.21339065e-01 1.87959119e-03 2.46490386e+02] [ 6.21337180e-01 -7.83541808e-01 -1.53091640e-03 1.23803021e+02] [ 2.42395645e-03 -3.16736676e-05 9.99997062e-01 -3.80397234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.70028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.50, Y:123.80, Z:-0.38 [[-7.85127940e-01 -6.19328930e-01 2.40722334e-03 2.46497159e+02] [ 6.19325833e-01 -7.85131628e-01 -1.95922099e-03 1.23799313e+02] [ 3.10338942e-03 -4.73835452e-05 9.99995183e-01 -3.80716687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.73028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.50, Y:123.79, Z:-0.38 [[-7.85807780e-01 -6.18466372e-01 2.34091269e-03 2.46504293e+02] [ 6.18463444e-01 -7.85811265e-01 -1.90377679e-03 1.23794876e+02] [ 3.01693749e-03 -4.82336872e-05 9.99995448e-01 -3.80348732e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.76028169299997 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.50, Y:123.80, Z:-0.38 [[-7.86422552e-01 -6.17686255e-01 1.80554608e-03 2.46499592e+02] [ 6.17684514e-01 -7.86424624e-01 -1.46719313e-03 1.23800271e+02] [ 2.32619093e-03 -3.85759131e-05 9.99997294e-01 -3.79938587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.50, Y:123.80, Z:-0.38 [[-7.87234725e-01 -6.16652465e-01 1.10699946e-03 2.46502658e+02] [ 6.16651810e-01 -7.87235503e-01 -8.98759290e-04 1.23798940e+02] [ 1.42569141e-03 -2.49013009e-05 9.99998983e-01 -3.79643389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.52, Y:123.79, Z:-0.38 [[-7.88763761e-01 -6.14695501e-01 1.08165618e-03 2.46522291e+02] [ 6.14694876e-01 -7.88764502e-01 -8.77504453e-04 1.23785762e+02] [ 1.39257004e-03 -2.72552029e-05 9.99999030e-01 -3.80077495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.85028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.52, Y:123.79, Z:-0.38 [[-7.89861798e-01 -6.13281357e-01 2.07764346e-03 2.46524678e+02] [ 6.13279046e-01 -7.89864529e-01 -1.68444789e-03 1.23786054e+02] [ 2.67409736e-03 -5.63058336e-05 9.99996423e-01 -3.80731173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.880281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.52, Y:123.79, Z:-0.38 [[-7.90934269e-01 -6.11893730e-01 3.00743195e-03 2.46524451e+02] [ 6.11888885e-01 -7.90939982e-01 -2.43651560e-03 1.23789104e+02] [ 3.86958680e-03 -8.69095027e-05 9.99992509e-01 -3.81787637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.91028169299994 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.52, Y:123.80, Z:-0.38 [[-7.92534388e-01 -6.09819914e-01 2.98619284e-03 2.46523084e+02] [ 6.09815129e-01 -7.92540008e-01 -2.41744619e-03 1.23796319e+02] [ 3.84088412e-03 -9.48836607e-05 9.99992619e-01 -3.81181470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.53, Y:123.79, Z:-0.38 [[-7.92848313e-01 -6.09413957e-01 2.48606911e-03 2.46527976e+02] [ 6.09410645e-01 -7.92852207e-01 -2.01098387e-03 1.23794380e+02] [ 3.19660702e-03 -7.93681953e-05 9.99994888e-01 -3.80091354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 449.97028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.55, Y:123.78, Z:-0.38 [[-7.92892405e-01 -6.09358453e-01 1.97748405e-03 2.46545330e+02] [ 6.09356360e-01 -7.92894868e-01 -1.59831820e-03 1.23781347e+02] [ 2.54188566e-03 -6.23018774e-05 9.99996767e-01 -3.79314442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.000281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.55, Y:123.78, Z:-0.38 [[-7.92484948e-01 -6.09889799e-01 1.42802230e-03 2.46546281e+02] [ 6.09888710e-01 -7.92486234e-01 -1.15326826e-03 1.23782154e+02] [ 1.83505456e-03 -4.30130540e-05 9.99998315e-01 -3.80032454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.53, Y:123.80, Z:-0.38 [[-7.91014474e-01 -6.11797208e-01 5.27669810e-04 2.46526503e+02] [ 6.11797060e-01 -7.91014650e-01 -4.25663446e-04 1.23801838e+02] [ 6.77814258e-04 -1.38791090e-05 9.99999770e-01 -3.80201064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.53, Y:123.80, Z:-0.38 [[-7.90374174e-01 -6.12624280e-01 3.96717923e-04 2.46528848e+02] [ 6.12624196e-01 -7.90374273e-01 -3.19714754e-04 1.23801467e+02] [ 5.09420661e-04 -9.65528567e-06 9.99999870e-01 -3.80205197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.09028169299995 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:246.54, Y:123.79, Z:-0.38 [[-7.89883149e-01 -6.13256920e-01 7.49244503e-04 2.46543361e+02] [ 6.13256623e-01 -7.89883504e-01 -6.03567606e-04 1.23790615e+02] [ 9.61957884e-04 -1.72687273e-05 9.99999537e-01 -3.80099768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.120281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.54, Y:123.80, Z:-0.38 [[-7.89051524e-01 -6.14324653e-01 1.70703958e-03 2.46536434e+02] [ 6.14323116e-01 -7.89053369e-01 -1.37438529e-03 1.23799484e+02] [ 2.19126410e-03 -3.57869335e-05 9.99997599e-01 -3.80707429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.15028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.52, Y:123.82, Z:-0.38 [[-7.88854328e-01 -6.14577662e-01 1.77393286e-03 2.46519235e+02] [ 6.14576006e-01 -7.88856322e-01 -1.42712879e-03 1.23815406e+02] [ 2.27645963e-03 -3.55801566e-05 9.99997408e-01 -3.80617628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.180281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.52, Y:123.82, Z:-0.38 [[-7.88822436e-01 -6.14619419e-01 1.46095899e-03 2.46520277e+02] [ 6.14618298e-01 -7.88823788e-01 -1.17436382e-03 1.23815747e+02] [ 1.87422601e-03 -2.84323966e-05 9.99998243e-01 -3.80899459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.21028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.53, Y:123.81, Z:-0.38 [[-7.88887329e-01 -6.14536211e-01 1.42376819e-03 2.46528893e+02] [ 6.14535148e-01 -7.88888613e-01 -1.14355772e-03 1.23810003e+02] [ 1.82595214e-03 -2.71825990e-05 9.99998333e-01 -3.80436529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.240281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.55, Y:123.80, Z:-0.38 [[-7.89362377e-01 -6.13924581e-01 1.90970940e-03 2.46546665e+02] [ 6.13922669e-01 -7.89364686e-01 -1.53274665e-03 1.23799060e+02] [ 2.44844800e-03 -3.74786430e-05 9.99997002e-01 -3.81054106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.27028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.55, Y:123.80, Z:-0.38 [[-7.89595685e-01 -6.13624482e-01 1.91029113e-03 2.46548656e+02] [ 6.13622571e-01 -7.89597995e-01 -1.53202162e-03 1.23797558e+02] [ 2.44844802e-03 -3.74799104e-05 9.99997002e-01 -3.81052843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.300281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.55, Y:123.80, Z:-0.38 [[-7.89848852e-01 -6.13298291e-01 1.99950597e-03 2.46545822e+02] [ 6.13296199e-01 -7.89851382e-01 -1.60232882e-03 1.23802779e+02] [ 2.56201808e-03 -3.93081669e-05 9.99996717e-01 -3.81495137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.33028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.54, Y:123.81, Z:-0.38 [[-7.90193786e-01 -6.12855245e-01 1.49293569e-03 2.46537873e+02] [ 6.12854080e-01 -7.90195196e-01 -1.19537642e-03 1.23811196e+02] [ 1.91230332e-03 -2.96272880e-05 9.99998171e-01 -3.81707134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.36028169299993 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.54, Y:123.81, Z:-0.38 [[-7.90167524e-01 -6.12889084e-01 1.50142161e-03 2.46539785e+02] [ 6.12887908e-01 -7.90168950e-01 -1.20121909e-03 1.23811585e+02] [ 1.92259081e-03 -2.89611591e-05 9.99998151e-01 -3.81596955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.39028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.53, Y:123.82, Z:-0.38 [[-7.89639780e-01 -6.13562626e-01 3.15008678e-03 2.46532884e+02] [ 6.13557459e-01 -7.89646061e-01 -2.51850603e-03 1.23820161e+02] [ 4.03271479e-03 -5.59533081e-05 9.99991867e-01 -3.82244806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.42028169299994 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.55, Y:123.81, Z:-0.38 [[-7.89383588e-01 -6.13887445e-01 3.96953236e-03 2.46547956e+02] [ 6.13879257e-01 -7.89393565e-01 -3.17119475e-03 1.23810745e+02] [ 5.08027994e-03 -6.64755119e-05 9.99987093e-01 -3.82260738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.45028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.53, Y:123.83, Z:-0.38 [[-7.88957678e-01 -6.14433717e-01 4.12182830e-03 2.46533065e+02] [ 6.14424911e-01 -7.88968443e-01 -3.29024141e-03 1.23825171e+02] [ 5.27362771e-03 -6.33072437e-05 9.99986092e-01 -3.82312289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.48028169299994 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.53, Y:123.83, Z:-0.38 [[-7.87068321e-01 -6.16858472e-01 3.01384477e-03 2.46525437e+02] [ 6.16853789e-01 -7.87074091e-01 -2.40377770e-03 1.23833499e+02] [ 3.85490977e-03 -3.28357134e-05 9.99992569e-01 -3.81461140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.51028169299997 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.53, Y:123.83, Z:-0.38 [[-7.85755994e-01 -6.18532551e-01 2.23644151e-03 2.46526331e+02] [ 6.18529983e-01 -7.85759177e-01 -1.78221844e-03 1.23833110e+02] [ 2.85966456e-03 -1.70826957e-05 9.99995911e-01 -3.80956735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.54028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.53, Y:123.83, Z:-0.38 [[-7.84358880e-01 -6.20306187e-01 1.17548336e-03 2.46530848e+02] [ 6.20305481e-01 -7.84359760e-01 -9.35858525e-04 1.23829632e+02] [ 1.50252068e-03 -4.89017552e-06 9.99998871e-01 -3.81585332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.57028169299997 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.56, Y:123.81, Z:-0.38 [[-7.81375006e-01 -6.24061550e-01 -5.31621573e-04 2.46557911e+02] [ 6.24061406e-01 -7.81375187e-01 4.23275685e-04 1.23807757e+02] [-6.79545985e-04 -1.02746553e-06 9.99999769e-01 -3.81028802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.60028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.55, Y:123.81, Z:-0.38 [[-7.79919525e-01 -6.25879386e-01 -7.27755803e-04 2.46554380e+02] [ 6.25879118e-01 -7.79919864e-01 5.78881389e-04 1.23809234e+02] [-9.29901135e-04 -4.00626302e-06 9.99999568e-01 -3.80518543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.630281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.56, Y:123.80, Z:-0.38 [[-7.78523664e-01 -6.27615176e-01 -3.09029159e-04 2.46563876e+02] [ 6.27615128e-01 -7.78523725e-01 2.45759560e-04 1.23799628e+02] [-3.94828962e-04 -2.62174215e-06 9.99999922e-01 -3.80766289e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.66028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.57, Y:123.79, Z:-0.38 [[-7.77570582e-01 -6.28795610e-01 2.66809127e-04 2.46570368e+02] [ 6.28795574e-01 -7.77570628e-01 -2.11555611e-04 1.23791887e+02] [ 3.40488180e-04 3.26897851e-06 9.99999942e-01 -3.81437816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.690281693 meters Centerline goodness : 0.999874 Centerline is valid? [True, True] Translation: X:246.57, Y:123.79, Z:-0.38 [[-7.76443064e-01 -6.30186433e-01 1.10811394e-03 2.46568057e+02] [ 6.30185821e-01 -7.76443854e-01 -8.78719421e-04 1.23787334e+02] [ 1.41414532e-03 1.60420952e-05 9.99999000e-01 -3.82704831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.72028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.57, Y:123.78, Z:-0.38 [[-7.76763614e-01 -6.29791407e-01 1.03488976e-03 2.46569666e+02] [ 6.29790874e-01 -7.76764303e-01 -8.19990900e-04 1.23782969e+02] [ 1.32028865e-03 1.48250326e-05 9.99999128e-01 -3.82466711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.750281693 meters Centerline goodness : 0.999978 Centerline is valid? [True, True] Translation: X:246.57, Y:123.78, Z:-0.38 [[-7.77541374e-01 -6.28831262e-01 8.09340738e-04 2.46568783e+02] [ 6.28830936e-01 -7.77541795e-01 -6.40719181e-04 1.23780568e+02] [ 1.03220050e-03 1.07528214e-05 9.99999467e-01 -3.82225233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.78028169299995 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:246.56, Y:123.78, Z:-0.38 [[-7.79717686e-01 -6.26128435e-01 1.87424691e-03 2.46557591e+02] [ 6.26126679e-01 -7.79719939e-01 -1.48290412e-03 1.23783562e+02] [ 2.38987612e-03 1.72694263e-05 9.99997144e-01 -3.82775873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.810281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.55, Y:123.78, Z:-0.38 [[-7.81431292e-01 -6.23986051e-01 2.55818941e-03 2.46554447e+02] [ 6.23982773e-01 -7.81435479e-01 -2.02251295e-03 1.23783377e+02] [ 3.26107983e-03 1.58112094e-05 9.99994683e-01 -3.83237297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.84028169299995 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.56, Y:123.78, Z:-0.38 [[-7.83410159e-01 -6.21501095e-01 2.21603480e-03 2.46557262e+02] [ 6.21498630e-01 -7.83413294e-01 -1.75057144e-03 1.23779164e+02] [ 2.82405319e-03 5.84714040e-06 9.99996012e-01 -3.83618037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.870281693 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.56, Y:123.78, Z:-0.38 [[-7.85410809e-01 -6.18973850e-01 1.11115130e-03 2.46556901e+02] [ 6.18973229e-01 -7.85411595e-01 -8.76936128e-04 1.23778925e+02] [ 1.41551165e-03 -9.82204661e-07 9.99998998e-01 -3.83735296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.90028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.56, Y:123.77, Z:-0.38 [[-7.89142496e-01 -6.14209684e-01 7.65244573e-04 2.46564432e+02] [ 6.14209387e-01 -7.89142867e-01 -6.03383042e-04 1.23772854e+02] [ 9.74491004e-04 -6.13479950e-06 9.99999525e-01 -3.82843758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.930281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.58, Y:123.76, Z:-0.38 [[-7.90461280e-01 -6.12509756e-01 1.66237205e-03 2.46582883e+02] [ 6.12508355e-01 -7.90463028e-01 -1.31001171e-03 1.23758620e+02] [ 2.11643860e-03 -1.72967632e-05 9.99997760e-01 -3.83066121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.96028169299996 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.55, Y:123.78, Z:-0.38 [[-7.91441677e-01 -6.11239897e-01 2.42070728e-03 2.46552473e+02] [ 6.11236926e-01 -7.91445378e-01 -1.90620016e-03 1.23783305e+02] [ 3.08100318e-03 -2.90205746e-05 9.99995253e-01 -3.83815604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 450.990281693 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.57, Y:123.77, Z:-0.38 [[-7.92350128e-01 -6.10062328e-01 2.28708609e-03 2.46567587e+02] [ 6.10059675e-01 -7.92353428e-01 -1.79951583e-03 1.23773329e+02] [ 2.90999732e-03 -3.05876014e-05 9.99995766e-01 -3.83914953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.02028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.58, Y:123.76, Z:-0.38 [[-7.92684647e-01 -6.09629496e-01 1.71122678e-03 2.46583876e+02] [ 6.09628012e-01 -7.92686494e-01 -1.34529097e-03 1.23762072e+02] [ 2.17659542e-03 -2.31797139e-05 9.99997631e-01 -3.83890472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.050281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.59, Y:123.76, Z:-0.38 [[-7.92920322e-01 -6.09324063e-01 1.24457551e-03 2.46589684e+02] [ 6.09323279e-01 -7.92921299e-01 -9.77593457e-04 1.23759685e+02] [ 1.58252165e-03 -1.68048858e-05 9.99998748e-01 -3.83998793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.08028169299996 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.56, Y:123.79, Z:-0.38 [[-7.93374713e-01 -6.08730574e-01 1.91116764e-03 2.46558168e+02] [ 6.08733514e-01 -7.93369325e-01 2.93672538e-03 1.23785031e+02] [-2.71412752e-04 3.49331545e-03 9.99993862e-01 -3.83808367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.11028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.57, Y:123.78, Z:-0.38 [[-7.91553765e-01 -6.11099497e-01 -2.06488355e-04 2.46571639e+02] [ 6.11094832e-01 -7.91546308e-01 -4.18915372e-03 1.23782936e+02] [ 2.39654463e-03 -3.44212436e-03 9.99991204e-01 -3.83824088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.14028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.58, Y:123.77, Z:-0.38 [[-7.90585736e-01 -6.12348439e-01 1.89294226e-03 2.46582339e+02] [ 6.12346640e-01 -7.90588002e-01 -1.48437990e-03 1.23773356e+02] [ 2.40549515e-03 -1.43927468e-05 9.99997107e-01 -3.83565156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.17028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.58, Y:123.78, Z:-0.38 [[-7.89230242e-01 -6.14095801e-01 1.40439687e-03 2.46579777e+02] [ 6.14094815e-01 -7.89231491e-01 -1.10033730e-03 1.23775141e+02] [ 1.78410676e-03 -5.98663554e-06 9.99998408e-01 -3.83339890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.20028169299997 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.57, Y:123.78, Z:-0.38 [[-7.87711867e-01 -6.16043293e-01 8.22036297e-04 2.46567030e+02] [ 6.16042957e-01 -7.87712296e-01 -6.43442245e-04 1.23784142e+02] [ 1.04391638e-03 -4.37421262e-07 9.99999455e-01 -3.83075444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.23028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.59, Y:123.76, Z:-0.38 [[-7.84320121e-01 -6.20355699e-01 8.68980201e-04 2.46591326e+02] [ 6.20355327e-01 -7.84320602e-01 -6.79653935e-04 1.23760222e+02] [ 1.10318627e-03 6.01024026e-06 9.99999392e-01 -3.83926366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.26028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.59, Y:123.76, Z:-0.38 [[-7.82844904e-01 -6.22215845e-01 1.13965805e-03 2.46593395e+02] [ 6.22215208e-01 -7.82845733e-01 -8.90724409e-04 1.23755939e+02] [ 1.44639928e-03 1.18135055e-05 9.99998954e-01 -3.83865206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.29028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.60, Y:123.75, Z:-0.38 [[-7.81602250e-01 -6.23776832e-01 6.21527270e-04 2.46602625e+02] [ 6.23776644e-01 -7.81602497e-01 -4.85280572e-04 1.23746035e+02] [ 7.88494044e-04 8.39780771e-06 9.99999689e-01 -3.83913236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.32028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.61, Y:123.73, Z:-0.38 [[-7.80228969e-01 -6.25493981e-01 -1.90114444e-04 2.46614747e+02] [ 6.25493963e-01 -7.80228992e-01 1.48617282e-04 1.23731039e+02] [-2.41292016e-04 -2.95992881e-06 9.99999971e-01 -3.83141769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.35028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.60, Y:123.74, Z:-0.38 [[-7.80467523e-01 -6.25196318e-01 1.00033932e-04 2.46600848e+02] [ 6.25196313e-01 -7.80467529e-01 -7.77939687e-05 1.23738652e+02] [ 1.26709739e-04 1.82517964e-06 9.99999992e-01 -3.83943969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.380281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.60, Y:123.74, Z:-0.38 [[-7.80924790e-01 -6.24624421e-01 8.97599433e-04 2.46600689e+02] [ 6.24624030e-01 -7.80925306e-01 -6.99283025e-04 1.23735079e+02] [ 1.13774737e-03 1.45747259e-05 9.99999353e-01 -3.84849406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.41028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.60, Y:123.73, Z:-0.39 [[-7.81224805e-01 -6.24246655e-01 1.97921279e-03 2.46601103e+02] [ 6.24244754e-01 -7.81227312e-01 -1.54097742e-03 1.23731705e+02] [ 2.50816509e-03 3.16634140e-05 9.99996854e-01 -3.85192498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.440281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.59, Y:123.73, Z:-0.38 [[-7.81569978e-01 -6.23811104e-01 2.84165412e-03 2.46594815e+02] [ 6.23807188e-01 -7.81575143e-01 -2.21080182e-03 1.23730733e+02] [ 3.60008895e-03 4.47479405e-05 9.99993519e-01 -3.84804124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.47028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.60, Y:123.73, Z:-0.38 [[-7.81709196e-01 -6.23638437e-01 2.41531774e-03 2.46597177e+02] [ 6.23635612e-01 -7.81712926e-01 -1.87758546e-03 1.23726024e+02] [ 3.05901956e-03 3.85523344e-05 9.99995320e-01 -3.84078644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.500281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:246.60, Y:123.72, Z:-0.38 [[-7.81774106e-01 -6.23560087e-01 1.43697055e-03 2.46596945e+02] [ 6.23559088e-01 -7.81775427e-01 -1.11607273e-03 1.23723437e+02] [ 1.81932667e-03 2.35192861e-05 9.99998345e-01 -3.83787425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.53028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.59, Y:123.72, Z:-0.38 [[-7.81440165e-01 -6.23979860e-01 6.34655137e-04 2.46591644e+02] [ 6.23979665e-01 -7.81440423e-01 -4.92406279e-04 1.23724895e+02] [ 8.03196780e-04 1.12258561e-05 9.99999677e-01 -3.83187753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.560281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.59, Y:123.72, Z:-0.38 [[-7.80367799e-01 -6.25320772e-01 -1.74380571e-04 2.46592478e+02] [ 6.25320757e-01 -7.80367819e-01 1.35478703e-04 1.23719088e+02] [-2.20798633e-04 -3.32057361e-06 9.99999976e-01 -3.84428857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.59028169299995 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.60, Y:123.71, Z:-0.38 [[-7.80227712e-01 -6.25495575e-01 -6.20805771e-05 2.46603599e+02] [ 6.25495573e-01 -7.80227714e-01 4.83388332e-05 1.23708375e+02] [-7.86727129e-05 -1.11582891e-06 9.99999997e-01 -3.84574852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.620281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.61, Y:123.70, Z:-0.38 [[-7.80731806e-01 -6.24866231e-01 -2.01743913e-04 2.46608603e+02] [ 6.24866212e-01 -7.80731832e-01 1.56451132e-04 1.23700539e+02] [-2.55268924e-04 -3.91657988e-06 9.99999967e-01 -3.84490550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.65028169299995 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.61, Y:123.70, Z:-0.38 [[-7.81266971e-01 -6.24196793e-01 -5.32586979e-04 2.46607662e+02] [ 6.24196657e-01 -7.81267153e-01 4.12322572e-04 1.23698968e+02] [-6.73463139e-04 -1.03050049e-05 9.99999773e-01 -3.84253461e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.680281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.60, Y:123.70, Z:-0.38 [[-7.81801582e-01 -6.23527174e-01 -3.85418102e-04 2.46600689e+02] [ 6.23527103e-01 -7.81801677e-01 2.98213170e-04 1.23701538e+02] [-4.87264534e-04 -7.17510410e-06 9.99999881e-01 -3.83934361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.71028169299996 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.61, Y:123.69, Z:-0.38 [[-7.81762535e-01 -6.23576235e-01 1.32936895e-04 2.46607052e+02] [ 6.23576226e-01 -7.81762547e-01 -1.02472843e-04 1.23694337e+02] [ 1.67824715e-04 2.78685785e-06 9.99999986e-01 -3.84321169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.740281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.59, Y:123.70, Z:-0.38 [[-7.80688212e-01 -6.24919794e-01 1.08052879e-03 2.46594071e+02] [ 6.24919238e-01 -7.80688959e-01 -8.33860635e-04 1.23700491e+02] [ 1.36465291e-03 2.42580593e-05 9.99999069e-01 -3.84444576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.77028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.59, Y:123.70, Z:-0.38 [[-7.80300329e-01 -6.25404387e-01 8.65285335e-04 2.46593633e+02] [ 6.25404031e-01 -7.80300809e-01 -6.67171971e-04 1.23698227e+02] [ 1.09243512e-03 2.05584278e-05 9.99999403e-01 -3.84448768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.800281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.61, Y:123.69, Z:-0.38 [[-7.80171148e-01 -6.25565832e-01 6.08633652e-04 2.46605498e+02] [ 6.25565656e-01 -7.80171385e-01 -4.68841734e-04 1.23685249e+02] [ 7.68129929e-04 1.49635157e-05 9.99999705e-01 -3.84023514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.83028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.61, Y:123.68, Z:-0.38 [[-7.80181938e-01 -6.25552657e-01 1.29767474e-04 2.46606662e+02] [ 6.25552649e-01 -7.80181949e-01 -9.97056250e-05 1.23679641e+02] [ 1.63613359e-04 3.38785918e-06 9.99999987e-01 -3.84298534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.86028169299993 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.61, Y:123.67, Z:-0.38 [[-7.80169991e-01 -6.25567108e-01 -7.60440019e-04 2.46606965e+02] [ 6.25566834e-01 -7.80170362e-01 5.85361921e-04 1.23671078e+02] [-9.59455929e-04 -1.90242502e-05 9.99999540e-01 -3.84317171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.89028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.60, Y:123.68, Z:-0.38 [[-7.80413443e-01 -6.25263470e-01 -6.71723850e-04 2.46595910e+02] [ 6.25263256e-01 -7.80413732e-01 5.16687297e-04 1.23676646e+02] [-8.47288209e-04 -1.67745296e-05 9.99999641e-01 -3.84748569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.92028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.60, Y:123.67, Z:-0.38 [[-7.80877391e-01 -6.24684287e-01 -2.06193038e-04 2.46603393e+02] [ 6.24684267e-01 -7.80877418e-01 1.58633723e-04 1.23667989e+02] [-2.60107481e-04 -4.93205897e-06 9.99999966e-01 -3.84555708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.95028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.59, Y:123.67, Z:-0.38 [[-7.81287806e-01 -6.24170901e-01 2.25418719e-04 2.46593055e+02] [ 6.24170877e-01 -7.81287838e-01 -1.72811888e-04 1.23672633e+02] [ 2.83981055e-04 5.68397852e-06 9.99999960e-01 -3.84979197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 451.98028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.59, Y:123.67, Z:-0.39 [[-7.81954975e-01 -6.23334715e-01 4.99458334e-04 2.46591056e+02] [ 6.23334598e-01 -7.81955135e-01 -3.82864804e-04 1.23665318e+02] [ 6.29206932e-04 1.19466213e-05 9.99999802e-01 -3.85322287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.01028169299997 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.60, Y:123.66, Z:-0.39 [[-7.82374589e-01 -6.22807403e-01 9.69520245e-04 2.46595130e+02] [ 6.22806961e-01 -7.82375190e-01 -7.42814882e-04 1.23658244e+02] [ 1.22115919e-03 2.26644689e-05 9.99999254e-01 -3.85839523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.04028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.59, Y:123.65, Z:-0.39 [[-7.82793571e-01 -6.22278621e-01 1.88227875e-03 2.46590919e+02] [ 6.22276953e-01 -7.82795833e-01 -1.44119991e-03 1.23653398e+02] [ 2.37026786e-03 4.31366600e-05 9.99997190e-01 -3.86690001e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.07028169299997 meters Centerline goodness : 0.999914 Centerline is valid? [True, True] Translation: X:246.59, Y:123.65, Z:-0.39 [[-7.83330892e-01 -6.21601698e-01 2.01073108e-03 2.46587912e+02] [ 6.21599796e-01 -7.83333471e-01 -1.53833024e-03 1.23651708e+02] [ 2.53130165e-03 4.48484263e-05 9.99996795e-01 -3.86776847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.10028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.58, Y:123.66, Z:-0.39 [[-7.83943434e-01 -6.20829873e-01 1.72055536e-03 2.46577550e+02] [ 6.20828481e-01 -7.83945321e-01 -1.31523011e-03 1.23656281e+02] [ 2.16535546e-03 3.71037634e-05 9.99997655e-01 -3.86194434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.130281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.58, Y:123.65, Z:-0.39 [[-7.84617146e-01 -6.19979927e-01 9.07706403e-04 2.46579562e+02] [ 6.19979538e-01 -7.84617671e-01 -6.94090282e-04 1.23651679e+02] [ 1.14252453e-03 1.81642609e-05 9.99999347e-01 -3.85767599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.16028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.58, Y:123.65, Z:-0.39 [[-7.86765653e-01 -6.17250777e-01 -1.13381157e-03 2.46581956e+02] [ 6.17250169e-01 -7.86766470e-01 8.66948954e-04 1.23646220e+02] [-1.42716984e-03 -1.77597240e-05 9.99998981e-01 -3.85368362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.190281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.58, Y:123.65, Z:-0.39 [[-7.86975572e-01 -6.16983114e-01 -1.13401004e-03 2.46583355e+02] [ 6.16982506e-01 -7.86976389e-01 8.66689305e-04 1.23645258e+02] [-1.42717179e-03 -1.76010432e-05 9.99998981e-01 -3.85367571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.22028169299995 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.57, Y:123.65, Z:-0.39 [[-7.88599283e-01 -6.14904694e-01 -1.84073384e-03 2.46573607e+02] [ 6.14903088e-01 -7.88601431e-01 1.40558197e-03 1.23651781e+02] [-2.31590430e-03 -2.34319882e-05 9.99997318e-01 -3.85381006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.250281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.58, Y:123.64, Z:-0.39 [[-7.90129135e-01 -6.12936960e-01 -2.05740748e-03 2.46582985e+02] [ 6.12934947e-01 -7.90131813e-01 1.57117083e-03 1.23643928e+02] [-2.58865178e-03 -1.96290953e-05 9.99996649e-01 -3.85390496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.28028169299995 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.59, Y:123.64, Z:-0.39 [[-7.91810675e-01 -6.10763068e-01 -2.08068503e-03 2.46592174e+02] [ 6.10761000e-01 -7.91813409e-01 1.58942953e-03 1.23636173e+02] [-2.61827916e-03 -1.22739968e-05 9.99996572e-01 -3.85671113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.310281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.61, Y:123.62, Z:-0.39 [[-7.95296526e-01 -6.06220449e-01 -4.50024909e-04 2.46613357e+02] [ 6.06220352e-01 -7.95296653e-01 3.43839111e-04 1.23621606e+02] [-5.66345604e-04 6.39791692e-07 9.99999840e-01 -3.86296031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.34028169299995 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.62, Y:123.62, Z:-0.39 [[-7.97497147e-01 -6.03322297e-01 7.11622972e-04 2.46617089e+02] [ 6.03322052e-01 -7.97497465e-01 -5.43984597e-04 1.23621450e+02] [ 8.95715553e-04 -4.48833316e-06 9.99999599e-01 -3.86720780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.370281693 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.62, Y:123.62, Z:-0.39 [[-7.99659789e-01 -6.00451588e-01 1.45331984e-03 2.46623626e+02] [ 6.00450560e-01 -7.99661109e-01 -1.11115008e-03 1.23619284e+02] [ 1.82935518e-03 -1.58953250e-05 9.99998327e-01 -3.87272564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.40028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.64, Y:123.62, Z:-0.39 [[-8.03190160e-01 -5.95722543e-01 4.67397899e-04 2.46637016e+02] [ 5.95722436e-01 -8.03190296e-01 -3.57468659e-04 1.23615130e+02] [ 5.88361596e-04 -8.67589411e-06 9.99999827e-01 -3.86767816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.430281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:123.61, Z:-0.39 [[-8.04721201e-01 -5.93652627e-01 -5.88975351e-04 2.46646652e+02] [ 5.93652456e-01 -8.04721417e-01 4.50254905e-04 1.23612183e+02] [-7.41256086e-04 1.26830045e-05 9.99999725e-01 -3.86520489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.46028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:123.61, Z:-0.39 [[-8.05967976e-01 -5.91957988e-01 -1.16729037e-03 2.46654845e+02] [ 5.91957318e-01 -8.05968820e-01 8.91465822e-04 1.23610811e+02] [-1.46850996e-03 2.75068267e-05 9.99998921e-01 -3.86566790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.490281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:123.62, Z:-0.39 [[-8.06795087e-01 -5.90830844e-01 -7.75940842e-04 2.46655008e+02] [ 5.90830548e-01 -8.06795459e-01 5.92210419e-04 1.23615643e+02] [-9.75921730e-04 1.93429039e-05 9.99999524e-01 -3.86374204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.52028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.67, Y:123.62, Z:-0.39 [[-8.07109998e-01 -5.90401085e-01 1.03144466e-04 2.46666370e+02] [ 5.90401080e-01 -8.07110004e-01 -7.84168832e-05 1.23615509e+02] [ 1.29546343e-04 -2.39444626e-06 9.99999992e-01 -3.86876905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.550281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.66, Y:123.62, Z:-0.39 [[-8.06692428e-01 -5.90971510e-01 -3.65095815e-05 2.46661357e+02] [ 5.90971509e-01 -8.06692429e-01 2.80281905e-05 1.23624010e+02] [-4.60158649e-05 1.03400661e-06 9.99999999e-01 -3.87071320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.58028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.65, Y:123.64, Z:-0.39 [[-8.06130535e-01 -5.91737399e-01 -6.41095001e-04 2.46645310e+02] [ 5.91737198e-01 -8.06130790e-01 4.88209425e-04 1.23640485e+02] [-8.05698195e-04 1.42007653e-05 9.99999675e-01 -3.86153043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.61028169299993 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.66, Y:123.63, Z:-0.39 [[-8.05450002e-01 -5.92662695e-01 -1.10617883e-03 2.46661062e+02] [ 5.92662098e-01 -8.05450761e-01 8.41569099e-04 1.23632349e+02] [-1.38973919e-03 2.22515656e-05 9.99999034e-01 -3.85625566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.64028169299996 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.65, Y:123.65, Z:-0.39 [[-8.04173654e-01 -5.94393476e-01 -1.06307569e-03 2.46652329e+02] [ 5.94392927e-01 -8.04174357e-01 8.08155854e-04 1.23645241e+02] [-1.33526078e-03 1.80129759e-05 9.99999108e-01 -3.86746888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.67028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.64, Y:123.66, Z:-0.39 [[-8.03824275e-01 -5.94866376e-01 -7.27623066e-04 2.46636886e+02] [ 5.94866119e-01 -8.03824604e-01 5.52778546e-04 1.23660033e+02] [-9.13710694e-04 1.14985049e-05 9.99999583e-01 -3.87185730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.70028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.66, Y:123.64, Z:-0.39 [[-8.03288642e-01 -5.95589909e-01 -1.33967486e-04 2.46660740e+02] [ 5.95589900e-01 -8.03288654e-01 1.01770136e-04 1.23644300e+02] [-1.68227827e-04 1.96111304e-06 9.99999986e-01 -3.87025493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.73028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.65, Y:123.66, Z:-0.39 [[-8.02309781e-01 -5.96907657e-01 5.14244351e-04 2.46650503e+02] [ 5.96907530e-01 -8.02309946e-01 -3.89909913e-04 1.23655598e+02] [ 6.45323570e-04 -5.87221129e-06 9.99999792e-01 -3.87510286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.76028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.66, Y:123.65, Z:-0.39 [[-8.01767448e-01 -5.97635496e-01 8.79312852e-04 2.46657404e+02] [ 5.97635124e-01 -8.01767930e-01 -6.66341153e-04 1.23652333e+02] [ 1.10323397e-03 -8.74240032e-06 9.99999391e-01 -3.88056100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.79028169299994 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:123.66, Z:-0.39 [[-8.01309171e-01 -5.98249218e-01 1.21890750e-03 2.46655289e+02] [ 5.98248506e-01 -8.01310098e-01 -9.23039839e-04 1.23656022e+02] [ 1.52893075e-03 -1.04306954e-05 9.99998831e-01 -3.87900031e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.82028169299997 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.65, Y:123.66, Z:-0.39 [[-8.00890909e-01 -5.98808926e-01 1.27365270e-03 2.46653311e+02] [ 5.98808150e-01 -8.00891922e-01 -9.63738748e-04 1.23658848e+02] [ 1.59715352e-03 -9.17598494e-06 9.99998725e-01 -3.87960614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.85028169299994 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.66, Y:123.65, Z:-0.39 [[-7.99667684e-01 -6.00442629e-01 4.94110828e-04 2.46661530e+02] [ 6.00442513e-01 -7.99667837e-01 -3.73446335e-04 1.23652076e+02] [ 6.19357636e-04 -1.94781866e-06 9.99999808e-01 -3.86583615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.880281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.67, Y:123.65, Z:-0.39 [[-7.99073193e-01 -6.01233758e-01 -3.24005599e-05 2.46665195e+02] [ 6.01233757e-01 -7.99073194e-01 2.47061953e-05 1.23648523e+02] [-4.07446174e-05 2.61748016e-07 9.99999999e-01 -3.86354613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.91028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.64, Y:123.67, Z:-0.39 [[-7.98439963e-01 -6.02074435e-01 -5.39739352e-06 2.46640949e+02] [ 6.02074435e-01 -7.98439963e-01 4.30041104e-06 1.23666553e+02] [-6.89866214e-06 1.83987373e-07 1.00000000e+00 -3.86101293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.940281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.63, Y:123.67, Z:-0.39 [[-7.97486696e-01 -6.03336406e-01 3.88617470e-04 2.46634755e+02] [ 6.03336335e-01 -7.97486791e-01 -2.92956169e-04 1.23667720e+02] [ 4.86668421e-04 8.38392475e-07 9.99999882e-01 -3.86150492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 452.97028169299995 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:123.66, Z:-0.39 [[-7.97063518e-01 -6.03895151e-01 6.27738882e-04 2.46645996e+02] [ 6.03894966e-01 -7.97063765e-01 -4.72972654e-04 1.23656290e+02] [ 7.85973809e-04 2.09910357e-06 9.99999691e-01 -3.85842754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.000281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.65, Y:123.65, Z:-0.39 [[-7.96850388e-01 -6.04176459e-01 5.15844082e-04 2.46654767e+02] [ 6.04176334e-01 -7.96850555e-01 -3.88313575e-04 1.23646570e+02] [ 6.45660563e-04 2.23296320e-06 9.99999792e-01 -3.86609199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.03028169299995 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.66, Y:123.64, Z:-0.39 [[-7.96707857e-01 -6.04364551e-01 2.82026903e-04 2.46656206e+02] [ 6.04364514e-01 -7.96707907e-01 -2.12030553e-04 1.23643004e+02] [ 3.52836814e-04 1.52064446e-06 9.99999938e-01 -3.86321479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.060281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.65, Y:123.64, Z:-0.39 [[-7.96786808e-01 -6.04260140e-01 -6.82116366e-04 2.46649739e+02] [ 6.04259922e-01 -7.96787100e-01 5.13178759e-04 1.23642175e+02] [-8.53594990e-04 -3.28151652e-06 9.99999636e-01 -3.86199920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.09028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.65, Y:123.64, Z:-0.39 [[-7.97250337e-01 -6.03648096e-01 -9.36153295e-04 2.46654899e+02] [ 6.03647686e-01 -7.97250886e-01 7.03649126e-04 1.23635524e+02] [-1.17110550e-03 -4.12226786e-06 9.99999314e-01 -3.86343584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.120281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.66, Y:123.63, Z:-0.39 [[-7.97872911e-01 -6.02824798e-01 -1.03921817e-03 2.46664212e+02] [ 6.02824293e-01 -7.97873588e-01 7.80466001e-04 1.23626462e+02] [-1.29964899e-03 -3.75327993e-06 9.99999155e-01 -3.86228142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.15028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.66, Y:123.63, Z:-0.39 [[-7.98448963e-01 -6.02061180e-01 -1.26058157e-03 2.46656981e+02] [ 6.02060436e-01 -7.98449958e-01 9.45907848e-04 1.23630262e+02] [-1.57600569e-03 -3.68714772e-06 9.99998758e-01 -3.86482854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.180281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.65, Y:123.63, Z:-0.39 [[-7.99076834e-01 -6.01227753e-01 -1.18398891e-03 2.46654932e+02] [ 6.01227098e-01 -7.99077711e-01 8.87735230e-04 1.23626859e+02] [-1.47983020e-03 -2.47755684e-06 9.99998905e-01 -3.86266217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.21028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.66, Y:123.62, Z:-0.39 [[-7.98964416e-01 -6.01377862e-01 -7.26936689e-04 2.46658184e+02] [ 6.01377615e-01 -7.98964747e-01 5.44693877e-04 1.23620979e+02] [-9.08363627e-04 -1.97242654e-06 9.99999587e-01 -3.86241851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.240281693 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.65, Y:123.62, Z:-0.39 [[-7.98831379e-01 -6.01554967e-01 -2.24126731e-04 2.46652632e+02] [ 6.01554944e-01 -7.98831410e-01 1.67958895e-04 1.23621604e+02] [-2.80075980e-04 -6.53707102e-07 9.99999961e-01 -3.86685958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.27028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.66, Y:123.61, Z:-0.39 [[-7.98244559e-01 -6.02333349e-01 4.00334673e-04 2.46661646e+02] [ 6.02333275e-01 -7.98244660e-01 -2.99663682e-04 1.23609912e+02] [ 5.00062444e-04 1.92999018e-06 9.99999875e-01 -3.87420675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.300281693 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.66, Y:123.61, Z:-0.39 [[-7.98388045e-01 -6.02143279e-01 -3.01885381e-05 2.46658276e+02] [ 6.02143279e-01 -7.98388046e-01 2.28005821e-05 1.23610640e+02] [-3.78313851e-05 2.58868613e-08 9.99999999e-01 -3.87490828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.33028169299996 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:246.67, Y:123.60, Z:-0.39 [[-7.98623744e-01 -6.01830211e-01 -7.15374074e-04 2.46669138e+02] [ 6.01829973e-01 -7.98624065e-01 5.35053705e-04 1.23599977e+02] [-8.93326435e-04 -3.22696665e-06 9.99999601e-01 -3.87512804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.36028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.66, Y:123.61, Z:-0.39 [[-8.00071211e-01 -5.99904206e-01 -1.00035845e-03 2.46657251e+02] [ 5.99903740e-01 -8.00071836e-01 7.47908267e-04 1.23605180e+02] [-1.24903194e-03 -1.73890232e-06 9.99999220e-01 -3.88162307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.39028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.67, Y:123.60, Z:-0.39 [[-8.00750372e-01 -5.98997791e-01 -6.98004724e-04 2.46668726e+02] [ 5.98997564e-01 -8.00750677e-01 5.21749480e-04 1.23595200e+02] [-8.71454541e-04 -3.12038327e-07 9.99999620e-01 -3.88538834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.42028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.67, Y:123.59, Z:-0.39 [[-8.02433514e-01 -5.96741488e-01 -2.28176458e-04 2.46672075e+02] [ 5.96741463e-01 -8.02433547e-01 1.70663104e-04 1.23590356e+02] [-2.84938199e-04 7.83441061e-07 9.99999959e-01 -3.88281138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.45028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.68, Y:123.59, Z:-0.39 [[-8.03432500e-01 -5.95395503e-01 -6.42643643e-04 2.46676848e+02] [ 5.95395310e-01 -8.03432757e-01 4.80019553e-04 1.23585196e+02] [-8.02122437e-04 3.03629899e-06 9.99999678e-01 -3.88166968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.48028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.04166943e-01 -5.94401920e-01 -1.37331666e-03 2.46683537e+02] [ 5.94401035e-01 -8.04168116e-01 1.02573361e-03 1.23579023e+02] [-1.71407550e-03 8.56021897e-06 9.99998531e-01 -3.87893407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.69, Y:123.57, Z:-0.39 [[-8.05332337e-01 -5.92820580e-01 -1.89397915e-03 2.46688384e+02] [ 5.92818893e-01 -8.05334564e-01 1.41450736e-03 1.23574517e+02] [-2.36383595e-03 1.63618933e-05 9.99997206e-01 -3.88215935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.54028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.06058945e-01 -5.91834091e-01 -1.17687083e-03 2.46676986e+02] [ 5.91833439e-01 -8.06059805e-01 8.78452868e-04 1.23583175e+02] [-1.46852663e-03 1.15732792e-05 9.99998922e-01 -3.88321946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.57028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.06777152e-01 -5.90855815e-01 -1.78864873e-04 2.46679373e+02] [ 5.90855800e-01 -8.06777172e-01 1.33591668e-04 1.23581564e+02] [-2.23237510e-04 2.09535775e-06 9.99999975e-01 -3.88045237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.60028169299994 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.07159188e-01 -5.90333573e-01 5.62713795e-04 2.46682025e+02] [ 5.90333425e-01 -8.07159385e-01 -4.19041846e-04 1.23580612e+02] [ 7.01574191e-04 -6.04471456e-06 9.99999754e-01 -3.88432724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.630281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.68, Y:123.59, Z:-0.39 [[-8.07496135e-01 -5.89872839e-01 1.59226859e-04 2.46678522e+02] [ 5.89872828e-01 -8.07496151e-01 -1.18321305e-04 1.23585786e+02] [ 1.98369600e-04 -1.62039837e-06 9.99999980e-01 -3.88184363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.66028169299994 meters Centerline goodness : 0.999764 Centerline is valid? [True, True] Translation: X:246.69, Y:123.58, Z:-0.39 [[-8.07524443e-01 -5.89833526e-01 -8.28577643e-04 2.46686778e+02] [ 5.89833203e-01 -8.07524868e-01 6.16861056e-04 1.23580306e+02] [-1.03294238e-03 9.40777490e-06 9.99999467e-01 -3.87487078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.690281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.69, Y:123.58, Z:-0.39 [[-8.07471307e-01 -5.89903626e-01 -1.94933069e-03 2.46689981e+02] [ 5.89901843e-01 -8.07473660e-01 1.45031914e-03 1.23577973e+02] [-2.42958171e-03 2.11773273e-05 9.99997048e-01 -3.87218113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.72028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.69, Y:123.58, Z:-0.39 [[-8.06960730e-01 -5.90600702e-01 -2.27848176e-03 2.46686825e+02] [ 5.90598273e-01 -8.06963946e-01 1.69383801e-03 1.23579911e+02] [-2.83903455e-03 2.11933669e-05 9.99995970e-01 -3.87136059e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.750281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:246.66, Y:123.60, Z:-0.39 [[-8.04968311e-01 -5.93317718e-01 -3.21469287e-04 2.46661537e+02] [ 5.93317670e-01 -8.04968376e-01 2.38982843e-04 1.23596758e+02] [-4.00565365e-04 1.64020757e-06 9.99999920e-01 -3.86841395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.78028169299995 meters Centerline goodness : 0.999615 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.03644939e-01 -5.95108995e-01 3.11983273e-04 2.46681586e+02] [ 5.95108949e-01 -8.03644999e-01 -2.31869037e-04 1.23580388e+02] [ 3.88711147e-04 -6.76340008e-07 9.99999924e-01 -3.87064098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.810281693 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:246.66, Y:123.59, Z:-0.39 [[-8.02541849e-01 -5.96592732e-01 -1.92162950e-03 2.46663172e+02] [ 5.96591026e-01 -8.02544150e-01 1.42673725e-03 1.23590156e+02] [-2.39337358e-03 -1.41056485e-06 9.99997136e-01 -3.86785935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.84028169299995 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:246.68, Y:123.58, Z:-0.39 [[-8.02490648e-01 -5.96652941e-01 -3.74541726e-03 2.46678509e+02] [ 5.96646459e-01 -8.02499388e-01 2.78115231e-03 1.23577220e+02] [-4.66507776e-03 -2.84122213e-06 9.99989118e-01 -3.86217477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.870281693 meters Centerline goodness : 0.999785 Centerline is valid? [True, True] Translation: X:246.69, Y:123.57, Z:-0.39 [[-8.02814301e-01 -5.96208491e-01 -4.96322829e-03 2.46689907e+02] [ 5.96197094e-01 -8.02829643e-01 3.68655992e-03 1.23567516e+02] [-6.18258512e-03 5.60744054e-07 9.99980888e-01 -3.86328729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.90028169299995 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:246.69, Y:123.57, Z:-0.39 [[-8.03602032e-01 -5.95147029e-01 -4.87733997e-03 2.46685991e+02] [ 5.95136018e-01 -8.03616833e-01 3.62021974e-03 1.23569102e+02] [-6.07407553e-03 6.53525456e-06 9.99981553e-01 -3.86296984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.930281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:246.69, Y:123.56, Z:-0.39 [[-8.05263806e-01 -5.92909759e-01 -2.86724864e-03 2.46688344e+02] [ 5.92905939e-01 -8.05268910e-01 2.12827646e-03 1.23564912e+02] [-3.57078207e-03 1.38152605e-05 9.99993625e-01 -3.86638261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.96028169299996 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:246.70, Y:123.56, Z:-0.39 [[-8.05992676e-01 -5.91922945e-01 -1.74153228e-03 2.46700169e+02] [ 5.91921533e-01 -8.05994558e-01 1.29300420e-03 1.23555996e+02] [-2.16902439e-03 1.13014558e-05 9.99997648e-01 -3.86804947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 453.990281693 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:246.70, Y:123.56, Z:-0.39 [[-8.06917121e-01 -5.90663806e-01 -1.01376509e-03 2.46696927e+02] [ 5.90663327e-01 -8.06917758e-01 7.52350977e-04 1.23558874e+02] [-1.26241155e-03 8.29102067e-06 9.99999203e-01 -3.87423858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.02028169299996 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:246.70, Y:123.56, Z:-0.39 [[-8.07215775e-01 -5.90256203e-01 -5.54868611e-04 2.46701459e+02] [ 5.90256059e-01 -8.07215966e-01 4.11682379e-04 1.23555846e+02] [-6.90896879e-04 4.80195106e-06 9.99999761e-01 -3.87413627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.050281693 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.69, Y:123.56, Z:-0.39 [[-8.07240018e-01 -5.90222551e-01 -9.45722225e-04 2.46692115e+02] [ 5.90222134e-01 -8.07240572e-01 7.01390475e-04 1.23560767e+02] [-1.17740182e-03 8.00426909e-06 9.99999307e-01 -3.87397276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.08028169299996 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.69, Y:123.56, Z:-0.39 [[-8.07433155e-01 -5.89958308e-01 -9.45964324e-04 2.46693530e+02] [ 5.89957892e-01 -8.07433709e-01 7.01063876e-04 1.23559826e+02] [-1.17740194e-03 7.98309917e-06 9.99999307e-01 -3.87396493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.11028169299993 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:246.69, Y:123.56, Z:-0.39 [[-8.07295992e-01 -5.90145777e-01 -1.06889216e-03 2.46694058e+02] [ 5.90145246e-01 -8.07296700e-01 7.91600451e-04 1.23558271e+02] [-1.33007278e-03 8.25424322e-06 9.99999115e-01 -3.87572427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.14028169299996 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:246.70, Y:123.55, Z:-0.39 [[-8.07025054e-01 -5.90515918e-01 -1.23012757e-03 2.46700894e+02] [ 5.90515216e-01 -8.07025991e-01 9.10913158e-04 1.23552716e+02] [-1.53065364e-03 8.72069535e-06 9.99998829e-01 -3.87085407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.17028169299994 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:246.70, Y:123.55, Z:-0.39 [[-8.08182086e-01 -5.88930471e-01 -1.61733331e-03 2.46701441e+02] [ 5.88929254e-01 -8.08183705e-01 1.19708638e-03 1.23551195e+02] [-2.01210307e-03 1.49688673e-05 9.99997976e-01 -3.86599898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.20028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:246.69, Y:123.56, Z:-0.39 [[-8.09078087e-01 -5.87697260e-01 -2.14018623e-03 2.46685615e+02] [ 5.87695129e-01 -8.09080917e-01 1.58280861e-03 1.23561774e+02] [-2.66179612e-03 2.28387397e-05 9.99996457e-01 -3.86288597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.23028169299994 meters Centerline goodness : 0.999683 Centerline is valid? [True, True] Translation: X:246.70, Y:123.55, Z:-0.39 [[-8.09549393e-01 -5.87045193e-01 -2.77865011e-03 2.46702519e+02] [ 5.87041597e-01 -8.09554161e-01 2.05523690e-03 1.23548245e+02] [-3.45598470e-03 3.26325872e-05 9.99994028e-01 -3.85966390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.26028169299997 meters Centerline goodness : 0.999619 Centerline is valid? [True, True] Translation: X:246.71, Y:123.54, Z:-0.39 [[-8.09964517e-01 -5.86469738e-01 -3.27528303e-03 2.46706253e+02] [ 5.86464734e-01 -8.09971138e-01 2.42308525e-03 1.23544260e+02] [-4.07395090e-03 4.17750846e-05 9.99991701e-01 -3.85751902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.29028169299994 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:246.70, Y:123.54, Z:-0.39 [[-8.11063218e-01 -5.84952637e-01 -2.62084507e-03 2.46704197e+02] [ 5.84949429e-01 -8.11067451e-01 1.93768417e-03 1.23544587e+02] [-3.25913560e-03 3.85225314e-05 9.99994688e-01 -3.85808427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.32028169299997 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:246.71, Y:123.54, Z:-0.39 [[-8.11610476e-01 -5.84197629e-01 -1.25122357e-03 2.46708588e+02] [ 5.84196897e-01 -8.11611440e-01 9.25097029e-04 1.23540181e+02] [-1.55594686e-03 1.98575123e-05 9.99998789e-01 -3.86125565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.35028169299994 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:246.70, Y:123.54, Z:-0.39 [[-8.12259886e-01 -5.83295634e-01 -2.85172009e-04 2.46702112e+02] [ 5.83295595e-01 -8.12259936e-01 2.10906680e-04 1.23543593e+02] [-3.54654743e-04 4.97145894e-06 9.99999937e-01 -3.87392210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.380281693 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:246.70, Y:123.54, Z:-0.39 [[-8.12478976e-01 -5.82990331e-01 4.32219486e-04 2.46699640e+02] [ 5.82990244e-01 -8.12479091e-01 -3.19334619e-04 1.23543831e+02] [ 5.37338291e-04 -7.47292051e-06 9.99999856e-01 -3.87177450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.41028169299994 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:246.70, Y:123.54, Z:-0.39 [[-8.11812699e-01 -5.83917855e-01 -2.84738409e-04 2.46699611e+02] [ 5.83917817e-01 -8.11812749e-01 2.10358905e-04 1.23541438e+02] [-3.53986591e-04 4.50820000e-06 9.99999937e-01 -3.86767100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.440281693 meters Centerline goodness : 0.999739 Centerline is valid? [True, True] Translation: X:246.67, Y:123.56, Z:-0.39 [[-8.11368140e-01 -5.84535006e-01 -7.54075218e-04 2.46672979e+02] [ 5.84534741e-01 -8.11368490e-01 5.57018149e-04 1.23559907e+02] [-9.37429478e-04 1.11636177e-05 9.99999561e-01 -3.86565777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.47028169299995 meters Centerline goodness : 0.999680 Centerline is valid? [True, True] Translation: X:246.69, Y:123.55, Z:-0.39 [[-8.10019114e-01 -5.86402347e-01 -1.14992330e-03 2.46685200e+02] [ 5.86401732e-01 -8.10019931e-01 8.49260412e-04 1.23545953e+02] [-1.42946909e-03 1.36001548e-05 9.99998978e-01 -3.86685952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.500281693 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:246.71, Y:123.52, Z:-0.39 [[-8.09320989e-01 -5.87363096e-01 -2.03227684e-03 2.46710229e+02] [ 5.87361176e-01 -8.09323540e-01 1.50200305e-03 1.23524105e+02] [-2.52699065e-03 2.19220735e-05 9.99996807e-01 -3.87110081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.53028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.68, Y:123.54, Z:-0.39 [[-8.09065246e-01 -5.87711873e-01 -2.86037448e-03 2.46683376e+02] [ 5.87708076e-01 -8.09070302e-01 2.11291050e-03 1.23541519e+02] [-3.55602664e-03 2.84172726e-05 9.99993677e-01 -3.86873652e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.560281693 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:246.70, Y:123.53, Z:-0.39 [[-8.08749016e-01 -5.88144989e-01 -3.24056892e-03 2.46695132e+02] [ 5.88140117e-01 -8.08755507e-01 2.39413154e-03 1.23530648e+02] [-4.02892443e-03 3.03429403e-05 9.99991883e-01 -3.87018933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.59028169299995 meters Centerline goodness : 0.999725 Centerline is valid? [True, True] Translation: X:246.68, Y:123.54, Z:-0.39 [[-8.09725322e-01 -5.86807105e-01 -1.52464501e-03 2.46681175e+02] [ 5.86806025e-01 -8.09726757e-01 1.12578541e-03 1.23538210e+02] [-1.89516474e-03 1.69060746e-05 9.99998204e-01 -3.88077413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.620281693 meters Centerline goodness : 0.999681 Centerline is valid? [True, True] Translation: X:246.68, Y:123.54, Z:-0.39 [[-8.10684512e-01 -5.85483196e-01 -2.21209595e-04 2.46680799e+02] [ 5.85483173e-01 -8.10684542e-01 1.63274540e-04 1.23537723e+02] [-2.74925699e-04 2.84964513e-06 9.99999962e-01 -3.88487925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.65028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.11580972e-01 -5.84239533e-01 7.02257941e-04 2.46691646e+02] [ 5.84239303e-01 -8.11581276e-01 -5.18828312e-04 1.23529688e+02] [ 8.73059407e-04 -1.07844964e-05 9.99999619e-01 -3.89294643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.680281693 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.12853701e-01 -5.82467268e-01 8.61753105e-04 2.46689018e+02] [ 5.82466920e-01 -8.12854158e-01 -6.36740499e-04 1.23531017e+02] [ 1.07136009e-03 -1.56341940e-05 9.99999426e-01 -3.89442044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.71028169299996 meters Centerline goodness : 0.999702 Centerline is valid? [True, True] Translation: X:246.70, Y:123.52, Z:-0.39 [[-8.12919087e-01 -5.82376010e-01 8.61239070e-04 2.46700297e+02] [ 5.82375662e-01 -8.12919543e-01 -6.36571785e-04 1.23522136e+02] [ 1.07084221e-03 -1.59166807e-05 9.99999427e-01 -3.89367243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.740281693 meters Centerline goodness : 0.999613 Centerline is valid? [True, True] Translation: X:246.70, Y:123.52, Z:-0.39 [[-8.12777364e-01 -5.82573721e-01 9.03706601e-04 2.46699000e+02] [ 5.82573338e-01 -8.12777866e-01 -6.68057358e-04 1.23522486e+02] [ 1.12370538e-03 -1.65065269e-05 9.99999369e-01 -3.89490802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.77028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.12098109e-01 -5.83520404e-01 7.74167709e-04 2.46691790e+02] [ 5.83520123e-01 -8.12098478e-01 -5.72332545e-04 1.23528038e+02] [ 9.62668136e-04 -1.30477407e-05 9.99999537e-01 -3.89247795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.800281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.11503441e-01 -5.84347618e-01 1.61824859e-04 2.46690136e+02] [ 5.84347606e-01 -8.11503457e-01 -1.19705906e-04 1.23529584e+02] [ 2.01271294e-04 -2.57978601e-06 9.99999980e-01 -3.89538121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.83028169299996 meters Centerline goodness : 0.999701 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.10874470e-01 -5.85220086e-01 -2.11046830e-04 2.46685826e+02] [ 5.85220066e-01 -8.10874497e-01 1.56023736e-04 1.23532132e+02] [-2.62440716e-04 3.00682435e-06 9.99999966e-01 -3.89003718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.86028169299993 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.67, Y:123.54, Z:-0.39 [[-8.09903138e-01 -5.86563629e-01 -1.30729081e-04 2.46674376e+02] [ 5.86563621e-01 -8.09903148e-01 9.68013334e-05 1.23538324e+02] [-1.62658036e-04 1.71878047e-06 9.99999987e-01 -3.88882922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.89028169299996 meters Centerline goodness : 0.999677 Centerline is valid? [True, True] Translation: X:246.67, Y:123.54, Z:-0.39 [[-8.09763481e-01 -5.86756301e-01 -3.85739690e-04 2.46665913e+02] [ 5.86756231e-01 -8.09763573e-01 2.85076881e-04 1.23543285e+02] [-4.79628606e-04 4.50968030e-06 9.99999885e-01 -3.89318725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.92028169299994 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:246.69, Y:123.52, Z:-0.39 [[-8.09839641e-01 -5.86650902e-01 -6.88635786e-04 2.46691196e+02] [ 5.86650681e-01 -8.09839934e-01 5.09156359e-04 1.23523509e+02] [-8.56381797e-04 8.34634934e-06 9.99999633e-01 -3.89295582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.95028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:246.68, Y:123.53, Z:-0.39 [[-8.10628084e-01 -5.85560779e-01 -8.26696148e-04 2.46679459e+02] [ 5.85560460e-01 -8.10628505e-01 6.11234611e-04 1.23532016e+02] [-1.02805848e-03 1.14033639e-05 9.99999472e-01 -3.88938169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 454.98028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.10901059e-01 -5.85181120e-01 -1.59010641e-03 2.46686236e+02] [ 5.85179940e-01 -8.10902618e-01 1.17552818e-03 1.23527312e+02] [-1.97731835e-03 2.27386692e-05 9.99998045e-01 -3.87904620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.01028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:246.69, Y:123.53, Z:-0.39 [[-8.10353779e-01 -5.85937882e-01 -1.88439146e-03 2.46685555e+02] [ 5.85936226e-01 -8.10355970e-01 1.39350430e-03 1.23527616e+02] [-2.34353482e-03 2.50982527e-05 9.99997254e-01 -3.87569082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.04028169299994 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.69, Y:123.52, Z:-0.39 [[-8.09693671e-01 -5.86849054e-01 -2.08499212e-03 2.46693000e+02] [ 5.86847028e-01 -8.09696355e-01 1.54230082e-03 1.23520423e+02] [-2.59330830e-03 2.52197801e-05 9.99996637e-01 -3.87569026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.07028169299997 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:246.68, Y:123.52, Z:-0.39 [[-8.08631062e-01 -5.88311636e-01 -2.28584244e-03 2.46684760e+02] [ 5.88309206e-01 -8.08634292e-01 1.69122983e-03 1.23523915e+02] [-2.84338077e-03 2.27988213e-05 9.99995957e-01 -3.87567980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.10028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.67, Y:123.53, Z:-0.39 [[-8.06573992e-01 -5.91127441e-01 -2.59697845e-03 2.46671163e+02] [ 5.91124322e-01 -8.06578172e-01 1.92038748e-03 1.23530403e+02] [-3.22985987e-03 1.37974722e-05 9.99994784e-01 -3.87472390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.130281693 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:246.67, Y:123.53, Z:-0.39 [[-8.05534394e-01 -5.92543743e-01 -2.50062033e-03 2.46673227e+02] [ 5.92540857e-01 -8.05538275e-01 1.84941091e-03 1.23527834e+02] [-3.11020225e-03 8.04438328e-06 9.99995163e-01 -3.87262253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.16028169299994 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.65, Y:123.54, Z:-0.39 [[-8.04851918e-01 -5.93471766e-01 -2.15682638e-03 2.46652838e+02] [ 5.93469625e-01 -8.04854808e-01 1.59419399e-03 1.23541125e+02] [-2.68204121e-03 3.07914816e-06 9.99996403e-01 -3.87847175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.190281693 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:246.65, Y:123.54, Z:-0.39 [[-8.03503798e-01 -5.95297166e-01 -1.71222853e-03 2.46650893e+02] [ 5.95295820e-01 -8.03505622e-01 1.26569532e-03 1.23537254e+02] [-2.12925009e-03 -2.29149461e-06 9.99997733e-01 -3.88910713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.22028169299995 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:246.66, Y:123.53, Z:-0.39 [[-8.03070582e-01 -5.95881094e-01 -1.83336531e-03 2.46655245e+02] [ 5.95879552e-01 -8.03072675e-01 1.35564537e-03 1.23531752e+02] [-2.28012903e-03 -3.78598691e-06 9.99997401e-01 -3.89235265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.250281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.64, Y:123.54, Z:-0.39 [[-8.03031190e-01 -5.95933726e-01 -1.97526157e-03 2.46642603e+02] [ 5.95931936e-01 -8.03033619e-01 1.46088675e-03 1.23539074e+02] [-2.45679313e-03 -3.98382304e-06 9.99996982e-01 -3.89874050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.28028169299995 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.66, Y:123.52, Z:-0.39 [[-8.04191215e-01 -5.94367747e-01 -1.86309095e-03 2.46662059e+02] [ 5.94366147e-01 -8.04193373e-01 1.37883093e-03 1.23519521e+02] [-2.31781803e-03 1.48553193e-06 9.99997314e-01 -3.89082091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.310281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.66, Y:123.52, Z:-0.39 [[-8.05112161e-01 -5.93121282e-01 -1.24623398e-03 2.46659460e+02] [ 5.93120565e-01 -8.05113125e-01 9.22639758e-04 1.23519038e+02] [-1.55059661e-03 3.66148798e-06 9.99998798e-01 -3.89367432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.34028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.64, Y:123.54, Z:-0.39 [[-8.06179441e-01 -5.91670830e-01 -5.81874146e-04 2.46636300e+02] [ 5.91670673e-01 -8.06179651e-01 4.30704731e-04 1.23535320e+02] [-7.23930521e-04 2.94743159e-06 9.99999738e-01 -3.90040787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.370281693 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:246.65, Y:123.53, Z:-0.39 [[-8.06622925e-01 -5.91066372e-01 -2.36146784e-05 2.46648109e+02] [ 5.91066372e-01 -8.06622925e-01 1.72683810e-05 1.23526046e+02] [-2.92549002e-05 -2.87702804e-08 1.00000000e+00 -3.90201743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.40028169299995 meters Centerline goodness : 0.999660 Centerline is valid? [True, True] Translation: X:246.66, Y:123.51, Z:-0.39 [[-8.06867455e-01 -5.90732520e-01 -6.31489984e-06 2.46664500e+02] [ 5.90732520e-01 -8.06867455e-01 4.46623659e-06 1.23509718e+02] [-7.73363827e-06 -1.26755737e-07 1.00000000e+00 -3.89660644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.430281693 meters Centerline goodness : 0.999377 Centerline is valid? [True, True] Translation: X:246.65, Y:123.52, Z:-0.38 [[-8.06363615e-01 -5.91420060e-01 1.84212281e-04 2.46652974e+02] [ 5.91420044e-01 -8.06363636e-01 -1.36616247e-04 1.23515032e+02] [ 2.29339674e-04 -1.21553523e-06 9.99999974e-01 -3.83766488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.46028169299996 meters Centerline goodness : 0.999678 Centerline is valid? [True, True] Translation: X:246.65, Y:123.51, Z:-0.39 [[-8.05716500e-01 -5.92301377e-01 7.69967589e-06 2.46647662e+02] [ 5.92301377e-01 -8.05716500e-01 -5.78880387e-06 1.23514449e+02] [ 9.63247249e-06 -1.03606159e-07 1.00000000e+00 -3.89516575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.490281693 meters Centerline goodness : 0.999706 Centerline is valid? [True, True] Translation: X:246.64, Y:123.52, Z:-0.39 [[-8.05417904e-01 -5.92707347e-01 -2.92127271e-05 2.46640580e+02] [ 5.92707347e-01 -8.05417905e-01 2.15843213e-05 1.23516058e+02] [-3.63216392e-05 6.98008860e-08 9.99999999e-01 -3.89864471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.52028169299996 meters Centerline goodness : 0.999724 Centerline is valid? [True, True] Translation: X:246.64, Y:123.51, Z:-0.39 [[-8.05718161e-01 -5.92298324e-01 -9.70246308e-04 2.46635195e+02] [ 5.92297886e-01 -8.05718745e-01 7.19680741e-04 1.23514799e+02] [-1.20801133e-03 5.18500485e-06 9.99999270e-01 -3.90012328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.550281693 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.65, Y:123.50, Z:-0.39 [[-8.06339478e-01 -5.91451101e-01 -1.49709178e-03 2.46652455e+02] [ 5.91450057e-01 -8.06340868e-01 1.11122727e-03 1.23499649e+02] [-1.86440288e-03 1.05713985e-05 9.99998262e-01 -3.89468175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.58028169299996 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:246.64, Y:123.51, Z:-0.39 [[-8.07298047e-01 -5.90141943e-01 -1.53329305e-03 2.46635558e+02] [ 5.90140845e-01 -8.07299503e-01 1.13847842e-03 1.23510285e+02] [-1.90969058e-03 1.42325424e-05 9.99998176e-01 -3.89158656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.61028169299993 meters Centerline goodness : 0.999789 Centerline is valid? [True, True] Translation: X:246.66, Y:123.49, Z:-0.39 [[-8.09066181e-01 -5.87714953e-01 -1.74595645e-03 2.46655103e+02] [ 5.87713522e-01 -8.09068065e-01 1.29721308e-03 1.23492518e+02] [-2.17498913e-03 2.34090228e-05 9.99997634e-01 -3.88424215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.64028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.66, Y:123.49, Z:-0.39 [[-8.09593788e-01 -5.86986589e-01 -2.15499760e-03 2.46655718e+02] [ 5.86984402e-01 -8.09596655e-01 1.60237282e-03 1.23490723e+02] [-2.68525020e-03 3.23210988e-05 9.99996394e-01 -3.88184429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.67028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.65, Y:123.49, Z:-0.39 [[-8.10100121e-01 -5.86286196e-01 -2.50828417e-03 2.46651122e+02] [ 5.86283228e-01 -8.10104003e-01 1.86575295e-03 1.23492285e+02] [-3.12583625e-03 4.08817474e-05 9.99995114e-01 -3.87934045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.70028169299997 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:246.66, Y:123.48, Z:-0.39 [[-8.10258261e-01 -5.86066168e-01 -2.82805082e-03 2.46663560e+02] [ 5.86062389e-01 -8.10263195e-01 2.10505195e-03 1.23481475e+02] [-3.52516522e-03 4.82215094e-05 9.99993785e-01 -3.87985057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.73028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.66, Y:123.49, Z:-0.39 [[-8.10661132e-01 -5.85507778e-01 -3.02858300e-03 2.46655459e+02] [ 5.85503437e-01 -8.10666787e-01 2.25509038e-03 1.23486406e+02] [-3.77554460e-03 5.48683623e-05 9.99992871e-01 -3.88480802e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.76028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.66, Y:123.49, Z:-0.39 [[-8.10511043e-01 -5.85714232e-01 -3.26923033e-03 2.46655266e+02] [ 5.85709169e-01 -8.10517634e-01 2.43595869e-03 1.23486330e+02] [-4.07654450e-03 5.95532426e-05 9.99991689e-01 -3.88737239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.79028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.65, Y:123.49, Z:-0.39 [[-8.10402044e-01 -5.85864077e-01 -3.43652325e-03 2.46652117e+02] [ 5.85858481e-01 -8.10409328e-01 2.56146602e-03 1.23487613e+02] [-4.28566142e-03 6.25010058e-05 9.99990815e-01 -3.88588260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.82028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.65, Y:123.49, Z:-0.39 [[-8.10239249e-01 -5.86090836e-01 -3.14501984e-03 2.46651700e+02] [ 5.86086145e-01 -8.10245351e-01 2.34578902e-03 1.23486356e+02] [-3.92308315e-03 5.73977867e-05 9.99992303e-01 -3.89103974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.85028169299994 meters Centerline goodness : 0.999810 Centerline is valid? [True, True] Translation: X:246.64, Y:123.49, Z:-0.39 [[-8.10264432e-01 -5.86061578e-01 -1.83792314e-03 2.46637479e+02] [ 5.86059974e-01 -8.10266515e-01 1.37128562e-03 1.23494549e+02] [-2.29286539e-03 3.39707736e-05 9.99997371e-01 -3.89917544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.880281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.63, Y:123.50, Z:-0.39 [[-8.10278232e-01 -5.86044075e-01 -1.23648403e-03 2.46630457e+02] [ 5.86043349e-01 -8.10279175e-01 9.22782157e-04 1.23498844e+02] [-1.54268828e-03 2.30770535e-05 9.99998810e-01 -3.89960103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.91028169299994 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.63, Y:123.50, Z:-0.39 [[-8.10322952e-01 -5.85982013e-01 -1.33912147e-03 2.46625619e+02] [ 5.85981161e-01 -8.10324059e-01 9.99668823e-04 1.23501536e+02] [-1.67091029e-03 2.53546410e-05 9.99998604e-01 -3.89788142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.940281693 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.63, Y:123.49, Z:-0.39 [[-8.11029250e-01 -5.85004290e-01 -1.23973100e-03 2.46631082e+02] [ 5.85003557e-01 -8.11030197e-01 9.26028828e-04 1.23493955e+02] [-1.54719011e-03 2.57894219e-05 9.99998803e-01 -3.90277611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 455.97028169299995 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.64, Y:123.49, Z:-0.39 [[-8.11515751e-01 -5.84330031e-01 -7.74844857e-04 2.46638472e+02] [ 5.84329744e-01 -8.11516121e-01 5.79130105e-04 1.23487007e+02] [-9.67202205e-04 1.72083052e-05 9.99999532e-01 -3.90863678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.000281693 meters Centerline goodness : 0.999786 Centerline is valid? [True, True] Translation: X:246.64, Y:123.49, Z:-0.39 [[-8.11309083e-01 -5.84616945e-01 -7.74639564e-04 2.46636371e+02] [ 5.84616658e-01 -8.11309452e-01 5.79404625e-04 1.23488485e+02] [-9.67202162e-04 1.72090415e-05 9.99999532e-01 -3.90864852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.03028169299995 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.63, Y:123.49, Z:-0.39 [[-8.11723678e-01 -5.84041510e-01 -4.30938511e-04 2.46627688e+02] [ 5.84041421e-01 -8.11723792e-01 3.22454263e-04 1.23494256e+02] [-5.38129717e-04 1.00578196e-05 9.99999855e-01 -3.91218189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.060281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.64, Y:123.48, Z:-0.39 [[-8.11864485e-01 -5.83845532e-01 -6.73169055e-04 2.46640118e+02] [ 5.83845315e-01 -8.11864764e-01 5.03992720e-04 1.23482053e+02] [-8.40776133e-04 1.61471910e-05 9.99999646e-01 -3.90850328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.09028169299995 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:246.62, Y:123.50, Z:-0.39 [[-8.11437206e-01 -5.84438075e-01 -1.34082881e-03 2.46619907e+02] [ 5.84437212e-01 -8.11438313e-01 1.00440443e-03 1.23495619e+02] [-1.67501206e-03 3.13808772e-05 9.99998597e-01 -3.90318006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.120281693 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.61, Y:123.50, Z:-0.39 [[-8.10842224e-01 -5.85261537e-01 -1.95472600e-03 2.46609192e+02] [ 5.85259706e-01 -8.10844579e-01 1.46467820e-03 1.23502735e+02] [-2.44219879e-03 4.36005671e-05 9.99997017e-01 -3.90400974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.15028169299995 meters Centerline goodness : 0.999832 Centerline is valid? [True, True] Translation: X:246.62, Y:123.50, Z:-0.39 [[-8.10260877e-01 -5.86064356e-01 -2.42506542e-03 2.46616283e+02] [ 5.86061538e-01 -8.10264505e-01 1.81834629e-03 1.23497031e+02] [-3.03061238e-03 5.20972879e-05 9.99995406e-01 -3.90234140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.180281693 meters Centerline goodness : 0.999895 Centerline is valid? [True, True] Translation: X:246.64, Y:123.48, Z:-0.39 [[-8.10265264e-01 -5.86059230e-01 -2.18645495e-03 2.46638996e+02] [ 5.86056936e-01 -8.10268213e-01 1.64061877e-03 1.23479398e+02] [-2.73311471e-03 4.79493110e-05 9.99996264e-01 -3.90798569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.21028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.62, Y:123.49, Z:-0.39 [[-8.10460424e-01 -5.85790435e-01 -1.86234224e-03 2.46621408e+02] [ 5.85788768e-01 -8.10462562e-01 1.39790199e-03 1.23492103e+02] [-2.32823628e-03 4.20050712e-05 9.99997289e-01 -3.91426160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.240281693 meters Centerline goodness : 0.999828 Centerline is valid? [True, True] Translation: X:246.61, Y:123.50, Z:-0.39 [[-8.10575968e-01 -5.85630912e-01 -1.74190879e-03 2.46607225e+02] [ 5.85629453e-01 -8.10577839e-01 1.30786160e-03 1.23503204e+02] [-2.17787684e-03 4.00080918e-05 9.99997628e-01 -3.92111938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.27028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.61, Y:123.50, Z:-0.39 [[-8.10654634e-01 -5.85520489e-01 -2.19562666e-03 2.46614995e+02] [ 5.85518168e-01 -8.10657606e-01 1.64963383e-03 1.23498182e+02] [-2.74579586e-03 5.17040047e-05 9.99996229e-01 -3.92382085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.300281693 meters Centerline goodness : 0.999957 Centerline is valid? [True, True] Translation: X:246.62, Y:123.49, Z:-0.39 [[-8.11106245e-01 -5.84890456e-01 -3.13272606e-03 2.46624868e+02] [ 5.84885718e-01 -8.11112291e-01 2.35551899e-03 1.23492677e+02] [-3.91871319e-03 7.82894317e-05 9.99992319e-01 -3.92245193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.33028169299996 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:123.50, Z:-0.39 [[-8.11392573e-01 -5.84490050e-01 -3.67086869e-03 2.46612434e+02] [ 5.84483536e-01 -8.11400871e-01 2.76107910e-03 1.23502564e+02] [-4.59236931e-03 9.47567616e-05 9.99989451e-01 -3.92368821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.36028169299993 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.62, Y:123.49, Z:-0.39 [[-8.11533813e-01 -5.84294563e-01 -3.56847340e-03 2.46624226e+02] [ 5.84288398e-01 -8.11541653e-01 2.68589718e-03 1.23494704e+02] [-4.46531993e-03 9.46787756e-05 9.99990026e-01 -3.92741217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.39028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.63, Y:123.50, Z:-0.39 [[-8.12061228e-01 -5.83567892e-01 -2.25332767e-03 2.46626246e+02] [ 5.83565427e-01 -8.12064352e-01 1.69718071e-03 1.23497256e+02] [-2.82026725e-03 6.32505260e-05 9.99996021e-01 -3.93519971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.42028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.62, Y:123.51, Z:-0.39 [[-8.12235961e-01 -5.83325110e-01 -2.13533371e-03 2.46615487e+02] [ 5.83322895e-01 -8.12238765e-01 1.60886803e-03 1.23508581e+02] [-2.67289394e-03 6.11914334e-05 9.99996426e-01 -3.94016637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.45028169299997 meters Centerline goodness : 0.999937 Centerline is valid? [True, True] Translation: X:246.62, Y:123.51, Z:-0.39 [[-8.12393406e-01 -5.83104843e-01 -2.38664503e-03 2.46621304e+02] [ 5.83102071e-01 -8.12396909e-01 1.79941433e-03 1.23507067e+02] [-2.98815025e-03 7.01746761e-05 9.99995533e-01 -3.94105171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.48028169299994 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.63, Y:123.50, Z:-0.39 [[-8.12393875e-01 -5.83101332e-01 -3.00466550e-03 2.46628620e+02] [ 5.83096932e-01 -8.12399427e-01 2.26707200e-03 1.23504739e+02] [-3.76292123e-03 8.97441720e-05 9.99992916e-01 -3.93851794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.51028169299997 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.64, Y:123.51, Z:-0.39 [[-8.12447523e-01 -5.83022868e-01 -3.65478461e-03 2.46637229e+02] [ 5.83016348e-01 -8.12455736e-01 2.75963398e-03 1.23505455e+02] [-4.57828044e-03 1.11258619e-04 9.99989513e-01 -3.93594197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.54028169299994 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.62, Y:123.52, Z:-0.39 [[-8.12347167e-01 -5.83161810e-01 -3.79267487e-03 2.46619164e+02] [ 5.83154788e-01 -8.12356012e-01 2.86396185e-03 1.23523399e+02] [-4.75115541e-03 1.14814778e-04 9.99988707e-01 -3.93286327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.57028169299997 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.63, Y:123.52, Z:-0.39 [[-8.11928493e-01 -5.83744603e-01 -3.78968855e-03 2.46628983e+02] [ 5.83737590e-01 -8.11937329e-01 2.86358710e-03 1.23519750e+02] [-4.74859311e-03 1.12844295e-04 9.99988719e-01 -3.93263046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.60028169299994 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:246.61, Y:123.54, Z:-0.39 [[-8.11811094e-01 -5.83909511e-01 -3.52571379e-03 2.46608741e+02] [ 5.83903449e-01 -8.11818744e-01 2.66256505e-03 1.23538208e+02] [-4.41693760e-03 1.02823397e-04 9.99990240e-01 -3.93399729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.630281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.63, Y:123.53, Z:-0.39 [[-8.10467005e-01 -5.85773988e-01 -3.47417306e-03 2.46625520e+02] [ 5.85768113e-01 -8.10474446e-01 2.62516133e-03 1.23531495e+02] [-4.35347971e-03 9.25468431e-05 9.99990519e-01 -3.94078782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.66028169299994 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.63, Y:123.53, Z:-0.39 [[-8.09705479e-01 -5.86825211e-01 -3.63430958e-03 2.46626541e+02] [ 5.86818789e-01 -8.09713630e-01 2.74705848e-03 1.23534224e+02] [-4.55479317e-03 9.16271648e-05 9.99989623e-01 -3.94371184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.690281693 meters Centerline goodness : 1.000000 Centerline is valid? [True, True] Translation: X:246.61, Y:123.55, Z:-0.39 [[-8.09128315e-01 -5.87617406e-01 -4.14188382e-03 2.46611813e+02] [ 5.87609074e-01 -8.09138909e-01 3.13080583e-03 1.23548323e+02] [-5.19107536e-03 9.94151327e-05 9.99986521e-01 -3.94738406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.72028169299995 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.62, Y:123.54, Z:-0.39 [[-8.08219891e-01 -5.88865720e-01 -4.21559796e-03 2.46624461e+02] [ 5.88857094e-01 -8.08230880e-01 3.18866102e-03 1.23541264e+02] [-5.28486962e-03 9.47544958e-05 9.99986031e-01 -3.94424635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.750281693 meters Centerline goodness : 0.999979 Centerline is valid? [True, True] Translation: X:246.61, Y:123.55, Z:-0.39 [[-8.07533721e-01 -5.89808384e-01 -3.91920290e-03 2.46610255e+02] [ 5.89800938e-01 -8.07543227e-01 2.96466125e-03 1.23554529e+02] [-4.91350782e-03 8.25143784e-05 9.99987925e-01 -3.94627257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.78028169299995 meters Centerline goodness : 0.999763 Centerline is valid? [True, True] Translation: X:246.58, Y:123.58, Z:-0.39 [[-8.06055243e-01 -5.91832004e-01 -3.13441037e-03 2.46584568e+02] [ 5.91827263e-01 -8.06061335e-01 2.36944101e-03 1.23578633e+02] [-3.92883803e-03 5.48708410e-05 9.99992281e-01 -3.94709114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.810281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.60, Y:123.57, Z:-0.39 [[-8.04956427e-01 -5.93323923e-01 -3.44565144e-03 2.46599644e+02] [ 5.93318201e-01 -8.04963800e-01 2.60624329e-03 1.23568890e+02] [-4.31997117e-03 5.35445744e-05 9.99990667e-01 -3.94636927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.84028169299995 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.60, Y:123.57, Z:-0.39 [[-8.04196273e-01 -5.94347981e-01 -4.33954718e-03 2.46601705e+02] [ 5.94338914e-01 -8.04207979e-01 3.28348761e-03 1.23568798e+02] [-5.44143271e-03 6.14067435e-05 9.99985193e-01 -3.94890002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.870281693 meters Centerline goodness : 0.999686 Centerline is valid? [True, True] Translation: X:246.59, Y:123.58, Z:-0.40 [[-8.04042487e-01 -5.94554208e-01 -4.57967366e-03 2.46591445e+02] [ 5.94544113e-01 -8.04055526e-01 3.46526139e-03 1.23580237e+02] [-5.74259766e-03 6.33993668e-05 9.99983509e-01 -3.95731931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.90028169299995 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.61, Y:123.57, Z:-0.40 [[-8.04813094e-01 -5.93514545e-01 -4.04591373e-03 2.46609768e+02] [ 5.93506642e-01 -8.04823261e-01 3.06346672e-03 1.23569313e+02] [-5.07445754e-03 6.42414577e-05 9.99987123e-01 -3.96571680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.930281693 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.59, Y:123.59, Z:-0.40 [[-8.06341016e-01 -5.91440907e-01 -3.43790191e-03 2.46593383e+02] [ 5.91435189e-01 -8.06348343e-01 2.60153502e-03 1.23586182e+02] [-4.31080074e-03 6.44282285e-05 9.99990706e-01 -3.96916883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.96028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.60, Y:123.59, Z:-0.40 [[-8.07942883e-01 -5.89251560e-01 -3.30116003e-03 2.46595397e+02] [ 5.89246268e-01 -8.07949623e-01 2.49848844e-03 1.23589702e+02] [-4.13940921e-03 7.34397284e-05 9.99991430e-01 -3.97299933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 456.990281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:246.62, Y:123.58, Z:-0.40 [[-8.10711399e-01 -5.85435994e-01 -3.42410029e-03 2.46616714e+02] [ 5.85430258e-01 -8.10718624e-01 2.59334870e-03 1.23583869e+02] [-4.29422155e-03 9.78854336e-05 9.99990775e-01 -3.96917159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.02028169299996 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.63, Y:123.58, Z:-0.40 [[-8.11254905e-01 -5.84679721e-01 -3.88623006e-03 2.46625777e+02] [ 5.84672319e-01 -8.11264205e-01 2.94433938e-03 1.23580958e+02] [-4.87425487e-03 1.16438625e-04 9.99988114e-01 -3.96723925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.050281693 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.63, Y:123.58, Z:-0.40 [[-8.11076645e-01 -5.84924785e-01 -4.20373055e-03 2.46631672e+02] [ 5.84916123e-01 -8.11087529e-01 3.18577847e-03 1.23580221e+02] [-5.27303421e-03 1.25080735e-04 9.99986090e-01 -3.96077203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.08028169299996 meters Centerline goodness : 0.999598 Centerline is valid? [True, True] Translation: X:246.61, Y:123.60, Z:-0.40 [[-8.09401873e-01 -5.87230649e-01 -5.36409855e-03 2.46612811e+02] [ 5.87216613e-01 -8.09419635e-01 4.06245423e-03 1.23602306e+02] [-6.72740432e-03 1.38270276e-04 9.99977361e-01 -3.96038577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.11028169299993 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:246.61, Y:123.60, Z:-0.40 [[-8.08255958e-01 -5.88803100e-01 -5.76322956e-03 2.46614020e+02] [ 5.88786942e-01 -8.08276494e-01 4.36412705e-03 1.23604840e+02] [-7.22789452e-03 1.34017383e-04 9.99973869e-01 -3.95414856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.14028169299996 meters Centerline goodness : 0.999536 Centerline is valid? [True, True] Translation: X:246.58, Y:123.63, Z:-0.40 [[-8.07053276e-01 -5.90448296e-01 -5.98493684e-03 2.46584548e+02] [ 5.90430940e-01 -8.07075458e-01 4.52875166e-03 1.23630256e+02] [-7.50428934e-03 1.21251975e-04 9.99971835e-01 -3.95655032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.17028169299994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:246.59, Y:123.63, Z:-0.40 [[-8.05574527e-01 -5.92461008e-01 -6.29564888e-03 2.46590952e+02] [ 5.92441860e-01 -8.05599120e-01 4.76450342e-03 1.23629066e+02] [-7.89455170e-03 1.08356651e-04 9.99968832e-01 -3.96620176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.20028169299997 meters Centerline goodness : 0.999276 Centerline is valid? [True, True] Translation: X:246.60, Y:123.63, Z:-0.40 [[-8.02717345e-01 -5.96326216e-01 -6.31727614e-03 2.46602015e+02] [ 5.96307048e-01 -8.02742199e-01 4.78178673e-03 1.23628310e+02] [-7.92264893e-03 7.13868657e-05 9.99968613e-01 -3.97270198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.23028169299994 meters Centerline goodness : 0.999216 Centerline is valid? [True, True] Translation: X:246.59, Y:123.64, Z:-0.40 [[-8.01961915e-01 -5.97342767e-01 -6.22133727e-03 2.46586711e+02] [ 5.97324234e-01 -8.01986044e-01 4.70581844e-03 1.23642525e+02] [-7.80041227e-03 5.77316501e-05 9.99969575e-01 -3.97628351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.26028169299997 meters Centerline goodness : 0.999176 Centerline is valid? [True, True] Translation: X:246.60, Y:123.64, Z:-0.40 [[-8.01410797e-01 -5.98085355e-01 -5.88580174e-03 2.46595510e+02] [ 5.98068782e-01 -8.01432409e-01 4.45262009e-03 1.23637649e+02] [-7.38011913e-03 4.82635363e-05 9.99972765e-01 -3.97747863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.29028169299994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:246.58, Y:123.65, Z:-0.40 [[-8.01486087e-01 -5.97987033e-01 -5.61781348e-03 2.46581519e+02] [ 5.97971954e-01 -8.01505774e-01 4.24686634e-03 1.23649931e+02] [-7.04228095e-03 4.45093806e-05 9.99975202e-01 -3.98220357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.32028169299997 meters Centerline goodness : 0.999153 Centerline is valid? [True, True] Translation: X:246.59, Y:123.65, Z:-0.40 [[-8.02075941e-01 -5.97200753e-01 -5.04430880e-03 2.46588556e+02] [ 5.97188599e-01 -8.02091802e-01 3.81036843e-03 1.23651494e+02] [-6.32155363e-03 4.38011393e-05 9.99980018e-01 -3.98923619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.35028169299994 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:246.60, Y:123.65, Z:-0.40 [[-8.02369079e-01 -5.96810063e-01 -4.64865562e-03 2.46599235e+02] [ 5.96799735e-01 -8.02382544e-01 3.51129795e-03 1.23647933e+02] [-5.82557807e-03 4.30404613e-05 9.99983030e-01 -3.99103572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.380281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:246.61, Y:123.65, Z:-0.40 [[-8.02779466e-01 -5.96259238e-01 -4.47771087e-03 2.46607424e+02] [ 5.96249661e-01 -8.02791952e-01 3.37978421e-03 1.23646466e+02] [-5.60989781e-03 4.33877742e-05 9.99984263e-01 -3.99534832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.41028169299994 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:246.61, Y:123.65, Z:-0.40 [[-8.03075075e-01 -5.95860661e-01 -4.52731925e-03 2.46611903e+02] [ 5.95850879e-01 -8.03087835e-01 3.41459312e-03 1.23646836e+02] [-5.67045673e-03 4.45674712e-05 9.99983922e-01 -3.99918939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.440281693 meters Centerline goodness : 0.999235 Centerline is valid? [True, True] Translation: X:246.61, Y:123.66, Z:-0.40 [[-8.02381470e-01 -5.96796548e-01 -4.22585258e-03 2.46606238e+02] [ 5.96788051e-01 -8.02392597e-01 3.18476993e-03 1.23656638e+02] [-5.29145252e-03 3.34620536e-05 9.99986000e-01 -4.00698198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.47028169299995 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:246.60, Y:123.66, Z:-0.40 [[-8.01829143e-01 -5.97538350e-01 -4.23630484e-03 2.46599727e+02] [ 5.97529835e-01 -8.01840333e-01 3.19015529e-03 1.23664331e+02] [-5.30308021e-03 2.66409442e-05 9.99985938e-01 -4.01067795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.500281693 meters Centerline goodness : 0.999131 Centerline is valid? [True, True] Translation: X:246.61, Y:123.66, Z:-0.40 [[-8.01295332e-01 -5.98254303e-01 -4.19285080e-03 2.46607548e+02] [ 5.98245984e-01 -8.01306302e-01 3.15496222e-03 1.23661555e+02] [-5.24722749e-03 1.97003512e-05 9.99986233e-01 -4.00789939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.53028169299995 meters Centerline goodness : 0.999222 Centerline is valid? [True, True] Translation: X:246.60, Y:123.67, Z:-0.40 [[-8.00831936e-01 -5.98875804e-01 -3.99776184e-03 2.46597990e+02] [ 5.98868261e-01 -8.00841914e-01 3.00581057e-03 1.23672576e+02] [-5.00168246e-03 1.30164204e-05 9.99987491e-01 -4.01274420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.560281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:246.60, Y:123.67, Z:-0.40 [[-8.00655874e-01 -5.99116092e-01 -3.17485367e-03 2.46603371e+02] [ 5.99111344e-01 -8.00662169e-01 2.38524660e-03 1.23671951e+02] [-3.97102485e-03 7.67085367e-06 9.99992115e-01 -4.01040591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.59028169299995 meters Centerline goodness : 0.999182 Centerline is valid? [True, True] Translation: X:246.59, Y:123.69, Z:-0.40 [[-8.00210031e-01 -5.99714293e-01 -2.58321667e-03 2.46594900e+02] [ 5.99711158e-01 -8.00214200e-01 1.93925257e-03 1.23685299e+02] [-3.23012415e-03 2.62549667e-06 9.99994783e-01 -4.02109692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.620281693 meters Centerline goodness : 0.999136 Centerline is valid? [True, True] Translation: X:246.61, Y:123.68, Z:-0.40 [[-8.00213832e-01 -5.99708694e-01 -2.70293969e-03 2.46606167e+02] [ 5.99705266e-01 -8.00218397e-01 2.02750142e-03 1.23681123e+02] [-3.37885230e-03 1.46751466e-06 9.99994292e-01 -4.02291651e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.65028169299995 meters Centerline goodness : 0.999038 Centerline is valid? [True, True] Translation: X:246.60, Y:123.69, Z:-0.40 [[-8.00257788e-01 -5.99647949e-01 -3.13193153e-03 2.46595367e+02] [ 5.99643355e-01 -8.00263917e-01 2.34737595e-03 1.23693864e+02] [-3.91397096e-03 4.63954806e-07 9.99992340e-01 -4.02749246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.680281693 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:246.61, Y:123.69, Z:-0.40 [[-7.99388759e-01 -6.00806883e-01 -2.94974446e-03 2.46605666e+02] [ 6.00802822e-01 -7.99394202e-01 2.20906159e-03 1.23693756e+02] [-3.68522802e-03 -6.31578614e-06 9.99993210e-01 -4.02813843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.71028169299996 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:246.61, Y:123.69, Z:-0.40 [[-7.98680437e-01 -6.01751412e-01 -2.19038283e-03 2.46613567e+02] [ 6.01749179e-01 -7.98683441e-01 1.63911782e-03 1.23690642e+02] [-2.73576396e-03 -8.92973425e-06 9.99996258e-01 -4.03697314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.740281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:246.60, Y:123.70, Z:-0.40 [[-7.97773162e-01 -6.02955976e-01 -1.43971039e-03 2.46599583e+02] [ 6.02955015e-01 -7.97774462e-01 1.07657994e-03 1.23703685e+02] [-1.79769449e-03 -9.21401341e-06 9.99998384e-01 -4.04201258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.77028169299996 meters Centerline goodness : 0.999062 Centerline is valid? [True, True] Translation: X:246.61, Y:123.70, Z:-0.40 [[-7.96570363e-01 -6.04545274e-01 -8.17909872e-04 2.46605240e+02] [ 6.04544965e-01 -7.96570783e-01 6.11214770e-04 1.23702601e+02] [-1.02103011e-03 -7.58772324e-06 9.99999479e-01 -4.04671513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.800281693 meters Centerline goodness : 0.999053 Centerline is valid? [True, True] Translation: X:246.62, Y:123.69, Z:-0.40 [[-7.93489661e-01 -6.08582991e-01 -9.49543833e-04 2.46623461e+02] [ 6.08582578e-01 -7.93490229e-01 7.08972659e-04 1.23694444e+02] [-1.18492245e-03 -1.53133591e-05 9.99999298e-01 -4.04170423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.83028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:246.64, Y:123.68, Z:-0.40 [[-7.91478786e-01 -6.11195106e-01 -1.36896582e-03 2.46643397e+02] [ 6.11194253e-01 -7.91479969e-01 1.02158633e-03 1.23680815e+02] [-1.70789758e-03 -2.81401349e-05 9.99998541e-01 -4.03495985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.86028169299993 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:246.65, Y:123.68, Z:-0.40 [[-7.89416206e-01 -6.13856351e-01 -1.56002854e-03 2.46649448e+02] [ 6.13855250e-01 -7.89417747e-01 1.16337416e-03 1.23676077e+02] [-1.94565884e-03 -3.92452908e-05 9.99998106e-01 -4.03108867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.89028169299996 meters Centerline goodness : 0.999137 Centerline is valid? [True, True] Translation: X:246.65, Y:123.67, Z:-0.40 [[-7.89647655e-01 -6.13558592e-01 -1.56046734e-03 2.46651505e+02] [ 6.13557492e-01 -7.89649196e-01 1.16278547e-03 1.23674636e+02] [-1.94565880e-03 -3.92456075e-05 9.99998106e-01 -4.03107693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.92028169299994 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:246.66, Y:123.67, Z:-0.40 [[-7.87627627e-01 -6.16149147e-01 -1.71748864e-03 2.46662694e+02] [ 6.16147822e-01 -7.87629498e-01 1.27876459e-03 1.23665087e+02] [-2.14065442e-03 -5.10365677e-05 9.99997708e-01 -4.03462754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.95028169299997 meters Centerline goodness : 0.999257 Centerline is valid? [True, True] Translation: X:246.68, Y:123.65, Z:-0.41 [[-7.85099282e-01 -6.19366591e-01 -2.03538285e-03 2.46677266e+02] [ 6.19364744e-01 -7.85101918e-01 1.51423623e-03 1.23651486e+02] [-2.53585031e-03 -7.18185986e-05 9.99996782e-01 -4.05882166e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 457.98028169299994 meters Centerline goodness : 0.999072 Centerline is valid? [True, True] Translation: X:246.68, Y:123.65, Z:-0.41 [[-7.85069821e-01 -6.19403374e-01 -2.19933478e-03 2.46679860e+02] [ 6.19401221e-01 -7.85072898e-01 1.63492963e-03 1.23648991e+02] [-2.73931906e-03 -7.87367375e-05 9.99996245e-01 -4.06440316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.01028169299997 meters Centerline goodness : 0.999188 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.86543891e-01 -6.17529502e-01 -2.45403248e-03 2.46669310e+02] [ 6.17526817e-01 -7.86547715e-01 1.82282856e-03 1.23655353e+02] [-3.05586405e-03 -8.16961994e-05 9.99995328e-01 -4.06623708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.04028169299994 meters Centerline goodness : 0.999129 Centerline is valid? [True, True] Translation: X:246.67, Y:123.65, Z:-0.41 [[-7.87665003e-01 -6.16099092e-01 -2.39844755e-03 2.46673036e+02] [ 6.16096525e-01 -7.87668651e-01 1.78016034e-03 1.23651792e+02] [-2.98593711e-03 -7.55052037e-05 9.99995539e-01 -4.05891227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.07028169299997 meters Centerline goodness : 0.999195 Centerline is valid? [True, True] Translation: X:246.66, Y:123.66, Z:-0.41 [[-7.88955970e-01 -6.14442875e-01 -2.90340157e-03 2.46662667e+02] [ 6.14439108e-01 -7.88961308e-01 2.15321461e-03 1.23659126e+02] [-3.61369888e-03 -8.51719551e-05 9.99993467e-01 -4.05935660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.10028169299994 meters Centerline goodness : 0.999103 Centerline is valid? [True, True] Translation: X:246.67, Y:123.65, Z:-0.41 [[-7.90441412e-01 -6.12527016e-01 -3.60961141e-03 2.46670208e+02] [ 6.12521184e-01 -7.90449647e-01 2.67480082e-03 1.23653495e+02] [-4.49160383e-03 -9.66901225e-05 9.99989908e-01 -4.05789047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.130281693 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:246.66, Y:123.66, Z:-0.41 [[-7.93759526e-01 -6.08204469e-01 -5.75667061e-03 2.46658495e+02] [ 6.08189545e-01 -7.93780391e-01 4.26233141e-03 1.23662023e+02] [-7.16190126e-03 -1.17880720e-04 9.99974346e-01 -4.06038012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.16028169299994 meters Centerline goodness : 0.999255 Centerline is valid? [True, True] Translation: X:246.65, Y:123.67, Z:-0.41 [[-7.95216563e-01 -6.06287435e-01 -6.79440594e-03 2.46648096e+02] [ 6.06266609e-01 -7.95245579e-01 5.02664129e-03 1.23669857e+02] [-8.45081075e-03 -1.21953039e-04 9.99964284e-01 -4.06076949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.190281693 meters Centerline goodness : 0.999145 Centerline is valid? [True, True] Translation: X:246.66, Y:123.66, Z:-0.41 [[-7.96224940e-01 -6.04952383e-01 -7.64583758e-03 2.46656691e+02] [ 6.04925992e-01 -7.96261640e-01 5.65199897e-03 1.23664909e+02] [-9.50727741e-03 -1.24903340e-04 9.99954797e-01 -4.06222282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.22028169299995 meters Centerline goodness : 0.999318 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.96748050e-01 -6.04257381e-01 -8.09710734e-03 2.46665302e+02] [ 6.04227795e-01 -7.96789183e-01 5.98081485e-03 1.23660106e+02] [-1.00656391e-02 -1.27294741e-04 9.99949332e-01 -4.06248670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.250281693 meters Centerline goodness : 0.999281 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.96979159e-01 -6.03976538e-01 -6.04654518e-03 2.46668769e+02] [ 6.03960059e-01 -7.97002090e-01 4.46270850e-03 1.23658592e+02] [-7.51448038e-03 -9.51861148e-05 9.99971761e-01 -4.06097798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.28028169299995 meters Centerline goodness : 0.999197 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.96998102e-01 -6.03964320e-01 -4.59636981e-03 2.46665145e+02] [ 6.03954812e-01 -7.97011352e-01 3.38974914e-03 1.23661318e+02] [-5.71064644e-03 -7.43760315e-05 9.99983691e-01 -4.07096378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.310281693 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:246.65, Y:123.67, Z:-0.41 [[-7.97061887e-01 -6.03887220e-01 -3.54598396e-03 2.46651585e+02] [ 6.03881569e-01 -7.97069772e-01 2.61305939e-03 1.23671091e+02] [-4.40438980e-03 -5.85843146e-05 9.99990299e-01 -4.07911483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.34028169299995 meters Centerline goodness : 0.999232 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.97039942e-01 -6.03918376e-01 -3.15054786e-03 2.46669119e+02] [ 6.03913923e-01 -7.97046167e-01 2.31982039e-03 1.23658796e+02] [-3.91211425e-03 -5.36702074e-05 9.99992346e-01 -4.08101686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.370281693 meters Centerline goodness : 0.999199 Centerline is valid? [True, True] Translation: X:246.67, Y:123.66, Z:-0.41 [[-7.96117398e-01 -6.05132343e-01 -3.45486922e-03 2.46669867e+02] [ 6.05127008e-01 -7.96124892e-01 2.54184507e-03 1.23659146e+02] [-4.28866004e-03 -6.70275940e-05 9.99990801e-01 -4.08006991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.40028169299995 meters Centerline goodness : 0.999228 Centerline is valid? [True, True] Translation: X:246.68, Y:123.66, Z:-0.41 [[-7.95598337e-01 -6.05812744e-01 -3.76896556e-03 2.46675415e+02] [ 6.05806414e-01 -7.95607260e-01 2.77070111e-03 1.23655693e+02] [-4.67714240e-03 -7.88983140e-05 9.99989059e-01 -4.08092477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.430281693 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:246.69, Y:123.65, Z:-0.41 [[-7.95336540e-01 -6.06154298e-01 -4.09341963e-03 2.46687161e+02] [ 6.06146847e-01 -7.95347068e-01 3.00681030e-03 1.23647895e+02] [-5.07828029e-03 -8.97873033e-05 9.99987101e-01 -4.08585407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.46028169299996 meters Centerline goodness : 0.999303 Centerline is valid? [True, True] Translation: X:246.69, Y:123.65, Z:-0.41 [[-7.95333056e-01 -6.06158168e-01 -4.19597526e-03 2.46687994e+02] [ 6.06150351e-01 -7.95344119e-01 3.07969697e-03 1.23648329e+02] [-5.20402772e-03 -9.40070751e-05 9.99986455e-01 -4.08823513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.490281693 meters Centerline goodness : 0.999346 Centerline is valid? [True, True] Translation: X:246.68, Y:123.65, Z:-0.41 [[-7.95861844e-01 -6.05465671e-01 -3.90475769e-03 2.46684949e+02] [ 6.05458904e-01 -7.95871418e-01 2.86369379e-03 1.23652475e+02] [-4.84155332e-03 -8.50656990e-05 9.99988276e-01 -4.09086274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.52028169299996 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:246.70, Y:123.64, Z:-0.41 [[-7.96417673e-01 -6.04735918e-01 -3.65511564e-03 2.46699005e+02] [ 6.04729991e-01 -7.96426057e-01 2.67849957e-03 1.23642975e+02] [-4.53081423e-03 -7.71536566e-05 9.99989733e-01 -4.09130680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.550281693 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:246.69, Y:123.65, Z:-0.41 [[-7.96980839e-01 -6.03996594e-01 -3.10762932e-03 2.46688443e+02] [ 6.03992311e-01 -7.96986895e-01 2.27552400e-03 1.23651630e+02] [-3.85114859e-03 -6.34351846e-05 9.99992582e-01 -4.09850401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.58028169299996 meters Centerline goodness : 0.999283 Centerline is valid? [True, True] Translation: X:246.69, Y:123.65, Z:-0.41 [[-7.97510304e-01 -6.03299490e-01 -2.65336500e-03 2.46690810e+02] [ 6.03296369e-01 -7.97514716e-01 1.94137753e-03 1.23650963e+02] [-3.28732970e-03 -5.24968834e-05 9.99994595e-01 -4.10080409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.61028169299993 meters Centerline goodness : 0.999307 Centerline is valid? [True, True] Translation: X:246.69, Y:123.66, Z:-0.41 [[-7.98676608e-01 -6.01755289e-01 -2.49945864e-03 2.46688203e+02] [ 6.01752516e-01 -7.98680518e-01 1.82731884e-03 1.23657872e+02] [-3.09586769e-03 -4.46187139e-05 9.99995207e-01 -4.10744988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.64028169299996 meters Centerline goodness : 0.999259 Centerline is valid? [True, True] Translation: X:246.68, Y:123.67, Z:-0.41 [[-7.99959085e-01 -6.00048277e-01 -2.74366014e-03 2.46681994e+02] [ 6.00044932e-01 -7.99963789e-01 2.00421250e-03 1.23666142e+02] [-3.39745302e-03 -4.30313667e-05 9.99994228e-01 -4.11420955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.67028169299994 meters Centerline goodness : 0.999278 Centerline is valid? [True, True] Translation: X:246.70, Y:123.66, Z:-0.41 [[-8.01535023e-01 -5.97939799e-01 -3.09893959e-03 2.46695044e+02] [ 5.97935522e-01 -8.01541013e-01 2.26188341e-03 1.23660889e+02] [-3.83639729e-03 -3.99872883e-05 9.99992640e-01 -4.11910430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.70028169299997 meters Centerline goodness : 0.999400 Centerline is valid? [True, True] Translation: X:246.69, Y:123.68, Z:-0.41 [[-8.03750864e-01 -5.94958979e-01 -2.89164122e-03 2.46686160e+02] [ 5.94955242e-01 -8.03756065e-01 2.10888440e-03 1.23676003e+02] [-3.57887388e-03 -2.53794438e-05 9.99993596e-01 -4.13028421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.73028169299994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:246.69, Y:123.68, Z:-0.41 [[-8.04152538e-01 -5.94416828e-01 -2.70739352e-03 2.46691399e+02] [ 5.94413554e-01 -8.04157096e-01 1.97291749e-03 1.23676585e+02] [-3.34990507e-03 -2.27847968e-05 9.99994389e-01 -4.13229060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.76028169299997 meters Centerline goodness : 0.999365 Centerline is valid? [True, True] Translation: X:246.71, Y:123.67, Z:-0.41 [[-8.04241178e-01 -5.94294914e-01 -3.11184727e-03 2.46708945e+02] [ 5.94290595e-01 -8.04247197e-01 2.26577680e-03 1.23667654e+02] [-3.84923407e-03 -2.71105667e-05 9.99992591e-01 -4.13484195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.79028169299994 meters Centerline goodness : 0.999369 Centerline is valid? [True, True] Translation: X:246.69, Y:123.68, Z:-0.41 [[-8.03794218e-01 -5.94898476e-01 -3.26456773e-03 2.46693994e+02] [ 5.94893736e-01 -8.03800847e-01 2.37503375e-03 1.23682706e+02] [-4.03696626e-03 -3.30324994e-05 9.99991851e-01 -4.12927170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.82028169299997 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:246.73, Y:123.66, Z:-0.41 [[-8.02754753e-01 -5.96300558e-01 -3.23265297e-03 2.46730534e+02] [ 5.96295925e-01 -8.02761261e-01 2.35096717e-03 1.23659883e+02] [-3.99693161e-03 -4.03677178e-05 9.99992011e-01 -4.12654228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.85028169299994 meters Centerline goodness : 0.999341 Centerline is valid? [True, True] Translation: X:246.75, Y:123.65, Z:-0.41 [[-8.00415120e-01 -5.99441940e-01 -2.23517528e-03 2.46747513e+02] [ 5.99439740e-01 -8.00418240e-01 1.62441861e-03 1.23653080e+02] [-2.76281971e-03 -3.96436712e-05 9.99996183e-01 -4.12610112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.880281693 meters Centerline goodness : 0.999405 Centerline is valid? [True, True] Translation: X:246.74, Y:123.66, Z:-0.41 [[-7.99944295e-01 -6.00069734e-01 -2.33236268e-03 2.46740144e+02] [ 6.00067345e-01 -7.99947693e-01 1.69369982e-03 1.23660302e+02] [-2.88210615e-03 -4.47091736e-05 9.99995846e-01 -4.12356855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.91028169299994 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:246.76, Y:123.65, Z:-0.41 [[-7.99902988e-01 -6.00122745e-01 -2.81093124e-03 2.46756880e+02] [ 6.00119281e-01 -7.99907925e-01 2.03956657e-03 1.23649992e+02] [-3.47247647e-03 -5.54386438e-05 9.99993969e-01 -4.12743937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.940281693 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:246.76, Y:123.65, Z:-0.41 [[-8.00149375e-01 -5.99790447e-01 -3.52100130e-03 2.46763746e+02] [ 5.99785019e-01 -8.00157119e-01 2.55272317e-03 1.23647233e+02] [-4.34845323e-03 -6.92839826e-05 9.99990543e-01 -4.13334340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 458.97028169299995 meters Centerline goodness : 0.999383 Centerline is valid? [True, True] Translation: X:246.77, Y:123.65, Z:-0.41 [[-8.00929542e-01 -5.98742388e-01 -4.40704509e-03 2.46768513e+02] [ 5.98733882e-01 -8.00941662e-01 3.19254855e-03 1.23650502e+02] [-5.44130016e-03 -8.16407649e-05 9.99985193e-01 -4.14563988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.000281693 meters Centerline goodness : 0.999448 Centerline is valid? [True, True] Translation: X:246.76, Y:123.66, Z:-0.41 [[-8.01756496e-01 -5.97635169e-01 -4.32725726e-03 2.46756457e+02] [ 5.97626965e-01 -8.01768170e-01 3.13228185e-03 1.23663389e+02] [-5.34141893e-03 -7.47583020e-05 9.99985732e-01 -4.14406262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.03028169299995 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:246.75, Y:123.67, Z:-0.41 [[-8.02666126e-01 -5.96414932e-01 -4.03963147e-03 2.46749225e+02] [ 5.96407779e-01 -8.02676289e-01 2.92176668e-03 1.23672099e+02] [-4.98510168e-03 -6.40644939e-05 9.99987572e-01 -4.13997421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.060281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:246.77, Y:123.67, Z:-0.41 [[-8.02858521e-01 -5.96158381e-01 -3.65779474e-03 2.46765145e+02] [ 5.96152523e-01 -8.02866851e-01 2.64350217e-03 1.23665417e+02] [-4.51266812e-03 -5.82453152e-05 9.99989816e-01 -4.13658779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.09028169299995 meters Centerline goodness : 0.999447 Centerline is valid? [True, True] Translation: X:246.77, Y:123.66, Z:-0.41 [[-8.02310109e-01 -5.96897460e-01 -3.45117262e-03 2.46772405e+02] [ 5.96892261e-01 -8.02317530e-01 2.49220856e-03 1.23662123e+02] [-4.25652925e-03 -6.04540992e-05 9.99990939e-01 -4.14075920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.120281693 meters Centerline goodness : 0.999412 Centerline is valid? [True, True] Translation: X:246.79, Y:123.65, Z:-0.41 [[-8.01108850e-01 -5.98511124e-01 -3.00759103e-03 2.46787376e+02] [ 5.98507193e-01 -8.01114493e-01 2.17019919e-03 1.23653463e+02] [-3.70831312e-03 -6.14990912e-05 9.99993122e-01 -4.14825094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.15028169299995 meters Centerline goodness : 0.999554 Centerline is valid? [True, True] Translation: X:246.79, Y:123.65, Z:-0.41 [[-7.99643761e-01 -6.00469200e-01 -2.56826260e-03 2.46791413e+02] [ 6.00466348e-01 -7.99647883e-01 1.85177033e-03 1.23652116e+02] [-3.16563680e-03 -6.13986739e-05 9.99994988e-01 -4.14966082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.180281693 meters Centerline goodness : 0.999425 Centerline is valid? [True, True] Translation: X:246.81, Y:123.64, Z:-0.42 [[-7.96647824e-01 -6.04437542e-01 -2.73909974e-03 2.46810769e+02] [ 6.04434326e-01 -7.96652528e-01 1.97339647e-03 1.23640217e+02] [-3.37490565e-03 -8.35038972e-05 9.99994302e-01 -4.15797498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.21028169299996 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:246.82, Y:123.63, Z:-0.42 [[-7.95667561e-01 -6.05726787e-01 -2.86229094e-03 2.46822360e+02] [ 6.05723289e-01 -7.95672704e-01 2.06055225e-03 1.23633466e+02] [-3.52557846e-03 -9.42417018e-05 9.99993781e-01 -4.15717835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.240281693 meters Centerline goodness : 0.999572 Centerline is valid? [True, True] Translation: X:246.82, Y:123.64, Z:-0.42 [[-7.94795652e-01 -6.06871729e-01 -2.56450585e-03 2.46817514e+02] [ 6.06868932e-01 -7.94799784e-01 1.84478020e-03 1.23638693e+02] [-3.15781364e-03 -9.00956453e-05 9.99995010e-01 -4.15938250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.27028169299996 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:246.83, Y:123.63, Z:-0.42 [[-7.93877243e-01 -6.08075158e-01 -1.87764755e-03 2.46830089e+02] [ 6.08073664e-01 -7.93879460e-01 1.34970624e-03 1.23630756e+02] [-2.31134866e-03 -7.02469616e-05 9.99997326e-01 -4.15895228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.300281693 meters Centerline goodness : 0.999553 Centerline is valid? [True, True] Translation: X:246.84, Y:123.62, Z:-0.42 [[-7.90833177e-01 -6.12031737e-01 -1.96488028e-04 2.46842950e+02] [ 6.12031721e-01 -7.90833202e-01 1.41319091e-04 1.23621512e+02] [-2.41881025e-04 -8.49708038e-06 9.99999971e-01 -4.17820952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.33028169299996 meters Centerline goodness : 0.999422 Centerline is valid? [True, True] Translation: X:246.85, Y:123.61, Z:-0.42 [[-7.89213153e-01 -6.14119356e-01 -1.25606035e-04 2.46854279e+02] [ 6.14119349e-01 -7.89213163e-01 9.03437993e-05 1.23612696e+02] [-1.54611812e-04 -5.83658178e-06 9.99999988e-01 -4.17935806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.36028169299993 meters Centerline goodness : 0.999427 Centerline is valid? [True, True] Translation: X:246.84, Y:123.62, Z:-0.42 [[-7.87612272e-01 -6.16171018e-01 -4.30116688e-04 2.46844071e+02] [ 6.16170941e-01 -7.87612389e-01 3.08635614e-04 1.23618430e+02] [-5.28937553e-04 -2.19402076e-05 9.99999860e-01 -4.17456361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.39028169299996 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:246.86, Y:123.60, Z:-0.42 [[-7.86077446e-01 -6.18127238e-01 -9.82879562e-04 2.46861879e+02] [ 6.18126839e-01 -7.86078059e-01 7.04480831e-04 1.23603314e+02] [-1.20807885e-03 -5.37677441e-05 9.99999269e-01 -4.17054321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.42028169299994 meters Centerline goodness : 0.999410 Centerline is valid? [True, True] Translation: X:246.88, Y:123.59, Z:-0.42 [[-7.83888298e-01 -6.20897444e-01 -2.34529821e-03 2.46876779e+02] [ 6.20895188e-01 -7.83891794e-01 1.67945833e-03 1.23587761e+02] [-2.88123141e-03 -1.39676637e-04 9.99995840e-01 -4.17726348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.45028169299997 meters Centerline goodness : 0.999508 Centerline is valid? [True, True] Translation: X:246.87, Y:123.59, Z:-0.42 [[-7.83976916e-01 -6.20781431e-01 -3.25739762e-03 2.46865996e+02] [ 6.20777086e-01 -7.83983659e-01 2.33079527e-03 1.23593327e+02] [-4.00066092e-03 -1.94828112e-04 9.99991978e-01 -4.17568680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.48028169299994 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.88, Y:123.58, Z:-0.42 [[-7.84807169e-01 -6.19726470e-01 -4.09997847e-03 2.46876935e+02] [ 6.19719583e-01 -7.84817842e-01 2.93145823e-03 1.23583998e+02] [-5.03443852e-03 -2.40207512e-04 9.99987298e-01 -4.17172520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.51028169299997 meters Centerline goodness : 0.999515 Centerline is valid? [True, True] Translation: X:246.88, Y:123.58, Z:-0.42 [[-7.86116271e-01 -6.18063908e-01 -4.26771214e-03 2.46875476e+02] [ 6.18056434e-01 -7.86127819e-01 3.04911202e-03 1.23583106e+02] [-5.23951333e-03 -2.40730380e-04 9.99986245e-01 -4.17067572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.54028169299994 meters Centerline goodness : 0.999450 Centerline is valid? [True, True] Translation: X:246.86, Y:123.59, Z:-0.42 [[-7.87713816e-01 -6.16030186e-01 -3.70865688e-03 2.46859905e+02] [ 6.16024528e-01 -7.87722521e-01 2.64773306e-03 1.23591890e+02] [-4.55247604e-03 -1.98967698e-04 9.99989618e-01 -4.17204417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.57028169299997 meters Centerline goodness : 0.999429 Centerline is valid? [True, True] Translation: X:246.86, Y:123.59, Z:-0.42 [[-7.90492763e-01 -6.12465181e-01 -2.75576690e-03 2.46859225e+02] [ 6.12462040e-01 -7.90497555e-01 1.96600329e-03 1.23586598e+02] [-3.38253556e-03 -1.33691245e-04 9.99994270e-01 -4.18492216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.60028169299994 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:246.85, Y:123.59, Z:-0.42 [[-7.92119009e-01 -6.10358814e-01 -3.09742521e-03 2.46847559e+02] [ 6.10354836e-01 -7.92125052e-01 2.20804767e-03 1.23592284e+02] [-3.80124947e-03 -1.41491925e-04 9.99992765e-01 -4.18457431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.630281693 meters Centerline goodness : 0.999534 Centerline is valid? [True, True] Translation: X:246.85, Y:123.58, Z:-0.42 [[-7.93977050e-01 -6.07935480e-01 -3.85955757e-03 2.46854134e+02] [ 6.07929286e-01 -7.93986414e-01 2.74920340e-03 1.23584303e+02] [-4.73577456e-03 -1.63533669e-04 9.99988773e-01 -4.17799416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.66028169299994 meters Centerline goodness : 0.999599 Centerline is valid? [True, True] Translation: X:246.84, Y:123.59, Z:-0.42 [[-7.96938373e-01 -6.04048114e-01 -3.88651207e-03 2.46835456e+02] [ 6.04041797e-01 -7.96947837e-01 2.76628787e-03 1.23589191e+02] [-4.76831836e-03 -1.43054782e-04 9.99988621e-01 -4.17217291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.690281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:246.82, Y:123.60, Z:-0.42 [[-7.98625427e-01 -6.01823058e-01 -2.53642423e-03 2.46819896e+02] [ 6.01820360e-01 -7.98629451e-01 1.80401684e-03 1.23596619e+02] [-3.11136202e-03 -8.57380277e-05 9.99995156e-01 -4.18606845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.72028169299995 meters Centerline goodness : 0.999493 Centerline is valid? [True, True] Translation: X:246.82, Y:123.60, Z:-0.42 [[-8.00607937e-01 -5.99187970e-01 -8.41833094e-04 2.46815301e+02] [ 5.99187671e-01 -8.00608379e-01 5.98422480e-04 1.23597246e+02] [-1.03254618e-03 -2.53142241e-05 9.99999467e-01 -4.20233607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.750281693 meters Centerline goodness : 0.999555 Centerline is valid? [True, True] Translation: X:246.81, Y:123.60, Z:-0.42 [[-8.03020323e-01 -5.95951638e-01 7.88979681e-05 2.46809257e+02] [ 5.95951635e-01 -8.03020327e-01 -5.58085460e-05 1.23600029e+02] [ 9.66158666e-05 2.20397647e-06 9.99999995e-01 -4.21080864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.78028169299995 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:246.78, Y:123.62, Z:-0.42 [[-8.09267115e-01 -5.87440092e-01 -9.35043849e-04 2.46776137e+02] [ 5.87439717e-01 -8.09267655e-01 6.63608607e-04 1.23620204e+02] [-1.14653104e-03 -1.22452713e-05 9.99999343e-01 -4.20563966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.810281693 meters Centerline goodness : 0.999593 Centerline is valid? [True, True] Translation: X:246.78, Y:123.62, Z:-0.42 [[-8.09492661e-01 -5.87129251e-01 -9.35297078e-04 2.46778219e+02] [ 5.87128876e-01 -8.09493201e-01 6.63251597e-04 1.23618818e+02] [-1.14653104e-03 -1.22426222e-05 9.99999343e-01 -4.20562793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.84028169299995 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:246.77, Y:123.62, Z:-0.42 [[-8.13317954e-01 -5.81815938e-01 -2.02973341e-03 2.46768514e+02] [ 5.81814161e-01 -8.13320487e-01 1.43792144e-03 1.23624026e+02] [-2.48742938e-03 -1.14403154e-05 9.99996906e-01 -4.20416691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.870281693 meters Centerline goodness : 0.999663 Centerline is valid? [True, True] Translation: X:246.77, Y:123.62, Z:-0.42 [[-8.17276036e-01 -5.76239157e-01 -2.88379063e-03 2.46773939e+02] [ 5.76235541e-01 -8.17281123e-01 2.04119118e-03 1.23619348e+02] [-3.53308193e-03 6.47398082e-06 9.99993759e-01 -4.19365575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.90028169299995 meters Centerline goodness : 0.999659 Centerline is valid? [True, True] Translation: X:246.80, Y:123.60, Z:-0.42 [[-8.21145946e-01 -5.70707594e-01 -3.48957864e-03 2.46795987e+02] [ 5.70702259e-01 -8.21153360e-01 2.46792266e-03 1.23603783e+02] [-4.27394142e-03 3.50142723e-05 9.99990866e-01 -4.19606249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.930281693 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:246.83, Y:123.58, Z:-0.42 [[-8.26827607e-01 -5.62448387e-01 -2.81444037e-03 2.46830391e+02] [ 5.62444871e-01 -8.26832394e-01 1.98975919e-03 1.23581452e+02] [-3.44620732e-03 6.22202835e-05 9.99994060e-01 -4.20560737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.96028169299996 meters Centerline goodness : 0.999616 Centerline is valid? [True, True] Translation: X:246.82, Y:123.59, Z:-0.42 [[-8.28847930e-01 -5.59470399e-01 -1.99539448e-03 2.46821140e+02] [ 5.59468626e-01 -8.28850330e-01 1.40975266e-03 1.23590609e+02] [-2.44259826e-03 5.21099684e-05 9.99997016e-01 -4.21470486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 459.990281693 meters Centerline goodness : 0.999577 Centerline is valid? [True, True] Translation: X:246.82, Y:123.60, Z:-0.42 [[-8.31575212e-01 -5.55411751e-01 -6.72943937e-04 2.46823745e+02] [ 5.55411548e-01 -8.31575485e-01 4.75201978e-04 1.23595570e+02] [-8.23536443e-04 2.14053522e-05 9.99999661e-01 -4.21615297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.02028169299996 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:246.83, Y:123.59, Z:-0.42 [[-8.32805450e-01 -5.53565387e-01 -6.66300302e-04 2.46833106e+02] [ 5.53565188e-01 -8.32805717e-01 4.70139695e-04 1.23592914e+02] [-8.15151763e-04 2.26942485e-05 9.99999668e-01 -4.21460566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.050281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:246.85, Y:123.59, Z:-0.42 [[-8.33733189e-01 -5.52166459e-01 -1.08260970e-03 2.46851412e+02] [ 5.52165932e-01 -8.33733891e-01 7.63151333e-04 1.23585031e+02] [-1.32399496e-03 3.84844027e-05 9.99999123e-01 -4.20869774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.08028169299996 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.86, Y:123.59, Z:-0.42 [[-8.34271609e-01 -5.51351820e-01 -1.43258405e-03 2.46858478e+02] [ 5.51350900e-01 -8.34272838e-01 1.00899653e-03 1.23585036e+02] [-1.75147803e-03 5.19206512e-05 9.99998465e-01 -4.20480593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.11028169299993 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:246.85, Y:123.60, Z:-0.42 [[-8.34228098e-01 -5.51417488e-01 -1.49496381e-03 2.46846931e+02] [ 5.51416487e-01 -8.34229436e-01 1.05209701e-03 1.23598142e+02] [-1.82728751e-03 5.33411978e-05 9.99998329e-01 -4.20961738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.14028169299996 meters Centerline goodness : 0.999657 Centerline is valid? [True, True] Translation: X:246.84, Y:123.62, Z:-0.42 [[-8.32611936e-01 -5.53854443e-01 -1.61855130e-03 2.46837423e+02] [ 5.53853276e-01 -8.32613508e-01 1.13815134e-03 1.23615504e+02] [-1.97799786e-03 5.11984496e-05 9.99998042e-01 -4.21567975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.17028169299994 meters Centerline goodness : 0.999705 Centerline is valid? [True, True] Translation: X:246.85, Y:123.61, Z:-0.42 [[-8.31358274e-01 -5.55734388e-01 -1.64593007e-03 2.46852193e+02] [ 5.55733187e-01 -8.31359903e-01 1.15647618e-03 1.23610420e+02] [-2.01105385e-03 4.67480799e-05 9.99997977e-01 -4.22274924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.20028169299997 meters Centerline goodness : 0.999661 Centerline is valid? [True, True] Translation: X:246.85, Y:123.62, Z:-0.42 [[-8.30170331e-01 -5.57507559e-01 -1.59485705e-03 2.46848068e+02] [ 5.57506436e-01 -8.30171862e-01 1.11970247e-03 1.23618310e+02] [-1.94824804e-03 4.04007034e-05 9.99998101e-01 -4.21941623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.23028169299994 meters Centerline goodness : 0.999638 Centerline is valid? [True, True] Translation: X:246.84, Y:123.63, Z:-0.42 [[-8.28948292e-01 -5.59322242e-01 -1.83263277e-03 2.46841835e+02] [ 5.59320766e-01 -8.28950317e-01 1.28557146e-03 1.23627524e+02] [-2.23821023e-03 4.06426980e-05 9.99997494e-01 -4.21443482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.26028169299997 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.84, Y:123.64, Z:-0.42 [[-8.26281012e-01 -5.63253403e-01 -2.30086763e-03 2.46837067e+02] [ 5.63251095e-01 -8.26284215e-01 1.61266640e-03 1.23641596e+02] [-2.80951044e-03 3.65494114e-05 9.99996053e-01 -4.21412316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.29028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.83, Y:123.65, Z:-0.42 [[-8.25081777e-01 -5.65008336e-01 -2.37539022e-03 2.46830103e+02] [ 5.65005888e-01 -8.25085195e-01 1.66352414e-03 1.23652723e+02] [-2.89980431e-03 3.04339977e-05 9.99995795e-01 -4.21961422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.32028169299997 meters Centerline goodness : 0.999746 Centerline is valid? [True, True] Translation: X:246.83, Y:123.66, Z:-0.42 [[-8.23871376e-01 -5.66771884e-01 -2.36398436e-03 2.46829935e+02] [ 5.66769470e-01 -8.23874767e-01 1.65416627e-03 1.23658049e+02] [-2.88516200e-03 2.29860790e-05 9.99995838e-01 -4.22171630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.35028169299994 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:246.84, Y:123.66, Z:-0.42 [[-8.22325977e-01 -5.69011976e-01 -2.31495401e-03 2.46839055e+02] [ 5.69009675e-01 -8.22329235e-01 1.61851927e-03 1.23655941e+02] [-2.82461121e-03 1.37192128e-05 9.99996011e-01 -4.22658851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.380281693 meters Centerline goodness : 0.999768 Centerline is valid? [True, True] Translation: X:246.86, Y:123.65, Z:-0.42 [[-8.20464590e-01 -5.71692539e-01 -2.34485016e-03 2.46859731e+02] [ 5.71690192e-01 -8.20467940e-01 1.63806979e-03 1.23645398e+02] [-2.86034666e-03 3.45041688e-06 9.99995909e-01 -4.22834650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.41028169299994 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.90, Y:123.63, Z:-0.42 [[-8.16062079e-01 -5.77954373e-01 -3.38033288e-03 2.46895736e+02] [ 5.77949557e-01 -8.16069079e-01 2.35943791e-03 1.23627854e+02] [-4.12223260e-03 -2.82140863e-05 9.99991503e-01 -4.21727347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.440281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:246.90, Y:123.63, Z:-0.42 [[-8.14000767e-01 -5.80854207e-01 -3.33775146e-03 2.46904193e+02] [ 5.80849544e-01 -8.14007609e-01 2.32786981e-03 1.23625619e+02] [-4.06910806e-03 -4.38436060e-05 9.99991720e-01 -4.22126830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.47028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:246.91, Y:123.63, Z:-0.42 [[-8.12000576e-01 -5.83651388e-01 -2.47412763e-03 2.46908446e+02] [ 5.83648843e-01 -8.12004344e-01 1.72423642e-03 1.23625664e+02] [-3.01535537e-03 -4.39407638e-05 9.99995453e-01 -4.22956116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.500281693 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.92, Y:123.62, Z:-0.42 [[-8.08321425e-01 -5.88739397e-01 -1.54802098e-03 2.46919741e+02] [ 5.88738411e-01 -8.08322907e-01 1.07805410e-03 1.23622055e+02] [-1.88599374e-03 -3.99651860e-05 9.99998221e-01 -4.24364436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.53028169299995 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:246.93, Y:123.61, Z:-0.42 [[-8.06976368e-01 -5.90580241e-01 -2.02988389e-03 2.46932257e+02] [ 5.90578554e-01 -8.06978919e-01 1.41245372e-03 1.23614147e+02] [-2.47224077e-03 -5.89891229e-05 9.99996942e-01 -4.24131332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.560281693 meters Centerline goodness : 0.999639 Centerline is valid? [True, True] Translation: X:246.94, Y:123.61, Z:-0.42 [[-8.05983346e-01 -5.91930664e-01 -2.98903952e-03 2.46942269e+02] [ 5.91927024e-01 -8.05988883e-01 2.07814709e-03 1.23607099e+02] [-3.63925161e-03 -9.43413263e-05 9.99993373e-01 -4.24530490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.59028169299995 meters Centerline goodness : 0.999744 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.42 [[-8.05417818e-01 -5.92696768e-01 -3.56104785e-03 2.46949268e+02] [ 5.92691616e-01 -8.05425681e-01 2.47388493e-03 1.23602641e+02] [-4.33442299e-03 -1.18092206e-04 9.99990599e-01 -4.24721426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.620281693 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.43 [[-8.05343767e-01 -5.92796845e-01 -3.64940429e-03 2.46953084e+02] [ 5.92791444e-01 -8.05352026e-01 2.53330572e-03 1.23601713e+02] [-4.44079078e-03 -1.23153672e-04 9.99990132e-01 -4.25796808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.65028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.43 [[-8.05610751e-01 -5.92436260e-01 -3.25517650e-03 2.46953206e+02] [ 5.92431967e-01 -8.05617320e-01 2.25792309e-03 1.23602511e+02] [-3.96010208e-03 -1.09463503e-04 9.99992153e-01 -4.25845266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.680281693 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:246.95, Y:123.61, Z:-0.43 [[-8.05856288e-01 -5.92104423e-01 -2.82757378e-03 2.46947236e+02] [ 5.92101187e-01 -8.05861243e-01 1.95982733e-03 1.23606833e+02] [-3.43905455e-03 -9.48706075e-05 9.99994082e-01 -4.26282195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.71028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.96, Y:123.59, Z:-0.43 [[-8.06378815e-01 -5.91392275e-01 -2.89546276e-03 2.46963986e+02] [ 5.91388883e-01 -8.06384007e-01 2.00532462e-03 1.23593251e+02] [-3.52078835e-03 -9.52931924e-05 9.99993798e-01 -4.26059361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.740281693 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.43 [[-8.06691425e-01 -5.90966876e-01 -2.66404496e-03 2.46953263e+02] [ 5.90964006e-01 -8.06695819e-01 1.84364155e-03 1.23600789e+02] [-3.23860502e-03 -8.71048601e-05 9.99994752e-01 -4.25680855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.77028169299996 meters Centerline goodness : 0.999788 Centerline is valid? [True, True] Translation: X:246.98, Y:123.58, Z:-0.43 [[-8.07032448e-01 -5.90502835e-01 -2.24258080e-03 2.46981263e+02] [ 5.90500803e-01 -8.07035561e-01 1.55080784e-03 1.23581245e+02] [-2.72559888e-03 -7.26935196e-05 9.99996283e-01 -4.25434373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.80028169299993 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.43 [[-8.07611915e-01 -5.89711192e-01 -1.92497218e-03 2.46954165e+02] [ 5.89709694e-01 -8.07614207e-01 1.33017717e-03 1.23599267e+02] [-2.33905524e-03 -6.09078225e-05 9.99997263e-01 -4.25901570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.83028169299996 meters Centerline goodness : 0.999790 Centerline is valid? [True, True] Translation: X:246.96, Y:123.59, Z:-0.43 [[-8.08815855e-01 -5.88058075e-01 -2.14781578e-03 2.46964694e+02] [ 5.88056208e-01 -8.08818704e-01 1.48299099e-03 1.23589959e+02] [-2.60927840e-03 -6.35697827e-05 9.99996594e-01 -4.26073484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.86028169299993 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.96, Y:123.59, Z:-0.43 [[-8.09368059e-01 -5.87295340e-01 -2.74398984e-03 2.46960353e+02] [ 5.87292294e-01 -8.09372706e-01 1.89310176e-03 1.23593003e+02] [-3.33272032e-03 -7.93079885e-05 9.99994443e-01 -4.25331472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.89028169299996 meters Centerline goodness : 0.999958 Centerline is valid? [True, True] Translation: X:246.97, Y:123.59, Z:-0.42 [[-8.09683535e-01 -5.86854620e-01 -3.77207553e-03 2.46970060e+02] [ 5.86848869e-01 -8.09692314e-01 2.60029274e-03 1.23586275e+02] [-4.58021437e-03 -1.08224041e-04 9.99989505e-01 -4.24301948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.92028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.96, Y:123.59, Z:-0.42 [[-8.09649187e-01 -5.86895810e-01 -4.63711257e-03 2.46957671e+02] [ 5.86887134e-01 -8.09662454e-01 3.19407901e-03 1.23591429e+02] [-5.62908754e-03 -1.35378231e-04 9.99984147e-01 -4.23679534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.95028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.96, Y:123.58, Z:-0.42 [[-8.09365463e-01 -5.87288211e-01 -4.48383442e-03 2.46963227e+02] [ 5.87280118e-01 -8.09377872e-01 3.08609907e-03 1.23584698e+02] [-5.44154596e-03 -1.35484802e-04 9.99985186e-01 -4.24386079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 460.98028169299994 meters Centerline goodness : 0.999684 Centerline is valid? [True, True] Translation: X:246.97, Y:123.57, Z:-0.43 [[-8.08663653e-01 -5.88260490e-01 -3.56273933e-03 2.46973451e+02] [ 5.88255398e-01 -8.08671493e-01 2.45027508e-03 1.23574401e+02] [-4.32248575e-03 -1.14352243e-04 9.99990652e-01 -4.25201284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.01028169299997 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.98, Y:123.57, Z:-0.43 [[-8.07920760e-01 -5.89286764e-01 -2.27052911e-03 2.46978575e+02] [ 5.89284703e-01 -8.07923947e-01 1.56042659e-03 1.23568383e+02] [-2.75395358e-03 -7.72870321e-05 9.99996205e-01 -4.26361891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.04028169299994 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:246.97, Y:123.57, Z:-0.43 [[-8.06689593e-01 -5.90975186e-01 4.79930210e-04 2.46966067e+02] [ 5.90975095e-01 -8.06689735e-01 -3.29330540e-04 1.23571871e+02] [ 5.81780952e-04 1.79592820e-05 9.99999831e-01 -4.27231630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.07028169299997 meters Centerline goodness : 0.999872 Centerline is valid? [True, True] Translation: X:246.95, Y:123.58, Z:-0.43 [[-8.06439750e-01 -5.91314258e-01 1.54195788e-03 2.46949819e+02] [ 5.91313315e-01 -8.06441222e-01 -1.05771980e-03 1.23579790e+02] [ 1.86894320e-03 5.87929323e-05 9.99998252e-01 -4.27190654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.10028169299994 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:246.97, Y:123.56, Z:-0.43 [[-8.06311261e-01 -5.91488138e-01 1.98348130e-03 2.46967882e+02] [ 5.91486580e-01 -8.06313696e-01 -1.35958007e-03 1.23564372e+02] [ 2.40348362e-03 7.69578516e-05 9.99997109e-01 -4.27552181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.130281693 meters Centerline goodness : 0.999637 Centerline is valid? [True, True] Translation: X:246.97, Y:123.56, Z:-0.43 [[-8.06491234e-01 -5.91243038e-01 1.88670161e-03 2.46973273e+02] [ 5.91241630e-01 -8.06493438e-01 -1.29222969e-03 1.23558524e+02] [ 2.28563428e-03 7.33246182e-05 9.99997385e-01 -4.27886161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.16028169299994 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.97, Y:123.56, Z:-0.43 [[-8.07556576e-01 -5.89789113e-01 1.08543100e-03 2.46970529e+02] [ 5.89788647e-01 -8.07557305e-01 -7.42763402e-04 1.23558260e+02] [ 1.31462150e-03 4.03514107e-05 9.99999135e-01 -4.28303464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.190281693 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:246.98, Y:123.55, Z:-0.43 [[-8.08444826e-01 -5.88571705e-01 5.58250166e-04 2.46978357e+02] [ 5.88571581e-01 -8.08445019e-01 -3.81616475e-04 1.23551125e+02] [ 6.75923225e-04 2.00543179e-05 9.99999771e-01 -4.28849097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.22028169299995 meters Centerline goodness : 0.999765 Centerline is valid? [True, True] Translation: X:246.97, Y:123.55, Z:-0.43 [[-8.09275944e-01 -5.87428649e-01 1.68612527e-04 2.46973866e+02] [ 5.87428638e-01 -8.09275962e-01 -1.15030547e-04 1.23552003e+02] [ 2.04026304e-04 5.95637237e-06 9.99999979e-01 -4.29271856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.250281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:246.97, Y:123.55, Z:-0.43 [[-8.09993497e-01 -5.86438833e-01 1.72350089e-04 2.46968654e+02] [ 5.86438821e-01 -8.09993516e-01 -1.17492035e-04 1.23553556e+02] [ 2.08504346e-04 5.90499848e-06 9.99999978e-01 -4.29560947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.28028169299995 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:246.96, Y:123.56, Z:-0.43 [[-8.10496830e-01 -5.85742941e-01 3.08525519e-04 2.46957552e+02] [ 5.85742903e-01 -8.10496889e-01 -2.10318668e-04 1.23559376e+02] [ 3.73251648e-04 1.02540188e-05 9.99999930e-01 -4.29714538e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.310281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:246.96, Y:123.56, Z:-0.43 [[-8.10871827e-01 -5.85222175e-01 1.37342623e-03 2.46956293e+02] [ 5.85221427e-01 -8.10872989e-01 -9.36221757e-04 1.23556624e+02] [ 1.66157197e-03 4.46026128e-05 9.99998619e-01 -4.30093613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.34028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:246.97, Y:123.54, Z:-0.43 [[-8.10860993e-01 -5.85233822e-01 2.41324196e-03 2.46969765e+02] [ 5.85231519e-01 -8.10864580e-01 -1.64389419e-03 1.23544898e+02] [ 2.91887491e-03 7.93355835e-05 9.99995737e-01 -4.30450852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.370281693 meters Centerline goodness : 0.999767 Centerline is valid? [True, True] Translation: X:246.97, Y:123.54, Z:-0.43 [[-8.10883963e-01 -5.85198590e-01 3.13199645e-03 2.46972254e+02] [ 5.85194716e-01 -8.10890005e-01 -2.13189955e-03 1.23540572e+02] [ 3.78728922e-03 1.04104619e-04 9.99992823e-01 -4.31557614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.40028169299995 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:246.96, Y:123.55, Z:-0.43 [[-8.11065136e-01 -5.84944760e-01 3.60195178e-03 2.46962122e+02] [ 5.84939641e-01 -8.11073125e-01 -2.44989231e-03 1.23545530e+02] [ 4.35449795e-03 1.19902144e-04 9.99990512e-01 -4.31965921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.430281693 meters Centerline goodness : 0.999831 Centerline is valid? [True, True] Translation: X:246.97, Y:123.54, Z:-0.43 [[-8.12279159e-01 -5.83261277e-01 2.97493103e-03 2.46968946e+02] [ 5.83257780e-01 -8.12284602e-01 -2.02178772e-03 1.23537875e+02] [ 3.59572115e-03 9.28956373e-05 9.99993531e-01 -4.31179337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.46028169299996 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.96, Y:123.54, Z:-0.43 [[-8.13442763e-01 -5.81640251e-01 2.34319717e-03 2.46961297e+02] [ 5.81638078e-01 -8.13446135e-01 -1.59115489e-03 1.23540549e+02] [ 2.83154441e-03 6.85792714e-05 9.99995989e-01 -4.30996655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.490281693 meters Centerline goodness : 0.999809 Centerline is valid? [True, True] Translation: X:246.96, Y:123.54, Z:-0.43 [[-8.14799637e-01 -5.79740088e-01 1.72678753e-03 2.46963180e+02] [ 5.79738906e-01 -8.14801466e-01 -1.17159622e-03 1.23536729e+02] [ 2.08621031e-03 4.64697364e-05 9.99997823e-01 -4.30977829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.52028169299996 meters Centerline goodness : 0.999747 Centerline is valid? [True, True] Translation: X:246.96, Y:123.54, Z:-0.43 [[-8.16448506e-01 -5.77416821e-01 1.28522861e-03 2.46961527e+02] [ 5.77416165e-01 -8.16449517e-01 -8.71260912e-04 1.23535925e+02] [ 1.55240498e-03 3.07721045e-05 9.99998795e-01 -4.31129570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.55028169299993 meters Centerline goodness : 0.999916 Centerline is valid? [True, True] Translation: X:246.96, Y:123.54, Z:-0.43 [[-8.20215338e-01 -5.72054290e-01 8.30197825e-04 2.46958581e+02] [ 5.72054014e-01 -8.20215758e-01 -5.62271526e-04 1.23539341e+02] [ 1.00259118e-03 1.37342678e-05 9.99999497e-01 -4.32080804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.58028169299996 meters Centerline goodness : 0.999893 Centerline is valid? [True, True] Translation: X:246.94, Y:123.56, Z:-0.43 [[-8.22620058e-01 -5.68591158e-01 5.79979459e-04 2.46935657e+02] [ 5.68591022e-01 -8.22620262e-01 -3.92422237e-04 1.23556517e+02] [ 7.00230669e-04 6.95671046e-06 9.99999755e-01 -4.32127045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.61028169299993 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:246.93, Y:123.56, Z:-0.43 [[-8.26976832e-01 -5.62234759e-01 1.18116041e-03 2.46932653e+02] [ 5.62234192e-01 -8.26977676e-01 -7.98750961e-04 1.23562799e+02] [ 1.42587884e-03 3.54022882e-06 9.99998983e-01 -4.32538466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.64028169299996 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.92, Y:123.58, Z:-0.43 [[-8.29104492e-01 -5.59090061e-01 2.01102423e-03 2.46916036e+02] [ 5.59088410e-01 -8.29106931e-01 -1.35895981e-03 1.23577847e+02] [ 2.42713505e-03 -2.37934194e-06 9.99997055e-01 -4.33239130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.67028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.93, Y:123.58, Z:-0.43 [[-8.31226375e-01 -5.55929361e-01 2.29333469e-03 2.46926307e+02] [ 5.55927205e-01 -8.31229538e-01 -1.54846747e-03 1.23575622e+02] [ 2.76712606e-03 -1.21998572e-05 9.99996171e-01 -4.34053373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.70028169299997 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.93, Y:123.57, Z:-0.43 [[-8.31441142e-01 -5.55608105e-01 2.29393265e-03 2.46928406e+02] [ 5.55605949e-01 -8.31444306e-01 -1.54758155e-03 1.23574294e+02] [ 2.76712610e-03 -1.22003413e-05 9.99996171e-01 -4.34052199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.73028169299994 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:246.92, Y:123.58, Z:-0.43 [[-8.33323978e-01 -5.52780339e-01 2.24585661e-03 2.46921085e+02] [ 5.52778266e-01 -8.33327005e-01 -1.51387257e-03 1.23584815e+02] [ 2.70837195e-03 -2.00855932e-05 9.99996332e-01 -4.33842946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.76028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.94, Y:123.59, Z:-0.43 [[-8.36368049e-01 -5.48166375e-01 1.45312191e-03 2.46937857e+02] [ 5.48165502e-01 -8.36369311e-01 -9.78611593e-04 1.23585576e+02] [ 1.75178854e-03 -2.19281693e-05 9.99998465e-01 -4.33622847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.79028169299994 meters Centerline goodness : 0.999936 Centerline is valid? [True, True] Translation: X:246.93, Y:123.60, Z:-0.43 [[-8.37512567e-01 -5.46415925e-01 1.52872196e-03 2.46929904e+02] [ 5.46414957e-01 -8.37513962e-01 -1.02867022e-03 1.23597734e+02] [ 1.84240778e-03 -2.62076916e-05 9.99998302e-01 -4.33879010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.82028169299997 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:246.95, Y:123.59, Z:-0.43 [[-8.38376745e-01 -5.45087482e-01 2.01763537e-03 2.46946816e+02] [ 5.45085795e-01 -8.38379172e-01 -1.35658514e-03 1.23593397e+02] [ 2.43100105e-03 -3.75450540e-05 9.99997044e-01 -4.34980459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.85028169299994 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.95, Y:123.60, Z:-0.44 [[-8.38853630e-01 -5.44346426e-01 3.39946778e-03 2.46954916e+02] [ 5.44341638e-01 -8.38860515e-01 -2.28391852e-03 1.23595173e+02] [ 4.09492218e-03 -6.54014835e-05 9.99991614e-01 -4.35734504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.880281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:246.95, Y:123.62, Z:-0.44 [[-8.38631401e-01 -5.44664072e-01 6.19858547e-03 2.46945104e+02] [ 5.44648188e-01 -8.38654301e-01 -4.16116275e-03 1.23616153e+02] [ 7.46490621e-03 -1.13633405e-04 9.99972131e-01 -4.36887872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.91028169299994 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:246.94, Y:123.62, Z:-0.44 [[-8.38060396e-01 -5.45538435e-01 6.52604911e-03 2.46944244e+02] [ 5.45520884e-01 -8.38085798e-01 -4.37726642e-03 1.23623475e+02] [ 7.85735615e-03 -1.08317547e-04 9.99969125e-01 -4.36647349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.940281693 meters Centerline goodness : 0.999894 Centerline is valid? [True, True] Translation: X:246.97, Y:123.61, Z:-0.44 [[-8.36676921e-01 -5.47662093e-01 6.16135833e-03 2.46970988e+02] [ 5.47646532e-01 -8.36699603e-01 -4.12914439e-03 1.23611566e+02] [ 7.41658193e-03 -8.05132929e-05 9.99972494e-01 -4.35938714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 461.97028169299995 meters Centerline goodness : 0.999830 Centerline is valid? [True, True] Translation: X:246.98, Y:123.61, Z:-0.43 [[-8.34697924e-01 -5.50681777e-01 5.38114390e-03 2.46980400e+02] [ 5.50669991e-01 -8.34715268e-01 -3.60322738e-03 1.23609519e+02] [ 6.47595463e-03 -4.43719514e-05 9.99979030e-01 -4.34912985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.000281693 meters Centerline goodness : 0.999829 Centerline is valid? [True, True] Translation: X:247.01, Y:123.59, Z:-0.43 [[-8.29157934e-01 -5.58993366e-01 4.85153646e-03 2.47008596e+02] [ 5.58983942e-01 -8.29172127e-01 -3.24589915e-03 1.23594889e+02] [ 5.83719490e-03 2.05679421e-05 9.99982963e-01 -4.34788613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.03028169299995 meters Centerline goodness : 0.999723 Centerline is valid? [True, True] Translation: X:247.02, Y:123.59, Z:-0.44 [[-8.26546477e-01 -5.62841884e-01 5.47117627e-03 2.47020437e+02] [ 5.62830003e-01 -8.26564583e-01 -3.65751599e-03 1.23588287e+02] [ 6.58088373e-03 5.62351975e-05 9.99978344e-01 -4.35403926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.060281693 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:247.03, Y:123.58, Z:-0.44 [[-8.24442349e-01 -5.65913570e-01 6.05353142e-03 2.47033699e+02] [ 5.65899131e-01 -8.24464567e-01 -4.04358014e-03 1.23580758e+02] [ 7.27923904e-03 9.19894615e-05 9.99973502e-01 -4.35934530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.09028169299995 meters Centerline goodness : 0.999745 Centerline is valid? [True, True] Translation: X:247.06, Y:123.57, Z:-0.44 [[-8.21403026e-01 -5.70306979e-01 6.85694429e-03 2.47059101e+02] [ 5.70288636e-01 -8.21431632e-01 -4.57661876e-03 1.23565054e+02] [ 8.24258856e-03 1.51188903e-04 9.99966018e-01 -4.36831358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.120281693 meters Centerline goodness : 0.999722 Centerline is valid? [True, True] Translation: X:247.06, Y:123.57, Z:-0.44 [[-8.20371412e-01 -5.71789844e-01 6.86443061e-03 2.47058354e+02] [ 5.71771542e-01 -8.20400113e-01 -4.57799767e-03 1.23565497e+02] [ 8.24923223e-03 1.69227661e-04 9.99965960e-01 -4.37185060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.15028169299995 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:247.07, Y:123.56, Z:-0.44 [[-8.19664198e-01 -5.72807099e-01 6.52917574e-03 2.47073202e+02] [ 5.72790600e-01 -8.19690184e-01 -4.35097458e-03 1.23555442e+02] [ 7.84417039e-03 1.73512402e-04 9.99969219e-01 -4.36672556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.180281693 meters Centerline goodness : 0.999682 Centerline is valid? [True, True] Translation: X:247.08, Y:123.55, Z:-0.44 [[-8.19281975e-01 -5.73362051e-01 5.74500793e-03 2.47079138e+02] [ 5.73349311e-01 -8.19302102e-01 -3.82539797e-03 1.23550722e+02] [ 6.90023510e-03 1.59816739e-04 9.99976180e-01 -4.35936744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.21028169299996 meters Centerline goodness : 0.999871 Centerline is valid? [True, True] Translation: X:247.09, Y:123.54, Z:-0.43 [[-8.18883721e-01 -5.73950158e-01 3.26609118e-03 2.47092511e+02] [ 5.73946053e-01 -8.18890229e-01 -2.17300023e-03 1.23538484e+02] [ 3.92176398e-03 9.51256230e-05 9.99992305e-01 -4.34771626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.240281693 meters Centerline goodness : 0.999850 Centerline is valid? [True, True] Translation: X:247.08, Y:123.55, Z:-0.43 [[-8.18952647e-01 -5.73855408e-01 2.55586588e-03 2.47077673e+02] [ 5.73852898e-01 -8.18956632e-01 -1.69910622e-03 1.23546451e+02] [ 3.06818460e-03 7.52035014e-05 9.99995290e-01 -4.34934236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.27028169299996 meters Centerline goodness : 0.999915 Centerline is valid? [True, True] Translation: X:247.09, Y:123.53, Z:-0.44 [[-8.18865184e-01 -5.73980453e-01 2.50019973e-03 2.47094711e+02] [ 5.73978055e-01 -8.18868997e-01 -1.66080257e-03 1.23532941e+02] [ 3.00060426e-03 7.50863803e-05 9.99995495e-01 -4.35305263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.30028169299993 meters Centerline goodness : 0.999852 Centerline is valid? [True, True] Translation: X:247.09, Y:123.54, Z:-0.44 [[-8.18821700e-01 -5.74041256e-01 2.76777164e-03 2.47087882e+02] [ 5.74038322e-01 -8.18826373e-01 -1.83713828e-03 1.23535285e+02] [ 3.32091758e-03 8.45182970e-05 9.99994482e-01 -4.35804485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.33028169299996 meters Centerline goodness : 0.999873 Centerline is valid? [True, True] Translation: X:247.09, Y:123.53, Z:-0.44 [[-8.18656319e-01 -5.74276307e-01 2.92485548e-03 2.47089123e+02] [ 5.74273038e-01 -8.18661538e-01 -1.93990430e-03 1.23531942e+02] [ 3.50850776e-03 9.15507305e-05 9.99993841e-01 -4.36058664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.36028169299993 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:247.07, Y:123.54, Z:-0.44 [[-8.18244941e-01 -5.74854897e-01 4.13083254e-03 2.47070030e+02] [ 5.74848394e-01 -8.18255357e-01 -2.73769926e-03 1.23538048e+02] [ 4.95385568e-03 1.34493881e-04 9.99987721e-01 -4.37399702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.39028169299996 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:247.07, Y:123.53, Z:-0.44 [[-8.18239781e-01 -5.74854522e-01 5.09308543e-03 2.47071609e+02] [ 5.74844652e-01 -8.18255614e-01 -3.37280871e-03 1.23533615e+02] [ 6.10632008e-03 1.67966659e-04 9.99981342e-01 -4.38059996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.42028169299994 meters Centerline goodness : 0.999807 Centerline is valid? [True, True] Translation: X:247.08, Y:123.52, Z:-0.44 [[-8.18877601e-01 -5.73935767e-01 6.09994569e-03 2.47080800e+02] [ 5.73921606e-01 -8.18900297e-01 -4.03644674e-03 1.23523767e+02] [ 7.31190850e-03 1.95534802e-04 9.99973249e-01 -4.38480937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.45028169299997 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:247.07, Y:123.53, Z:-0.44 [[-8.19796667e-01 -5.72615453e-01 6.70575670e-03 2.47070631e+02] [ 5.72598323e-01 -8.19824067e-01 -4.43384719e-03 1.23527076e+02] [ 8.03643015e-03 2.04851890e-04 9.99967686e-01 -4.38419801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.48028169299994 meters Centerline goodness : 0.999492 Centerline is valid? [True, True] Translation: X:247.05, Y:123.53, Z:-0.44 [[-8.21581103e-01 -5.70046279e-01 7.19236112e-03 2.47051686e+02] [ 5.70026508e-01 -8.21612561e-01 -4.75181049e-03 1.23532526e+02] [ 8.61808613e-03 1.95838786e-04 9.99962844e-01 -4.37798778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.51028169299997 meters Centerline goodness : 0.999703 Centerline is valid? [True, True] Translation: X:247.06, Y:123.52, Z:-0.44 [[-8.22979986e-01 -5.68036890e-01 6.16716621e-03 2.47062073e+02] [ 5.68022321e-01 -8.23003079e-01 -4.07119898e-03 1.23523252e+02] [ 7.38818799e-03 1.52572779e-04 9.99972695e-01 -4.37765571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.54028169299994 meters Centerline goodness : 0.999808 Centerline is valid? [True, True] Translation: X:247.04, Y:123.53, Z:-0.44 [[-8.24653549e-01 -5.65622774e-01 4.17159381e-03 2.47044257e+02] [ 5.65616088e-01 -8.24664095e-01 -2.75155876e-03 1.23532880e+02] [ 4.99650793e-03 9.04378758e-05 9.99987513e-01 -4.37282852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.57028169299997 meters Centerline goodness : 0.999870 Centerline is valid? [True, True] Translation: X:247.04, Y:123.53, Z:-0.44 [[-8.28188155e-01 -5.60448831e-01 1.22009282e-03 2.47036286e+02] [ 5.60448254e-01 -8.28189053e-01 -8.03963061e-04 1.23533584e+02] [ 1.46104767e-03 1.79662066e-05 9.99998933e-01 -4.36365084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.60028169299994 meters Centerline goodness : 0.999892 Centerline is valid? [True, True] Translation: X:247.00, Y:123.56, Z:-0.44 [[-8.29858543e-01 -5.57972393e-01 1.26776901e-03 2.46996342e+02] [ 5.57969247e-01 -8.29858792e-01 -2.16907017e-03 1.23558229e+02] [ 2.26235053e-03 -1.09264529e-03 9.99996844e-01 -4.36912376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.630281693 meters Centerline goodness : 0.999851 Centerline is valid? [True, True] Translation: X:247.04, Y:123.53, Z:-0.44 [[-8.30956847e-01 -5.56328304e-01 3.08794244e-03 2.47041394e+02] [ 5.56328998e-01 -8.30961818e-01 -7.08987746e-04 1.23525636e+02] [ 2.96039222e-03 1.12877370e-03 9.99994981e-01 -4.37532467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.66028169299994 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:247.03, Y:123.53, Z:-0.44 [[-8.32017083e-01 -5.54737472e-01 3.72967940e-03 2.47028441e+02] [ 5.54732054e-01 -8.32025442e-01 -2.45194981e-03 1.23533405e+02] [ 4.46337659e-03 2.89085881e-05 9.99990039e-01 -4.37955272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.690281693 meters Centerline goodness : 0.999721 Centerline is valid? [True, True] Translation: X:246.91, Y:123.61, Z:-0.44 [[-8.34262002e-01 -5.51336186e-01 5.94325834e-03 2.46905102e+02] [ 5.51321090e-01 -8.34283161e-01 -4.08201055e-03 1.23612435e+02] [ 7.20892048e-03 -1.28822628e-04 9.99974007e-01 -4.38648904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.72028169299995 meters Centerline goodness : 0.999787 Centerline is valid? [True, True] Translation: X:247.02, Y:123.54, Z:-0.44 [[-8.34263082e-01 -5.51324520e-01 6.81050778e-03 2.47018875e+02] [ 5.51307854e-01 -8.34290862e-01 -4.29044192e-03 1.23535677e+02] [ 8.04737024e-03 1.75329122e-04 9.99967604e-01 -4.38738106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.750281693 meters Centerline goodness : 0.999484 Centerline is valid? [True, True] Translation: X:247.01, Y:123.54, Z:-0.44 [[-8.34765930e-01 -5.50555365e-01 7.39136105e-03 2.47010538e+02] [ 5.50533954e-01 -8.34798652e-01 -4.85542719e-03 1.23539701e+02] [ 8.84347973e-03 1.60500276e-05 9.99960896e-01 -4.38892960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.78028169299995 meters Centerline goodness : 0.999617 Centerline is valid? [True, True] Translation: X:247.01, Y:123.54, Z:-0.44 [[-8.35041165e-01 -5.50134360e-01 7.64457026e-03 2.47008239e+02] [ 5.50111478e-01 -8.35076156e-01 -5.01755055e-03 1.23540276e+02] [ 9.14412531e-03 1.55045893e-05 9.99958192e-01 -4.38415436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.810281693 meters Centerline goodness : 0.999658 Centerline is valid? [True, True] Translation: X:247.01, Y:123.54, Z:-0.44 [[-8.35379420e-01 -5.49632426e-01 6.73949875e-03 2.47014100e+02] [ 5.49614655e-01 -8.35406605e-01 -4.41976114e-03 1.23535452e+02] [ 8.05946581e-03 1.19497837e-05 9.99967522e-01 -4.37064081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.84028169299995 meters Centerline goodness : 0.999766 Centerline is valid? [True, True] Translation: X:247.02, Y:123.53, Z:-0.44 [[-8.35374847e-01 -5.49650077e-01 5.80158933e-03 2.47016914e+02] [ 5.49636931e-01 -8.35394992e-01 -3.80146252e-03 1.23532704e+02] [ 6.93609284e-03 1.31215914e-05 9.99975945e-01 -4.36843825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.870281693 meters Centerline goodness : 0.999699 Centerline is valid? [True, True] Translation: X:247.01, Y:123.54, Z:-0.44 [[-8.35103114e-01 -5.50069000e-01 5.18492322e-03 2.47006153e+02] [ 5.50058527e-01 -8.35119210e-01 -3.39450818e-03 1.23538813e+02] [ 6.19724270e-03 1.72468720e-05 9.99980797e-01 -4.36680529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.90028169299995 meters Centerline goodness : 0.999635 Centerline is valid? [True, True] Translation: X:247.02, Y:123.53, Z:-0.44 [[-8.34791366e-01 -5.50538501e-01 5.54375263e-03 2.47022156e+02] [ 5.50526558e-01 -8.34809774e-01 -3.62638679e-03 1.23527830e+02] [ 6.62444443e-03 2.47066751e-05 9.99978058e-01 -4.36526921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.930281693 meters Centerline goodness : 0.999743 Centerline is valid? [True, True] Translation: X:247.03, Y:123.52, Z:-0.44 [[-8.33330957e-01 -5.52729635e-01 7.03324141e-03 2.47031033e+02] [ 5.52710521e-01 -8.33360635e-01 -4.59693747e-03 1.23523070e+02] [ 8.40209009e-03 5.65762206e-05 9.99964700e-01 -4.37766883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.96028169299996 meters Centerline goodness : 0.999550 Centerline is valid? [True, True] Translation: X:247.03, Y:123.53, Z:-0.44 [[-8.32387984e-01 -5.54130598e-01 8.33811469e-03 2.47026512e+02] [ 5.54103850e-01 -8.32429740e-01 -5.44529150e-03 1.23525694e+02] [ 9.95829728e-03 8.75862359e-05 9.99950411e-01 -4.37726413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 462.990281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:247.04, Y:123.52, Z:-0.44 [[-8.31070567e-01 -5.56092682e-01 9.09076426e-03 2.47035091e+02] [ 5.56061057e-01 -8.31120276e-01 -5.93187523e-03 1.23518876e+02] [ 1.08541909e-02 1.25213070e-04 9.99941084e-01 -4.38228741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.02028169299996 meters Centerline goodness : 0.999360 Centerline is valid? [True, True] Translation: X:247.04, Y:123.51, Z:-0.44 [[-8.29744674e-01 -5.58070807e-01 8.98611966e-03 2.47039469e+02] [ 5.58040075e-01 -8.29793318e-01 -5.85871358e-03 1.23514179e+02] [ 1.07261991e-02 1.53378500e-04 9.99942461e-01 -4.37917950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.05028169299993 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:247.06, Y:123.50, Z:-0.44 [[-8.28369670e-01 -5.60119643e-01 8.34714651e-03 2.47062176e+02] [ 5.60093274e-01 -8.28411707e-01 -5.43762573e-03 1.23497378e+02] [ 9.96059487e-03 1.70816391e-04 9.99950377e-01 -4.37424746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.08028169299996 meters Centerline goodness : 0.999428 Centerline is valid? [True, True] Translation: X:247.07, Y:123.49, Z:-0.44 [[-8.25579814e-01 -5.64231016e-01 7.83145169e-03 2.47066699e+02] [ 5.64208028e-01 -8.25616931e-01 -5.09751853e-03 1.23489160e+02] [ 9.34195717e-03 2.10159517e-04 9.99956341e-01 -4.36763617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.11028169299993 meters Centerline goodness : 0.999253 Centerline is valid? [True, True] Translation: X:247.07, Y:123.49, Z:-0.44 [[-8.24275791e-01 -5.66139366e-01 7.45907146e-03 2.47069113e+02] [ 5.66118626e-01 -8.24309510e-01 -4.85117987e-03 1.23485383e+02] [ 8.89502744e-03 2.24009158e-04 9.99960413e-01 -4.37465907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.14028169299996 meters Centerline goodness : 0.999247 Centerline is valid? [True, True] Translation: X:247.07, Y:123.48, Z:-0.44 [[-8.23134166e-01 -5.67799368e-01 7.35000838e-03 2.47068684e+02] [ 5.67779330e-01 -8.23166945e-01 -4.77635760e-03 1.23484055e+02] [ 8.76229677e-03 2.41599706e-04 9.99961581e-01 -4.37891601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.17028169299994 meters Centerline goodness : 0.999344 Centerline is valid? [True, True] Translation: X:247.08, Y:123.48, Z:-0.44 [[-8.22341655e-01 -5.68945298e-01 7.44650240e-03 2.47077494e+02] [ 5.68924812e-01 -8.22375328e-01 -4.83514034e-03 1.23477169e+02] [ 8.87475022e-03 2.60362672e-04 9.99960585e-01 -4.38327149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.20028169299997 meters Centerline goodness : 0.999402 Centerline is valid? [True, True] Translation: X:247.09, Y:123.47, Z:-0.44 [[-8.21056012e-01 -5.70805737e-01 6.91635097e-03 2.47088738e+02] [ 5.70788160e-01 -8.21085100e-01 -4.48727374e-03 1.23465279e+02] [ 8.24027432e-03 2.63468156e-04 9.99966014e-01 -4.37803522e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.23028169299994 meters Centerline goodness : 0.999170 Centerline is valid? [True, True] Translation: X:247.10, Y:123.46, Z:-0.44 [[-8.20641882e-01 -5.71402010e-01 6.82972277e-03 2.47097950e+02] [ 5.71384920e-01 -8.20670257e-01 -4.42752892e-03 1.23455675e+02] [ 8.13484926e-03 2.68984931e-04 9.99966875e-01 -4.37244977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.26028169299997 meters Centerline goodness : 0.999039 Centerline is valid? [True, True] Translation: X:247.10, Y:123.45, Z:-0.44 [[-8.20115138e-01 -5.72158525e-01 6.76630060e-03 2.47097625e+02] [ 5.72141804e-01 -8.20143004e-01 -4.38291924e-03 1.23452195e+02] [ 8.05705870e-03 2.76785012e-04 9.99967503e-01 -4.36611870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.29028169299994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:247.10, Y:123.44, Z:-0.44 [[-8.18691462e-01 -5.74190432e-01 7.04532994e-03 2.47097808e+02] [ 5.74172410e-01 -8.18721717e-01 -4.56003603e-03 1.23444147e+02] [ 8.38649368e-03 3.11971506e-04 9.99964784e-01 -4.37158601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.32028169299997 meters Centerline goodness : 0.998744 Centerline is valid? [True, True] Translation: X:247.10, Y:123.44, Z:-0.44 [[-8.18406746e-01 -5.74582457e-01 8.08690499e-03 2.47102780e+02] [ 5.74558770e-01 -8.18446618e-01 -5.23005732e-03 1.23437117e+02] [ 9.62379923e-03 3.66087989e-04 9.99953623e-01 -4.38258061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.35028169299994 meters Centerline goodness : 0.998468 Centerline is valid? [True, True] Translation: X:247.09, Y:123.44, Z:-0.44 [[-8.18566702e-01 -5.74328562e-01 9.76001669e-03 2.47090926e+02] [ 5.74294100e-01 -8.18624766e-01 -6.30711855e-03 1.23441111e+02] [ 1.16121497e-02 4.42322770e-04 9.99932479e-01 -4.39115757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.380281693 meters Centerline goodness : 0.998399 Centerline is valid? [True, True] Translation: X:247.08, Y:123.44, Z:-0.44 [[-8.19193275e-01 -5.73414275e-01 1.08833915e-02 2.47083347e+02] [ 5.73371415e-01 -8.19265425e-01 -7.02742937e-03 1.23442725e+02] [ 1.29460147e-02 4.83402698e-04 9.99916080e-01 -4.39241038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.41028169299994 meters Centerline goodness : 0.998714 Centerline is valid? [True, True] Translation: X:247.08, Y:123.44, Z:-0.44 [[-8.21323489e-01 -5.70371578e-01 1.01974907e-02 2.47081087e+02] [ 5.70333781e-01 -8.21386689e-01 -6.57920911e-03 1.23436754e+02] [ 1.21286770e-02 4.12314470e-04 9.99926360e-01 -4.37834975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.440281693 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:247.07, Y:123.44, Z:-0.44 [[-8.23126509e-01 -5.67790520e-01 8.75649483e-03 2.47072186e+02] [ 5.67762552e-01 -8.23173019e-01 -5.64489384e-03 1.23438323e+02] [ 1.04132275e-02 3.25148091e-04 9.99945728e-01 -4.37889409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.47028169299995 meters Centerline goodness : 0.998826 Centerline is valid? [True, True] Translation: X:247.06, Y:123.45, Z:-0.44 [[-8.25301297e-01 -5.64644945e-01 7.33859585e-03 2.47056034e+02] [ 5.64625211e-01 -8.25333889e-01 -4.72692368e-03 1.23445549e+02] [ 8.72582541e-03 2.42419985e-04 9.99961900e-01 -4.38031667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.500281693 meters Centerline goodness : 0.998749 Centerline is valid? [True, True] Translation: X:247.07, Y:123.44, Z:-0.44 [[-8.27429474e-01 -5.61531676e-01 6.53011126e-03 2.47065654e+02] [ 5.61515981e-01 -8.27455220e-01 -4.20267446e-03 1.23437279e+02] [ 7.76330948e-03 1.89345109e-04 9.99969847e-01 -4.38006544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.53028169299995 meters Centerline goodness : 0.998769 Centerline is valid? [True, True] Translation: X:247.05, Y:123.44, Z:-0.44 [[-8.30519706e-01 -5.56939847e-01 7.41788301e-03 2.47053728e+02] [ 5.56919444e-01 -8.30552815e-01 -4.77011533e-03 1.23442945e+02] [ 8.81761092e-03 1.69488506e-04 9.99961110e-01 -4.38415032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.560281693 meters Centerline goodness : 0.998716 Centerline is valid? [True, True] Translation: X:247.04, Y:123.45, Z:-0.44 [[-8.32037650e-01 -5.54653367e-01 8.54350132e-03 2.47042921e+02] [ 5.54626229e-01 -8.32081494e-01 -5.48939235e-03 1.23448250e+02] [ 1.01535993e-02 1.71068810e-04 9.99948436e-01 -4.38322310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.59028169299995 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:247.04, Y:123.45, Z:-0.44 [[-8.33584268e-01 -5.52314832e-01 9.25170983e-03 2.47035678e+02] [ 5.52282918e-01 -8.33635593e-01 -5.93943820e-03 1.23449733e+02] [ 1.09929944e-02 1.58539057e-04 9.99939563e-01 -4.38210177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.620281693 meters Centerline goodness : 0.998532 Centerline is valid? [True, True] Translation: X:247.04, Y:123.45, Z:-0.44 [[-8.33796700e-01 -5.51994046e-01 9.25399474e-03 2.47037823e+02] [ 5.51962152e-01 -8.33848036e-01 -5.93587759e-03 1.23448444e+02] [ 1.09929944e-02 1.58539710e-04 9.99939563e-01 -4.38209011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.65028169299995 meters Centerline goodness : 0.998483 Centerline is valid? [True, True] Translation: X:247.02, Y:123.45, Z:-0.44 [[-8.36112743e-01 -5.48467919e-01 9.92082585e-03 2.47024181e+02] [ 5.48431078e-01 -8.36171589e-01 -6.35820541e-03 1.23452363e+02] [ 1.17827844e-02 1.24712652e-04 9.99930573e-01 -4.38686780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.680281693 meters Centerline goodness : 0.998688 Centerline is valid? [True, True] Translation: X:247.03, Y:123.45, Z:-0.44 [[-8.37216554e-01 -5.46775831e-01 1.02289964e-02 2.47029881e+02] [ 5.46736607e-01 -8.37279033e-01 -6.55010990e-03 1.23447727e+02] [ 1.21459660e-02 1.08706335e-04 9.99926229e-01 -4.38278156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.71028169299996 meters Centerline goodness : 0.998760 Centerline is valid? [True, True] Translation: X:247.02, Y:123.45, Z:-0.44 [[-8.38085724e-01 -5.45426669e-01 1.10484443e-02 2.47019506e+02] [ 5.45380870e-01 -8.38158541e-01 -7.06878485e-03 1.23453216e+02] [ 1.31158518e-02 1.01362512e-04 9.99913978e-01 -4.37756293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.740281693 meters Centerline goodness : 0.998989 Centerline is valid? [True, True] Translation: X:247.01, Y:123.46, Z:-0.44 [[-8.38665461e-01 -5.44521854e-01 1.16702420e-02 2.47009727e+02] [ 5.44470758e-01 -8.38746649e-01 -7.46014101e-03 1.23457327e+02] [ 1.38505862e-02 9.75428974e-05 9.99904071e-01 -4.37704969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.77028169299996 meters Centerline goodness : 0.998562 Centerline is valid? [True, True] Translation: X:247.01, Y:123.45, Z:-0.44 [[-8.38923929e-01 -5.44122519e-01 1.17186033e-02 2.47014040e+02] [ 5.44071050e-01 -8.39005766e-01 -7.48453418e-03 1.23451242e+02] [ 1.39044793e-02 9.67979700e-05 9.99903323e-01 -4.37207483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.80028169299993 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:247.03, Y:123.44, Z:-0.44 [[-8.38488588e-01 -5.44830430e-01 9.83316544e-03 2.47028384e+02] [ 5.44794262e-01 -8.38546239e-01 -6.27840069e-03 1.23435184e+02] [ 1.16662276e-02 9.26847761e-05 9.99931943e-01 -4.35855337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.83028169299996 meters Centerline goodness : 0.999030 Centerline is valid? [True, True] Translation: X:247.03, Y:123.43, Z:-0.44 [[-8.38167929e-01 -5.45344765e-01 8.57958613e-03 2.47027056e+02] [ 5.45317308e-01 -8.38211834e-01 -5.47315154e-03 1.23433400e+02] [ 1.01762652e-02 9.11767176e-05 9.99948216e-01 -4.35458182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.86028169299993 meters Centerline goodness : 0.999098 Centerline is valid? [True, True] Translation: X:247.03, Y:123.43, Z:-0.44 [[-8.37903268e-01 -5.45758894e-01 8.08357254e-03 2.47030082e+02] [ 5.45734581e-01 -8.37942254e-01 -5.15228827e-03 1.23429388e+02] [ 9.58547414e-03 9.43658989e-05 9.99954054e-01 -4.35308671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.89028169299996 meters Centerline goodness : 0.998955 Centerline is valid? [True, True] Translation: X:247.04, Y:123.42, Z:-0.44 [[-8.37987292e-01 -5.45623820e-01 8.48209057e-03 2.47037311e+02] [ 5.45597090e-01 -8.38030212e-01 -5.40167523e-03 1.23422263e+02] [ 1.00555308e-02 1.01268737e-04 9.99949437e-01 -4.35116846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.92028169299994 meters Centerline goodness : 0.998872 Centerline is valid? [True, True] Translation: X:247.03, Y:123.42, Z:-0.44 [[-8.38183435e-01 -5.45304979e-01 9.53985609e-03 2.47026057e+02] [ 5.45271205e-01 -8.38237715e-01 -6.07010606e-03 1.23423325e+02] [ 1.13067262e-02 1.13946480e-04 9.99936070e-01 -4.35987665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.95028169299997 meters Centerline goodness : 0.998669 Centerline is valid? [True, True] Translation: X:247.01, Y:123.43, Z:-0.44 [[-8.38320196e-01 -5.45096470e-01 9.43860624e-03 2.47013414e+02] [ 5.45063455e-01 -8.38373321e-01 -6.00046350e-03 1.23428476e+02] [ 1.11839071e-02 1.14329589e-04 9.99937452e-01 -4.35417014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 463.98028169299994 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:247.01, Y:123.43, Z:-0.44 [[-8.38286177e-01 -5.45158736e-01 8.84526464e-03 2.47013975e+02] [ 5.45129796e-01 -8.38332834e-01 -5.61832696e-03 1.23425506e+02] [ 1.04781558e-02 1.12051481e-04 9.99945096e-01 -4.35233240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.01028169299997 meters Centerline goodness : 0.999015 Centerline is valid? [True, True] Translation: X:247.03, Y:123.42, Z:-0.43 [[-8.37979606e-01 -5.45635115e-01 8.51477362e-03 2.47025068e+02] [ 5.45608338e-01 -8.38022857e-01 -5.40677463e-03 1.23416398e+02] [ 1.00857010e-02 1.14964610e-04 9.99949131e-01 -4.34078830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.04028169299994 meters Centerline goodness : 0.998991 Centerline is valid? [True, True] Translation: X:247.03, Y:123.41, Z:-0.43 [[-8.37262689e-01 -5.46712562e-01 9.82671887e-03 2.47034231e+02] [ 5.46677036e-01 -8.37320340e-01 -6.23433737e-03 1.23406595e+02] [ 1.16365021e-02 1.52263474e-04 9.99932282e-01 -4.33312596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.07028169299997 meters Centerline goodness : 0.998782 Centerline is valid? [True, True] Translation: X:247.02, Y:123.41, Z:-0.43 [[-8.36868486e-01 -5.47302082e-01 1.05625611e-02 2.47020746e+02] [ 5.47261155e-01 -8.36935123e-01 -6.69539104e-03 1.23412368e+02] [ 1.25045798e-02 1.77317626e-04 9.99921799e-01 -4.33758077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.10028169299994 meters Centerline goodness : 0.998729 Centerline is valid? [True, True] Translation: X:247.03, Y:123.40, Z:-0.43 [[-8.36393719e-01 -5.48025837e-01 1.06408865e-02 2.47030750e+02] [ 5.47984433e-01 -8.36461383e-01 -6.73918689e-03 1.23403177e+02] [ 1.25939392e-02 1.94426582e-04 9.99920674e-01 -4.33580908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.130281693 meters Centerline goodness : 0.998752 Centerline is valid? [True, True] Translation: X:247.04, Y:123.39, Z:-0.43 [[-8.36016738e-01 -5.48609311e-01 1.01900579e-02 2.47041610e+02] [ 5.48571452e-01 -8.36078815e-01 -6.44810153e-03 1.23393264e+02] [ 1.20571801e-02 1.99254066e-04 9.99927290e-01 -4.33582820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.16028169299994 meters Centerline goodness : 0.999068 Centerline is valid? [True, True] Translation: X:247.03, Y:123.40, Z:-0.43 [[-8.35069258e-01 -5.50082739e-01 8.26519868e-03 2.47028258e+02] [ 5.50057949e-01 -8.35110140e-01 -5.22553118e-03 1.23397596e+02] [ 9.77682574e-03 1.82657782e-04 9.99952189e-01 -4.33448282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.190281693 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:247.03, Y:123.39, Z:-0.43 [[-8.34751526e-01 -5.50571918e-01 7.77515620e-03 2.47034492e+02] [ 5.50550040e-01 -8.34787716e-01 -4.91144003e-03 1.23391321e+02] [ 9.19470584e-03 1.80780504e-04 9.99957711e-01 -4.33193708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.22028169299995 meters Centerline goodness : 0.999139 Centerline is valid? [True, True] Translation: X:247.03, Y:123.39, Z:-0.43 [[-8.34852174e-01 -5.50421551e-01 7.61343677e-03 2.47034679e+02] [ 5.50400605e-01 -8.34886869e-01 -4.80512211e-03 1.23387258e+02] [ 9.00120115e-03 1.78873567e-04 9.99959472e-01 -4.33169842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.250281693 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:247.03, Y:123.39, Z:-0.43 [[-8.35184554e-01 -5.49910531e-01 8.07276869e-03 2.47028176e+02] [ 5.49887000e-01 -8.35223547e-01 -5.09061600e-03 1.23386896e+02] [ 9.54194985e-03 1.87506704e-04 9.99954457e-01 -4.33218630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.28028169299995 meters Centerline goodness : 0.998893 Centerline is valid? [True, True] Translation: X:247.03, Y:123.38, Z:-0.43 [[-8.36266151e-01 -5.48238332e-01 9.67759157e-03 2.47030750e+02] [ 5.48204408e-01 -8.36322121e-01 -6.10217325e-03 1.23377199e+02] [ 1.14390292e-02 2.02257416e-04 9.99934552e-01 -4.33455799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.310281693 meters Centerline goodness : 0.998805 Centerline is valid? [True, True] Translation: X:247.02, Y:123.38, Z:-0.43 [[-8.37592868e-01 -5.46197218e-01 1.03337470e-02 2.47022698e+02] [ 5.46158453e-01 -8.37656590e-01 -6.51005846e-03 1.23378976e+02] [ 1.22119071e-02 1.91084745e-04 9.99925414e-01 -4.33968368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.34028169299995 meters Centerline goodness : 0.998941 Centerline is valid? [True, True] Translation: X:247.02, Y:123.38, Z:-0.43 [[-8.39489791e-01 -5.43275847e-01 1.04040795e-02 2.47021150e+02] [ 5.43236399e-01 -8.39554245e-01 -6.54863781e-03 1.23376844e+02] [ 1.22925058e-02 1.54360090e-04 9.99924432e-01 -4.34342845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.370281693 meters Centerline goodness : 0.998721 Centerline is valid? [True, True] Translation: X:247.03, Y:123.37, Z:-0.43 [[-8.41504286e-01 -5.40154205e-01 1.01965859e-02 2.47025532e+02] [ 5.40116065e-01 -8.41566054e-01 -6.41970196e-03 1.23371468e+02] [ 1.20487296e-02 1.05133132e-04 9.99927406e-01 -4.34701566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.40028169299995 meters Centerline goodness : 0.998685 Centerline is valid? [True, True] Translation: X:247.04, Y:123.36, Z:-0.43 [[-8.46411822e-01 -5.32438276e-01 9.82393666e-03 2.47035887e+02] [ 5.32402334e-01 -8.46468831e-01 -6.18642539e-03 1.23363640e+02] [ 1.16095459e-02 -5.97677430e-06 9.99932607e-01 -4.34689899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.430281693 meters Centerline goodness : 0.998637 Centerline is valid? [True, True] Translation: X:247.07, Y:123.35, Z:-0.43 [[-8.48609431e-01 -5.28929889e-01 9.75732935e-03 2.47065748e+02] [ 5.28894139e-01 -8.48665522e-01 -6.14984756e-03 1.23345611e+02] [ 1.15335472e-02 -5.82243355e-05 9.99933485e-01 -4.34223821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.46028169299996 meters Centerline goodness : 0.998602 Centerline is valid? [True, True] Translation: X:247.07, Y:123.34, Z:-0.43 [[-8.50942256e-01 -5.25166761e-01 9.85649335e-03 2.47070788e+02] [ 5.25130085e-01 -8.50999332e-01 -6.20741916e-03 1.23343861e+02] [ 1.16477995e-02 -1.06214082e-04 9.99932156e-01 -4.34066297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.490281693 meters Centerline goodness : 0.998671 Centerline is valid? [True, True] Translation: X:247.06, Y:123.35, Z:-0.43 [[-8.52780561e-01 -5.22164672e-01 1.04579883e-02 2.47059749e+02] [ 5.22123226e-01 -8.52844670e-01 -6.58068188e-03 1.23351892e+02] [ 1.23552392e-02 -1.51519021e-04 9.99923660e-01 -4.33512632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.52028169299996 meters Centerline goodness : 0.998601 Centerline is valid? [True, True] Translation: X:247.08, Y:123.35, Z:-0.43 [[-8.54428193e-01 -5.19432530e-01 1.19293480e-02 2.47075379e+02] [ 5.19378295e-01 -8.54511438e-01 -7.50922324e-03 1.23345137e+02] [ 1.40942992e-02 -2.20247601e-04 9.99900646e-01 -4.33146026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.55028169299993 meters Centerline goodness : 0.998801 Centerline is valid? [True, True] Translation: X:247.07, Y:123.35, Z:-0.43 [[-8.55055161e-01 -5.18387365e-01 1.24584357e-02 2.47066051e+02] [ 5.18328202e-01 -8.55145883e-01 -7.83541418e-03 1.23353129e+02] [ 1.47155597e-02 -2.42152738e-04 9.99891691e-01 -4.32678914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.58028169299996 meters Centerline goodness : 0.998653 Centerline is valid? [True, True] Translation: X:247.08, Y:123.35, Z:-0.43 [[-8.55364320e-01 -5.17872275e-01 1.26564815e-02 2.47077382e+02] [ 5.17811131e-01 -8.55457913e-01 -7.96190133e-03 1.23348139e+02] [ 1.49503352e-02 -2.56659300e-04 9.99888205e-01 -4.32392942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.61028169299993 meters Centerline goodness : 0.998838 Centerline is valid? [True, True] Translation: X:247.08, Y:123.35, Z:-0.43 [[-8.55673114e-01 -5.17376113e-01 1.20615369e-02 2.47081280e+02] [ 5.17320627e-01 -8.55758083e-01 -7.58105590e-03 1.23347626e+02] [ 1.42440150e-02 -2.47223857e-04 9.99898518e-01 -4.32566099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.64028169299996 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:247.08, Y:123.35, Z:-0.43 [[-8.55627848e-01 -5.17447134e-01 1.22249604e-02 2.47081556e+02] [ 5.17390234e-01 -8.55715142e-01 -7.67736172e-03 1.23351929e+02] [ 1.44337125e-02 -2.43889363e-04 9.99895799e-01 -4.32691350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.67028169299994 meters Centerline goodness : 0.998903 Centerline is valid? [True, True] Translation: X:247.08, Y:123.36, Z:-0.43 [[-8.55457551e-01 -5.17715730e-01 1.27593822e-02 2.47077821e+02] [ 5.17653877e-01 -8.55552665e-01 -8.00626782e-03 1.23356706e+02] [ 1.50612942e-02 -2.44078604e-04 9.99886543e-01 -4.32164863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.70028169299997 meters Centerline goodness : 0.998695 Centerline is valid? [True, True] Translation: X:247.08, Y:123.36, Z:-0.43 [[-8.55045489e-01 -5.18384831e-01 1.32052429e-02 2.47081922e+02] [ 5.18318768e-01 -8.55147421e-01 -8.27907221e-03 1.23355672e+02] [ 1.55841748e-02 -2.34458124e-04 9.99878532e-01 -4.31837429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.73028169299994 meters Centerline goodness : 0.998710 Centerline is valid? [True, True] Translation: X:247.06, Y:123.37, Z:-0.43 [[-8.53266148e-01 -5.21342460e-01 1.17864910e-02 2.47062625e+02] [ 5.21290199e-01 -8.53347535e-01 -7.38328487e-03 1.23365755e+02] [ 1.39071929e-02 -1.55724803e-04 9.99903278e-01 -4.30962472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.76028169299997 meters Centerline goodness : 0.998917 Centerline is valid? [True, True] Translation: X:247.07, Y:123.36, Z:-0.43 [[-8.51932526e-01 -5.23535350e-01 1.10321245e-02 2.47071882e+02] [ 5.23489756e-01 -8.52003946e-01 -6.91016988e-03 1.23358341e+02] [ 1.30171318e-02 -1.11794318e-04 9.99915267e-01 -4.30849754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.79028169299994 meters Centerline goodness : 0.999017 Centerline is valid? [True, True] Translation: X:247.07, Y:123.36, Z:-0.43 [[-8.50582356e-01 -5.25735691e-01 1.05659331e-02 2.47069580e+02] [ 5.25694111e-01 -8.50647975e-01 -6.61234469e-03 1.23358332e+02] [ 1.24642352e-02 -6.98949319e-05 9.99922316e-01 -4.30884653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.82028169299997 meters Centerline goodness : 0.998661 Centerline is valid? [True, True] Translation: X:247.06, Y:123.36, Z:-0.43 [[-8.49163062e-01 -5.28012328e-01 1.11837372e-02 2.47058768e+02] [ 5.27966019e-01 -8.49236705e-01 -6.99298612e-03 1.23364441e+02] [ 1.31900230e-02 -3.35522907e-05 9.99913007e-01 -4.26681418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.85028169299994 meters Centerline goodness : 0.998639 Centerline is valid? [True, True] Translation: X:247.06, Y:123.36, Z:-0.43 [[-8.46806480e-01 -5.31741078e-01 1.30464737e-02 2.47061220e+02] [ 5.31678607e-01 -8.46906975e-01 -8.15072293e-03 1.23359440e+02] [ 1.53832238e-02 3.44459942e-05 9.99881671e-01 -4.30626185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.880281693 meters Centerline goodness : 0.998412 Centerline is valid? [True, True] Translation: X:247.05, Y:123.37, Z:-0.43 [[-8.46024943e-01 -5.32969781e-01 1.36018072e-02 2.47048219e+02] [ 5.32902154e-01 -8.46134273e-01 -8.49030626e-03 1.23365492e+02] [ 1.60340319e-02 6.54214716e-05 9.99871445e-01 -4.30897140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.91028169299994 meters Centerline goodness : 0.998450 Centerline is valid? [True, True] Translation: X:247.05, Y:123.36, Z:-0.43 [[-8.45208893e-01 -5.34256787e-01 1.38424142e-02 2.47050825e+02] [ 5.34187042e-01 -8.45322232e-01 -8.63296153e-03 1.23361940e+02] [ 1.63135187e-02 9.77824027e-05 9.99866921e-01 -4.30799858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.940281693 meters Centerline goodness : 0.998690 Centerline is valid? [True, True] Translation: X:247.03, Y:123.37, Z:-0.43 [[-8.43655272e-01 -5.36694869e-01 1.42968761e-02 2.47030192e+02] [ 5.36620950e-01 -8.43776388e-01 -8.90855098e-03 1.23370499e+02] [ 1.68445401e-02 1.56257269e-04 9.99858108e-01 -4.30404544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 464.97028169299995 meters Centerline goodness : 0.998821 Centerline is valid? [True, True] Translation: X:247.05, Y:123.36, Z:-0.43 [[-8.42910769e-01 -5.37868989e-01 1.40849862e-02 2.47046472e+02] [ 5.37797356e-01 -8.43028422e-01 -8.77972917e-03 1.23357733e+02] [ 1.65963877e-02 1.74340064e-04 9.99862255e-01 -4.29666808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.000281693 meters Centerline goodness : 0.998726 Centerline is valid? [True, True] Translation: X:247.03, Y:123.36, Z:-0.43 [[-8.42839361e-01 -5.38002493e-01 1.32336308e-02 2.47029475e+02] [ 5.37939393e-01 -8.42943229e-01 -8.24149374e-03 1.23364858e+02] [ 1.55891437e-02 1.72636030e-04 9.99878467e-01 -4.29231093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.03028169299995 meters Centerline goodness : 0.998773 Centerline is valid? [True, True] Translation: X:247.04, Y:123.36, Z:-0.43 [[-8.42728758e-01 -5.38198196e-01 1.22858445e-02 2.47036326e+02] [ 5.38143803e-01 -8.42818293e-01 -7.65318837e-03 1.23357231e+02] [ 1.44736666e-02 1.61989131e-04 9.99895238e-01 -4.28315284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.060281693 meters Centerline goodness : 0.998922 Centerline is valid? [True, True] Translation: X:247.05, Y:123.34, Z:-0.43 [[-8.42764927e-01 -5.38166538e-01 1.11379648e-02 2.47053730e+02] [ 5.38121751e-01 -8.42838512e-01 -6.94434882e-03 1.23341922e+02] [ 1.31247219e-02 1.41127501e-04 9.99913857e-01 -4.28184575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.09028169299995 meters Centerline goodness : 0.998905 Centerline is valid? [True, True] Translation: X:247.04, Y:123.35, Z:-0.43 [[-8.43395433e-01 -5.37162685e-01 1.18487804e-02 2.47038347e+02] [ 5.37111995e-01 -8.43478649e-01 -7.38067320e-03 1.23349071e+02] [ 1.39588155e-02 1.39296028e-04 9.99902561e-01 -4.28509262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.120281693 meters Centerline goodness : 0.998587 Centerline is valid? [True, True] Translation: X:247.05, Y:123.34, Z:-0.43 [[-8.44044744e-01 -5.36129168e-01 1.24090826e-02 2.47047661e+02] [ 5.36073417e-01 -8.44135948e-01 -7.73253084e-03 1.23340211e+02] [ 1.46205881e-02 1.25577335e-04 9.99893106e-01 -4.29486792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.15028169299995 meters Centerline goodness : 0.998596 Centerline is valid? [True, True] Translation: X:247.03, Y:123.34, Z:-0.43 [[-8.45087101e-01 -5.34495172e-01 1.19458245e-02 2.47034830e+02] [ 5.34443438e-01 -8.45171522e-01 -7.43708679e-03 1.23344431e+02] [ 1.40713576e-02 9.93813931e-05 9.99900989e-01 -4.29719767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.180281693 meters Centerline goodness : 0.998858 Centerline is valid? [True, True] Translation: X:247.05, Y:123.33, Z:-0.43 [[-8.46496691e-01 -5.32326850e-01 8.45442683e-03 2.47047082e+02] [ 5.32300810e-01 -8.46538908e-01 -5.26541287e-03 1.23330412e+02] [ 9.95992190e-03 4.31436780e-05 9.99950398e-01 -4.27633459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.21028169299996 meters Centerline goodness : 0.998925 Centerline is valid? [True, True] Translation: X:247.06, Y:123.32, Z:-0.43 [[-8.47305650e-01 -5.31050320e-01 7.66115979e-03 2.47057619e+02] [ 5.31028871e-01 -8.47340284e-01 -4.77291704e-03 1.23322034e+02] [ 9.02626844e-03 2.41774590e-05 9.99959262e-01 -4.26772409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.240281693 meters Centerline goodness : 0.999288 Centerline is valid? [True, True] Translation: X:247.06, Y:123.32, Z:-0.43 [[-8.48406137e-01 -5.29286961e-01 7.89555865e-03 2.47060032e+02] [ 5.29264089e-01 -8.48442875e-01 -4.92052301e-03 1.23319226e+02] [ 9.30329916e-03 4.23373179e-06 9.99956723e-01 -4.26581954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.27028169299996 meters Centerline goodness : 0.999169 Centerline is valid? [True, True] Translation: X:247.06, Y:123.32, Z:-0.43 [[-8.51091987e-01 -5.24938343e-01 9.06452897e-03 2.47060986e+02] [ 5.24907930e-01 -8.51140255e-01 -5.65081944e-03 1.23316443e+02] [ 1.06815173e-02 -5.13240049e-05 9.99942950e-01 -4.27583793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.30028169299993 meters Centerline goodness : 0.999059 Centerline is valid? [True, True] Translation: X:247.07, Y:123.31, Z:-0.43 [[-8.52817838e-01 -5.22126460e-01 9.25721485e-03 2.47068155e+02] [ 5.22094554e-01 -8.52868074e-01 -5.77277144e-03 1.23311628e+02] [ 1.09092997e-02 -8.99809992e-05 9.99940488e-01 -4.27735170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.33028169299996 meters Centerline goodness : 0.999272 Centerline is valid? [True, True] Translation: X:247.06, Y:123.31, Z:-0.43 [[-8.54699213e-01 -5.19042112e-01 9.19465116e-03 2.47063977e+02] [ 5.19010458e-01 -8.54748659e-01 -5.73367957e-03 1.23314203e+02] [ 1.08351369e-02 -1.28451307e-04 9.99941290e-01 -4.28008864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.36028169299993 meters Centerline goodness : 0.999319 Centerline is valid? [True, True] Translation: X:247.09, Y:123.30, Z:-0.43 [[-8.56248277e-01 -5.16492256e-01 8.63931300e-03 2.47092797e+02] [ 5.16464133e-01 -8.56291846e-01 -5.39205430e-03 1.23296602e+02] [ 1.01827276e-02 -1.55041908e-04 9.99948143e-01 -4.28256653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.39028169299996 meters Centerline goodness : 0.999198 Centerline is valid? [True, True] Translation: X:247.09, Y:123.30, Z:-0.43 [[-8.59397033e-01 -5.11235638e-01 8.65226325e-03 2.47092053e+02] [ 5.11207165e-01 -8.59440559e-01 -5.39993312e-03 1.23300429e+02] [ 1.01967442e-02 -2.17587532e-04 9.99947988e-01 -4.27629770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.42028169299994 meters Centerline goodness : 0.999135 Centerline is valid? [True, True] Translation: X:247.11, Y:123.29, Z:-0.43 [[-8.60560585e-01 -5.09263959e-01 9.25742032e-03 2.47107204e+02] [ 5.09231229e-01 -8.60610338e-01 -5.77946821e-03 1.23293036e+02] [ 1.09103065e-02 -2.59415017e-04 9.99940447e-01 -4.27417868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.45028169299997 meters Centerline goodness : 0.998994 Centerline is valid? [True, True] Translation: X:247.12, Y:123.29, Z:-0.43 [[-8.61680267e-01 -5.07356195e-01 9.83911322e-03 2.47122708e+02] [ 5.07319077e-01 -8.61736386e-01 -6.14448116e-03 1.23285764e+02] [ 1.15961624e-02 -3.03008333e-04 9.99932716e-01 -4.27251924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.48028169299994 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:247.10, Y:123.30, Z:-0.43 [[-8.62631369e-01 -5.05731577e-01 1.01337600e-02 2.47102718e+02] [ 5.05692155e-01 -8.62690827e-01 -6.32310508e-03 1.23301294e+02] [ 1.19400957e-02 -3.29945877e-04 9.99928660e-01 -4.27635958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.51028169299997 meters Centerline goodness : 0.999119 Centerline is valid? [True, True] Translation: X:247.10, Y:123.30, Z:-0.43 [[-8.62631370e-01 -5.05731577e-01 1.01336711e-02 2.47102718e+02] [ 5.05692153e-01 -8.62690827e-01 -6.32324757e-03 1.23301294e+02] [ 1.19400910e-02 -3.30113788e-04 9.99928660e-01 -4.27635968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.54028169299994 meters Centerline goodness : 0.999067 Centerline is valid? [True, True] Translation: X:247.12, Y:123.29, Z:-0.43 [[-8.62878740e-01 -5.05302345e-01 1.04795291e-02 2.47123170e+02] [ 5.05260084e-01 -8.62942302e-01 -6.54453704e-03 1.23291662e+02] [ 1.23501988e-02 -3.52254140e-04 9.99923671e-01 -4.27143385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.57028169299997 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:247.12, Y:123.30, Z:-0.43 [[-8.63338526e-01 -5.04535690e-01 9.50405333e-03 2.47120441e+02] [ 5.04500942e-01 -8.63390776e-01 -5.93019967e-03 1.23300396e+02] [ 1.11977094e-02 -3.24965983e-04 9.99937251e-01 -4.26017018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.60028169299994 meters Centerline goodness : 0.999155 Centerline is valid? [True, True] Translation: X:247.14, Y:123.29, Z:-0.43 [[-8.63400522e-01 -5.04443114e-01 8.75694770e-03 2.47139388e+02] [ 5.04413590e-01 -8.63444876e-01 -5.46593612e-03 1.23291831e+02] [ 1.03183955e-02 -3.02168667e-04 9.99946718e-01 -4.25630738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.630281693 meters Centerline goodness : 0.999444 Centerline is valid? [True, True] Translation: X:247.14, Y:123.30, Z:-0.43 [[-8.63567869e-01 -5.04153376e-01 8.93920336e-03 2.47137335e+02] [ 5.04122645e-01 -8.63614080e-01 -5.57498756e-03 1.23296308e+02] [ 1.05306707e-02 -3.07925285e-04 9.99944504e-01 -4.25197962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.66028169299994 meters Centerline goodness : 0.999028 Centerline is valid? [True, True] Translation: X:247.14, Y:123.30, Z:-0.42 [[-8.63300046e-01 -5.04599272e-01 9.62317751e-03 2.47139534e+02] [ 5.04563739e-01 -8.63353619e-01 -5.99677692e-03 1.23299203e+02] [ 1.13341744e-02 -3.21511364e-04 9.99935715e-01 -4.24884665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.690281693 meters Centerline goodness : 0.999465 Centerline is valid? [True, True] Translation: X:247.13, Y:123.32, Z:-0.43 [[-8.62431915e-01 -5.06084938e-01 9.44598486e-03 2.47126699e+02] [ 5.06050844e-01 -8.62483594e-01 -5.88161246e-03 1.23316113e+02] [ 1.11236024e-02 -2.92341687e-04 9.99938088e-01 -4.25317543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.72028169299995 meters Centerline goodness : 0.999358 Centerline is valid? [True, True] Translation: X:247.12, Y:123.33, Z:-0.42 [[-8.61791501e-01 -5.07191599e-01 8.49070718e-03 2.47118921e+02] [ 5.07164149e-01 -8.61833291e-01 -5.28246727e-03 1.23325410e+02] [ 9.99679713e-03 -2.46203121e-04 9.99950001e-01 -4.23888149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.750281693 meters Centerline goodness : 0.999362 Centerline is valid? [True, True] Translation: X:247.11, Y:123.33, Z:-0.42 [[-8.61245830e-01 -5.08131691e-01 7.60294216e-03 2.47112947e+02] [ 5.08109753e-01 -8.61279363e-01 -4.72622961e-03 1.23332709e+02] [ 8.94980423e-03 -2.07316479e-04 9.99959928e-01 -4.22918383e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.78028169299995 meters Centerline goodness : 0.999507 Centerline is valid? [True, True] Translation: X:247.13, Y:123.33, Z:-0.42 [[-8.60906547e-01 -5.08711332e-01 7.25927933e-03 2.47125768e+02] [ 5.08691385e-01 -8.60937132e-01 -4.50887061e-03 1.23328490e+02] [ 8.54349670e-03 -1.88983367e-04 9.99963486e-01 -4.23032597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.810281693 meters Centerline goodness : 0.999250 Centerline is valid? [True, True] Translation: X:247.11, Y:123.34, Z:-0.42 [[-8.60831923e-01 -5.08818139e-01 8.51483264e-03 2.47113203e+02] [ 5.08790743e-01 -8.60874006e-01 -5.28437495e-03 1.23344187e+02] [ 1.00189839e-02 -2.16690618e-04 9.99949785e-01 -4.23903981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.84028169299995 meters Centerline goodness : 0.998829 Centerline is valid? [True, True] Translation: X:247.11, Y:123.35, Z:-0.42 [[-8.61027098e-01 -5.08468434e-01 9.60144436e-03 2.47112293e+02] [ 5.08433635e-01 -8.61080595e-01 -5.95377863e-03 1.23348626e+02] [ 1.12949259e-02 -2.44667478e-04 9.99936180e-01 -4.24324217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.870281693 meters Centerline goodness : 0.998651 Centerline is valid? [True, True] Translation: X:247.12, Y:123.35, Z:-0.42 [[-8.61071244e-01 -5.08372383e-01 1.06692594e-02 2.47118453e+02] [ 5.08329475e-01 -8.61137299e-01 -6.61040673e-03 1.23348916e+02] [ 1.25482455e-02 -2.68532109e-04 9.99921232e-01 -4.24796406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.90028169299995 meters Centerline goodness : 0.998567 Centerline is valid? [True, True] Translation: X:247.12, Y:123.36, Z:-0.43 [[-8.60224385e-01 -5.09770465e-01 1.21687895e-02 2.47117807e+02] [ 5.09714877e-01 -8.60310407e-01 -7.53318179e-03 1.23357359e+02] [ 1.43091298e-02 -2.77613660e-04 9.99897581e-01 -4.25381768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.930281693 meters Centerline goodness : 0.998318 Centerline is valid? [True, True] Translation: X:247.13, Y:123.35, Z:-0.42 [[-8.60020122e-01 -5.10116938e-01 1.20871618e-02 2.47126925e+02] [ 5.10062217e-01 -8.60105016e-01 -7.47636673e-03 1.23354861e+02] [ 1.42100498e-02 -2.64621311e-04 9.99898997e-01 -4.24772579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.96028169299996 meters Centerline goodness : 0.998620 Centerline is valid? [True, True] Translation: X:247.12, Y:123.36, Z:-0.42 [[-8.59978103e-01 -5.10189804e-01 1.20010803e-02 2.47119672e+02] [ 5.10135954e-01 -8.60061799e-01 -7.41687531e-03 1.23361764e+02] [ 1.41056848e-02 -2.56167832e-04 9.99900477e-01 -4.24476068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 465.990281693 meters Centerline goodness : 0.998393 Centerline is valid? [True, True] Translation: X:247.12, Y:123.37, Z:-0.42 [[-8.59548871e-01 -5.10918861e-01 1.17327326e-02 2.47117980e+02] [ 5.10867545e-01 -8.59628910e-01 -7.24488122e-03 1.23365662e+02] [ 1.37873426e-02 -2.33457157e-04 9.99904923e-01 -4.23005103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.02028169299996 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:247.11, Y:123.37, Z:-0.42 [[-8.59351057e-01 -5.11261473e-01 1.12901428e-02 2.47109143e+02] [ 5.11214064e-01 -8.59425192e-01 -6.96562563e-03 1.23372736e+02] [ 1.32642891e-02 -2.14237971e-04 9.99912003e-01 -4.23262127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.05028169299993 meters Centerline goodness : 0.998414 Centerline is valid? [True, True] Translation: X:247.11, Y:123.38, Z:-0.42 [[-8.59184644e-01 -5.11540045e-01 1.13371219e-02 2.47106607e+02] [ 5.11492345e-01 -8.59259414e-01 -6.98859036e-03 1.23376253e+02] [ 1.33164725e-02 -2.05638456e-04 9.99911311e-01 -4.22855329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.08028169299996 meters Centerline goodness : 0.998495 Centerline is valid? [True, True] Translation: X:247.10, Y:123.38, Z:-0.42 [[-8.58886254e-01 -5.12036902e-01 1.15158080e-02 2.47101967e+02] [ 5.11987814e-01 -8.58963429e-01 -7.09259594e-03 1.23380494e+02] [ 1.35233288e-02 -1.95779796e-04 9.99908536e-01 -4.22000015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.11028169299993 meters Centerline goodness : 0.998781 Centerline is valid? [True, True] Translation: X:247.12, Y:123.37, Z:-0.42 [[-8.57946357e-01 -5.13618403e-01 1.11437960e-02 2.47124701e+02] [ 5.13572586e-01 -8.58018712e-01 -6.86215136e-03 1.23366774e+02] [ 1.30861127e-02 -1.64209621e-04 9.99914360e-01 -4.22055099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.14028169299996 meters Centerline goodness : 0.998604 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.57790533e-01 -5.13890927e-01 1.05601345e-02 2.47126597e+02] [ 5.13849876e-01 -8.57855520e-01 -6.49703834e-03 1.23366094e+02] [ 1.23978387e-02 -1.46774193e-04 9.99923133e-01 -4.21904518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.17028169299994 meters Centerline goodness : 0.998427 Centerline is valid? [True, True] Translation: X:247.13, Y:123.36, Z:-0.42 [[-8.57756655e-01 -5.13961258e-01 9.86641917e-03 2.47131173e+02] [ 5.13925489e-01 -8.57813387e-01 -6.06504551e-03 1.23364011e+02] [ 1.15807449e-02 -1.31728855e-04 9.99932932e-01 -4.21251075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.20028169299997 meters Centerline goodness : 0.998720 Centerline is valid? [True, True] Translation: X:247.11, Y:123.38, Z:-0.42 [[-8.57869036e-01 -5.13777476e-01 9.66549958e-03 2.47107357e+02] [ 5.13743195e-01 -8.57923475e-01 -5.93640588e-03 1.23381513e+02] [ 1.13422506e-02 -1.27074149e-04 9.99935667e-01 -4.21645867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.23028169299994 meters Centerline goodness : 0.998770 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.58065546e-01 -5.13431983e-01 1.05412252e-02 2.47131612e+02] [ 5.13391197e-01 -8.58130281e-01 -6.47304337e-03 1.23367872e+02] [ 1.23692121e-02 -1.42523260e-04 9.99923488e-01 -4.22163807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.26028169299997 meters Centerline goodness : 0.998544 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.58188844e-01 -5.13207514e-01 1.13997843e-02 2.47128375e+02] [ 5.13159876e-01 -8.58264542e-01 -6.99409499e-03 1.23371144e+02] [ 1.33734527e-02 -1.52342416e-04 9.99910560e-01 -4.22311675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.29028169299994 meters Centerline goodness : 0.998565 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.58094232e-01 -5.13372584e-01 1.10850825e-02 2.47127867e+02] [ 5.13327630e-01 -8.58165818e-01 -6.79514561e-03 1.23371433e+02] [ 1.30012803e-02 -1.40596157e-04 9.99915470e-01 -4.21989917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.32028169299997 meters Centerline goodness : 0.998762 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.56941442e-01 -5.15349002e-01 8.17138720e-03 2.47129796e+02] [ 5.15324706e-01 -8.56980397e-01 -5.00467357e-03 1.23367792e+02] [ 9.58187217e-03 -7.77944797e-05 9.99954090e-01 -4.19484907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.35028169299994 meters Centerline goodness : 0.998999 Centerline is valid? [True, True] Translation: X:247.14, Y:123.36, Z:-0.42 [[-8.56091226e-01 -5.16775760e-01 7.11523055e-03 2.47138772e+02] [ 5.16757419e-01 -8.56120793e-01 -4.35404039e-03 1.23361178e+02] [ 8.34155935e-03 -5.06076054e-05 9.99965207e-01 -4.18659177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.380281693 meters Centerline goodness : 0.998863 Centerline is valid? [True, True] Translation: X:247.13, Y:123.37, Z:-0.42 [[-8.55196297e-01 -5.18248145e-01 7.62589313e-03 2.47129710e+02] [ 5.18227172e-01 -8.55230296e-01 -4.66252287e-03 1.23365888e+02] [ 8.93823867e-03 -3.54272531e-05 9.99960053e-01 -4.18433078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.41028169299994 meters Centerline goodness : 0.998866 Centerline is valid? [True, True] Translation: X:247.12, Y:123.37, Z:-0.42 [[-8.54546738e-01 -5.19292221e-01 9.24455831e-03 2.47120175e+02] [ 5.19261513e-01 -8.54596740e-01 -5.64730641e-03 1.23369832e+02] [ 1.08329717e-02 -2.55439301e-05 9.99941321e-01 -4.19300801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.440281693 meters Centerline goodness : 0.998571 Centerline is valid? [True, True] Translation: X:247.10, Y:123.38, Z:-0.42 [[-8.54207840e-01 -5.19798785e-01 1.17554193e-02 2.47100668e+02] [ 5.19749265e-01 -8.54288723e-01 -7.17485557e-03 1.23376169e+02] [ 1.37720034e-02 -1.89473302e-05 9.99905161e-01 -4.20528825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.47028169299995 meters Centerline goodness : 0.998691 Centerline is valid? [True, True] Translation: X:247.11, Y:123.37, Z:-0.42 [[-8.54545495e-01 -5.19255545e-01 1.12105157e-02 2.47112614e+02] [ 5.19210491e-01 -8.54619025e-01 -6.84013441e-03 1.23365970e+02] [ 1.31324977e-02 -2.45886769e-05 9.99913765e-01 -4.19915235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.500281693 meters Centerline goodness : 0.998816 Centerline is valid? [True, True] Translation: X:247.12, Y:123.36, Z:-0.42 [[-8.55231719e-01 -5.18152889e-01 9.81277846e-03 2.47119876e+02] [ 5.18118359e-01 -8.55288012e-01 -5.98189288e-03 1.23360009e+02] [ 1.14922869e-02 -3.17238580e-05 9.99933961e-01 -4.19029330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.53028169299995 meters Centerline goodness : 0.998949 Centerline is valid? [True, True] Translation: X:247.14, Y:123.35, Z:-0.42 [[-8.56173899e-01 -5.16609328e-01 9.00317325e-03 2.47138203e+02] [ 5.16580187e-01 -8.56221233e-01 -5.48730605e-03 1.23346921e+02] [ 1.05435016e-02 -4.72272973e-05 9.99944415e-01 -4.17662402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.560281693 meters Centerline goodness : 0.998799 Centerline is valid? [True, True] Translation: X:247.14, Y:123.34, Z:-0.42 [[-8.58737441e-01 -5.12337665e-01 8.95120903e-03 2.47139694e+02] [ 5.12308678e-01 -8.58784087e-01 -5.45076640e-03 1.23341327e+02] [ 1.04797888e-02 -9.49951315e-05 9.99945081e-01 -4.17902667e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.59028169299995 meters Centerline goodness : 0.998626 Centerline is valid? [True, True] Translation: X:247.14, Y:123.34, Z:-0.42 [[-8.60167578e-01 -5.09930797e-01 9.07299534e-03 2.47140212e+02] [ 5.09900932e-01 -8.60215419e-01 -5.52015615e-03 1.23339643e+02] [ 1.06196281e-02 -1.21930567e-04 9.99943603e-01 -4.18698962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.620281693 meters Centerline goodness : 0.998792 Centerline is valid? [True, True] Translation: X:247.16, Y:123.33, Z:-0.42 [[-8.61345468e-01 -5.07937871e-01 9.11617161e-03 2.47158131e+02] [ 5.07907607e-01 -8.61393695e-01 -5.54663442e-03 1.23328049e+02] [ 1.06699584e-02 -1.47395513e-04 9.99943064e-01 -4.19056893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.65028169299995 meters Centerline goodness : 0.998630 Centerline is valid? [True, True] Translation: X:247.16, Y:123.33, Z:-0.42 [[-8.62495861e-01 -5.05975594e-01 9.46511030e-03 2.47156924e+02] [ 5.05942908e-01 -8.62547777e-01 -5.75382787e-03 1.23328504e+02] [ 1.10754063e-02 -1.73847298e-04 9.99938651e-01 -4.19065689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.680281693 meters Centerline goodness : 0.998811 Centerline is valid? [True, True] Translation: X:247.15, Y:123.33, Z:-0.42 [[-8.63663085e-01 -5.03958009e-01 1.06019290e-02 2.47149386e+02] [ 5.03916915e-01 -8.63728127e-01 -6.43939762e-03 1.23329585e+02] [ 1.24023703e-02 -2.18978673e-04 9.99923064e-01 -4.18318902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.71028169299996 meters Centerline goodness : 0.998633 Centerline is valid? [True, True] Translation: X:247.16, Y:123.32, Z:-0.42 [[-8.63927999e-01 -5.03498378e-01 1.08534230e-02 2.47162669e+02] [ 5.03455346e-01 -8.63996142e-01 -6.58651265e-03 1.23319174e+02] [ 1.26936140e-02 -2.26058886e-04 9.99919407e-01 -4.17408723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.740281693 meters Centerline goodness : 0.998839 Centerline is valid? [True, True] Translation: X:247.17, Y:123.32, Z:-0.42 [[-8.63985217e-01 -5.03401332e-01 1.08001867e-02 2.47165237e+02] [ 5.03358784e-01 -8.64052689e-01 -6.54862379e-03 1.23316451e+02] [ 1.26285163e-02 -2.21545318e-04 9.99920233e-01 -4.16593685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.77028169299996 meters Centerline goodness : 0.998916 Centerline is valid? [True, True] Translation: X:247.17, Y:123.31, Z:-0.42 [[-8.63777814e-01 -5.03773553e-01 1.00047802e-02 2.47170008e+02] [ 5.03737127e-01 -8.63835730e-01 -6.06116028e-03 1.23312992e+02] [ 1.16959388e-02 -1.95716559e-04 9.99931581e-01 -4.16350495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.80028169299993 meters Centerline goodness : 0.999082 Centerline is valid? [True, True] Translation: X:247.16, Y:123.32, Z:-0.42 [[-8.63222622e-01 -5.04733869e-01 9.50928185e-03 2.47163602e+02] [ 5.04701075e-01 -8.63274981e-01 -5.75605185e-03 1.23315341e+02] [ 1.11143994e-02 -1.69409398e-04 9.99938219e-01 -4.16664016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.83028169299996 meters Centerline goodness : 0.998897 Centerline is valid? [True, True] Translation: X:247.16, Y:123.32, Z:-0.42 [[-8.63218110e-01 -5.04745113e-01 9.32013576e-03 2.47159560e+02] [ 5.04713664e-01 -8.63268408e-01 -5.63671503e-03 1.23316954e+02] [ 1.08908831e-02 -1.61714625e-04 9.99940680e-01 -4.16822898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.86028169299993 meters Centerline goodness : 0.999055 Centerline is valid? [True, True] Translation: X:247.17, Y:123.31, Z:-0.42 [[-8.63043109e-01 -5.05042987e-01 9.39003649e-03 2.47167352e+02] [ 5.05011136e-01 -8.63094176e-01 -5.67411792e-03 1.23312273e+02] [ 1.09701593e-02 -1.54935378e-04 9.99939814e-01 -4.16021453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.89028169299996 meters Centerline goodness : 0.998777 Centerline is valid? [True, True] Translation: X:247.17, Y:123.31, Z:-0.42 [[-8.62920901e-01 -5.05257671e-01 9.06666392e-03 2.47170962e+02] [ 5.05228037e-01 -8.62968520e-01 -5.47401640e-03 1.23310524e+02] [ 1.05900343e-02 -1.42910353e-04 9.99943914e-01 -4.15528265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.92028169299994 meters Centerline goodness : 0.998995 Centerline is valid? [True, True] Translation: X:247.19, Y:123.30, Z:-0.41 [[-8.63270349e-01 -5.04689861e-01 7.24213803e-03 2.47186934e+02] [ 5.04670966e-01 -8.63300718e-01 -4.36869221e-03 1.23303767e+02] [ 8.45697763e-03 -1.16465645e-04 9.99964232e-01 -4.14957769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.95028169299997 meters Centerline goodness : 0.999093 Centerline is valid? [True, True] Translation: X:247.19, Y:123.30, Z:-0.42 [[-8.64099227e-01 -5.03281228e-01 6.36648812e-03 2.47189261e+02] [ 5.03266612e-01 -8.64122673e-01 -3.83719169e-03 1.23304857e+02] [ 7.43261327e-03 -1.11673465e-04 9.99972372e-01 -4.15308605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 466.98028169299994 meters Centerline goodness : 0.999173 Centerline is valid? [True, True] Translation: X:247.19, Y:123.30, Z:-0.42 [[-8.65019868e-01 -5.01697364e-01 6.35478479e-03 2.47194680e+02] [ 5.01682783e-01 -8.65043201e-01 -3.82688969e-03 1.23304925e+02] [ 7.41710384e-03 -1.22249498e-04 9.99972485e-01 -4.15517917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.01028169299997 meters Centerline goodness : 0.999008 Centerline is valid? [True, True] Translation: X:247.19, Y:123.31, Z:-0.42 [[-8.65882882e-01 -5.00198092e-01 6.97880209e-03 2.47185597e+02] [ 5.00180487e-01 -8.65910993e-01 -4.19911409e-03 1.23314664e+02] [ 8.14341031e-03 -1.45280380e-04 9.99966831e-01 -4.15914608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.04028169299994 meters Centerline goodness : 0.998980 Centerline is valid? [True, True] Translation: X:247.19, Y:123.32, Z:-0.42 [[-8.66238729e-01 -4.99554356e-01 8.71264292e-03 2.47186881e+02] [ 4.99526929e-01 -8.66282524e-01 -5.23790575e-03 1.23320834e+02] [ 1.01642289e-02 -1.85077053e-04 9.99948326e-01 -4.15958286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.07028169299997 meters Centerline goodness : 0.998953 Centerline is valid? [True, True] Translation: X:247.19, Y:123.32, Z:-0.42 [[-8.65715512e-01 -5.00431070e-01 1.02662678e-02 2.47187454e+02] [ 5.00393114e-01 -8.65776359e-01 -6.16663908e-03 1.23323131e+02] [ 1.19742698e-02 -2.01385385e-04 9.99928286e-01 -4.15548317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.10028169299994 meters Centerline goodness : 0.998921 Centerline is valid? [True, True] Translation: X:247.18, Y:123.33, Z:-0.42 [[-8.64578203e-01 -5.02366559e-01 1.15052772e-02 2.47179863e+02] [ 5.02319139e-01 -8.64654731e-01 -6.90490901e-03 1.23329616e+02] [ 1.34168878e-02 -1.90512872e-04 9.99909971e-01 -4.15111720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.130281693 meters Centerline goodness : 0.998818 Centerline is valid? [True, True] Translation: X:247.16, Y:123.35, Z:-0.41 [[-8.59958282e-01 -5.10228141e-01 1.17896932e-02 2.47156710e+02] [ 5.10179169e-01 -8.60039092e-01 -7.06937142e-03 1.23345546e+02] [ 1.37465893e-02 -6.45086066e-05 9.99905509e-01 -4.13875196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.16028169299994 meters Centerline goodness : 0.999110 Centerline is valid? [True, True] Translation: X:247.15, Y:123.35, Z:-0.41 [[-8.57072796e-01 -5.15080812e-01 1.08618708e-02 2.47153050e+02] [ 5.15039707e-01 -8.57141620e-01 -6.50718883e-03 1.23346304e+02] [ 1.26618896e-02 1.71602308e-05 9.99919835e-01 -4.12718299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.190281693 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:247.15, Y:123.34, Z:-0.41 [[-8.54128141e-01 -5.19964783e-01 1.00868136e-02 2.47154463e+02] [ 5.19929738e-01 -8.54187694e-01 -6.03743594e-03 1.23342688e+02] [ 1.17552861e-02 8.76904312e-05 9.99930900e-01 -4.12194447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.22028169299995 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:247.16, Y:123.33, Z:-0.41 [[-8.51536933e-01 -5.24195137e-01 1.02132162e-02 2.47164704e+02] [ 5.24159577e-01 -8.51598165e-01 -6.10764566e-03 1.23332703e+02] [ 1.18991543e-02 1.52469218e-04 9.99929191e-01 -4.12423799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.250281693 meters Centerline goodness : 0.998936 Centerline is valid? [True, True] Translation: X:247.16, Y:123.33, Z:-0.41 [[-8.49622934e-01 -5.27269881e-01 1.12845888e-02 2.47163288e+02] [ 5.27226817e-01 -8.49697843e-01 -6.74236293e-03 1.23330492e+02] [ 1.31435356e-02 2.21071647e-04 9.99913596e-01 -4.13560571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.28028169299995 meters Centerline goodness : 0.998944 Centerline is valid? [True, True] Translation: X:247.18, Y:123.32, Z:-0.41 [[-8.48971781e-01 -5.28264920e-01 1.35310657e-02 2.47175715e+02] [ 5.28203241e-01 -8.49079555e-01 -8.07747788e-03 1.23319661e+02] [ 1.57559995e-02 2.89602003e-04 9.99875825e-01 -4.14235251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.310281693 meters Centerline goodness : 0.999143 Centerline is valid? [True, True] Translation: X:247.16, Y:123.32, Z:-0.41 [[-8.49973445e-01 -5.26658363e-01 1.32707056e-02 2.47164739e+02] [ 5.26598948e-01 -8.50076997e-01 -7.91502482e-03 1.23323714e+02] [ 1.54496356e-02 2.60778686e-04 9.99880613e-01 -4.13704877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.34028169299995 meters Centerline goodness : 0.999141 Centerline is valid? [True, True] Translation: X:247.14, Y:123.33, Z:-0.41 [[-8.53534749e-01 -5.20935609e-01 1.02236519e-02 2.47138983e+02] [ 5.20900001e-01 -8.53595967e-01 -6.09212503e-03 1.23334541e+02] [ 1.19004729e-02 1.25659883e-04 9.99929179e-01 -4.12332630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.370281693 meters Centerline goodness : 0.999099 Centerline is valid? [True, True] Translation: X:247.15, Y:123.33, Z:-0.41 [[-8.56125729e-01 -5.16693563e-01 8.74633316e-03 2.47150500e+02] [ 5.16667329e-01 -8.56170403e-01 -5.20704360e-03 1.23328026e+02] [ 1.01787975e-02 6.10605893e-05 9.99948193e-01 -4.11229847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.40028169299995 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:247.17, Y:123.32, Z:-0.41 [[-8.58565124e-01 -5.12644910e-01 7.81816254e-03 2.47172755e+02] [ 5.12623764e-01 -8.58600720e-01 -4.65631190e-03 1.23317229e+02] [ 9.09971458e-03 1.00289084e-05 9.99958597e-01 -4.10307601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.430281693 meters Centerline goodness : 0.999340 Centerline is valid? [True, True] Translation: X:247.17, Y:123.32, Z:-0.41 [[-8.58764997e-01 -5.12309990e-01 7.82010565e-03 2.47174958e+02] [ 5.12288859e-01 -8.58800602e-01 -4.65304786e-03 1.23316003e+02] [ 9.09971434e-03 1.02783617e-05 9.99958597e-01 -4.10306434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.46028169299996 meters Centerline goodness : 0.999343 Centerline is valid? [True, True] Translation: X:247.19, Y:123.31, Z:-0.41 [[-8.61348893e-01 -5.07959008e-01 7.46532894e-03 2.47194407e+02] [ 5.07939621e-01 -8.61381243e-01 -4.43802787e-03 1.23307457e+02] [ 8.68483055e-03 -3.07540475e-05 9.99962286e-01 -4.09330481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.490281693 meters Centerline goodness : 0.999249 Centerline is valid? [True, True] Translation: X:247.21, Y:123.30, Z:-0.41 [[-8.65521787e-01 -5.00793826e-01 8.80801474e-03 2.47206332e+02] [ 5.00766481e-01 -8.65566595e-01 -5.23469468e-03 1.23304407e+02] [ 1.02454261e-02 -1.19983746e-04 9.99947507e-01 -4.07918853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.52028169299996 meters Centerline goodness : 0.999299 Centerline is valid? [True, True] Translation: X:247.22, Y:123.30, Z:-0.41 [[-8.67016497e-01 -4.98201129e-01 8.83342075e-03 2.47222234e+02] [ 4.98173509e-01 -8.67061481e-01 -5.24809536e-03 1.23297130e+02] [ 1.02737259e-02 -1.49609039e-04 9.99947213e-01 -4.07372514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.55028169299993 meters Centerline goodness : 0.999165 Centerline is valid? [True, True] Translation: X:247.22, Y:123.30, Z:-0.41 [[-8.68319580e-01 -4.95925265e-01 8.90159076e-03 2.47223358e+02] [ 4.95897146e-01 -8.68365189e-01 -5.28391223e-03 1.23300253e+02] [ 1.03502571e-02 -1.73851002e-04 9.99946420e-01 -4.06660768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.58028169299996 meters Centerline goodness : 0.999274 Centerline is valid? [True, True] Translation: X:247.23, Y:123.30, Z:-0.41 [[-8.68986999e-01 -4.94746856e-01 9.33507981e-03 2.47226558e+02] [ 4.94715915e-01 -8.69037117e-01 -5.53645316e-03 1.23303391e+02] [ 1.08516736e-02 -1.92893278e-04 9.99941100e-01 -4.06459235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.61028169299993 meters Centerline goodness : 0.999061 Centerline is valid? [True, True] Translation: X:247.22, Y:123.32, Z:-0.41 [[-8.68061756e-01 -4.96348910e-01 1.03221627e-02 2.47218345e+02] [ 4.96311256e-01 -8.68123105e-01 -6.11656916e-03 1.23317978e+02] [ 1.19968604e-02 -1.86554235e-04 9.99928018e-01 -4.06748464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.64028169299996 meters Centerline goodness : 0.999109 Centerline is valid? [True, True] Translation: X:247.21, Y:123.33, Z:-0.41 [[-8.66943326e-01 -4.98296836e-01 1.04657634e-02 2.47208834e+02] [ 4.98258335e-01 -8.67006481e-01 -6.19620301e-03 1.23327164e+02] [ 1.21614330e-02 -1.57103010e-04 9.99926035e-01 -4.05798123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.67028169299994 meters Centerline goodness : 0.999133 Centerline is valid? [True, True] Translation: X:247.21, Y:123.33, Z:-0.40 [[-8.65067222e-01 -5.01558719e-01 9.87690927e-03 2.47212207e+02] [ 5.01524701e-01 -8.65123599e-01 -5.84238154e-03 1.23328249e+02] [ 1.14750447e-02 -1.00538803e-04 9.99934154e-01 -4.04641316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.70028169299997 meters Centerline goodness : 0.999037 Centerline is valid? [True, True] Translation: X:247.19, Y:123.35, Z:-0.40 [[-8.59286245e-01 -5.11401931e-01 9.75778100e-03 2.47186641e+02] [ 5.11369417e-01 -8.59341646e-01 -5.76673048e-03 1.23346041e+02] [ 1.13343847e-02 3.45586076e-05 9.99935763e-01 -4.02092304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.73028169299994 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:247.19, Y:123.34, Z:-0.40 [[-8.56491394e-01 -5.16058346e-01 1.03090371e-02 2.47191610e+02] [ 5.16022457e-01 -8.56553427e-01 -6.08699208e-03 1.23342968e+02] [ 1.19714842e-02 1.06238346e-04 9.99928334e-01 -4.02418685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.76028169299997 meters Centerline goodness : 0.999242 Centerline is valid? [True, True] Translation: X:247.21, Y:123.33, Z:-0.40 [[-8.53740209e-01 -5.20589826e-01 1.06718140e-02 2.47211559e+02] [ 5.20551744e-01 -8.53806888e-01 -6.29921636e-03 1.23329755e+02] [ 1.23909763e-02 1.77337115e-04 9.99923213e-01 -4.03280825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.79028169299994 meters Centerline goodness : 0.999084 Centerline is valid? [True, True] Translation: X:247.23, Y:123.32, Z:-0.40 [[-8.51169218e-01 -5.24783487e-01 1.06420656e-02 2.47227209e+02] [ 5.24745970e-01 -8.51235710e-01 -6.27957250e-03 1.23318164e+02] [ 1.23543222e-02 2.39402226e-04 9.99923654e-01 -4.03574179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.82028169299997 meters Centerline goodness : 0.999297 Centerline is valid? [True, True] Translation: X:247.26, Y:123.29, Z:-0.40 [[-8.45933953e-01 -5.33218668e-01 8.57905268e-03 2.47262077e+02] [ 5.33194671e-01 -8.45977405e-01 -5.06690646e-03 1.23293687e+02] [ 9.95945383e-03 2.88036964e-04 9.99950362e-01 -4.02425453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.85028169299994 meters Centerline goodness : 0.999045 Centerline is valid? [True, True] Translation: X:247.26, Y:123.29, Z:-0.40 [[-8.44378185e-01 -5.35673721e-01 8.89637295e-03 2.47261956e+02] [ 5.35648102e-01 -8.44424984e-01 -5.24942194e-03 1.23291697e+02] [ 1.03242970e-02 3.32827913e-04 9.99946648e-01 -4.01581173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.880281693 meters Centerline goodness : 0.999386 Centerline is valid? [True, True] Translation: X:247.25, Y:123.30, Z:-0.40 [[-8.43504743e-01 -5.37041220e-01 9.29926887e-03 2.47248650e+02] [ 5.37013362e-01 -8.43555921e-01 -5.48244508e-03 1.23296988e+02] [ 1.07887523e-02 3.69363212e-04 9.99941732e-01 -4.01346715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.91028169299994 meters Centerline goodness : 0.999256 Centerline is valid? [True, True] Translation: X:247.26, Y:123.28, Z:-0.40 [[-8.43186581e-01 -5.37510197e-01 1.09168865e-02 2.47261091e+02] [ 5.37471867e-01 -8.43257133e-01 -6.43421269e-03 1.23282614e+02] [ 1.26641974e-02 4.42277596e-04 9.99919708e-01 -4.02210876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.940281693 meters Centerline goodness : 0.999219 Centerline is valid? [True, True] Translation: X:247.25, Y:123.28, Z:-0.40 [[-8.44197814e-01 -5.35910599e-01 1.13965544e-02 2.47251289e+02] [ 5.35868759e-01 -8.44274621e-01 -6.71102426e-03 1.23284488e+02] [ 1.32183307e-02 4.41625449e-04 9.99912537e-01 -4.02814148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 467.97028169299995 meters Centerline goodness : 0.999210 Centerline is valid? [True, True] Translation: X:247.25, Y:123.28, Z:-0.40 [[-8.46605147e-01 -5.32100880e-01 1.13304376e-02 2.47249839e+02] [ 5.32059258e-01 -8.46680876e-01 -6.66632237e-03 1.23280172e+02] [ 1.31404208e-02 3.84721390e-04 9.99913587e-01 -4.02370710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.000281693 meters Centerline goodness : 0.999339 Centerline is valid? [True, True] Translation: X:247.23, Y:123.29, Z:-0.40 [[-8.48072118e-01 -5.29766147e-01 1.10232388e-02 2.47230150e+02] [ 5.29726627e-01 -8.48143686e-01 -6.47991489e-03 1.23289478e+02] [ 1.27821299e-02 3.43867937e-04 9.99918246e-01 -4.02195547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.03028169299995 meters Centerline goodness : 0.999316 Centerline is valid? [True, True] Translation: X:247.23, Y:123.29, Z:-0.40 [[-8.49115355e-01 -5.28096141e-01 1.08434414e-02 2.47231152e+02] [ 5.28057834e-01 -8.49184529e-01 -6.36860294e-03 1.23286698e+02] [ 1.25713173e-02 3.18285622e-04 9.99920927e-01 -4.02011595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.060281693 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:247.23, Y:123.28, Z:-0.40 [[-8.50126012e-01 -5.26471562e-01 1.06516951e-02 2.47231308e+02] [ 5.26434539e-01 -8.50192689e-01 -6.25046967e-03 1.23280966e+02] [ 1.23466879e-02 2.93733367e-04 9.99923734e-01 -4.01387075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.09028169299995 meters Centerline goodness : 0.999445 Centerline is valid? [True, True] Translation: X:247.24, Y:123.27, Z:-0.40 [[-8.50217247e-01 -5.26311171e-01 1.12775699e-02 2.47236964e+02] [ 5.26269731e-01 -8.50291981e-01 -6.61192956e-03 1.23274346e+02] [ 1.30691596e-02 3.13467125e-04 9.99914546e-01 -4.01333471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.120281693 meters Centerline goodness : 0.999442 Centerline is valid? [True, True] Translation: X:247.22, Y:123.28, Z:-0.40 [[-8.50310996e-01 -5.26140731e-01 1.21301641e-02 2.47224637e+02] [ 5.26092858e-01 -8.50397446e-01 -7.10553262e-03 1.23278064e+02] [ 1.40539707e-02 3.39680172e-04 9.99901180e-01 -4.00924694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.15028169299995 meters Centerline goodness : 0.999317 Centerline is valid? [True, True] Translation: X:247.22, Y:123.27, Z:-0.40 [[-8.50520363e-01 -5.25789218e-01 1.26810924e-02 2.47224122e+02] [ 5.25736955e-01 -8.50614821e-01 -7.42166214e-03 1.23272886e+02] [ 1.46889550e-02 3.54644118e-04 9.99892049e-01 -4.00885420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.180281693 meters Centerline goodness : 0.999273 Centerline is valid? [True, True] Translation: X:247.21, Y:123.28, Z:-0.40 [[-8.51034201e-01 -5.24940374e-01 1.33563341e-02 2.47212802e+02] [ 5.24882401e-01 -8.51138926e-01 -7.80987502e-03 1.23276955e+02] [ 1.54678146e-02 3.64033955e-04 9.99880300e-01 -4.00846354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.21028169299996 meters Centerline goodness : 0.999088 Centerline is valid? [True, True] Translation: X:247.21, Y:123.27, Z:-0.40 [[-8.52503465e-01 -5.22491915e-01 1.54932262e-02 2.47209143e+02] [ 5.22413647e-01 -8.52644155e-01 -9.05126341e-03 1.23273927e+02] [ 1.79394207e-02 3.77639390e-04 9.99839004e-01 -4.03005436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.240281693 meters Centerline goodness : 0.999001 Centerline is valid? [True, True] Translation: X:247.21, Y:123.27, Z:-0.40 [[-8.53891240e-01 -5.20204580e-01 1.60295115e-02 2.47208495e+02] [ 5.20120553e-01 -8.54041611e-01 -9.35611814e-03 1.23272828e+02] [ 1.85569654e-02 3.48171070e-04 9.99827744e-01 -4.02889137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.27028169299996 meters Centerline goodness : 0.999171 Centerline is valid? [True, True] Translation: X:247.21, Y:123.27, Z:-0.40 [[-8.55429314e-01 -5.17691062e-01 1.53834966e-02 2.47209515e+02] [ 5.17613410e-01 -8.55567578e-01 -8.97092210e-03 1.23271585e+02] [ 1.78057872e-02 2.88714408e-04 9.99841423e-01 -4.02599404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.30028169299993 meters Centerline goodness : 0.999419 Centerline is valid? [True, True] Translation: X:247.20, Y:123.27, Z:-0.40 [[-8.58519336e-01 -5.12629798e-01 1.24595324e-02 2.47202298e+02] [ 5.12578422e-01 -8.58609729e-01 -7.25916555e-03 1.23273737e+02] [ 1.44191403e-02 1.54353476e-04 9.99896027e-01 -4.00524951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.33028169299996 meters Centerline goodness : 0.999511 Centerline is valid? [True, True] Translation: X:247.20, Y:123.27, Z:-0.40 [[-8.60271471e-01 -5.09701782e-01 1.17085163e-02 2.47202863e+02] [ 5.09656226e-01 -8.60351139e-01 -6.81536802e-03 1.23272207e+02] [ 1.35472406e-02 1.04251554e-04 9.99908227e-01 -4.00337353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.36028169299993 meters Centerline goodness : 0.999594 Centerline is valid? [True, True] Translation: X:247.23, Y:123.25, Z:-0.40 [[-8.62743195e-01 -5.05475353e-01 1.29941275e-02 2.47232668e+02] [ 5.05418652e-01 -8.62841044e-01 -7.57095894e-03 1.23254067e+02] [ 1.50387997e-02 3.56811169e-05 9.99886910e-01 -4.00500615e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.39028169299996 meters Centerline goodness : 0.999491 Centerline is valid? [True, True] Translation: X:247.23, Y:123.26, Z:-0.40 [[-8.64244958e-01 -5.02887781e-01 1.35842737e-02 2.47227199e+02] [ 5.02825610e-01 -8.64351711e-01 -7.90732647e-03 1.23257731e+02] [ 1.57180881e-02 -3.34631200e-06 9.99876463e-01 -4.01151271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.42028169299994 meters Centerline goodness : 0.999338 Centerline is valid? [True, True] Translation: X:247.23, Y:123.26, Z:-0.40 [[-8.65763741e-01 -5.00261649e-01 1.38356871e-02 2.47225201e+02] [ 5.00196936e-01 -8.65874287e-01 -8.04645962e-03 1.23259113e+02] [ 1.60053008e-02 -4.57647036e-05 9.99871906e-01 -4.01061179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.45028169299997 meters Centerline goodness : 0.999293 Centerline is valid? [True, True] Translation: X:247.23, Y:123.26, Z:-0.40 [[-8.68234311e-01 -4.95979541e-01 1.31710510e-02 2.47233584e+02] [ 4.95920399e-01 -8.68334199e-01 -7.66012407e-03 1.23255880e+02] [ 1.52361389e-02 -1.18989664e-04 9.99883916e-01 -4.00927276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.48028169299994 meters Centerline goodness : 0.999321 Centerline is valid? [True, True] Translation: X:247.25, Y:123.25, Z:-0.40 [[-8.69337232e-01 -4.94058219e-01 1.26195940e-02 2.47247032e+02] [ 4.94003698e-01 -8.69428809e-01 -7.34108379e-03 1.23250494e+02] [ 1.45987614e-02 -1.47751335e-04 9.99893422e-01 -4.00786113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.51028169299997 meters Centerline goodness : 0.999487 Centerline is valid? [True, True] Translation: X:247.26, Y:123.25, Z:-0.40 [[-8.71455371e-01 -4.90326534e-01 1.20593050e-02 2.47258668e+02] [ 4.90276379e-01 -8.71538783e-01 -7.01589558e-03 1.23248718e+02] [ 1.39502317e-02 -2.01647521e-04 9.99902670e-01 -3.99871102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.54028169299994 meters Centerline goodness : 0.999397 Centerline is valid? [True, True] Translation: X:247.27, Y:123.25, Z:-0.40 [[-8.72935498e-01 -4.87678948e-01 1.23636580e-02 2.47265920e+02] [ 4.87626056e-01 -8.73023015e-01 -7.18645809e-03 1.23246410e+02] [ 1.42984423e-02 -2.44472579e-04 9.99897742e-01 -3.99203456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.57028169299997 meters Centerline goodness : 0.999470 Centerline is valid? [True, True] Translation: X:247.26, Y:123.25, Z:-0.40 [[-8.74312840e-01 -4.85217835e-01 1.18621383e-02 2.47261031e+02] [ 4.85169003e-01 -8.74393265e-01 -6.88891071e-03 1.23251315e+02] [ 1.37147962e-02 -2.67921271e-04 9.99905912e-01 -3.98843861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.60028169299994 meters Centerline goodness : 0.999552 Centerline is valid? [True, True] Translation: X:247.28, Y:123.25, Z:-0.40 [[-8.75563653e-01 -4.82966518e-01 1.14730911e-02 2.47276431e+02] [ 4.82920652e-01 -8.75638770e-01 -6.66241859e-03 1.23249203e+02] [ 1.32640085e-02 -2.92778937e-04 9.99911986e-01 -3.98962047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.630281693 meters Centerline goodness : 0.999361 Centerline is valid? [True, True] Translation: X:247.28, Y:123.25, Z:-0.40 [[-8.75916984e-01 -4.82323982e-01 1.15331478e-02 2.47283976e+02] [ 4.82277658e-01 -8.75992858e-01 -6.69130694e-03 1.23248993e+02] [ 1.33303329e-02 -2.98849861e-04 9.99911103e-01 -3.98549429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.66028169299994 meters Centerline goodness : 0.999449 Centerline is valid? [True, True] Translation: X:247.28, Y:123.25, Z:-0.40 [[-8.75446519e-01 -4.83189796e-01 1.10006072e-02 2.47284222e+02] [ 4.83147790e-01 -8.75515591e-01 -6.37678568e-03 1.23254447e+02] [ 1.27124009e-02 -2.67615768e-04 9.99919158e-01 -3.97421066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.690281693 meters Centerline goodness : 0.999525 Centerline is valid? [True, True] Translation: X:247.29, Y:123.25, Z:-0.40 [[-8.74841949e-01 -4.84276877e-01 1.12903114e-02 2.47292760e+02] [ 4.84232794e-01 -8.74914763e-01 -6.53904271e-03 1.23251675e+02] [ 1.30447673e-02 -2.53489823e-04 9.99914881e-01 -3.97068493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.72028169299995 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:247.28, Y:123.26, Z:-0.40 [[-8.74253091e-01 -4.85338737e-01 1.13067929e-02 2.47275815e+02] [ 4.85294688e-01 -8.74326173e-01 -6.54286313e-03 1.23263828e+02] [ 1.30613299e-02 -2.32991765e-04 9.99914670e-01 -3.96575190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.750281693 meters Centerline goodness : 0.999451 Centerline is valid? [True, True] Translation: X:247.28, Y:123.27, Z:-0.40 [[-8.72405119e-01 -4.88646964e-01 1.15521742e-02 2.47276855e+02] [ 4.88601351e-01 -8.72481582e-01 -6.67895416e-03 1.23269383e+02] [ 1.33427099e-02 -1.82345900e-04 9.99910965e-01 -3.96430201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.78028169299995 meters Centerline goodness : 0.999471 Centerline is valid? [True, True] Translation: X:247.28, Y:123.27, Z:-0.40 [[-8.71517671e-01 -4.90221531e-01 1.18236585e-02 2.47276027e+02] [ 4.90173977e-01 -8.71597858e-01 -6.82985699e-03 1.23271940e+02] [ 1.36536184e-02 -1.56691371e-04 9.99906773e-01 -3.96688037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.810281693 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:247.27, Y:123.28, Z:-0.40 [[-8.70485673e-01 -4.92026148e-01 1.28437741e-02 2.47268302e+02] [ 4.91970328e-01 -8.70580411e-01 -7.41251293e-03 1.23280014e+02] [ 1.48286883e-02 -1.33730540e-04 9.99890040e-01 -3.97088287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.84028169299995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:247.25, Y:123.29, Z:-0.40 [[-8.70458518e-01 -4.92071123e-01 1.29606679e-02 2.47249378e+02] [ 4.92014388e-01 -8.70554992e-01 -7.47319707e-03 1.23292656e+02] [ 1.49603186e-02 -1.28272971e-04 9.99888080e-01 -3.97257666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.870281693 meters Centerline goodness : 0.999469 Centerline is valid? [True, True] Translation: X:247.26, Y:123.29, Z:-0.40 [[-8.70310579e-01 -4.92338042e-01 1.27572827e-02 2.47264047e+02] [ 4.92283137e-01 -8.70404066e-01 -7.35354729e-03 1.23287631e+02] [ 1.47244218e-02 -1.19674863e-04 9.99891583e-01 -3.96486677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.90028169299995 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:247.28, Y:123.28, Z:-0.40 [[-8.70311678e-01 -4.92339745e-01 1.26157841e-02 2.47284983e+02] [ 4.92286075e-01 -8.70403103e-01 -7.27038050e-03 1.23277208e+02] [ 1.45603149e-02 -1.16922226e-04 9.99893986e-01 -3.96689903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.930281693 meters Centerline goodness : 0.999592 Centerline is valid? [True, True] Translation: X:247.28, Y:123.28, Z:-0.40 [[-8.70535303e-01 -4.91930170e-01 1.31527241e-02 2.47275884e+02] [ 4.91871893e-01 -8.70634650e-01 -7.57286510e-03 1.23284839e+02] [ 1.51765381e-02 -1.22991120e-04 9.99884822e-01 -3.96826077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.96028169299996 meters Centerline goodness : 0.999426 Centerline is valid? [True, True] Translation: X:247.28, Y:123.28, Z:-0.40 [[-8.70630295e-01 -4.91747525e-01 1.36843194e-02 2.47284221e+02] [ 4.91684531e-01 -8.70737823e-01 -7.87185428e-03 1.23282383e+02] [ 1.57864193e-02 -1.25106671e-04 9.99875379e-01 -3.96655996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 468.990281693 meters Centerline goodness : 0.999363 Centerline is valid? [True, True] Translation: X:247.28, Y:123.29, Z:-0.40 [[-8.70161919e-01 -4.92582526e-01 1.34421229e-02 2.47277797e+02] [ 4.92521950e-01 -8.70265732e-01 -7.72555136e-03 1.23288365e+02] [ 1.55036906e-02 -1.01939992e-04 9.99879805e-01 -3.96433287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.02028169299996 meters Centerline goodness : 0.999741 Centerline is valid? [True, True] Translation: X:247.28, Y:123.29, Z:-0.39 [[-8.68584642e-01 -4.95394216e-01 1.20536868e-02 2.47277698e+02] [ 4.95345866e-01 -8.68668274e-01 -6.92127111e-03 1.23289559e+02] [ 1.38994130e-02 -4.09658820e-05 9.99903398e-01 -3.94547088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.05028169299993 meters Centerline goodness : 0.999742 Centerline is valid? [True, True] Translation: X:247.26, Y:123.30, Z:-0.39 [[-8.67700321e-01 -4.96947528e-01 1.18028760e-02 2.47258946e+02] [ 4.96901398e-01 -8.67780591e-01 -6.77103348e-03 1.23300419e+02] [ 1.36071551e-02 -1.03623417e-05 9.99907418e-01 -3.94195385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.08028169299996 meters Centerline goodness : 0.999641 Centerline is valid? [True, True] Translation: X:247.26, Y:123.30, Z:-0.39 [[-8.66947599e-01 -4.98257088e-01 1.19052172e-02 2.47263432e+02] [ 4.98210364e-01 -8.67029338e-01 -6.82342536e-03 1.23298095e+02] [ 1.37219926e-02 1.57503594e-05 9.99905849e-01 -3.94850580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.11028169299993 meters Centerline goodness : 0.999574 Centerline is valid? [True, True] Translation: X:247.26, Y:123.30, Z:-0.40 [[-8.66312289e-01 -4.99345330e-01 1.25403292e-02 2.47263632e+02] [ 4.99293697e-01 -8.66403047e-01 -7.18079556e-03 1.23297957e+02] [ 1.44506761e-02 4.04958862e-05 9.99895583e-01 -3.95303068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.14028169299996 meters Centerline goodness : 0.999597 Centerline is valid? [True, True] Translation: X:247.26, Y:123.30, Z:-0.39 [[-8.64872957e-01 -5.01822542e-01 1.29963405e-02 2.47261177e+02] [ 5.01767469e-01 -8.64970594e-01 -7.43501249e-03 1.23298042e+02] [ 1.49725092e-02 9.07996302e-05 9.99887902e-01 -3.94391927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.17028169299994 meters Centerline goodness : 0.999512 Centerline is valid? [True, True] Translation: X:247.26, Y:123.30, Z:-0.39 [[-8.63951131e-01 -5.03414864e-01 1.27246649e-02 2.47263203e+02] [ 5.03362341e-01 -8.64044825e-01 -7.27281338e-03 1.23295556e+02] [ 1.46559232e-02 1.21761770e-04 9.99892589e-01 -3.93713266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.20028169299997 meters Centerline goodness : 0.999578 Centerline is valid? [True, True] Translation: X:247.28, Y:123.28, Z:-0.39 [[-8.61464926e-01 -5.07666879e-01 1.23499841e-02 2.47283696e+02] [ 5.07617872e-01 -8.61553425e-01 -7.05635709e-03 1.23279884e+02] [ 1.42224499e-02 1.90268522e-04 9.99898838e-01 -3.92660784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.23028169299994 meters Centerline goodness : 0.999571 Centerline is valid? [True, True] Translation: X:247.29, Y:123.27, Z:-0.39 [[-8.60405621e-01 -5.09465473e-01 1.21284007e-02 2.47293058e+02] [ 5.09418478e-01 -8.60491071e-01 -6.92330648e-03 1.23271179e+02] [ 1.39635661e-02 2.21579623e-04 9.99902480e-01 -3.92850553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.26028169299997 meters Centerline goodness : 0.999238 Centerline is valid? [True, True] Translation: X:247.30, Y:123.26, Z:-0.39 [[-8.59592947e-01 -5.10848595e-01 1.15619567e-02 2.47300659e+02] [ 5.10806091e-01 -8.59670668e-01 -6.59397682e-03 1.23262948e+02] [ 1.33079988e-02 2.37781945e-04 9.99911416e-01 -3.93693131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.29028169299994 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:247.26, Y:123.28, Z:-0.39 [[-8.58266820e-01 -5.13102189e-01 1.02082676e-02 2.47257314e+02] [ 5.13069278e-01 -8.58327492e-01 -5.81656062e-03 1.23281586e+02] [ 1.17465267e-02 2.45387500e-04 9.99930977e-01 -3.93124418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.32028169299997 meters Centerline goodness : 0.999509 Centerline is valid? [True, True] Translation: X:247.26, Y:123.28, Z:-0.39 [[-8.58473805e-01 -5.12755760e-01 1.02106159e-02 2.47259536e+02] [ 5.12722874e-01 -8.58534490e-01 -5.81243749e-03 1.23280405e+02] [ 1.17465267e-02 2.45390970e-04 9.99930977e-01 -3.93123252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.35028169299994 meters Centerline goodness : 0.999296 Centerline is valid? [True, True] Translation: X:247.37, Y:123.22, Z:-0.39 [[-8.58093056e-01 -5.13395271e-01 1.00797839e-02 2.47365380e+02] [ 5.13363202e-01 -8.58152221e-01 -5.74351124e-03 1.23217511e+02] [ 1.15986805e-02 2.46123018e-04 9.99932703e-01 -3.92757553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.380281693 meters Centerline goodness : 0.998959 Centerline is valid? [True, True] Translation: X:247.38, Y:123.20, Z:-0.39 [[-8.58559915e-01 -5.12594506e-01 1.10338296e-02 2.47379759e+02] [ 5.12556086e-01 -8.58630773e-01 -6.28136630e-03 1.23204017e+02] [ 1.26937795e-02 2.62527192e-04 9.99919396e-01 -3.92156261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.41028169299994 meters Centerline goodness : 0.998654 Centerline is valid? [True, True] Translation: X:247.37, Y:123.21, Z:-0.39 [[-8.59506017e-01 -5.10995001e-01 1.15549026e-02 2.47365476e+02] [ 5.10952795e-01 -8.59583646e-01 -6.57241572e-03 1.23209326e+02] [ 1.32908769e-02 2.54978924e-04 9.99911640e-01 -3.91805196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.440281693 meters Centerline goodness : 0.997903 Centerline is valid? [True, True] Translation: X:247.38, Y:123.20, Z:-0.39 [[-8.62555224e-01 -5.05864046e-01 1.00025750e-02 2.47376251e+02] [ 5.05832130e-01 -8.62613205e-01 -5.68457338e-03 1.23200312e+02] [ 1.15039745e-02 1.56365329e-04 9.99933815e-01 -3.90993751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.47028169299995 meters Centerline goodness : 0.997251 Centerline is valid? [True, True] Translation: X:247.38, Y:123.20, Z:-0.39 [[-8.64516953e-01 -5.02531439e-01 8.52001756e-03 2.47380018e+02] [ 5.02508161e-01 -8.64558930e-01 -4.83787820e-03 1.23198736e+02] [ 9.79724315e-03 9.89506337e-05 9.99952001e-01 -3.89467228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.500281693 meters Centerline goodness : 0.996897 Centerline is valid? [True, True] Translation: X:247.39, Y:123.19, Z:-0.39 [[-8.66165808e-01 -4.99695783e-01 7.80500622e-03 2.47390866e+02] [ 4.99676166e-01 -8.66200970e-01 -4.42810898e-03 1.23193053e+02] [ 8.97341135e-03 6.44989909e-05 9.99959736e-01 -3.88722521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.53028169299995 meters Centerline goodness : 0.995345 Centerline is valid? [True, True] Translation: X:247.40, Y:123.19, Z:-0.39 [[-8.68629383e-01 -4.95379829e-01 9.04542554e-03 2.47404475e+02] [ 4.95353292e-01 -8.68676478e-01 -5.12756912e-03 1.23186092e+02] [ 1.03976427e-02 2.67241209e-05 9.99945943e-01 -3.88577989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.560281693 meters Centerline goodness : 0.994572 Centerline is valid? [True, True] Translation: X:247.41, Y:123.18, Z:-0.39 [[-8.69719076e-01 -4.93454866e-01 9.54062884e-03 2.47413184e+02] [ 4.93425277e-01 -8.69771404e-01 -5.40377878e-03 1.23182231e+02] [ 1.09646871e-02 7.81794355e-06 9.99939886e-01 -3.88201239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.59028169299995 meters Centerline goodness : 0.992267 Centerline is valid? [True, True] Translation: X:247.42, Y:123.18, Z:-0.39 [[-8.71618882e-01 -4.90120466e-01 7.90267663e-03 2.47417620e+02] [ 4.90100062e-01 -8.71654707e-01 -4.47228621e-03 1.23183379e+02] [ 9.08036429e-03 -2.50268061e-05 9.99958772e-01 -3.86399707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.620281693 meters Centerline goodness : 0.991339 Centerline is valid? [True, True] Translation: X:247.44, Y:123.17, Z:-0.39 [[-8.72532904e-01 -4.88498422e-01 7.45806263e-03 2.47441242e+02] [ 4.88480181e-01 -8.72564777e-01 -4.22176914e-03 1.23171786e+02] [ 8.56997032e-03 -4.05167040e-05 9.99963276e-01 -3.86175089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.65028169299995 meters Centerline goodness : 0.990190 Centerline is valid? [True, True] Translation: X:247.43, Y:123.18, Z:-0.39 [[-8.73601412e-01 -4.86574299e-01 8.12549354e-03 2.47431551e+02] [ 4.86552601e-01 -8.73639198e-01 -4.59556139e-03 1.23178937e+02] [ 9.33483172e-03 -6.12089032e-05 9.99956428e-01 -3.86151904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.680281693 meters Centerline goodness : 0.988302 Centerline is valid? [True, True] Translation: X:247.43, Y:123.18, Z:-0.39 [[-8.75075543e-01 -4.83877287e-01 1.02744845e-02 2.47431459e+02] [ 4.83842463e-01 -8.75135852e-01 -5.80621281e-03 1.23182132e+02] [ 1.18010643e-02 -1.09642929e-04 9.99930359e-01 -3.87277844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.71028169299996 meters Centerline goodness : 0.987224 Centerline is valid? [True, True] Translation: X:247.44, Y:123.18, Z:-0.39 [[-8.75577006e-01 -4.82965261e-01 1.04624471e-02 2.47443731e+02] [ 4.82929144e-01 -8.75639505e-01 -5.90755196e-03 1.23177817e+02] [ 1.20144743e-02 -1.19896053e-04 9.99927816e-01 -3.86896891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.740281693 meters Centerline goodness : 0.983187 Centerline is valid? [True, True] Translation: X:246.68, Y:123.61, Z:-0.39 [[-8.75753317e-01 -4.82623221e-01 1.14435526e-02 2.46683318e+02] [ 4.82580084e-01 -8.75828071e-01 -6.45390927e-03 1.23612720e+02] [ 1.31373910e-02 -1.29601901e-04 9.99913692e-01 -3.90418460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.77028169299996 meters Centerline goodness : 0.983949 Centerline is valid? [True, True] Translation: X:247.44, Y:123.19, Z:-0.39 [[-8.74539893e-01 -4.84865814e-01 9.22597709e-03 2.47438649e+02] [ 4.84837526e-01 -8.74588549e-01 -5.23855563e-03 1.23187451e+02] [ 1.06089305e-02 -1.08225968e-04 9.99943718e-01 -3.85881981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.80028169299993 meters Centerline goodness : 0.982929 Centerline is valid? [True, True] Translation: X:247.43, Y:123.19, Z:-0.39 [[-8.74188882e-01 -4.85506049e-01 8.81335281e-03 2.47431737e+02] [ 4.85480325e-01 -8.74233303e-01 -4.99856776e-03 1.23194013e+02] [ 1.01317614e-02 -9.09829742e-05 9.99948668e-01 -3.85878731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.83028169299996 meters Centerline goodness : 0.981387 Centerline is valid? [True, True] Translation: X:247.44, Y:123.19, Z:-0.39 [[-8.73501945e-01 -4.86737872e-01 8.97751833e-03 2.47437297e+02] [ 4.86711289e-01 -8.73548075e-01 -5.08748538e-03 1.23191955e+02] [ 1.03185657e-02 -7.44688578e-05 9.99946759e-01 -3.85592597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.86028169299993 meters Centerline goodness : 0.977297 Centerline is valid? [True, True] Translation: X:246.70, Y:123.61, Z:-0.39 [[-8.70929559e-01 -4.91256241e-01 1.22068905e-02 2.46698150e+02] [ 4.91207648e-01 -8.71015100e-01 -6.90955290e-03 1.23608910e+02] [ 1.40267470e-02 -2.16158778e-05 9.99901620e-01 -3.88351661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.89028169299996 meters Centerline goodness : 0.975991 Centerline is valid? [True, True] Translation: X:247.39, Y:123.21, Z:-0.38 [[-8.66702667e-01 -4.98749579e-01 8.68005771e-03 2.47389501e+02] [ 4.98725101e-01 -8.66746131e-01 -4.94152404e-03 1.23212056e+02] [ 9.98798947e-03 4.61305894e-05 9.99950118e-01 -3.84868490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.92028169299994 meters Centerline goodness : 0.974486 Centerline is valid? [True, True] Translation: X:247.38, Y:123.22, Z:-0.39 [[-8.65319278e-01 -5.01153029e-01 8.25760359e-03 2.47378084e+02] [ 5.01131036e-01 -8.65358675e-01 -4.69566468e-03 1.23216335e+02] [ 9.49903548e-03 7.48922645e-05 9.99954880e-01 -3.85189827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.95028169299997 meters Centerline goodness : 0.972323 Centerline is valid? [True, True] Translation: X:247.39, Y:123.21, Z:-0.39 [[-8.64146168e-01 -5.03177413e-01 7.99324680e-03 2.47392906e+02] [ 5.03156927e-01 -8.64183130e-01 -4.54148594e-03 1.23205342e+02] [ 9.19280218e-03 9.73498258e-05 9.99957741e-01 -3.85795429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 469.98028169299994 meters Centerline goodness : 0.970169 Centerline is valid? [True, True] Translation: X:247.39, Y:123.21, Z:-0.39 [[-8.63579662e-01 -5.04141759e-01 8.44127968e-03 2.47386719e+02] [ 5.04118997e-01 -8.63620909e-01 -4.79200420e-03 1.23205740e+02] [ 9.70591504e-03 1.17132081e-04 9.99952890e-01 -3.85894384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.01028169299997 meters Centerline goodness : 0.961486 Centerline is valid? [True, True] Translation: X:246.53, Y:123.68, Z:-0.39 [[-8.63309418e-01 -5.04537337e-01 1.17866438e-02 2.46533762e+02] [ 5.04493112e-01 -8.63389857e-01 -6.68248649e-03 1.23684961e+02] [ 1.35480326e-02 1.77227073e-04 9.99908206e-01 -3.89603388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.04028169299994 meters Centerline goodness : 0.961632 Centerline is valid? [True, True] Translation: X:246.65, Y:123.62, Z:-0.39 [[-8.63475810e-01 -5.04281672e-01 1.04652226e-02 2.46651436e+02] [ 5.04246614e-01 -8.63539215e-01 -5.94778129e-03 1.23615317e+02] [ 1.20364872e-02 1.41287781e-04 9.99927549e-01 -3.88320183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.07028169299997 meters Centerline goodness : 0.956484 Centerline is valid? [True, True] Translation: X:246.61, Y:123.63, Z:-0.39 [[-8.65937885e-01 -5.00082482e-01 8.31205268e-03 2.46613246e+02] [ 5.00060277e-01 -8.65977774e-01 -4.71314871e-03 1.23633499e+02] [ 9.55501598e-03 7.52333437e-05 9.99954347e-01 -3.87855880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.10028169299994 meters Centerline goodness : 0.952979 Centerline is valid? [True, True] Translation: X:246.59, Y:123.64, Z:-0.39 [[-8.67925853e-01 -4.96617202e-01 8.72175467e-03 2.46591729e+02] [ 4.96593169e-01 -8.67969669e-01 -4.88645721e-03 1.23644301e+02] [ 9.99691722e-03 9.00812501e-05 9.99950026e-01 -3.88070331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.130281693 meters Centerline goodness : 0.950500 Centerline is valid? [True, True] Translation: X:246.58, Y:123.65, Z:-0.39 [[-8.69658418e-01 -4.93561484e-01 9.55496421e-03 2.46577593e+02] [ 4.93530858e-01 -8.69710905e-01 -5.49865490e-03 1.23652045e+02] [ 1.10239808e-02 -6.62818410e-05 9.99939232e-01 -3.88722900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.16028169299994 meters Centerline goodness : 0.101412 Centerline is valid? [True, False] Translation: X:248.95, Y:122.35, Z:-0.46 [[ 8.73695203e-01 4.85384552e-01 3.25350351e-02 2.48954677e+02] [-4.85194672e-01 8.74293642e-01 -1.40270233e-02 1.22347010e+02] [-3.52536748e-02 -3.53048277e-03 9.99372160e-01 -4.55578958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.190281693 meters Centerline goodness : 0.102351 Centerline is valid? [False, False] Translation: X:248.90, Y:122.39, Z:-0.45 [[ 8.75226969e-01 4.83039212e-01 2.55122092e-02 2.48903134e+02] [-4.82376444e-01 8.75512070e-01 -2.81350545e-02 1.22387455e+02] [-3.59265816e-02 1.23180697e-02 9.99278513e-01 -4.53455343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.22028169299995 meters Centerline goodness : 0.103595 Centerline is valid? [False, False] Translation: X:248.82, Y:122.45, Z:-0.45 [[ 8.75676368e-01 4.82489576e-01 1.98672272e-02 2.48817405e+02] [-4.81493951e-01 8.75525784e-01 -4.02265674e-02 1.22445939e+02] [-3.68031691e-02 2.56595047e-02 9.98993051e-01 -4.49780454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.250281693 meters Centerline goodness : 0.107448 Centerline is valid? [False, False] Translation: X:248.75, Y:122.49, Z:-0.45 [[ 8.76144170e-01 4.81642110e-01 1.98058340e-02 2.48749104e+02] [-4.80497440e-01 8.75880440e-01 -4.42229021e-02 1.22489288e+02] [-3.86471545e-02 2.92289853e-02 9.98825342e-01 -4.49376713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.28028169299995 meters Centerline goodness : 0.104518 Centerline is valid? [False, False] Translation: X:248.70, Y:122.52, Z:-0.45 [[ 8.74665594e-01 4.84365218e-01 1.87198859e-02 2.48699292e+02] [-4.82875609e-01 8.74047136e-01 -5.35980512e-02 1.22524158e+02] [-4.23230944e-02 3.78409950e-02 9.98387107e-01 -4.50047516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.310281693 meters Centerline goodness : 0.106152 Centerline is valid? [False, False] Translation: X:248.67, Y:122.56, Z:-0.45 [[ 8.74772637e-01 4.84363709e-01 1.28309030e-02 2.48672130e+02] [-4.82298008e-01 8.72971999e-01 -7.28595975e-02 1.22555297e+02] [-4.64915639e-02 5.75472632e-02 9.97259669e-01 -4.51099204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.34028169299995 meters Centerline goodness : 0.104745 Centerline is valid? [False, False] Translation: X:248.60, Y:122.59, Z:-0.45 [[ 8.73182178e-01 4.87136867e-01 1.58290042e-02 2.48604431e+02] [-4.85047389e-01 8.71702848e-01 -6.97364765e-02 1.22590977e+02] [-4.77693967e-02 5.32148312e-02 9.97439856e-01 -4.49923240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.370281693 meters Centerline goodness : 0.102648 Centerline is valid? [False, False] Translation: X:248.58, Y:122.63, Z:-0.45 [[ 8.74430176e-01 4.85087945e-01 7.84556315e-03 2.48576177e+02] [-4.82408522e-01 8.71089937e-01 -9.21104722e-02 1.22627092e+02] [-5.15158708e-02 7.67594099e-02 9.95717886e-01 -4.49309411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.40028169299995 meters Centerline goodness : 0.104295 Centerline is valid? [False, False] Translation: X:248.51, Y:122.67, Z:-0.45 [[ 8.74485131e-01 4.84973826e-01 8.72606371e-03 2.48506849e+02] [-4.82058926e-01 8.70943331e-01 -9.52727966e-02 1.22671541e+02] [-5.38047196e-02 7.91081671e-02 9.95412955e-01 -4.46975400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.430281693 meters Centerline goodness : 0.102906 Centerline is valid? [False, False] Translation: X:248.47, Y:122.69, Z:-0.45 [[ 8.74353636e-01 4.85221685e-01 8.10152178e-03 2.48470711e+02] [-4.82303207e-01 8.70701535e-01 -9.62416390e-02 1.22694606e+02] [-5.37525377e-02 8.02418371e-02 9.95325028e-01 -4.46058830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.46028169299996 meters Centerline goodness : 0.104546 Centerline is valid? [False, False] Translation: X:248.44, Y:122.72, Z:-0.45 [[ 8.74035015e-01 4.85828731e-01 5.76513779e-03 2.48440187e+02] [-4.83092419e-01 8.70255219e-01 -9.63201290e-02 1.22718051e+02] [-5.18122273e-02 8.14020710e-02 9.95333711e-01 -4.47280612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.490281693 meters Centerline goodness : 0.108374 Centerline is valid? [False, False] Translation: X:248.41, Y:122.74, Z:-0.45 [[ 8.74392354e-01 4.85202147e-01 4.10941669e-03 2.48405954e+02] [-4.82438767e-01 8.70255468e-01 -9.95402300e-02 1.22743005e+02] [-5.18733757e-02 8.50546742e-02 9.95025053e-01 -4.46538276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.52028169299996 meters Centerline goodness : 0.115750 Centerline is valid? [False, False] Translation: X:248.34, Y:122.79, Z:-0.44 [[ 8.74770234e-01 4.84513852e-01 4.83373321e-03 2.48337083e+02] [-4.81398336e-01 8.70192609e-01 -1.04978406e-01 1.22788266e+02] [-5.50697706e-02 8.95050333e-02 9.94462754e-01 -4.44223402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.55028169299993 meters Centerline goodness : 0.133202 Centerline is valid? [False, False] Translation: X:248.27, Y:122.83, Z:-0.44 [[ 8.75371682e-01 4.83418693e-01 5.54843796e-03 2.48267021e+02] [-4.80041513e-01 8.70502331e-01 -1.08562594e-01 1.22829812e+02] [-5.73111155e-02 9.23691399e-02 9.94074131e-01 -4.42916595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.58028169299996 meters Centerline goodness : 0.123281 Centerline is valid? [False, False] Translation: X:248.23, Y:122.85, Z:-0.44 [[ 8.76396832e-01 4.81578843e-01 3.22669492e-03 2.48233904e+02] [-4.78203506e-01 8.71008321e-01 -1.12542931e-01 1.22854313e+02] [-5.70087727e-02 9.70892516e-02 9.93641624e-01 -4.43485121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.61028169299993 meters Centerline goodness : 0.137366 Centerline is valid? [False, False] Translation: X:248.20, Y:122.88, Z:-0.44 [[ 8.76719983e-01 4.80996278e-01 2.15655507e-03 2.48197414e+02] [-4.77650610e-01 8.71132544e-01 -1.13920959e-01 1.22876762e+02] [-5.66742027e-02 9.88467017e-02 9.93487476e-01 -4.43320514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.64028169299996 meters Centerline goodness : 0.130215 Centerline is valid? [False, False] Translation: X:248.20, Y:122.88, Z:-0.44 [[ 8.78634146e-01 4.77495586e-01 -5.40283737e-05 2.48200881e+02] [-4.74152537e-01 8.72469263e-01 -1.18223334e-01 1.22880241e+02] [-5.64039819e-02 1.03900676e-01 9.92987029e-01 -4.44207316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.67028169299994 meters Centerline goodness : 0.069982 Centerline is valid? [False, False] Translation: X:248.16, Y:122.90, Z:-0.45 [[ 8.79107382e-01 4.76617920e-01 2.36011877e-03 2.48162065e+02] [-4.72802259e-01 8.72673920e-01 -1.22058396e-01 1.22902784e+02] [-6.02348329e-02 1.06186568e-01 9.92520115e-01 -4.46827663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.70028169299997 meters Centerline goodness : 0.069728 Centerline is valid? [False, False] Translation: X:248.13, Y:122.93, Z:-0.45 [[ 8.80345429e-01 4.74329259e-01 1.91826932e-03 2.48127378e+02] [-4.70288761e-01 8.73359054e-01 -1.26777146e-01 1.22928253e+02] [-6.18094479e-02 1.10705541e-01 9.91929370e-01 -4.48399643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.73028169299994 meters Centerline goodness : 0.069586 Centerline is valid? [False, False] Translation: X:248.09, Y:122.95, Z:-0.45 [[ 8.81081918e-01 4.72963670e-01 1.41657275e-04 2.48094673e+02] [-4.68873742e-01 8.73502036e-01 -1.30964147e-01 1.22953101e+02] [-6.20650213e-02 1.15323722e-01 9.91387095e-01 -4.49613553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.76028169299997 meters Centerline goodness : 0.132498 Centerline is valid? [False, False] Translation: X:248.06, Y:122.98, Z:-0.45 [[ 8.81344731e-01 4.72473668e-01 -3.14063398e-04 2.48059052e+02] [-4.68218051e-01 8.73316969e-01 -1.34496571e-01 1.22978320e+02] [-6.32718112e-02 1.18684894e-01 9.90914009e-01 -4.50249934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.79028169299994 meters Centerline goodness : 0.069273 Centerline is valid? [False, False] Translation: X:248.06, Y:122.98, Z:-0.45 [[ 8.81186410e-01 4.72768969e-01 -1.14421449e-04 2.48061236e+02] [-4.68417679e-01 8.73043298e-01 -1.35573884e-01 1.22984165e+02] [-6.39952305e-02 1.19519461e-01 9.90767232e-01 -4.49696410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.82028169299997 meters Centerline goodness : 0.158991 Centerline is valid? [False, False] Translation: X:248.06, Y:122.99, Z:-0.45 [[ 8.80995317e-01 4.73124147e-01 8.89871242e-04 2.48059235e+02] [-4.68604078e-01 8.72834885e-01 -1.36269886e-01 1.22988431e+02] [-6.52492842e-02 1.19636134e-01 9.90671351e-01 -4.48950658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.85028169299994 meters SLAMing on 470.880281693 meters SLAMing on 470.91028169299994 meters SLAMing on 470.940281693 meters Centerline goodness : 0.071310 Centerline is valid? [False, False] Translation: X:248.07, Y:123.00, Z:-0.45 [[ 8.81989401e-01 4.71265880e-01 1.77979615e-03 2.48068227e+02] [-4.66403905e-01 8.73418878e-01 -1.40024502e-01 1.23004390e+02] [-6.75432777e-02 1.22670023e-01 9.90146439e-01 -4.52676526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 470.97028169299995 meters SLAMing on 471.000281693 meters Centerline goodness : 0.061473 Centerline is valid? [False, False] Translation: X:248.07, Y:123.01, Z:-0.45 [[ 8.84221263e-01 4.67068173e-01 -2.81630415e-04 2.48071776e+02] [-4.62184767e-01 8.74889050e-01 -1.44756315e-01 1.23010368e+02] [-6.73646723e-02 1.28126777e-01 9.89467296e-01 -4.52934818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.03028169299995 meters SLAMing on 471.060281693 meters SLAMing on 471.09028169299995 meters Centerline goodness : 0.812387 Centerline is valid? [False, False] Translation: X:248.08, Y:123.02, Z:-0.46 [[ 8.84610483e-01 4.66330649e-01 -1.34019936e-04 2.48076852e+02] [-4.61318659e-01 8.75060844e-01 -1.46470521e-01 1.23015962e+02] [-6.81864174e-02 1.29631184e-01 9.89215026e-01 -4.55373789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.120281693 meters Centerline goodness : 0.807092 Centerline is valid? [False, False] Translation: X:248.08, Y:123.02, Z:-0.46 [[ 8.84700011e-01 4.66160743e-01 -2.31091253e-04 2.48079648e+02] [-4.61116001e-01 8.75052932e-01 -1.47154340e-01 1.23019173e+02] [-6.83953593e-02 1.30294006e-01 9.89113516e-01 -4.55740142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.15028169299995 meters Centerline goodness : 0.815237 Centerline is valid? [False, False] Translation: X:248.08, Y:123.02, Z:-0.46 [[ 8.84750167e-01 4.66065522e-01 -2.68468155e-04 2.48081270e+02] [-4.61000336e-01 8.75049745e-01 -1.47535195e-01 1.23021012e+02] [-6.85261446e-02 1.30655552e-01 9.89056770e-01 -4.56493411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.180281693 meters Centerline goodness : 0.806407 Centerline is valid? [False, False] Translation: X:248.08, Y:123.02, Z:-0.46 [[ 8.84751366e-01 4.66063228e-01 -2.97627874e-04 2.48084384e+02] [-4.60948078e-01 8.74946309e-01 -1.48309898e-01 1.23024607e+02] [-6.88613814e-02 1.31354576e-01 9.88940891e-01 -4.57119077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.21028169299996 meters Centerline goodness : 0.804866 Centerline is valid? [False, False] Translation: X:248.09, Y:123.03, Z:-0.46 [[ 8.84735043e-01 4.66094179e-01 -3.47582756e-04 2.48085578e+02] [-4.60961499e-01 8.74881390e-01 -1.48650767e-01 1.23025888e+02] [-6.89811636e-02 1.31676765e-01 9.88889695e-01 -4.57581208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.240281693 meters Centerline goodness : 0.804866 Centerline is valid? [False, False] Translation: X:248.09, Y:123.03, Z:-0.46 [[ 8.84735043e-01 4.66094179e-01 -3.47582756e-04 2.48085578e+02] [-4.60961499e-01 8.74881390e-01 -1.48650767e-01 1.23025888e+02] [-6.89811636e-02 1.31676765e-01 9.88889695e-01 -4.57581208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.27028169299996 meters Centerline goodness : 0.790560 Centerline is valid? [False, False] Translation: X:248.09, Y:123.03, Z:-0.46 [[ 8.84711181e-01 4.66139486e-01 -3.25544567e-04 2.48086722e+02] [-4.60979729e-01 8.74814149e-01 -1.48989579e-01 1.23026905e+02] [-6.91651348e-02 1.31962816e-01 9.88838712e-01 -4.58325849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.30028169299993 meters Centerline goodness : 0.800190 Centerline is valid? [False, False] Translation: X:248.09, Y:123.03, Z:-0.46 [[ 8.84715789e-01 4.66130801e-01 -2.21491032e-04 2.48087080e+02] [-4.60937534e-01 8.74788042e-01 -1.49273141e-01 1.23027840e+02] [-6.93870513e-02 1.32166399e-01 9.88795975e-01 -4.58601139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.33028169299996 meters Centerline goodness : 0.759807 Centerline is valid? [False, False] Translation: X:248.09, Y:123.03, Z:-0.46 [[ 8.86735262e-01 4.62274187e-01 -1.77493633e-03 2.48088687e+02] [-4.57025391e-01 8.76076952e-01 -1.53678125e-01 1.23032378e+02] [-6.94864495e-02 1.37083004e-01 9.88119367e-01 -4.58238726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.36028169299993 meters Centerline goodness : 0.785827 Centerline is valid? [False, False] Translation: X:248.09, Y:123.04, Z:-0.46 [[ 8.88753310e-01 4.58370137e-01 -3.79100798e-03 2.48091674e+02] [-4.53155845e-01 8.77337253e-01 -1.57889593e-01 1.23036297e+02] [-6.90458818e-02 1.42042816e-01 9.87449495e-01 -4.59021823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.39028169299996 meters Centerline goodness : 0.757945 Centerline is valid? [False, False] Translation: X:248.10, Y:123.03, Z:-0.46 [[ 8.90320622e-01 4.55298129e-01 -5.72744659e-03 2.48097966e+02] [-4.50206779e-01 8.78343004e-01 -1.60709127e-01 1.23034082e+02] [-6.81399022e-02 1.45661185e-01 9.86985194e-01 -4.64704565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.42028169299994 meters Centerline goodness : 0.795840 Centerline is valid? [False, False] Translation: X:248.10, Y:123.04, Z:-0.47 [[ 8.92111165e-01 4.51747335e-01 -7.87500460e-03 2.48101590e+02] [-4.46754012e-01 8.79380588e-01 -1.64622701e-01 1.23036804e+02] [-6.74427404e-02 1.50379940e-01 9.86325175e-01 -4.66012687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.45028169299997 meters Centerline goodness : 0.768569 Centerline is valid? [False, False] Translation: X:248.10, Y:123.04, Z:-0.47 [[ 8.92064685e-01 4.51841283e-01 -7.74940424e-03 2.48102048e+02] [-4.46840086e-01 8.79370574e-01 -1.64442487e-01 1.23035137e+02] [-6.74873063e-02 1.50156080e-01 9.86356231e-01 -4.67741923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.48028169299994 meters Centerline goodness : 0.750753 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93821325e-01 4.48323177e-01 -9.47459213e-03 2.48105642e+02] [-4.43371817e-01 8.80392728e-01 -1.68315409e-01 1.23037303e+02] [-6.71183369e-02 1.54644669e-01 9.85687656e-01 -4.68971225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.51028169299997 meters Centerline goodness : 0.771634 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93782096e-01 4.48403770e-01 -9.36078860e-03 2.48106083e+02] [-4.43441817e-01 8.80380459e-01 -1.68195133e-01 1.23036314e+02] [-6.71782766e-02 1.54480764e-01 9.85709274e-01 -4.70468273e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.54028169299994 meters Centerline goodness : 0.695499 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93695509e-01 4.48588909e-01 -8.73655769e-03 2.48107263e+02] [-4.43506619e-01 8.80288648e-01 -1.68504524e-01 1.23035186e+02] [-6.78985682e-02 1.54466458e-01 9.85662162e-01 -4.72054707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.57028169299997 meters Centerline goodness : 0.656392 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93667054e-01 4.48648608e-01 -8.58040281e-03 2.48107547e+02] [-4.43522185e-01 8.80227744e-01 -1.68781486e-01 1.23036250e+02] [-6.81708703e-02 1.54640053e-01 9.85616146e-01 -4.72257769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.60028169299994 meters Centerline goodness : 0.715707 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93645219e-01 4.48691986e-01 -8.58624870e-03 2.48108933e+02] [-4.43540669e-01 8.80148727e-01 -1.69144592e-01 1.23037940e+02] [-6.83366471e-02 1.54963607e-01 9.85553846e-01 -4.72871203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.630281693 meters Centerline goodness : 0.713182 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93613177e-01 4.48753551e-01 -8.70283068e-03 2.48110840e+02] [-4.43595619e-01 8.80055149e-01 -1.69487056e-01 1.23039528e+02] [-6.83989472e-02 1.55316404e-01 9.85493987e-01 -4.73717973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.66028169299994 meters Centerline goodness : 0.664633 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93535929e-01 4.48912414e-01 -8.43728875e-03 2.48112303e+02] [-4.43690159e-01 8.79950226e-01 -1.69784107e-01 1.23040344e+02] [-6.87937992e-02 1.55451742e-01 9.85445163e-01 -4.74093500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.690281693 meters Centerline goodness : 0.757661 Centerline is valid? [False, False] Translation: X:248.11, Y:123.04, Z:-0.47 [[ 8.93484751e-01 4.49017535e-01 -8.26151631e-03 2.48112357e+02] [-4.43766799e-01 8.79912725e-01 -1.69778161e-01 1.23039471e+02] [-6.89639581e-02 1.55360385e-01 9.85447677e-01 -4.74937881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.72028169299995 meters Centerline goodness : 0.713039 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94988921e-01 4.45983597e-01 -9.66754723e-03 2.48115203e+02] [-4.40732657e-01 8.80687945e-01 -1.73618746e-01 1.23040877e+02] [-6.89170204e-02 1.59647658e-01 9.84765490e-01 -4.76041019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.750281693 meters Centerline goodness : 0.738460 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94969035e-01 4.46026506e-01 -9.52802655e-03 2.48115896e+02] [-4.40751547e-01 8.80675455e-01 -1.73634148e-01 1.23040460e+02] [-6.90543334e-02 1.59596679e-01 9.84764134e-01 -4.77304919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.78028169299995 meters Centerline goodness : 0.724516 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94961678e-01 4.46043219e-01 -9.43616072e-03 2.48117339e+02] [-4.40745290e-01 8.80655968e-01 -1.73748829e-01 1.23040863e+02] [-6.91894759e-02 1.59657487e-01 9.84744791e-01 -4.78568986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.810281693 meters Centerline goodness : 0.720482 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94801145e-01 4.46370712e-01 -9.17048743e-03 2.48120154e+02] [-4.41011602e-01 8.80484651e-01 -1.73941216e-01 1.23040676e+02] [-6.95677912e-02 1.59687091e-01 9.84713337e-01 -4.80276066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.84028169299995 meters Centerline goodness : 0.720628 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94720360e-01 4.46535079e-01 -9.04987506e-03 2.48120732e+02] [-4.41141788e-01 8.80385078e-01 -1.74115012e-01 1.23040535e+02] [-6.97810857e-02 1.59776524e-01 9.84683737e-01 -4.80765140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.870281693 meters Centerline goodness : 0.711854 Centerline is valid? [False, False] Translation: X:248.12, Y:123.04, Z:-0.48 [[ 8.94663697e-01 4.46648693e-01 -9.04512820e-03 2.48122215e+02] [-4.41234667e-01 8.80287879e-01 -1.74370921e-01 1.23041096e+02] [-6.99202273e-02 1.59994357e-01 9.84638496e-01 -4.81713943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.90028169299995 meters Centerline goodness : 0.716369 Centerline is valid? [False, False] Translation: X:248.13, Y:123.04, Z:-0.48 [[ 8.94413081e-01 4.47146408e-01 -9.23741097e-03 2.48127840e+02] [-4.41760000e-01 8.80037979e-01 -1.74302203e-01 1.23040833e+02] [-6.98093317e-02 1.59978889e-01 9.84648878e-01 -4.84772168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.930281693 meters Centerline goodness : 0.702135 Centerline is valid? [False, False] Translation: X:248.13, Y:123.04, Z:-0.49 [[ 8.94398229e-01 4.47171096e-01 -9.47723751e-03 2.48130809e+02] [-4.41828276e-01 8.80019489e-01 -1.74222483e-01 1.23039942e+02] [-6.95671048e-02 1.60011592e-01 9.84660707e-01 -4.87944357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.96028169299996 meters Centerline goodness : 0.671814 Centerline is valid? [False, False] Translation: X:248.14, Y:123.04, Z:-0.49 [[ 8.95064114e-01 4.45811657e-01 -1.05923908e-02 2.48139767e+02] [-4.40616842e-01 8.80476962e-01 -1.74977478e-01 1.23037736e+02] [-6.86806431e-02 1.61283247e-01 9.84515456e-01 -4.94297633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 471.990281693 meters Centerline goodness : 0.672719 Centerline is valid? [False, False] Translation: X:248.14, Y:123.04, Z:-0.50 [[ 8.95118181e-01 4.45700728e-01 -1.06912480e-02 2.48141486e+02] [-4.40536256e-01 8.80553240e-01 -1.74796452e-01 1.23036259e+02] [-6.84926926e-02 1.61173364e-01 9.84546544e-01 -4.96477492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.02028169299996 meters Centerline goodness : 0.714149 Centerline is valid? [False, False] Translation: X:248.14, Y:123.03, Z:-0.50 [[ 8.95150830e-01 4.45634704e-01 -1.07098917e-02 2.48142579e+02] [-4.40488711e-01 8.80618138e-01 -1.74589204e-01 1.23034699e+02] [-6.83716834e-02 1.61001257e-01 9.84583114e-01 -4.98237510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.05028169299993 meters Centerline goodness : 0.691564 Centerline is valid? [False, False] Translation: X:248.15, Y:123.04, Z:-0.50 [[ 8.96926633e-01 4.41995849e-01 -1.27390810e-02 2.48146936e+02] [-4.36966323e-01 8.81573603e-01 -1.78573274e-01 1.23038842e+02] [-6.76982084e-02 1.65733675e-01 9.83844145e-01 -4.99423135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.08028169299996 meters Centerline goodness : 0.569847 Centerline is valid? [False, False] Translation: X:248.15, Y:123.04, Z:-0.50 [[ 8.98638961e-01 4.38445206e-01 -1.46225339e-02 2.48152832e+02] [-4.33526010e-01 8.82470501e-01 -1.82485653e-01 1.23042298e+02] [-6.71060048e-02 1.70327966e-01 9.83099775e-01 -5.00827682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.11028169299993 meters Centerline goodness : 0.630021 Centerline is valid? [False, False] Translation: X:248.15, Y:123.04, Z:-0.50 [[ 8.98683622e-01 4.38353148e-01 -1.46377827e-02 2.48154279e+02] [-4.33438507e-01 8.82514405e-01 -1.82481191e-01 1.23041895e+02] [-6.70731503e-02 1.70337436e-01 9.83100377e-01 -5.02450318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.14028169299996 meters Centerline goodness : 0.418098 Centerline is valid? [False, False] Translation: X:248.16, Y:123.04, Z:-0.50 [[ 9.00576660e-01 4.34390497e-01 -1.63271224e-02 2.48158461e+02] [-4.29565506e-01 8.83562873e-01 -1.86521113e-01 1.23044173e+02] [-6.65969598e-02 1.74990130e-01 9.82315275e-01 -5.03494979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.17028169299994 meters Centerline goodness : 0.675541 Centerline is valid? [False, False] Translation: X:248.16, Y:123.04, Z:-0.51 [[ 9.00625631e-01 4.34290126e-01 -1.62959609e-02 2.48158703e+02] [-4.29491248e-01 8.83691344e-01 -1.86082986e-01 1.23040701e+02] [-6.64134039e-02 1.74590079e-01 9.82398882e-01 -5.05578975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.20028169299997 meters Centerline goodness : 0.596870 Centerline is valid? [False, False] Translation: X:248.18, Y:123.03, Z:-0.50 [[ 9.04515670e-01 4.25984404e-01 -1.97152161e-02 2.48178888e+02] [-4.21957703e-01 8.87364714e-01 -1.85837459e-01 1.23028240e+02] [-6.16692721e-02 1.76411881e-01 9.82382690e-01 -5.01964248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.23028169299994 meters Centerline goodness : 0.594884 Centerline is valid? [False, False] Translation: X:248.18, Y:123.03, Z:-0.50 [[ 9.06229595e-01 4.22234737e-01 -2.15811829e-02 2.48182028e+02] [-4.18395089e-01 8.88311306e-01 -1.89337195e-01 1.23028609e+02] [-6.07739321e-02 1.80612431e-01 9.81674936e-01 -5.04633464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.26028169299997 meters Centerline goodness : 0.564334 Centerline is valid? [False, False] Translation: X:248.19, Y:123.03, Z:-0.51 [[ 9.07214348e-01 4.20032013e-01 -2.31351350e-02 2.48188525e+02] [-4.16413880e-01 8.88877200e-01 -1.91041368e-01 1.23025294e+02] [-5.96791963e-02 1.82949262e-01 9.81309310e-01 -5.11133596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 472.29028169299994 meters Centerline goodness : 0.577000 Centerline is valid? [False, False] Translation: X:248.19, Y:123.02, Z:-0.51 [[ 9.07122567e-01 4.20237259e-01 -2.30063852e-02 2.48188592e+02] [-4.16630750e-01 8.88914140e-01 -1.90395559e-01 1.23020557e+02] [-5.95606068e-02 1.82297276e-01 9.81437842e-01 -5.14048283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] Total time of SLAM: 10324.97 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%| | 0/15722 [00:00